A positioning and grasping device for sheet metal parts

Abstract

The present invention relates to the field of workpiece gripping devices, and discloses a positioning and gripping device for sheet metal parts, which includes a mounting base and a plurality of groups of adsorption components circumferentially distributed on the outer circumferential wall of the mounting base. The adsorption component includes a support arm protruding from the outer circumferential wall of the mounting base and an adsorption part. The adsorption part includes a segmented adsorption block, a plurality of adsorption units, and a linkage member for independently controlling the synchronous air extraction and air injection of each adsorption unit. The upper end surface of the segmented adsorption block is recessed with an activity groove communicating with the inside of the support arm, and a plurality of air pipes are arranged in an array at the bottom of the activity groove. The adsorption unit includes an adsorption pipe detachably connected to the end of the air pipe far from the support arm. The linkage member includes a piston rod sealingly moving in the air pipe. The end of the piston rod far from the adsorption pipe is located in the activity groove and is synchronously fixed to a lifting block. A driving mechanism for driving the lifting block to rise or fall is arranged between the support arm and the lifting block. This gripping device has high applicability, high gripping accuracy and low cost.

Description

Technical Field

[0001] The present invention relates to the field of workpiece gripping devices, and in particular to a positioning and gripping device for sheet metal parts. Background Art

[0002] Existing gripping devices are generally installed on a robotic arm and are used to grip a workpiece from one process to the next. The gripping of the workpiece by the gripping device is divided into clamping or sucking. For thin sheet-like workpieces, such as sheet metal, only the sucking method can be used for sucking.

[0003] Most of the existing structures for sucking workpieces can refer to the multi-process sucking module disclosed in the Chinese patent with the publication number CN207876822U. This patent discloses a mounting frame, a plurality of sucking components, and an adjusting component. The sucking component includes a sucking plate and a sucking unit. The sucking unit includes an air guide pipe. One end of the air guide pipe is provided with an air inlet, and the other end is provided with a detachably connected connector. A suction nozzle or a vacuum suction cup is provided on the connector.

[0004] The air inlet of such an air guide pipe is generally connected to an air pump or a vacuum pump. If each sucking unit realizes independent adsorption, the damage of a single adsorption pipe will not affect the adsorption of the air pressure adsorption pipe. However, the existing setting method requires each air guide pipe to be connected to an independent air pump, resulting in a high setting cost. If each sucking unit realizes shared adsorption, all the air guide pipes are connected to the same air pump. This setting can reduce the number of air pumps. However, once one adsorption pipe is damaged, it will cause other adsorption pipes to leak air, resulting in all adsorption pipes being unable to work. In addition, the power of the existing adsorption method is provided by relatively expensive components such as air pumps or vacuum pumps, and the cost is high. Summary of the Invention

[0005] Aiming at the disadvantage that a gripping device with multiple adsorption units and capable of independently controlling each adsorption unit in the prior art needs to be provided with multiple air pumps or vacuum pumps, resulting in high cost, the present invention provides a positioning and gripping device for sheet metal parts with multiple adsorption units, capable of independently controlling each adsorption unit and reducing the cost.

[0006] In order to solve the above technical problems, the present invention is solved by the following technical solutions:

[0007] A positioning and grasping device for sheet metal parts, comprising a mounting base and a plurality of groups of adsorption components circumferentially distributed on the outer circumferential wall of the mounting base. The adsorption components include a support arm protruding from the outer circumferential wall of the mounting base and an adsorption part provided at the end of the support arm away from the mounting base. The adsorption part includes a segmented adsorption block, a plurality of adsorption units, and a linkage member for independently controlling the synchronous air extraction and inflation of each adsorption unit. A movable groove communicating with the inside of the support arm is recessed on the upper end surface of the segmented adsorption block, and a plurality of air pipes are arranged in an array at the bottom of the movable groove. The adsorption unit includes an adsorption pipe detachably connected to the end of the air pipe away from the support arm. The linkage member includes a piston rod sealingly moving in the air pipe. The end of the piston rod away from the adsorption pipe is located in the movable groove and is synchronously fixed to a lifting block. A driving mechanism for driving the lifting block to rise or fall is provided between the support arm and the lifting block.

[0008] With the above solution, only one driving mechanism is needed to control the lifting of the linkage component. As the linkage component rises and falls, all the piston rods can be synchronously displaced relative to the air pipes they cooperate with, realizing the synchronous increase or decrease of the air pressure in each adsorption pipe. Moreover, the change in air pressure between each adsorption pipe is independent. Even if one adsorption pipe leaks, it does not affect the airtightness of the other adsorption pipes. The above adsorption part can be used to adsorb a sheet metal part. Therefore, it can ensure that a large sheet metal part can be completely adsorbed or desorbed by using one driving component, and several small sheet metal parts can also be synchronously adsorbed or desorbed. The above setting can significantly reduce the number of driving mechanisms and reduce the setting cost.

[0009] Preferably, the driving mechanism includes a reset component arranged in the movable groove, a first pulling component arranged between the support arm and the movable groove, and a driving component arranged in the support arm for driving the first pulling component.

[0010] With the above solution, the driving component drives the first pulling component to realize the pulling of the lifting block, causing the lifting block to rise. When the driving component releases the pulling, the reset component can be used to drive the lifting block to automatically descend. As the lifting block rises and falls, the positive and negative states of the air pressure in the air pipe can be switched, realizing the automatic adsorption or desorption of the adsorption pipe.

[0011] Preferably, the first pulling component includes a fixed pulley arranged in the support arm directly above the movable groove and a first pulling rope. One end of the first pulling rope is fixed to the end of the lifting block away from the piston rod, and the other end is connected to the driving component after passing around the fixed pulley. The reset component is a first elastic member whose two ends are elastically abutted against the lifting block and the lower end surface of the support arm respectively.

[0012] With the above solution, the fixed pulley can change the direction of the pulling rope to avoid wear of the pulling rope, and the first elastic member can use the restoring force to drive the lifting block without pulling force to descend for reset.

[0013] Preferably, the driving component includes a first electromagnet fixed inside the support arm and a slider sliding between the fixed pulley and the first electromagnet. One end of the first pulling rope away from the lifting block is fixedly connected to one end of the slider away from the first electromagnet. The slider is made of a metal that can be adsorbed by a magnet.

[0014] With the above solution, when the first electromagnet is powered on, the slider is attracted and moves towards the first electromagnet, thereby pulling the first pulling rope. As the first pulling rope is pulled, the lifting block rises; when the first electromagnet loses power, the slider moves away from the electromagnet under the restoring force of the first elastic member, and the lifting block automatically descends under the restoring force of the first elastic member. Therefore, when the first electromagnet is powered on, the inside of the adsorption tube becomes negative pressure, and the workpiece is in an adsorbed state; when the first electromagnet loses power, the inside of the adsorption tube becomes normal pressure, and the workpiece is in a desorbed state.

[0015] Preferably, a support shell is provided below the mounting seat, and the rotation of the mounting seat is controlled by a motor disposed inside the support shell.

[0016] With the above solution, by the forward and reverse rotation of the motor, the forward and reverse rotation of the mounting seat is realized, so that the support arm can rotate around the mounting seat, and the workpiece adsorbed on the adsorption part can be transferred to the next required process.

[0017] Preferably, the support arm includes a fixed arm fixed on the outer ring wall of the mounting seat and a movable arm that can be telescopic relative to the fixed arm. The driving component is disposed inside the movable arm. All the movable arms perform synchronous telescopic movement. The synchronous telescopic movement of the movable arms is controlled by the switching of the motor rotation direction and a switching mechanism that switches the motor from driving the rotation of the mounting seat to driving the telescopic movement of the movable arm.

[0018] With the above solution, by adjusting the telescopic position of the movable arm relative to the fixed arm, the length of the support arm can be adjusted, thereby changing the moving distance of the workpiece. The telescopic movement of the movable arm is realized by the motor and the switching mechanism. Therefore, it can be controlled by the motor simultaneously with the mounting seat and realize two different working conditions. When the switching mechanism switches to the rotation cooperation of the mounting seat relative to the support shell, the movable arm is in a locked state relative to the fixed arm; when the switching mechanism switches to the fixation of the mounting seat and the support shell, with the rotation of the motor, the movable arm can be driven to perform telescopic movement relative to the fixed arm, and the structure is ingenious.

[0019] Preferably, a second pulling mechanism is provided between the motor shaft and the movable arm. The second pulling mechanism includes a rotating shaft vertically rotatably disposed on the support shell. The lower end of the rotating shaft is fixedly connected to the motor shaft. The upper end of the rotating shaft extends into the mounting seat and a wire reel is fixed at the end. A second pulling rope with both ends fixedly connected to the two is provided between the movable arm and the wire reel. A second elastic member with both ends elastically abutted against the movable arm and the outer ring wall of the mounting seat or one end of the fixed arm away from the movable arm is provided inside the fixed arm.

[0020] With the above solution, when the mounting seat and the support shell are in a fixed state, the rotation of the motor drives the rotation of the rotating shaft and the wire winding wheel, driving the second pulling rope to pull the moving arm, and the moving arm contracts relative to the fixed arm; when the motor rotates in reverse, under the restoring force of the second elastic member, the distance that the moving arm extends relative to the support arm is the length of the second pulling rope released by the rotation of the motor. Once the mounting seat and the support shell rotate relative to each other, the wire winding wheel, the rotating shaft and the mounting seat are relatively stationary. At this time, the moving arm is in a locked state relative to the fixed arm.

[0021] Preferably, the switching mechanism includes a lifting lock block arranged to lift and lower within the mounting seat, an upper meshing tooth ring arranged around the rotating shaft on the lower end face of the wire winding wheel, and a lower meshing tooth ring fixed on the outer ring wall of the support shell. Meshing teeth that can respectively mesh with the upper meshing tooth ring and the lower meshing tooth ring are arranged on the upper and lower end faces of the lifting lock block, and a driving member for driving the lifting lock block to lift and lower is arranged within the mounting seat.

[0022] With the above solution, driven by the driving member, the lifting lock block lifts and lowers. When the lifting lock block rises, the lifting lock block is inserted and matched with the bottom of the mounting seat, the upper meshing teeth mesh with the upper meshing tooth ring, and the lower meshing teeth disengage from the lower meshing tooth ring. Therefore, the mounting seat and the rotating shaft are in a locked state, and the rotating shaft and the support shell are in a rotating state. At this time, with the rotation of the motor, the mounting seat is in a rotating state, and the moving arm is in a locked state relative to the support arm; when the lifting lock block descends, the lifting lock block is inserted and matched with the bottom of the mounting seat, the upper meshing teeth disengage from the upper meshing tooth ring, and the lower meshing teeth mesh with the lower meshing tooth ring. Therefore, the mounting seat and the support shell are in a locked state, and the mounting seat and the rotating shaft are in a relative rotating state. When the motor rotates forward and backward, the moving arm makes a telescopic movement relative to the fixed arm, and the mounting seat is in a stationary state relative to the support shell.

[0023] Preferably, the driving member includes a mounting block fixed to the bottom of the mounting seat and opening upward, a second electromagnet fixed within the mounting block, and a moving block telescopically arranged within the mounting block. One end of the moving block away from the second electromagnet extends out of the mounting block and is fixedly connected to the side wall of the lifting lock block, and a third elastic member with both ends fixed to the two is arranged between the moving block and the second electromagnet.

[0024] With the above solution, when the second electromagnet loses power, under the restoring force of the third elastic member, the moving block moves upward, driving the lifting lock block to rise until the upper meshing teeth of the lifting lock block mesh with the upper meshing tooth ring. At this time, the lower part of the lifting lock block disengages from the lower meshing tooth ring; when the second electromagnet is powered on, the moving block moves downward, driving the lifting lock block to descend until the lower meshing teeth of the lifting lock block mesh with the lower meshing tooth ring. At this time, the upper part of the lifting lock block disengages from the upper meshing tooth ring. During the lifting and lowering process of the lifting lock block, it is always in an inserted state with the bottom of the mounting seat.

[0025] Preferably, the support shell is arranged on a base through a lifting member, and the lifting member is a cylinder or an oil cylinder fixed on the base. The piston rod of the cylinder or the oil cylinder is fixedly connected to the bottom of the support shell.

[0026] With the above solution, as the piston rod of the cylinder or the oil cylinder expands and contracts, the mounting seat and the adsorption assembly can be driven to lift, enabling steps such as descending to suck the workpiece, rising and then carrying the workpiece to rotate to the next process, and then descending to release the workpiece.

[0027] Due to the adoption of the above technical solution, the present invention has remarkable technical effects:

[0028] 1. By simply energizing or de-energizing the first electromagnet, the positive pressure and negative pressure of the adsorption assembly with multiple adsorption units can be switched. Moreover, the adsorption tubes of each adsorption unit are independently controlled, preventing the failure of the adsorption of the sheet metal part due to the air leakage of one adsorption tube, improving the adsorption accuracy and the service life of the gripping device. The structure that combines the energizing or de-energizing of the first electromagnet with the linkage member to realize the switching between adsorption and release of the adsorption unit can significantly reduce the cost.

[0029] 2. Through the setting of the second pulling mechanism and the switching mechanism, a single motor can simultaneously realize the rotation of the entire gripping device or the synchronous adjustment of the lengths of several support arms. When the motor rotates and the gripping device rotates, the lengths of all support arms remain unchanged; when the motor rotates and the gripping device is stationary, the lengths of the support arms increase or decrease, depending on the forward or reverse rotation of the motor. The setting of the above structure can significantly reduce the manufacturing cost, increase the applicability, and the structure is very ingenious. Description of the Drawings

[0030] Figures 1-2 is an axonometric view of a sheet metal positioning and gripping device of this embodiment;

[0031] Figure 3 is a front view of a sheet metal positioning and gripping device of this embodiment;

[0032] Figure 4 is Figure 3 a cross-sectional view taken along A-A of

[0033] Figure 5 is Figure 4 an enlarged view of A of

[0034] Figure 6 is a right view of a sheet metal positioning and gripping device of this embodiment;

[0035] Figure 7 is Figure 6 a cross-sectional view taken along B-B of

[0036] Figure 8 is Figure 7 an enlarged view of B;

[0037] Figure 9 is an isometric view of the switching mechanism of this embodiment.

[0038] The names of the parts referred to by each digital label in the above drawings are as follows: 1. mounting base; 2. fixed arm; 3. moving arm; 4. adsorption tube; 5. suction cup; 6. support shell; 7. fixing ring; 8. bottom plate; 9. cylinder; 10. base; 11. stud; 12. locking nut; 13. fixing column; 14. support seat; 15. segmented adsorption block; 151. movable groove; 152. air pipe; 16. motor; 17. rotating shaft; 18. wire reel; 19. second pulling rope; 20. second elastic member; 21. upper meshing tooth ring; 22. lower meshing tooth ring; 23. first electromagnet; 24. slider; 25. first pulling rope; 26. fixed pulley; 27. piston rod; 28. lifting block; 29. first elastic member; 30. bearing; 31. second electromagnet; 32. mounting block; 33. third elastic member; 34. moving block; 35. lifting lock block; 36. meshing tooth. Detailed implementation mode

[0039] The present invention will be further described in detail below with reference to the drawings and embodiments.

[0040] Embodiment

[0041] A positioning and grasping device for sheet metal parts, as shown in reference to Figures 1-9 , includes a support seat 14, a fixing column 13 vertically fixed on the support seat 14, and a base 10 arranged to be lifted and lowered on the fixing seat. An installation seat 1 is arranged to be lifted and lowered on the base 10. A plurality of groups of adsorption components are circumferentially and spacedly distributed on the outer circumferential wall of the installation seat 1. In the above structure, the lifting adjustment between the fixing column 13 and the base 10 is realized through a manual adjustment mechanism. The manual adjustment mechanism includes a stud 11 vertically arranged below the base 10 and a threaded groove arranged on the upper end surface of the fixing column 13 and cooperating with the stud 11. A locking nut 12 is arranged on the stud 11.

[0042] The installation seat 1 is rotatably arranged on a support shell 6, and the support shell 6 is fixed on a bottom plate 8. A lifting component is arranged between the bottom plate 8 and the base 10. The lifting component is a cylinder 9 or an oil cylinder fixed on the base 10. In this embodiment, the cylinder 9 is adopted. The end of the piston rod 27 of the cylinder 9 is fixedly connected to the bottom plate 8. In order to prevent the bottom plate 8 from rotating, the piston rod 27 of the cylinder 9 is set to be non-circular or a longitudinal guiding mechanism is arranged between the bottom plate 8 and the base 10. In this embodiment, the piston rod 27 of the cylinder 9 is set to be rectangular, and the synchronous lifting of all parts above the bottom plate 8 can be realized through the telescopic movement of the piston rod 27 of the cylinder 9.

[0043] The mounting base 1 is rotatably connected to the upper end of the support shell 6 through a bearing 30. The bearing 30 is a flat thrust ball bearing. The rotation of the mounting base 1 is controlled by a motor 16 arranged in the support base 14.

[0044] Specifically referring to Figures 4-5 As shown, the adsorption assembly includes a support arm protruding from the outer ring wall of the mounting base 1. The support arm includes a fixed arm 2 fixed on the outer ring wall of the mounting base 1 and a movable arm 3 that can be telescopic relative to the fixed arm 2. At the lower end of the movable arm 3, an adsorption part is fixed at one end far from the fixed arm 2. The adsorption part includes a segmented adsorption block 15, a number of adsorption units, and a linkage member for independently controlling the synchronous air extraction and injection of each adsorption unit. The upper end of the segmented adsorption block 15 is fixedly connected to the movable support arm. A movable groove 151 communicating with the inside of the support arm is recessed on the upper end surface of the segmented adsorption block 15. A number of air pipes 152 penetrating to the bottom of the segmented adsorption block 15 are arranged in an array at the bottom of the movable groove 151. The adsorption unit includes an adsorption pipe 4 detachably connected to the far end of the air pipe 152 from the support arm. In this embodiment, the adsorption pipe 4 is detachably and hermetically connected to the bottom of the air pipe 152 through a threaded structure. A suction cup 5 is integrally provided at the bottom of the adsorption pipe 4. The suction cup 5 is a rigid suction cup 5 and has an elastic ring at the bottom. The linkage member includes a piston rod 27 that seals and moves in the air pipe 152. One end of the piston rod 27 far from the adsorption pipe 4 is located in the movable groove 151 and is synchronously fixed to a lifting block 28.

[0045] A driving mechanism for driving the lifting block 28 to rise or fall is provided between the support arm and the lifting block 28. The driving mechanism includes a reset member disposed in the movable slot 151, a first pulling member disposed between the support arm and the movable slot 151, and a driving member disposed in the support arm for driving the first pulling member. The first pulling member includes a fixed pulley 26 disposed in the moving arm 3 directly above the movable slot 151 and a first pulling rope 25. One end of the first pulling rope 25 is fixed to the end of the lifting block 28 away from the piston rod 27, and the other end is connected to the driving member after passing around the fixed pulley 26. The driving member includes a first electromagnet 23 fixed in the moving arm 3 and a slider 24 slidable between the fixed pulley 26 and the first electromagnet 23. The slider 24 is made of a metal that can be adsorbed by a magnet. In this embodiment, the slider 24 is made of iron. One end of the first pulling rope 25 away from the lifting block 28 is fixedly connected to the end of the slider 24 away from the first electromagnet 23. The reset member is a first elastic member 29 with two ends elastically abutting against the lifting block 28 and the lower end surface of the moving arm 3 respectively. The first elastic member 29 is a spring, and the spring is sleeved outside the first rope-catching member. When the first electromagnet 23 is energized, the slider 24 is attracted and moves towards the first electromagnet 23, thereby pulling the first pulling rope 25. With the pulling of the first pulling rope 25, the lifting block 28 rises; when the first electromagnet 23 is de-energized, the slider 24 moves in the direction away from the electromagnet under the restoring force of the first elastic member 29, and the lifting block 28 automatically descends under the restoring force of the first elastic member 29. Therefore, when the first electromagnet 23 is energized, the inside of the adsorption tube 4 becomes negative pressure, and the workpiece is in an adsorbed state; when the first electromagnet 23 is de-energized, the inside of the adsorption tube 4 becomes normal pressure, and the workpiece is in a desorbed state.

[0046] All the moving arms 3 perform synchronous telescopic movements. The synchronous telescopic movements of the moving arms 3 are controlled by the switching of the rotation direction of the motor 16 and a switching mechanism for switching the motor 16 from driving the mounting base 1 to driving the telescopic movement of the moving arms 3. Combining the motor 16, the switching mechanism, and a second pulling mechanism disposed between the motor 16 shaft and the moving arm 3 can realize the switching between the telescopic movement of the moving arm 3 relative to the fixed arm 2 with the mounting base 1 stationary or the rotation of the mounting base 1 with the moving arm 3 stationary relative to the fixed arm 2.

[0047] Combined with Figure 4 、 Figures 7-8 As shown in the figure, the second pulling mechanism includes a rotating shaft 17 vertically rotatably disposed on the support shell 6. The lower end of the rotating shaft 17 is fixedly connected to the motor 16 shaft. The upper end of the rotating shaft 17 extends into the mounting base 1 and a wire winding wheel 18 is fixed to the end. A second pulling rope 19 with two ends fixed to the two is disposed between the moving arm 3 and the wire winding wheel 18. A second elastic member 20 with two ends elastically abutting against the moving arm 3 and the outer wall of the mounting base 1 or the end of the fixed arm 2 away from the moving arm 3 respectively is disposed in the fixed arm 2. The second elastic member 20 is a spring and is sleeved outside the second pulling rope 19.

[0048] Combined withFigure 9 As shown in the figure, the switching mechanism includes a lifting lock block 35 that is arranged to lift inside the mounting base 1, an upper meshing tooth ring 21 that is arranged around the rotating shaft 17 on the lower end face of the wire take-up wheel 18, and a lower meshing tooth ring 22 that is fixed on the outer ring wall of the support shell 6. Meshing teeth 36 that can be meshed with the upper meshing tooth ring 21 and the lower meshing tooth ring 22 respectively are arranged on the upper and lower end faces of the lifting lock block 35. A driving member for driving the lifting lock block 35 to lift is arranged inside the mounting base 1. The driving member includes a mounting block 32 that is fixed at the bottom of the mounting base 1 and has an upward opening, a second electromagnet 31 that is fixed inside the mounting block 32, and a moving block 34 that is telescopically arranged inside the mounting block 32. One end of the moving block 34 away from the second electromagnet 31 extends out of the mounting block 32 and is fixedly connected to the side wall of the lifting lock block 35. A third elastic member 33 with both ends fixed to the two is arranged between the moving block 34 and the second electromagnet 31. The third elastic member 33 is a spring. When the second electromagnet 31 loses power, under the action of the restoring force of the third elastic member 33, the moving block 34 moves upward, driving the lifting lock block 35 to rise until the meshing teeth 36 above the lifting lock block 35 are meshed with the upper meshing tooth ring 21. At this time, the lower part of the lifting lock block 35 is disengaged from the lower meshing tooth ring 22. At this time, the mounting base 1 and the rotating shaft 17 are in a locked state, and the rotating shaft 17 and the support shell 6 are in a rotating state. As the motor 16 rotates, the mounting base 1 is in a rotating state, and the moving arm 3 is in a locked state relative to the fixed arm. When the second electromagnet 31 is powered on, the moving block 34 moves downward, driving the lifting lock block 35 to descend until the meshing teeth 36 below the lifting lock block 35 are meshed with the lower meshing tooth ring 22. At this time, the upper part of the lifting lock block 35 is disengaged from the upper meshing tooth ring 21. At this time, the mounting base 1 and the support shell 6 are in a locked state, and the mounting base 1 and the rotating shaft 17 are in a relative rotating state. When the motor 16 rotates forward and backward, the moving arm 3 makes a telescopic movement relative to the fixed arm 2, and the mounting base 1 is in a static state relative to the support shell 6. To achieve the above functions, during the lifting process of the lifting lock block 35, it is necessary to always be in an inserted state with the bottom of the mounting base 1.

[0049] The motor 16 uses a servo motor 16. The first electromagnet 23, the second electromagnet 31, the servo motor 16, and the electromagnetic switching valve of the air cylinder 9 are all connected to the PLC. The first electromagnet 23 of each adsorption component is connected in series with a control switch, and all the first electromagnets 23 are connected in parallel. Through the PLC, the power-on or power-off of each first electromagnet 23 can be controlled.

[0050] First, the debugging steps of the grasping device are as follows:

[0051] 1. According to the heights of the two processes, adjust the height of the stud 11 relative to the fixed column 13, which is achieved by rotating the base 10 and the lock nut 12.

[0052] 2. According to the distance between the two processes, adjust the lengths of all support arms. The adjustment method is as follows:​

[0053] A. Control the second electromagnet 31 to lose power, and the lifting lock block 35 rises to engage with the upper meshing gear ring 21;

[0054] B. Control the motor 16 to rotate (if the support arm is too short, control the motor 16 to rotate counterclockwise; if the support arm is too long, control the motor 16 to rotate clockwise);

[0055] C. Control the second electromagnet 31 to be powered on, and the lifting lock block 35 descends and engages with the lower meshing gear ring 22.

[0056] The support arms of this grasping device are provided with 4 groups, and are respectively arranged at 90°, and the two support arms arranged at 180° respectively perform the sucking and releasing operations synchronously. That is, when a sheet metal part is sucked from the previous process, there is a sheet metal part being released to the next process synchronously.

[0057] The operation steps are as follows:

[0058] 1. When a support arm rotates to correspond to the previous process, a support arm rotates to the next process. After the travel switch of the previous process detects the support arm, it sends a signal to the PLC, and the PLC controls the motor 16 to stop;

[0059] 2. The PLC controls the piston rod 27 of the cylinder 9 to retract, and the two symmetrically arranged support arms both descend to the upper and lower processes. Among them, the suction cup 5 located in the previous process fits with the sheet metal part;

[0060] 3. The PLC controls the first electromagnet 23 in the support arm located in the previous process to be powered on, and the sheet metal part is adsorbed by the suction cup 5. At the same time, the PLC controls the first electromagnet 23 in the support arm located in the next process to lose power, and releases the workpiece on the suction cup 5 to the next process. At the same time, the first electromagnets 23 in all the support arms rotating from the previous process to the next process are all in the powered-on state, and the first electromagnets 23 in all the support arms rotating from the next process to the previous process are all in the power-off state;

[0061] 4. The PLC controls the piston rod 27 of the cylinder 9 to extend, and the support arm rises until the sheet metal part disengages from the process;

[0062] 5. The PLC controls the motor 16 to continue rotating;

[0063] 7. Repeat steps 1 - 6.

Claims

1. A positioning and grasping device for sheet metal parts, comprising a mounting base (1) and a plurality of groups of adsorption components circumferentially distributed on the outer circumferential wall of the mounting base (1), characterized in that: The adsorption assembly includes a support arm protruding from the outer circumferential wall of the mounting base (1) and an adsorption part provided at one end of the support arm away from the mounting base (1). The adsorption part includes a segmented adsorption block (15), a plurality of adsorption units, and a linkage member for independently controlling the synchronous air extraction and discharge of each adsorption unit. A movable groove (151) communicating with the inside of the support arm is recessed in the upper end surface of the segmented adsorption block (15), and a plurality of air pipes (152) are arranged in an array at the bottom of the movable groove (151). The adsorption unit includes an adsorption pipe (4) detachably connected to one end of the air pipe (152) away from the support arm. The linkage member includes a piston rod (27) sealingly moving in the air pipe (152). One end of the piston rod (27) away from the adsorption pipe (4) is located in the movable groove (151) and is synchronously fixed to a lifting block (28). A driving mechanism for driving the lifting block (28) to rise or fall is provided between the support arm and the lifting block (28). A support shell (6) is provided below the mounting base (1). The rotation of the mounting base (1) is controlled by a motor (16) provided in the support shell (6). The support arm includes a fixed arm (2) fixed to the outer circumferential wall of the mounting base (1) and a movable arm (3) that can telescopically move relative to the fixed arm (2). A driving component is provided in the movable arm (3). All the movable arms (3) perform synchronous telescopic movement. The synchronous telescopic movement of the movable arms (3) is controlled by the switching of the rotation direction of the motor (16) and a switching mechanism for switching the motor (16) from driving the rotation of the mounting base (1) to driving the telescopic movement of the movable arms (3).

2. The sheet metal part positioning and grasping device according to claim 1, wherein: The driving mechanism includes a reset component provided in the movable groove (151), a first pulling component provided between the support arm and the movable groove (151), and a driving component provided in the support arm for driving the first pulling component.

3. The sheet metal part positioning and grasping device according to claim 2, wherein: The first pulling component includes a fixed pulley (26) provided in the support arm directly above the movable groove (151) and a first pulling rope (25). One end of the first pulling rope (25) is fixed to the end of the lifting block (28) away from the piston rod (27), and the other end is connected to the driving component after passing around the fixed pulley (26). The reset component is a first elastic member (29) elastically abutted against the lifting block (28) and the lower end surface of the support arm at both ends.

4. A sheet metal part positioning and grasping device according to claim 3, characterized in that: The driving component includes a first electromagnet (23) fixed in the support arm and a slider (24) sliding between the fixed pulley (26) and the first electromagnet (23). One end of the first pulling rope (25) away from the lifting block (28) is fixedly connected to the end of the slider (24) away from the first electromagnet (23). The slider (24) is made of a metal that can be adsorbed by a magnet.

5. A sheet metal part positioning and grasping device according to claim 1, characterized in that: A second pulling mechanism is provided between the motor shaft and the moving arm (3). The second pulling mechanism includes a rotating shaft (17) vertically rotatably arranged on the support shell (6). The lower end of the rotating shaft (17) is fixedly connected to the motor shaft. The upper end of the rotating shaft (17) extends into the mounting seat (1) and a wire reel (18) is fixed to the end. A second pulling rope (19) with both ends fixedly connected to the moving arm (3) and the wire reel (18) is arranged between the moving arm (3) and the wire reel (18). A second elastic member (20) with both ends elastically abutted against the moving arm (3) and the outer wall of the mounting seat (1) or one end of the fixed arm (2) away from the moving arm (3) is arranged in the fixed arm (2).

6. The sheet metal part positioning and grasping device according to claim 5, characterized in that: The switching mechanism includes a lifting lock block (35) arranged to lift in the mounting seat (1), an upper meshing tooth ring (21) arranged with the rotating shaft (17) as the center on the lower end face of the wire reel (18), and a lower meshing tooth ring (22) fixed on the outer wall of the support shell (6). Meshing teeth (36) capable of meshing with the upper meshing tooth ring (21) and the lower meshing tooth ring (22) respectively are arranged on the upper and lower end faces of the lifting lock block (35). A driving member for driving the lifting lock block (35) to lift is arranged in the mounting seat (1).

7. The sheet metal part positioning and grasping device according to claim 6, characterized in that: The driving member includes a mounting block (32) fixed to the bottom of the mounting seat (1) and opening upward, a second electromagnet (31) fixed in the mounting block (32), and a moving block (34) telescopically arranged in the mounting block (32). One end of the moving block (34) away from the second electromagnet (31) extends out of the mounting block (32) and is fixedly connected to the side wall of the lifting lock block (35). A third elastic member (33) with both ends fixedly connected to the moving block (34) and the second electromagnet (31) is arranged between the moving block (34) and the second electromagnet (31).

8. The positioning and grasping device for sheet metal parts according to claim 1, wherein: The support shell (6) is arranged to lift on a base (10) through a lifting member. The lifting member is a cylinder (9) or an oil cylinder fixed on the base (10). The piston rod (27) of the cylinder (9) or the oil cylinder is fixedly connected to the bottom of the support shell (6).

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