CN216425955U

CN216425955U - Panel line frame manipulator

Info

Publication number: CN216425955U
Application number: CN202121729921.3U
Authority: CN
Inventors: 孙国文
Original assignee: Shandong Sinolion Machinery Co ltd
Current assignee: Shandong Sinolion Machinery Co ltd
Priority date: 2021-07-28
Filing date: 2021-07-28
Publication date: 2022-05-03
Anticipated expiration: 2031-07-28

Abstract

The utility model relates to a plate rack manipulator which comprises a mounting rack, wherein the upper part of the mounting rack is connected with a grabbing mechanism capable of transversely reciprocating at A, B two positions on the mounting rack through a driving device, a lifting platform for grabbing materials by the grabbing mechanism is arranged right below the mounting rack and opposite to A, and a feeding conveyor for feeding materials by the grabbing mechanism is arranged right below the mounting rack and opposite to B. The utility model improves the production efficiency of the covering plate of the plate, is compatible with the covering plates of the plates with various length specifications and improves the automation of production.

Description

Panel line frame manipulator

Technical Field

The utility model relates to the technical field of artificial board stacking rear placing cover plates, in particular to a board traveling frame manipulator.

Background

The piled artificial boards are generally required to be placed with cover plates and then wound and packaged to prevent the boards from getting damp, damaged in transportation and the like. The cover plate is generally 2440-3400mm 1220mm 12mm in size and weighs 15-75 kg. Because the weight is heavy, generally adopt assistant manipulator scheme, but need artifical auxiliary operation, the position of manual adjustment apron and pile up neatly panel, the position accuracy of placing the apron is low, the deviation is great, and production efficiency is low.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects of the prior art, the utility model provides the plate racking mechanical arm which can realize automatic plate covering and packaging, does not need manual assistance to adjust the positions of the cover plate and the piled plates, and solves the problems of low position precision, large deviation, low production efficiency and the like of manual cover plate placement.

The utility model is realized by the following technical scheme:

the utility model provides a panel truss manipulator, includes the mounting bracket, and mounting bracket upper portion is connected with the mechanism that snatchs that can A, B two horizontal reciprocating motions on the mounting bracket through drive arrangement, and the mounting bracket below is just being provided with the lift platform that supplies to snatch the mechanism and grab the material to A department, and the mounting bracket below is just being provided with the material conveyer that supplies to snatch the mechanism blowing to B department.

Further, the driving device comprises a synchronous belt component, the synchronous belt component comprises a driving shaft and a driven shaft which are rotatably installed in the width direction of the installation frame through a bearing seat, a speed reducing motor is installed at one end of the driving shaft, the speed reducing motor is in transmission connection with the end part of the driving shaft through a chain wheel and a chain, toothed belt wheels are installed at two ends of the driving shaft and the driven shaft, trapezoidal toothed synchronous belts in an opening belt are connected between the toothed belt wheels at the same side, the two trapezoidal toothed synchronous belts are connected with a movement component at the opening, the movement component comprises a support frame arranged at the upper part of the crossbeam in the length direction of the installation frame and a bottom support arranged at the lower part of the crossbeam in the length direction of the installation frame, the support frame is fixedly connected with the bottom support through a side cover plate, the support frame and the bottom support frame are respectively and rotatably installed with a rolling shaft towards one side of the crossbeam, rolling wheels are installed at two ends of the rolling shaft and are in rolling connection with the crossbeam, the side of the support frame close to the trapezoidal tooth synchronous belt is connected with the open end of the trapezoidal tooth synchronous belt through a pressing plate and an adjusting seat.

Further, snatch the mechanism and include mount and sucking disc mounting bracket, the both sides of mount are connected with drive arrangement respectively, the mount middle part is connected with the decurrent actuating cylinder that drives of piston rod through mounting flange, and the mount installs two linear bearing in the bilateral symmetry that drives actuating cylinder, the piston rod tip that drives actuating cylinder is connected perpendicularly with the sucking disc mounting bracket through ejecting support and support connecting axle, the guide bar is worn to be equipped with by the activity in the linear bearing, the lower tip of guide bar passes through the guide arm fixing base and is fixed with the sucking disc mounting bracket, evenly install the vacuum chuck of connecting vacuum generator on the sucking disc mounting bracket.

Linear bearing fixes at the support frame, and guide bar and linear bearing transition fit, guide bar and guide arm fixing base screw thread structure cooperation, guide arm fixing base and sucking disc mounting bracket bolted construction are connected, and when the piston rod that realizes driving actuating cylinder drove the sucking disc mounting bracket from top to bottom, the guide effect of guide bar in linear bearing guaranteed the stability of sucking disc mounting bracket up-and-down motion.

Furthermore, the two sides of the sucker mounting frame are respectively provided with a clamping cylinder with a piston rod right facing the arrangement through a cylinder seat, and the end parts of the two piston rods are respectively provided with a cylinder push plate capable of clamping the cover plate.

The cylinder push pedal is installed on die clamping cylinder, and die clamping cylinder seat is fixed on the sucking disc mounting bracket, and die clamping cylinder becomes 2 pairs of configurations, distributes in the sucking disc mounting bracket left and right sides for when the apron seesaw, chucking apron prevents that the acceleration of seesaw from throwing away the apron.

Furthermore, two photoelectric switches which are mutually opposite and electrically connected with the clamping cylinder controller are respectively installed on two sides of the bottom of the sucker installation frame through photoelectric supports, and the positions of the two photoelectric switches are lower than the position of the suction cover plate of the vacuum sucker.

The two photoelectric switches are used for correlation, after the cover plate is detected to be adsorbed by the vacuum chuck, an electric signal can be transmitted to the clamping cylinder, the cover plate warehouse or the plate position can be conveniently detected firstly, and the clamping cylinder stops pushing.

Furthermore, a drag chain for accommodating the air pipe and the cable is arranged on the upper part of the fixing frame through the mounting plate and the drag chain groove.

The drag chain can guarantee the good state that cable and trachea are in the mechanism when snatching mechanism A, B two reciprocating motion, guarantees the stability of system.

Furthermore, the distance measuring photoelectricity used for measuring the distance between the cover plate and the fixing frame is installed at the bottom of the fixing frame.

The distance measuring photoelectricity is used for measuring the distance between the cover plate of the cover plate warehouse and the sucker mounting frame, the sucker mounting frame is located above the lifting platform before the cover plate begins to be grabbed, the lifting platform can ascend and descend, and the cover plate is guaranteed to be consistent with the position of the sucker mounting frame.

Furthermore, the mounting rack is respectively provided with travel switches which are electrically connected with the horizontal movement assembly through mounting seats corresponding to the A position and the B position.

The travel switch seat is provided with a travel switch for detecting the position of the motion assembly, the motion assembly is convenient to drive the whole grabbing mechanism to move from the A position of the lifting platform to the B position of the feeding chain conveyor.

Preferably, the travel switch base is provided with a hard limit.

The travel switch seat is provided with a hard limit for the safety limit of the motion assembly and the safety protection when the travel switch is out of order.

The utility model has the beneficial effects that:

the automatic plate covering machine improves the production efficiency of the covering plate of the plate, is compatible with the covering plates of various length specifications, improves the production automation, has a simple structure, is convenient to use, has high automation degree, improves the use place and the automation level of the mechanical arm of the plate covering plate, reduces the labor intensity of workers, and improves the production efficiency.

Drawings

FIG. 1 is a front view of the present invention;

FIG. 2 is a top view of the present invention;

FIG. 3 is a left side view of the present invention;

FIG. 4 is a schematic view of a cover plate of the manipulator of the present invention;

FIG. 5 is a left side elevational view of the horizontal drive shaft of the present invention;

FIG. 6 is a front view of a timing belt kinematic seat of the present invention;

FIG. 7 is a left side view of the horizontal motion assembly of the present invention;

FIG. 8 is a front view of the suction cup lifting assembly of the present invention;

FIG. 9 is a left side view of the suction cup lifting assembly of the present invention;

fig. 10 is a top view of the suction cup lifting assembly of the present invention.

Shown in the figure:

1 supporting leg A, 2 supporting legs B, 3 feeding chain conveyors, 4 plates, 5 mounting frames, 6 lifting platforms, 7 feeding chain conveyors, 8 cover plates, 9 crossbars, 10 driving devices, 11 synchronous belt assemblies, 12 moving assemblies, 13 grabbing mechanisms, 14 process hole cover plates A, 15 process hole cover plates B, 16 driven wheels, 17 travel switch bases, 1001U-shaped clamps, 1002 nuts, 1003 retaining rings, 1004 toothed pulleys, 1005 sprocket spacers, 1006 sprockets, 1007 reducer sprockets, 1008 speed reduction motors, 1009 supports A, 1010 driving shafts, 1011 supports B, 1012 belt base bearings, 1013 proximity switch bases 1014, chains, 1101 toothed belt pressing plates, 1102 adjusting bases, 1103 trapezoidal toothed synchronous belts, 1201 supporting frames, 1202 bottom supports, 1203 side cover plates, 1204 rollers, 1205 shaft elastic retaining rings, 1206 hole elastic retaining rings, 1207 deep groove ball bearings, 1208 roller shafts, 1301 driving cylinders, 1302 air cylinder mounting flanges, 1201 supporting frames, 1202 bottom supports, 1203 side cover plates, 1204 rollers, 1205 shaft elastic retaining rings, 1206 hole elastic retaining rings, 1207 deep groove ball bearings, 1208 roller shafts, 1301 driving air cylinders, 1301 air cylinders, 1302 air cylinder mounting flanges, 1302 air cylinders, 2 air cylinder mounting flanges, 9 lifting platforms, 9 transverse supporting frames, and transverse supporting frames, 9 transverse supporting frames, and transverse supporting frames, 1303 fisheye joint, 1304 guide bar, 1305 linear bearing, 1306 guide bar fixing seat, 1307 cylinder ejection support, 1308 support connecting shaft, 1309 fixing frame, 1310 vacuum suction cup, 1311 suction cup mounting frame, 1312 cushion pad, 1313 ranging photoelectric support, 1314 photoelectric support, 1315 clamping cylinder seat, 1316 clamping cylinder, 1317 cylinder push plate, 1318 up-down drag chain, 1319 drag chain mounting plate B, 1320 drag chain groove A, 1321 left-right drag chain, 1322 drag chain mounting plate A, 1323 drag chain groove B, 1324 pneumatic mounting plate.

Detailed Description

In order to clearly illustrate the technical features of the present solution, the present solution is explained below by way of specific embodiments.

A plate rack manipulator comprises a mounting frame 5, wherein the mounting frame 5 is a gantry mounting frame 5 and comprises a support leg A1 and a support leg B2, and the support leg A1 and the support leg B2 are fixed on the ground through expansion bolts. A cross brace 9 is connected between the leg A1 and the leg B2, and the cross brace 9 is fixed with the leg A1 and the leg B2 in a bolt mode.

The upper part of the mounting frame 5 is connected with a grabbing mechanism 13 capable of transversely reciprocating at A, B two positions on the mounting frame 5 through a driving device 10, a lifting platform 6 for grabbing the material grabbed by the grabbing mechanism 13 is arranged right under the mounting frame 5 to the position A, and a material conveying conveyor 3 for grabbing the material discharged by the grabbing mechanism 13 is arranged right under the mounting frame 5 to the position B. The lifting platform 6 conveys the cover plate 8 through the feeding chain conveyor 7, the feeding chain conveyor 3 can convey the finished product to-be-packaged plate 4 to the position right below the position B, the cover plate 8 grabbed from the position A is conveyed to the upper part of the plate 4 at the position B by the to-be-grabbed mechanism 13, and then the plate added with the cover plate 8 is continuously conveyed to a packaging station for subsequent operations such as winding and packaging.

The lifting platform 6 is arranged on the ground, and the feeding chain conveyor 7 is fixed on the lifting platform 6 in a bolt mode and can move up and down under the driving of the lifting platform 6. The cover plate 8, which is transported from the front end, is raised and lowered to a height where the vacuum chuck 1310 can grip. After the vacuum chuck 1310 grabs one cover plate 8, the lifting platform 6 is slowly lifted under the measurement of ranging photoelectricity, so that the cover plate 8 is lifted to a constant height, and the vacuum chuck 1310 is convenient to grab for the second time. Until the last sheet 4 or cover 8 is gripped. The feeding chain conveyor 3 is arranged on the ground, the piled plates 4 at the front end are conveyed, the vacuum chuck 1310 is used for placing the grabbed cover plates 8 on the piled plates 4, and the feeding chain conveyor 3 is used for conveying the plates on the cover plates to the winding packaging machine for winding and packaging, so that the plates are protected in the transportation process. Placing bumps and damp-proofing during transportation, and the like.

Wherein:

the driving device 10 comprises a synchronous belt component 11, the synchronous belt component 11 comprises a driving shaft and a driven shaft which are rotatably installed in the width direction of an installation frame 5 through a bearing seat, a speed reducing motor is installed at one end of the driving shaft of the installation frame 5, the speed reducing motor is in transmission connection with the end part of the driving shaft through a chain wheel and a chain, toothed belt wheels are installed at two ends of the driving shaft and the driven shaft, trapezoidal toothed synchronous belts 1103 in an open belt are connected between the toothed belt wheels at the same side, the two trapezoidal toothed synchronous belts 1103 are connected with a motion component 12 at the opening, the motion component 12 comprises a support frame 1201 arranged at the upper part of a beam in the length direction of the installation frame 5 and a bottom support 1202 arranged at the lower part of the beam in the length direction of the installation frame 5, the support frame 1201 and the bottom support 1202 are fixedly connected through a side cover plate 1203, rolling shafts 1209 are respectively rotatably installed at one side of the support frame 1201 and the bottom support 1202, and rolling wheels 1204 are installed at two ends of the rolling shafts 1209 and are in rolling connection with the beam, the side surface of the supporting frame 1201 close to the trapezoidal tooth synchronous belt 1103 is connected with the open end of the trapezoidal tooth synchronous belt 1103 by arranging a pressing plate 1101 and an adjusting seat 1102.

The grabbing mechanism 13 comprises a fixed frame 1309 and a sucker mounting frame 1311, two sides of the fixed frame 1309 are respectively connected with a driving device 10, the middle part of the fixed frame 1309 is connected with a driving cylinder 1301 with a piston rod downward through a mounting flange 1302, two linear bearings 1305 are symmetrically mounted on two sides of the driving cylinder 1301 of the fixed frame 1309, the end part of the piston rod of the driving cylinder 1301 is vertically connected with the sucker mounting frame 1311 through an ejection support 1307 and a support connecting shaft 1308, a guide rod 1304 is movably arranged in the linear bearing 1305 in a penetrating manner, the lower end part of the guide rod 1304 is fixed with the sucker mounting frame 1311 through a guide rod fixing seat 1306, and vacuum suckers 1310 connected with a vacuum generator are uniformly mounted on the sucker mounting frame 1311. A drag chain 1318 for accommodating an air pipe and a cable is installed on the upper portion of the fixing bracket 1309 through a mounting plate and a drag chain groove. The bottom of the fixed mount 1309 is provided with a ranging photoelectric device for measuring the distance between the cover plate and the fixed mount 1309.

Two photoelectric switches which are opposite to each other and electrically connected with a controller of the clamping cylinder 1316 are respectively installed on two sides of the bottom of the sucking disc mounting frame 1311 through a photoelectric bracket 1314, and the positions of the two photoelectric switches are lower than the position of the sucking cover plate of the vacuum sucking disc 1310. The two sides of the sucker mounting frame 1311 are respectively provided with a clamping cylinder 1315 with a piston rod just opposite to the setting through a cylinder seat 1307, and the end parts of the two piston rods are respectively provided with a cylinder push plate 1317 capable of clamping a cover plate.

The mounting frame 5 is provided with travel switches electrically connected with the moving assembly through mounting seats 5 corresponding to the A position and the B position respectively, and the travel switch seats are configured with hard limit positions.

In the utility model, the lifting platform 6 and the feeding chain conveyor 7 form a lifting conveying line, and the conveyed cover plate 8 is lifted to realize the lifting movement of the cover plate 8 bin cover plate. The grabbing mechanism 13 is provided with a vacuum chuck 1310, a chuck mounting frame 1311, a driving cylinder and a guide rod 1304 structure to form a power mechanism, and drives the cover plate 8 to move up and down. The sucker mounting frame 1311 is provided with a photoelectric detection switch, so that the position of the cover plate warehouse can be detected when the sucker mounting frame is convenient to grab. The vacuum chuck 1310 has both the function of creating a vacuum or breaking a vacuum.

The moving assembly comprises a roller shaft 1208 and a roller 1204, and realizes the left and right movement of the support frame 1201 on the gantry mounting frame 5, the synchronous belt assembly 11 comprises a trapezoidal toothed synchronous belt 1103 and a toothed belt pressing plate 1101, and is used for realizing a left and right power structure of the support frame 1201, and the horizontal driving assembly is used for providing power for the left and right movement of the support frame 1201. The cylinder push plate 1317 is installed on the clamp cylinder 1301, clamped by the cover plate 8 after lifting, defining a right and left direction. The plate is opened before discharging, so that the plate is prevented from falling off due to acceleration during left-right movement. Install range finding photoelectricity on sucking disc mounting bracket 1311 for measure apron 8 and be in the sucking disc mounting bracket 1311 height of upper position, realize that lift platform 6 drives material loading conveyer 7, keep apron 8 all the time apart from the highly uniform on ground, when being convenient for snatch at every turn, apron 8's position is unchangeable. In a word, the distance measuring photoelectric sensor measures the height of the cover plate 8 from the sucker mounting frame 1311 at the upper position, so that the position of the cover plate 8 is unchanged every time the cover plate is grabbed. Then, the cylinder 1301 descends, and after the photoelectric detection switch detects the cover plate of the cover plate storage, the descending action of the cylinder 1301 is stopped. The vacuum chuck 1310 grabs the cover plate 8, and the air cylinder 1301 drives the cover plate to ascend. The horizontal moving assembly moves to the feeding conveying line, the air cylinder 1301 descends, the photoelectric detection switch detects the position of a plate, the air cylinder 1301 stops descending, and the sucking disc 1310 is used for placing the cover plate 8. The cylinder 1301 rises, and the material conveying conveyor 3 conveys the plate and the cover plate 8 to the next process, so that the full-automatic operation of the equipment is realized, and the production efficiency is improved.

Install the range finding photoelectricity on sucking disc mounting bracket 1311 for measure apron 8 apart from the sucking disc mounting bracket 1311 height that is in the upper position, realize that lift platform 6 drives material loading conveyer 7, keep the highly uniform of apron 8 distance ground throughout.

The driving device 10 is used for providing power for the left and right movement of the supporting frame 1201. When the photoelectric detection switch detects that the cylinder has descended to the cover 8 bank, the cylinder 1310 is stopped from descending. The cylinder push plate 1317 is mounted on a clamp cylinder 1316 and clamped by the raised cover plate 8 to define a right and left direction. The plate is opened before discharging, so that the plate is prevented from falling off due to acceleration during left-right movement.

The vacuum chuck 1310 includes two functions for establishing a vacuum suction cover plate. The vacuum suction cups 1310 have the function of floating up and down by 20-50mm, each suction cup can be guaranteed to suck the plate 4, and after the suction cups suck the cover plate 8, the air cylinders are lifted again. The cover plate 8 is horizontally conveyed to the position above the feeding conveying line 3, the air cylinder descends, and the photoelectric detection switch is mounted on the sucker mounting frame and used for stopping descending action of the air cylinder when the detection air cylinder descends to a piled plate. The vacuum sucking disc 1310 breaks vacuum and the cover plate 8 is placed. After placement, the cylinder is retracted. The feeding and conveying drive the plate to go to the next process.

If finished artificial boards are placed in the cover plate 8 bins, a board bin is formed. The lifting platform 6 of the feeding conveyor 3 is arranged below the feeding conveyor 3, so that stacking of artificial boards can be realized, and the boards 4 can be stacked separately. Dividing the whole stack of the plate into 30-70 small stacks according to the order requirement of a customer. The distance measuring photoelectricity is installed on the sucker mounting rack 1311 and used for measuring the height of the plate from the sucker mounting rack 1311 located at the upper position, the lifting platform drives the feeding conveyor 7, and the plate 4 of the plate bin is always kept to be consistent with the height from the ground.

The action is as follows: when the photoelectric detection switch detects that the air cylinder has descended to the plate 4 magazine, the descending operation of the air cylinder 1301 is stopped. The vacuum chuck 1310 is implemented to establish a vacuum suction cover plate 8. At the moment, the vacuum suction cups 1310 float up and down by 20-50mm, so that each suction cup can suck the plate, the suction cups 1310 suck the cover plate 8, and then the air cylinders 1301 lift. The horizontal conveying is carried on the feeding conveying line, the air cylinder 1301 descends, and when the photoelectric detection switch detects that the air cylinder 1301 descends to the piled plate 4, the descending action of the air cylinder 1301 is stopped. The vacuum suction cup 1310 breaks the vacuum and the plate 4 is placed. After placement, cylinder 1301 retracts. The distance measurement photoelectric detection is used for detecting the height of the plate of the feeding conveyor, and the lifting platform 6 of the feeding conveyor 3 descends. The height of the plate 4 from the ground is ensured to be consistent. After the stacking is finished, the lifting platform 6 adjusts the height of the feeding conveyor 3 to be consistent with the height of a subsequent conveyor. The stacked goods are conveyed out. The full-automatic operation of equipment is realized, and the production efficiency is improved.

The timing belt movement assembly 11 comprises a toothed belt pressing plate 1101, an adjusting seat 1102 and a trapezoidal toothed timing belt 1103. A pair of adjustment blocks 1102 are secured to the support frame 1201 of the horizontal motion assembly 12. The toothed belt platen 1101 is fixed to the adjustment base 1102 by a trapezoidal toothed timing belt 1103. The trapezoidal tooth synchronous belt 1103 is an open belt, one end of which is engaged with the toothed belt pulley 1004 of the horizontal driving assembly 10, and the other end of which is engaged with the driven belt pulley of the driven wheel 16. The trapezoidal tooth timing belt 1103 has openings connected to the pair of adjustment seats 1102, respectively. The toothed belt wheel 1004 for realizing the horizontal driving assembly 10 drives the support frame 1201 of the horizontal moving assembly 12 to move through the trapezoidal toothed synchronous belt 1103. The synchronous belt motion components 11 are arranged in pairs and distributed at the front end and the rear end of the mounting rack 5, so that the smooth operation of the suction cup lifting components 13 on the horizontal motion components 12 is ensured.

The horizontal movement assembly 12 includes: the support frame 1201, the bottom support 1202, the side cover plate 1203, the roller 1204, the shaft circlip 1205, the hole circlip 1206, the deep groove ball bearing 1207, the roller shaft A1208, the roller shaft B1209 and the fixing plate 1210.

The rollers 1204 are rigidly contacted with the mounting frame 5, and the horizontal moving components 12 are arranged on the mounting frame 5 in pairs to drive the suction cup lifting components 13 to move horizontally left and right. The single horizontal motion assembly 12 has two rollers 1204 on the upper side and two rollers 1204 on the lower side of the mounting frame 5. The rollers 1204 are disposed at two ends, so as to ensure the stability of the supporting frame of the suction cup lifting assembly 13. Deep groove ball bearings 1207 are distributed at two ends of the roller 1204 in a transition fit mode, and the deep groove ball bearings 1207 are in transition fit with the roller shaft A1208. The deep groove ball bearing 1207 is in rigid contact with a hole circlip 1206, the hole circlip 1206 is installed in the roller 1204 in a clearance fit mode, relative movement of the deep groove ball bearing 1207 and the roller 1204 is limited, the shaft circlip 1205 is in rigid contact with the deep groove ball bearing 1207, the shaft circlip 1205 is installed in the roller shaft A1208 in a clearance fit mode, and relative movement of the deep groove ball bearing 1207 and the roller shaft A1208 is limited. The roller shaft a 1208 is fixed to the support frame 1201. The roller 1204 is provided with 1 roller shaft a 1208, a pair of circlips 1206 for holes, a pair of shaft circlips 1205, and a pair of deep groove ball bearings 1207. When the support frame 1201 moves left and right, the roller 1204 can rotate around the roller shaft A1208, and the matching between the roller 1204 and the roller shaft B1209 and the matching between the roller 1204 and the roller shaft A1208 are similar in structure. The bottom support 1202 is fixed on the support frame 1201, and the bottom support 1202 is connected with the side cover plate 1203. The upper part of the side cover plate 1203 is connected with the supporting frame 1201, so as to form a closed whole, and provide supporting strength for the sucker lifting assembly 13. If the supporting frame 1201 is an open structure after being assembled, the supporting strength is low. The fixing plates 1210 are arranged in pairs, are in clearance fit with the roller shaft B1209, and are used for fixing the bolt structure after the roller shaft B1209 is supported, so as to play a role in locking. The bottom bracket 1202 is provided with lugs for adjusting the distance between the lower roller 1204 and the mounting bracket 5 by bolts, thereby playing a role of tension.

The horizontal driving assembly 10 comprises a U-shaped clamp 1001, a nut 1002, a retainer ring 1003, a toothed belt wheel 1004, a chain wheel spacer 1005, a chain wheel 1006, a speed reducer chain wheel 1007, a speed reducer motor 1008, a bracket A1009, a driving shaft 1010, a bracket B1011, a belt seat bearing 1012, a proximity switch seat 1013 and a chain 1014. U type clamp 1001 adopts the mode of screw thread to fix support A1009 on mounting bracket 5 with nut 1002, and support configuration 1 is convenient for guarantee the fixed steady of support A1009 to U type clamp 1001. A single clevis 1001 is threaded to secure bracket B1011 to mounting bracket 5 using a nut 1002. The seated bearing 1012 is fixed to the bracket. One of the brackets A1009 and the bracket B1011 is fixed, and the driving shaft 1010 is in transition fit with the bearing 1012 with the seat. The chain wheel 1006 is mounted on the driving shaft 1010 by a key mode, and the chain wheel spacer 1005 is in clearance fit with the driving shaft 1010 and is in rigid contact with the chain wheel 1006 and the toothed belt wheel 1004. For defining the position of the sprocket 1006 and the toothed pulley 1004. A pair of toothed pulleys 1004 are key-mounted on both ends of the drive shaft 1010, and a stopper 1003 is fixed to the drive shaft 1010 by means of bolts for restricting the left and right movements of the toothed pulleys 1004. The speed reducing motor 1008 is fixed on the support A1009 in a bolt mode, the speed reducing chain wheel 1007 is in key connection with the speed reducing motor 1008, and the speed reducing chain wheel 1007 is connected with the chain wheel 1014. The proximity switch seat 1013 is mounted on the support a 1009, and the proximity switch is fixed on the proximity switch seat 1013 to count the reducer sprocket 1007 and calculate the traveling distance. Facilitating early acceleration and deceleration of the horizontal motion assembly 12 by the deceleration motor 1008.

Left and right movement action:

the reduction motor 1008 provides power to the drive shaft 1010 through a reduction gear sprocket 1007 and a sprocket 1006 in the manner of a chain 1014. The toothed belt wheel 1004 is driven to rotate, and the suction cup lifting assembly 13 on the horizontal movement assembly 12 is driven to move left and right through the trapezoidal tooth synchronous belt 1103 of the horizontal driving assembly 10. The clamping cylinder 1316 is clamped to ensure that the cover plate 8 moves stably in the left-right direction.

The suction cup lifting assembly 13 comprises an air cylinder 1301, an air cylinder mounting flange 1302, a fisheye joint 1303, a guide rod 1304, a linear bearing 1305, a guide rod fixing seat 1306, an air cylinder ejection support 1307, a support connecting shaft 1308, a support frame 1309, a vacuum suction cup 1310, a suction cup mounting frame 1311, a cushion 1312, a ranging photoelectric support 1313, a photoelectric support 1314, a clamping air cylinder seat 1315, a clamping air cylinder 1316, an air cylinder push plate 1317, an upper drag chain 1318, a drag chain mounting plate B1319, a drag chain groove A1320, a left drag chain 1321, a right drag chain 1321, a drag chain mounting plate A1322, a drag chain groove B1323 and a pneumatic mounting plate 1324.

The support bracket 1309 of the suction cup lifting assembly 13 is fixed to the support bracket 1309 of the horizontal moving assembly 12. The cylinder 1301 is in bolted connection with a cylinder mounting flange 1302, and the cylinder mounting flange 1302 is fixed on a support frame 1309. A guide rod of the air cylinder 1301 is in bolt structure connection with a fisheye joint 1303, and the fisheye joint 1303 is connected with an air cylinder ejection support 1307 through a support connecting shaft 1308. The fisheye joint 1303 is in transition fit with a support connecting shaft 1308, the support connecting shaft 1308 is in transition fit with a cylinder ejection support 1307, and one end of the support connecting shaft 1308 is locked by a washer and a nut. The support connecting shaft 1308 is prevented from transmitting left and right in the cylinder ejecting support 1307. The cylinder ejection mount 1307 is fixed to the suction cup mount 1311. The cylinder 1301 drives the sucker mounting frame 1311 to move up and down. The bumper 1312 is made of nylon and divided into four groups, the nylon prevents the cover plate 8 from being damaged when the sucker mounting frame 1311 descends, and the two structures are respectively mounted at two ends of the sucker mounting frame to limit the position of the highest vacuum sucker 1310. The vacuum chuck 1310 is mounted on a chuck mount 1311. The vacuum suction cups 1310 are typically arranged in 8-10 pieces, with the diameter of the suction cups being 100-120 mm. The vacuum chucks 1310 are in a group of two and are uniformly distributed on the chuck mounting bracket 1311. 2 vacuum suction cups 1310 of 1 group are distributed on the suction cup mounting frame 1311 from left to right. The 5 sets of vacuum suction cups 1310 are evenly distributed on the front and back of the suction cup mounting frame 1311. Vacuum 1310 is a 20-50mm stroke chuck. When the vacuum suction cups 1310 are lowered, it is ensured that each suction cup can suck the goods. The vacuum chuck 1310 is connected to a vacuum generator to establish vacuum and break vacuum in the vacuum chuck 1310. A pneumatic mounting plate 1324, bolted to the suction cup mounting block 1311, for mounting the vacuum generator. The photoelectric switch is installed on a ranging photoelectric support 1313, and the ranging photoelectric support 1313 is installed on a sucker installation rack 1311 and used for measuring the distance between the cover plate warehouse cover plate 8 and the sucker installation rack 1311. Before the cover plate 8 is grabbed, the sucker mounting frame 1311 is located above the feeding chain conveyor 7, so that the lifting platform 6 can ascend and descend, and the distance between the cover plate 8 and the sucker mounting position is guaranteed.

The photoelectric bracket 1314 is installed on the suction cup installation frame 1311, and the photoelectric switch is installed on the photoelectric bracket 1314. The photoelectric supports 1314 are arranged in pairs and distributed at two ends of the installation of the suction cups, and the photoelectric switches are opposite switches which are lower than the positions of the vacuum suction cups 1310 for sucking the cover plates 8. The position of the cover plate warehouse or the plate 4 is detected conveniently, and the air cylinder 1301 stops pushing out. The vacuum chuck 1310 establishes a vacuum to grip the cover plate 8, or to break the vacuum to release the cover plate 8. The cylinder push plate 1317 is installed on the clamping cylinder 1316, the clamping cylinder seat 1315 is fixed on the sucker mounting frame 1311, and the clamping cylinder 1316 is configured in 2 pairs and distributed on the left side and the right side of the sucker mounting frame 1311 and used for clamping the cover plate 8 when the cover plate 8 moves forwards and backwards. Preventing the acceleration of the back and forth movement from throwing the cover plate 8 out. The linear bearings 1305 are arranged in 4 pairs, one each of which is disposed vertically, front, rear, left, and right. The linear bearing 1305 is fixed to the support 1309. The guide rod 1304 is transition fitted with a linear bearing 1305. The guide rod 1304 is in threaded engagement with the guide rod holder 1306, and the guide rod holder 1306 is in bolted engagement with the suction cup mount 1311. The guide function of the guide rod 1304 in the linear bearing 1305 is realized when the guide rod of the air cylinder 1301 drives the sucker mounting frame 1311 to move up and down. The stability of the up-and-down movement of the suction cup mounting frame 1311 is ensured.

The left and right drag chains 1321 are mounted on the drag chain mounting plate a 1322, and the other end is mounted on the drag chain slot B1323 for providing cables and air pipes for the suction cup lifting assembly 13 when moving left and right. One end of the upper drag chain 1318 and the lower drag chain 1318 is fixed with the support frame 1309 through bolts, the other end of the upper drag chain 1318 is used for fixing the drag chain groove A1320 through bolts, and the drag chain groove A1320 is fixed on the suction cup mounting frame 1311 through a bolt structure. For providing cables and air tubes for the vacuum suction cups 1310 on the suction cup mounting frame 1311 when the suction cup mounting frame 1311 and the support frame 1309 move up and down.

Preparation action:

the height of a cover plate 8 of the distance measurement photoelectric detection feeding conveyor and the height action of a lifting platform 6 of the feeding chain conveyor 7 ensure that the height of the cover plate 8 is consistent with the height of the ground.

Grabbing action:

with the clamping cylinder 1316 in a released state. When the photoelectric detection switch detects that the air cylinder 1301 descends to the cover plate warehouse, the descending action of the air cylinder 1301 is stopped. At this time, the cushion 1312 contacts the cover plate 8, and the vacuum chuck 1310 contacts the cover plate 8, so that the vacuum chuck 1310 establishes the vacuum chuck 8. At the moment, the vacuum suction cups 1310 float up and down by 20-50mm, so that each suction cup can suck the upper cover plate 8, the suction cups suck the cover plates 8, and then the air cylinder 1301 is lifted.

Releasing action:

with the clamping cylinder 1316 in a released state. The cylinder 1301 descends, and when the photoelectric detection switch detects that the cylinder 1301 descends to the piled plate 4, the descending action of the cylinder 1301 is stopped. The vacuum sucking disc 1310 breaks vacuum and the cover plate 8 is placed. After placement, cylinder 1301 retracts.

Of course, the above description is not limited to the above examples, and the undescribed technical features of the present invention can be implemented by or using the prior art, and will not be described herein again; the above embodiments and drawings are only for illustrating the technical solutions of the present invention and not for limiting the present invention, and the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that changes, modifications, additions or substitutions within the spirit and scope of the present invention may be made by those skilled in the art without departing from the spirit of the present invention, and shall also fall within the scope of the claims of the present invention.

Claims

1. The utility model provides a panel truss manipulator, includes the mounting bracket, its characterized in that: the upper part of the mounting rack is connected with a grabbing mechanism which can transversely reciprocate at A, B positions on the mounting rack through a driving device, a lifting platform for grabbing materials by the grabbing mechanism is arranged right below the mounting rack at the position A, and a material conveying conveyor for discharging materials by the grabbing mechanism is arranged right below the mounting rack at the position B; the driving device comprises a synchronous belt component, the synchronous belt component comprises a driving shaft and a driven shaft which are rotatably installed in the width direction of the installation frame through a bearing seat, a speed reducing motor is installed at one end of the driving shaft, the speed reducing motor is in transmission connection with the end part of the driving shaft through a chain wheel and a chain, toothed belt wheels are installed at the two ends of the driving shaft and the driven shaft, trapezoidal toothed synchronous belts in open belts are connected between the toothed belt wheels at the same side, the two trapezoidal toothed synchronous belts are connected with a movement component at the opening, the movement component comprises a support frame arranged at the upper part of a cross beam in the length direction of the installation frame and a bottom support arranged at the lower part of the cross beam in the length direction of the installation frame, the support frame is fixedly connected with the bottom support through a side cover plate, the support frame and the bottom support are respectively and are respectively rotatably installed with rolling shafts facing one side of the cross beam, and rolling wheels are installed at the two ends of the rolling shafts and are in rolling connection with the cross beam, the side of the support frame close to the trapezoidal tooth synchronous belt is connected with the open end of the trapezoidal tooth synchronous belt through a pressing plate and an adjusting seat.

2. The panel truss manipulator of claim 1, wherein: snatch mechanism includes mount and sucking disc mounting bracket, the both sides of mount are connected with drive arrangement respectively, the mount middle part is connected with the piston rod through mounting flange and drives actuating cylinder downwards, and the mount installs two linear bearing at the bilateral symmetry that drives actuating cylinder, the piston rod tip that drives actuating cylinder is connected perpendicularly with the sucking disc mounting bracket through ejecting support and support connecting axle, the guide bar is worn to be equipped with in the linear bearing activity, the lower tip of guide bar passes through the guide arm fixing base and is fixed with the sucking disc mounting bracket, evenly install the vacuum chuck of connecting vacuum generator on the sucking disc mounting bracket.

3. The panel truss manipulator of claim 2, wherein: two photoelectric switches which are mutually opposite and electrically connected with a clamping cylinder controller are respectively installed on two sides of the bottom of the sucker mounting frame through photoelectric supports, and the positions of the two photoelectric switches are lower than the position of the suction cover plate of the vacuum sucker.

4. The panel truss manipulator of claim 2, wherein: the two sides of the sucker mounting rack are respectively provided with a clamping cylinder with a piston rod just opposite to the setting through a cylinder seat, and the end parts of the two piston rods are respectively provided with a cylinder push plate capable of clamping the cover plate.

5. The panel truss manipulator of claim 2, wherein: the upper part of the fixing frame is provided with a drag chain for containing the air pipe and the cable through the mounting plate and the drag chain groove.

6. The panel truss manipulator of claim 2, wherein: the distance measuring photoelectricity used for measuring the distance between the cover plate and the fixing frame is installed at the bottom of the fixing frame.

7. The panel truss manipulator of claim 1, wherein: the mounting frame is provided with travel switches which are electrically connected with the horizontal movement assembly through mounting seats corresponding to the A position and the B position respectively.

8. The panel truss manipulator of claim 7, wherein: the travel switch base is configured with a hard limit.