A flexible positioning tray device for blades

Abstract

The present invention discloses a flexible positioning tray device for blades, aiming to solve the deficiencies of the existing tray devices that can only fix a single type of blade, have poor compatibility, and are difficult to match the feeding rhythm of the robot, thus affecting the overall polishing efficiency. The invention includes a tray body for placing blades, the tray body includes an upper plate, a chassis arranged parallel to the upper plate, and an adjusting device connecting the upper plate and the chassis. A plurality of soft clamps are arranged on the upper plate, and the soft clamps are in a "U" - shaped structure; the soft clamp is a flexible gripper that can realize the positioning and clamping of the blade. This device uses the soft clamp made of open - ended flexible material to position and fix the profile of the blade. The elastic property of the flexible material can be used to clamp the blade to prevent the blade from falling down on the tray. After the blade is positioned by the neatly arranged open - ended flexible material, it can meet the accurate material taking of the robot gripper; this device has a certain compatibility with the blades and can fix different types of blades.

Description

Technical Field

[0001] The present invention relates to the technical field related to a tray device, and more specifically, it relates to a flexible positioning tray device for blades. Background Art

[0002] Currently, before the production process of the polishing process of engine blades, it is usually necessary to send the blades to be polished to the designated tray position, and then the robot grabs the blades at the tray position and transports them to the polishing process for processing. However, since the known tray device can only fix a single type of blade, the compatibility is poor, and the customer produces many types of blades on site and needs to polish these blades. As a result, manual assistance is required during blade grinding. Because the robot grinding rate is fast, but the number of blades assisted by manual feeding is small, and the back-and-forth feeding affects the overall operation rhythm, thus affecting the overall polishing efficiency. Summary of the Invention

[0003] The present invention overcomes the deficiencies that the existing tray device can only fix a single type of blade, has poor compatibility, and is difficult to match the feeding rhythm of the robot, thus affecting the overall polishing efficiency. It provides a flexible positioning tray device for blades, which can fix multiple types of blades, has high compatibility, and can effectively match the feeding rhythm of the robot, thereby greatly improving the overall polishing efficiency of the blades.

[0004] A further object of the present invention is to provide two clamping and fixing points for the blade by setting an auxiliary clamping device in cooperation with a soft clamp, preventing the blade from falling down on the tray.

[0005] To solve the above technical problems, the present invention adopts the following technical solution: A flexible positioning tray device for blades, including a tray body for placing blades, the tray body includes an upper plate, a chassis parallel to the upper plate, and an adjusting device connecting the upper plate and the chassis. A plurality of soft clamps are arranged on the upper plate, and the soft clamps are in a "U" - shaped structure; the adjusting device can adjust the relative distance between the upper plate and the chassis.

[0006] The soft clamp here is a flexible gripper that can realize the positioning and clamping of the blade. This device uses an open - mouth flexible material soft clamp to position and fix the profile of the blade. The elastic property of the flexible material can clamp the blade to prevent it from falling down on the tray. The neatly arranged open - mouth flexible material can meet the precise picking of the robot gripper after positioning the blade; this device has a certain compatibility with the blade, can fix different types of blades; this device can place multiple blades, and 40 blades can be polished at one time. The soft clamps in this application mainly clamp and fix the middle position of the blade, and the size of the clamping position in the middle of different types of blades will be different; since the blade belongs to the prior art, the specific structure will not be described in detail here. Each soft clamp is fastened to the upper plate by two bolts.

[0007] Preferably, a number of single-row equally-spaced rectangular through-holes are provided on the upper plate. An installation groove is provided inside one side wall of this structure, and the soft clamp is fastened in the installation groove by two bolts.

[0008] Preferably, a number of the blades are arranged in a rectangular array at a position close to the side of the rectangular through-holes.

[0009] Preferably, an opening is provided on the soft clamp. The opening directions of the soft clamps are the same and are all arranged towards the nearest rectangular through-hole.

[0010] Preferably, the adjusting device includes a number of support plates provided on the chassis, and a number of slide rods and screw rods provided between the upper plate and the support plates. The number of support plates in this structure is two, which are arranged on the two side walls of the chassis and are fastened and connected by bolts.

[0011] Preferably, one end of the slide rod is fixedly connected to the upper plate, and the other end is slidably connected to an oil-free bushing fixedly provided on the support plate. This structure facilitates the guiding and supporting of the chassis.

[0012] Preferably, a knob is provided on the screw rod. The screw rod near the knob is rotatably connected to the upper plate, and the screw rod is threadedly connected to the support plate. When it is necessary to adjust the distance between the upper plate and the chassis, the knob is rotated manually to drive the screw rod to rotate. The rotation of the screw rod drives the chassis to perform telescopic adjustment along the axial direction of the slide rod, so as to realize the adjustment of the distance.

[0013] Preferably, a limiting chute is opened on the chassis directly below the soft clamp. Taking the software opening direction as the longitudinal direction, this structure can limit the lateral movement and deviation of the blade, and can also play a certain guiding role for the blade, facilitating the picking and placing operation of the blade.

[0014] Preferably, an auxiliary clamping device is provided on the chassis. The auxiliary clamping device includes a support mechanism and a secondary clamping mechanism. The support mechanism includes a rotating support plate and a spring. A rotating cavity is provided in the bottom wall of the limit chute. One end of the rotating support plate is installed on the inner wall of the rotating cavity through a rotating shaft. A telescopic spring is connected between the rotating support plate on the side away from the rotating shaft and the bottom wall of the rotating cavity. A clamping jaw cavity is provided in the wall body of the limit chute near the support mechanism. The secondary clamping mechanism is arranged in the clamping jaw cavity. The secondary clamping mechanism includes a telescopic clamping jaw for fixing the lower part of the blade and a sliding push rod slidably arranged in the chassis. The telescopic clamping jaw includes a left clamping jaw part and a right clamping jaw part. Two rotating shafts are fixedly arranged between the upper and lower wall bodies of the clamping jaw cavity. The left clamping jaw part and the right clamping jaw part are both rotatably arranged on the rotating shafts. The tails between the left clamping jaw part and the right clamping jaw part are in contact with each other. The sliding push rod has a "T" - shaped structure. A telescopic spring is provided between the sliding push rod and the chassis. One end of the sliding push rod extends into the limit chute and is located at the middle position between the left clamping jaw part and the right clamping jaw part, and the other end is arranged at the upper side position between the left clamping jaw part and the right clamping jaw part. Two connecting rods are fixedly installed on both sides of the sliding push rod. A chute a is provided on both the left clamping jaw part and the right clamping jaw part. A sliding part is provided at the end of the connecting rod. The sliding part is slidably installed in the chute a.

[0015] Preferably, the rotating support plate includes a shaft connection section, a transition section, and a support section. The shaft connection section is the part of the rotating support plate connected to the rotating shaft, and the vertical height of this part is the same as the bottom surface of the limit chute. The support section is the part of the rotating support plate on the side away from the rotating shaft connected to the spring, and the horizontal height of this part is higher than the vertical height of the bottom surface of the chute a. The transition section is inclined and is used for the guiding and sliding movement during the installation of the blade.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) This device uses an open - mouth flexible material soft clamp to position and fix the profile of the blade. The elastic property of the flexible material can clamp the blade to prevent the blade from falling down on the tray. After the blade is positioned by the neatly arranged open - mouth flexible material, it can meet the accurate material taking of the robot gripper. (2) This device has a certain compatibility with the blade and can fix different types of blades. (3) This device is provided with an auxiliary clamping device, which can cooperate with the soft clamp to clamp and fix the blade at two places. Description of the Drawings

[0017] Figure 1 is the axonometric view of the tray body in Embodiment 1 of the present invention;

[0018] Figure 2 is the front view of the tray body in Embodiment 1 of the present invention;

[0019] Figure 3It is the bottom view of the tray body in Embodiment 1 of the present invention;

[0020] Figure 4 It is the right view of the tray body in Embodiment 1 of the present invention;

[0021] Figure 5 It is the structural schematic diagram of the blade of the present invention;

[0022] Figure 6 It is the structural schematic diagram of the robot grasping the blade of the present invention;

[0023] Figure 7 It is the partial cross-sectional view of the upper plate and the chassis in Embodiment 2 of the present invention;

[0024] Figure 8 It is the structural schematic diagram of the secondary clamping mechanism in Embodiment 2 of the present invention;

[0025] In the figure:

[0026] Tray body 1; upper plate 2; chassis 3; soft clamp 4; rectangular through-hole 5; opening 6; support plate 7; sliding rod 8; screw rod 9; oil-free bushing slide 10; knob 11; limit chute 12; blade 100; upper part 101, middle part 102; lower part 103; support mechanism 800; rotating support plate 801; spring 802; rotating cavity 803; rotating shaft 804; connecting section 805; transition section 806; support section 807; secondary clamping mechanism 900; telescopic claw 901; sliding push rod 902; left part of the claw 901a; right part of the claw 901b; telescopic spring 903; connecting rod 904; chute a 905; sliding member 906. Specific embodiments

[0027] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0028] The technical solutions of the present invention will be further specifically described below through specific embodiments and in conjunction with the accompanying drawings: Embodiment 1: A blade flexible positioning tray device (see the attached Figures 1-6) A tray body 1 for placing blades 100, the tray body includes an upper plate 2, a chassis 3 arranged parallel to the upper plate, and an adjusting device connecting the upper plate and the chassis. A number of soft clamps 4 are arranged on the upper plate, and the soft clamps are in a "U" - shaped structure; the adjusting device can adjust the relative distance between the upper plate and the chassis. There are eight single - row equally - spaced rectangular through - holes 5 on the upper plate. An installation groove is provided inside one side wall of this structure, and the soft clamp is fastened in the installation groove by two bolts. A number of the blades are arranged in a rectangular array at a position close to the side of the rectangular through - hole. An opening 6 is provided on the soft clamp. The opening directions of the soft clamps are the same and all face the nearest rectangular through - hole. The adjusting device includes a number of support plates 7 arranged on the chassis, two sliding rods 8 arranged between the upper plate and the support plates, and a screw rod 9. The screw rod is arranged between the two screw rods. The number of support plates in this structure is two, which are arranged on the two side walls of the chassis and are fixedly connected by bolts; one end of the sliding rod is fixedly connected to the upper plate, and the other end is slidably connected to a non - oil bushing 10 fixedly provided on the support plate. This structure facilitates the guiding and supporting of the chassis. A knob 11 is provided on the screw rod. The screw rod near the knob is rotatably connected to the upper plate, and the screw rod is threadedly connected to the support plate. When it is necessary to adjust the distance between the upper plate and the chassis, the knob is rotated manually to drive the screw rod to rotate. The rotation of the screw rod drives the chassis to expand and contract along the axial direction of the sliding rod, thereby realizing the adjustment of the distance. A limiting chute 12 is opened on the chassis directly below the soft clamp. Taking the software opening direction as the longitudinal direction, this structure can limit the lateral movement and offset of the blade, and can also play a certain guiding role for the blade, facilitating the picking and placing operation of the blade.

[0029] The soft clamp is a kind of flexible jaw that can realize the positioning and clamping of the blade. This device uses an opening flexible material soft clamp to position and fix the profile of the blade. The elastic property of the flexible material can be used to clamp the blade to prevent the blade from falling down on the tray. After the neatly arranged opening flexible material positions the blade, it can meet the precise material - picking requirements of the robot gripper; this device has a certain compatibility with the blade and can fix different types of blades; this device can place multiple blades, and 40 blades can be polished at one time. The soft clamps in this application mainly clamp and fix the middle position of the blade, and the sizes of the clamping positions in the middle of different types of blades will be different. Among them, the blade 100 is evenly divided into three parts: an upper part 101, a middle part 102, and a lower part 103; since the blade belongs to the prior art, the specific structure will not be elaborated here. Each soft clamp is fastened to the upper plate by two bolts.

[0030] Workflow:

[0031] When it is necessary to adjust the vertical distance between the upper plate and the chassis through the adjusting device, first manually rotate the knobs on both sides of the chassis at the same time. The rotation of the knobs drives the rotation of the screw rods, and the rotation of the screw rods drives the chassis to perform telescopic adjustment along the axial direction of the slide rods, so as to realize the adjustment of the distance.

[0032] When it is necessary to place the blades into the material tray body, first make the lower part of the blade pass through the upper plate and extend into the limiting sliding groove, and then make the blade move along the direction of the limiting sliding groove, so that the middle part of the blade slowly extends into the soft clamp to achieve fixation. Among them, the opening of the soft clamp gradually shrinks from inside to outside, and this structure facilitates the clamping and fixation of the soft clamp. The process of the robot grasping the blade is as follows: first grasp the upper part of the blade, then drive the blade to move along the limiting sliding groove, so that the middle part of the blade moves out of the soft clamp, and then vertically take out the blade. Specific Embodiment 2:

[0034] This embodiment adds an auxiliary clamping device arranged on the chassis on the basis of Specific Embodiment 1 (see the attached Figures 1-8) The auxiliary clamping device includes a support mechanism 800 and a secondary clamping mechanism 900. The support mechanism includes a rotating support plate 801 and a spring 802. A rotating cavity 803 is provided in the bottom wall of the limit chute. One end of the rotating support plate is installed on the inner wall of the rotating cavity through a rotating shaft 804. A spring is connected between the rotating support plate on the side far from the rotating shaft and the bottom wall of the rotating cavity. A jaw cavity is provided in the wall body of the limit chute near the support mechanism. The secondary clamping mechanism is arranged in the jaw cavity. The secondary clamping mechanism includes a telescopic jaw 901 for fixing the lower part of the blade and a sliding push rod 902 slidably arranged in the chassis. The telescopic jaw includes a left jaw part 901a and a right jaw part 901b. Two rotating shafts are fixedly provided between the upper and lower wall bodies of the jaw cavity. The left jaw part and the right jaw part are both rotatably arranged on the rotating shafts. The tails between the left jaw part and the right jaw part are abutted against each other. The sliding push rod has a "T" - shaped structure. A telescopic spring 903 is provided between the sliding push rod and the chassis. One end of the sliding push rod extends into the limit chute and is located at the middle position between the left jaw part and the right jaw part, and the other end is arranged at the upper side position between the left jaw part and the right jaw part. Two connecting rods 904 are fixedly installed on both sides of the sliding push rod. Chute a905 is provided on both the left jaw part and the right jaw part. A sliding member 906 is provided at the end of the connecting rod. The sliding member is slidably installed in chute a. Among them, when the blade is being placed, the blade pushes the sliding push rod 902 to slide into the jaw cavity under the action of human force (at this time, the telescopic spring 903 is gradually compressed), so that the telescopic jaw 901 closes to correct and clamp the blade. During this process, the soft clamp will also clamp and fix the middle part of the blade. Among them, after the external force disappears when the blade is fixed, there is a relative friction force between the bottom of the blade and the bottom wall, and this friction force is sufficient to offset the elastic force of the telescopic spring 903, and the soft clamp will also clamp the blade. Therefore, after the human thrust disappears, the sliding push rod 902 will not reset under the action of the elastic force of the telescopic spring 903. Only when the blade is taken out, the sliding push rod 902 will reset under the action of the elastic force of the telescopic spring 903.

[0035] The rotating support plate includes a shaft connection section 805, a transition section 806, and a support section 807. The shaft connection section is the part of the rotating support plate connected to the rotating shaft, and the vertical height of this part is the same as that of the bottom surface of the limit chute. The support section is the part of the rotating support plate on the side far from the rotating shaft connected to the spring, and the horizontal height of this part is higher than the vertical height of the bottom surface of chute a. The transition section is inclined and is used for the guiding and sliding movement during blade installation.

[0036] Workflow:

[0037] Before the blade is installed, the spring is in a natural state. There is a height difference between the support section and the connection section in the vertical height direction of the limit chute, and the height of the support section is higher than that of the connection section. The insertion spring is in a natural state, and the sliding push rod extends into the limit chute.

[0038] This height still exists after the blade is installed, but it is slightly reduced. The insertion spring is in a compressed state, the sliding push rod is pushed into the jaw cavity, and the two connecting rods on the sliding push rod slide along chute a, thereby driving the left part and the right part of the jaw to rotate respectively around the corresponding rotating shafts, so that the left part and the right part of the jaw close towards the middle to clamp and fix the lower part of the blade.

[0039] The process of placing the blade in this process is the same as that in part of Embodiment 1. The difference is that when the blade slides into the limit chute, the rotating support plate will be rotated, and then the lower part of the blade will be fixed by the secondary clamping mechanism. This structure can fix the middle and lower parts of the blade, and can prevent the blade from being in an inclined state or an incompletely clamped state due to human or other factors, which may cause the robot to be unable to effectively grasp the blade, thus affecting the subsequent polishing process of the blade. The process of the robot grasping the blade is as follows: first, grasp the upper part of the blade, then drive the blade to move towards the side of the rotating support plate, so that the rotating support plate rotates along the rotating shaft, and the spring is compressed (it can be automatically reset). At this time, the telescopic jaw disengages from the lower part of the blade, so that the lower part is released from the clamping and fixing, and then drive the blade to move along the limit chute, so that the middle part of the blade moves out of the soft jaw, and then the blade is vertically taken out. After the blade is taken out, the rotating support plate resets under the action of the spring, and the sliding push rod resets under the action of the telescopic spring, thereby driving the connecting rod to slide along chute a, so that the left part and the right part of the jaw rotate and reset.

[0040] The above-described embodiments are only preferred solutions of the present invention, and do not impose any form of limitation on the present invention. There are other variations and modifications without exceeding the technical solutions described in the claims.

Claims

1. A flexible positioning tray device for blades, comprising a tray body for placing blades, characterized in that, The tray body includes an upper plate, a chassis arranged parallel to the upper plate, and an adjusting device connecting the upper plate and the chassis. A plurality of soft clamps are arranged on the upper plate, and the soft clamps are in a "U" - shaped structure; The adjusting device can adjust the relative distance between the upper plate and the chassis; An auxiliary clamping device is arranged on the chassis. The auxiliary clamping device includes a secondary clamping mechanism. The secondary clamping mechanism includes a telescopic claw for fixing the lower part of the blade and a sliding push rod with a telescopic spring between the sliding push rod and the chassis. Two connecting rods are fixedly installed on both sides of the sliding push rod. The telescopic claw includes a left claw part and a right claw part. The left claw part and the right claw part are respectively rotatably arranged on a rotating shaft. The tails of the left claw part and the right claw part are abutted against each other. A chute a is arranged on both the left claw part and the right claw part. The end of the connecting rod is slidably installed in the chute a.

2. The blade flexible positioning tray device according to claim 1, wherein A plurality of single - row equally - spaced rectangular through - holes are arranged on the upper plate.

3. A flexible positioning tray device for blades according to claim 2, characterized in that, A plurality of the blades are arranged in a rectangular array at a position close to the side of the rectangular through - hole.

4. A flexible positioning tray device for blades according to claim 1, characterized in that An opening is arranged on the soft clamp.

5. A flexible positioning tray device for blades according to claim 1, characterized in that, The adjusting device includes a plurality of support plates arranged on the chassis, a plurality of slide rods and a screw rod arranged between the upper plate and the support plates.

6. The leaf flexible positioning tray device according to claim 5, characterized in that One end of the slide rod is fixedly connected to the upper plate, and the other end is slidably connected to an oil - free bushing fixedly arranged on the support plate.

7. The blade flexible positioning tray device according to claim 5, characterized in that, A knob is arranged on the screw rod. The screw rod near the knob is rotatably connected to the upper plate, and the screw rod is threadedly connected to the support plate.

8. A flexible positioning tray device for blades according to any one of claims 1-7, characterized in that, A limit chute is opened on the chassis directly below the soft clamp.

9. The blade flexible positioning tray device according to claim 8, characterized in that, The auxiliary clamping device includes a support mechanism. The support mechanism includes a rotating support plate and a spring. A rotating cavity is arranged in the bottom wall of the limit chute. One end of the rotating support plate is installed on the inner wall of the rotating cavity through a rotating shaft. A telescopic spring is connected between the rotating support plate on the side far from the rotating shaft and the bottom wall of the rotating cavity. A claw cavity is arranged in the wall body of the limit chute near the support mechanism. The secondary clamping mechanism is arranged in the claw cavity. The sliding push rod is slidably arranged in the chassis. The rotating shaft is fixed between the upper and lower wall bodies of the claw cavity. The sliding push rod is in a "T" - shaped structure. One end of the sliding push rod extends into the limit chute and is located at the middle position between the left claw part and the right claw part, and the other end is arranged at the upper side position between the left claw part and the right claw part. A sliding part is arranged at the end of the connecting rod, and the sliding part is slidably installed in the chute a.

10. A blade flexible positioning tray device according to claim 9, characterized in that, The rotating support plate includes a shaft - connecting section, a transition section and a support section.

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