Clamp assembly

Abstract

The invention provides a clamp assembly, relates to the technical field of batteries, and solves the technical problems that parts are different in size, the working procedures are various, and the difficulty is larger and larger when a robot carries out feeding, discharging and clamping. The clamp assembly comprises a supporting module, a first clamping module and a second clamping module. The first clamping module is arranged on the supporting module and is used for clamping the product in a clamping manner; the second clamping module is arranged on the supporting module and clamps the product in a pushing mode. The two first clamping modules are arranged side by side, and the structures of the two first clamping modules are completely the same or different. According to the dual-purpose clamp assembly, product clamping in two clamping modes can be achieved, parts and material frames can be clamped, dual purposes are achieved, the clamp assembly is applied to a robot, manual work can be completely replaced for feeding and discharging of the parts, the function of carrying the material frames is achieved, the labor cost is greatly reduced, and safety is improved.

Description

Technical Field

[0001] The present invention relates to the field of battery technology, and in particular to a clamp assembly used for loading and unloading battery tray parts. Background Art

[0002] The labor costs of intelligent manufacturing companies of new energy vehicle parts are rising, and there are prominent safety hazards. Companies are looking for safe, reliable and stable automation alternatives to achieve the goal of reducing staff and increasing efficiency. At present, the production is carried out by manual loading and unloading on site. Through automation upgrades, the current production line is transformed, and robots are used instead of manual operations to reduce dependence on personnel, achieve the goal of reducing costs, and reduce corporate safety risks. There is a strong demand for such automated lines in the current market, and the prospects for the application and promotion of equipment are broad.

[0003] The applicant has found that the prior art has at least the following technical problems: various types of parts are of different sizes and have many processes, and the difficulty of clamping when the robot is loading and unloading is gradually increasing. Therefore, it is necessary to design a clamp assembly with a wide range of applications that can clamp parts of various specifications and postures. Summary of the invention

[0004] The purpose of the present invention is to provide a clamp assembly for loading and unloading battery tray components to solve the technical problems existing in the prior art that the components are of different sizes, the working procedures are numerous, and the difficulty of robot loading and unloading and clamping is increasing.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] The present invention provides a clamp assembly, comprising a supporting module, a first clamping module and a second clamping module; wherein:

[0007] The first clamping module is arranged on the supporting module and clamps the product in a centering clamping manner;

[0008] The second clamping module is arranged on the supporting module and clamps the product in a push manner.

[0009] The clamp assembly provided by the present invention includes a first clamping module for clamping the product, and a second clamping module for clamping the product in a top-pushing manner. It can realize product clamping in two clamping methods, can clamp parts and material racks, and has dual-use. The clamp assembly is applied to robots, which can completely replace manual loading and unloading of parts, and realize the function of transporting material racks, greatly reducing labor costs and improving safety.

[0010] As a further improvement of the present invention, there are two sets of the first clamping modules, which are arranged side by side; the structures of the two sets of the first clamping modules are exactly the same, and both are used to clamp the products before and after the flipping posture; or, the structures of the two sets of the first clamping modules are different, and they are respectively used to clamp the products before and after the flipping posture.

[0011] The present invention has two sets of first clamping modules, forming a double-station structure for double-station clamping, which is compatible with the clamping of part blanks and finished products, thereby improving the efficiency of robot loading and unloading. The two sets of first clamping modules have the same structure, and each station can be used for clamping blanks or finished products. For part flipping processing, it is compatible with clamping the posture before and after part flipping, thereby improving the efficiency of robot loading and unloading. The two sets of first clamping modules have different structures, and the two stations can be used for clamping blanks and finished products respectively. It is possible to combine part characteristics, placement posture, robot movements, rhythm requirements, etc. to design a fixture that can meet the efficient and automated loading and unloading of the product.

[0012] As a further improvement of the present invention, the support module comprises an octagonal tube frame and a fixing plate; wherein:

[0013] The octagonal tube frame is a rectangular structure and is made of octagonal tubes;

[0014] The fixing plate is fixed to the bottom of the octagonal tube frame;

[0015] Two sets of the first clamping modules are symmetrically arranged on both sides of the fixing plate;

[0016] The second clamping module is located between the two sets of the clamping modules and is fixedly connected to the fixing plate.

[0017] The fixture of the present invention adopts a lightweight design and is built with a standard octagonal tube frame, which reduces the weight of the fixture and makes the movement of the robot more flexible and stable.

[0018] As a further improvement of the present invention, the first clamping module includes a first clamping jaw, a first cylinder, a product position detection unit, an air blowing device, an in-place detection unit and a buffer unit; wherein:

[0019] There are two first cylinders, which are respectively fixed at two ends of the support module;

[0020] The two first cylinders are respectively connected to the two groups of the first clamping jaws in a transmission manner to drive the two groups of the first clamping jaws to open or clamp;

[0021] The product position detection unit is arranged on the support module and is located between the two first cylinders;

[0022] The air blowing device is arranged on the supporting module and can perform air blowing cleaning on the product surface and the first clamping jaw;

[0023] There are two groups of in-position detection units, which are respectively arranged on one side of the two groups of the first clamping jaws;

[0024] There are two groups of buffer units, which are respectively arranged on the other side of the two groups of the first clamping jaws.

[0025] As a further improvement of the present invention, the blowing device comprises at least one blowing block and a bamboo tube connected to the blowing block, wherein:

[0026] All the blowing blocks are arranged side by side and at intervals on the supporting module, and are respectively connected to the air source;

[0027] Two bamboo tubes are arranged side by side on each of the blowing blocks.

[0028] As a further improvement of the present invention, the first clamping module further includes a rotating clamping module arranged outside the blowing device and located between the two first clamping jaws.

[0029] As a further improvement of the present invention, the rotating clamping modules in the two sets of the first clamping modules have different structures.

[0030] As a further improvement of the present invention, the buffer unit includes at least one buffer penetrated on the support module; the buffer is arranged at the clamping center position of the first clamping jaw and the middle position between two rotating cylinders in the rotating clamping module.

[0031] As a further improvement of the present invention, the second clamping module includes a second cylinder, a tray clamping unit, a product position detection unit, and an in-place detection unit; wherein:

[0032] There are two second cylinders, which are respectively fixed on two sides of the bottom of the support module;

[0033] There are two pallet clamping units in a U-shaped structure, which are respectively connected to the two second cylinders;

[0034] The product position detection unit is arranged at the bottom of the support module;

[0035] The in-place detection unit is fixed on the supporting module and is located beside the tray clamping unit.

[0036] As a further improvement of the present invention, the in-position detection unit includes a guide shaft, a linear bearing, a spring, a guide shaft pressure block, a detection block, and a proximity sensor; wherein:

[0037] The guide shaft is movably arranged on the support module through the linear bearing;

[0038] The guide shaft pressing block is fixed to the bottom of the guide shaft;

[0039] The spring is sleeved on the outside of the guide shaft, with the top end abutting against the support module and the bottom end abutting against the guide shaft pressure block;

[0040] The detection block is arranged on the top of the guide shaft;

[0041] The proximity sensor is arranged beside the guide shaft and corresponds to the position of the detection block.

[0042] The present invention designs a guide shaft similar to a telescopic rod structure for detecting the position of parts. Two proximity sensors are provided to detect the position of the telescopic rod (guide shaft) to determine whether the parts are clamped in place or in an abnormal state.

[0043] As a further improvement of the present invention, the product position detection unit includes a laser ranging sensor, and the laser ranging sensor is fixedly arranged on the support module; or, the laser ranging sensor is movably arranged on the support module and can be raised and lowered relative to the support module.

[0044] The present invention adopts a laser ranging sensor to detect and locate the product, the number of layers and the position of the pallet, so as to achieve the purpose of positioning. By adopting a laser ranging sensor to realize positioning of the product and the tooling pallet, the problem of cumulative error of stacked tooling is solved.

[0045] As a further improvement of the present invention, the first clamping module further includes a stabilizing reinforcement unit arranged between the first clamping jaw and the first cylinder.

[0046] As a further improvement of the present invention, the stabilizing and reinforcing unit comprises a small slide rail connecting block, a linear guide rail, a second slider, and a small slide rail fixing plate; wherein:

[0047] There are two linear guide rails, which are respectively installed on the two jaws of the first clamp through the small slide rail connecting blocks;

[0048] The number of the second sliding blocks is two, which are slidably arranged on the two linear slide rails respectively;

[0049] One end of the small slide rail fixing plate is connected to the first cylinder, and the other end is connected to the two second sliding blocks.

[0050] The present invention provides a production equipment, comprising a transfer table, a tooling tray, a robot and the fixture assembly; wherein:

[0051] The clamp assembly is installed on the robot arm;

[0052] The transfer table and the tooling tray are respectively arranged beside the robot.

[0053] The production equipment of the present invention comprises a clamp assembly installed on a robot arm for realizing automatic loading and unloading; the clamp assembly adopts an octagonal tube to build a support frame of the clamp, and the octagonal tube is made of aluminum alloy, which has the advantages of light weight, good flexibility and rapid replacement; in order to solve the problem that the parts are placed in different postures on the tray rack and the machine tool workbench, that is, the parts are flipped during the loading and unloading process, a double-station first clamping module is designed, when the clamping surfaces on both sides of the part are flat, two first clamping modules with the same structure are used to clamp the part before and after flipping; when there are non-flat surfaces in the clamping surfaces on both sides of the part, two first clamping modules with different structures are used to clamp the parts before and after flipping respectively, so as to realize the clamping before and after the parts are compatible with each other, and in the first In the embodiment, that is, when the structures of the two first clamping modules are exactly the same, a single station can be compatible with the clamping before and after flipping at the same time, while in the second embodiment, that is, when the structures of the two first clamping modules are different, one station is specified as the clamping station before flipping and the other is the clamping station after flipping; in the first embodiment, the first clamping module uses a double cylinder to clamp the parts in the center. When clamping the parts, the clamping claws reserve a 9mm tolerance space from the parts, which improves the stability of the clamped parts; in the second embodiment, the first clamping module mainly uses two clamping cylinders to clamp the relatively flat side of the product in the center, and then three rotating cylinders are used in the middle to clamp the top block. Through the clamping of multiple points, the clamp has higher stability when clamping the product. Both clamps are equipped with laser displacement sensors to detect the position of the clamp and the part. A guide shaft (telescopic rod) detection mechanism is designed to detect the position of the clamp when the part is clamped. Considering that there may be a certain degree of position deviation during clamping, a buffer is installed to provide calibration in the up and down directions when clamping the part to ensure the accurate position of the part. In addition, the fixture not only meets the needs of loading and unloading parts, but also has two second cylinders designed on the left and right sides of the fixture, which move synchronously and clamp the material rack in an external support manner, so that the material rack can be recycled, and robots can replace manual labor to carry empty material racks, while meeting the function of replacing the material rack levels. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0055] Figure 1 is a top view of an embodiment of a clamp assembly of the present invention;

[0056] Figure 2is a bottom view of an embodiment of a clamp assembly of the present invention;

[0057] Figure 3 It is a structural schematic diagram of an embodiment of the clamp assembly of the present invention installed on a robot to clamp a tail beam part;

[0058] Figure 4 It is a structural schematic diagram of an embodiment of the clamp assembly of the present invention installed on a robot to pick up and place materials on a tooling tray;

[0059] Figure 5 It is a structural schematic diagram of an embodiment of the clamp assembly of the present invention installed on a robot to place a part on a turntable;

[0060] Figure 6 It is a structural schematic diagram of an in-place detection unit in one embodiment of a clamp assembly of the present invention;

[0061] Figure 7 is a top view of another embodiment of the clamp assembly of the present invention;

[0062] Figure 8 is a bottom view of another embodiment of the clamp assembly of the present invention;

[0063] Fig. 9 It is a structural schematic diagram of another embodiment of the clamp assembly of the present invention installed on a robot to clamp a front crossbeam part;

[0064] Fig.10 It is a structural schematic diagram of another embodiment of the clamp assembly of the present invention installed on a robot to pick up and place materials on a tooling tray;

[0065] Fig.11 It is a structural schematic diagram of another embodiment of the fixture assembly of the present invention installed on the robot, in which the beam parts are placed on the turntable before processing;

[0066] Fig.12 is a structural schematic diagram of a product position detection unit in another embodiment of a clamp assembly of the present invention;

[0067] Fig.13 It is a schematic diagram of the structure of the front-flipping station of another embodiment of the clamp assembly of the present invention;

[0068] Fig.14 It is a schematic diagram of the workstation structure after flipping of another embodiment of the clamp assembly of the present invention.

[0069] In the figure, 1, the first gripper; 2, the gripper pressure block; 3, the buffer A; 4, the buffer B; 5, the octagonal tube frame; 6, the fixing plate; 7, the linear bearing; 8, the guide shaft A; 9, the detection block; 10, the proximity sensor; 11, the proximity sensor fixing sheet metal; 12, the solenoid valve fixing plate; 13, the solenoid valve base A; 14, the solenoid valve A; 15, the base; 16, the robot connection flange; 17, the junction box; 18, the junction box fixing plate; 19, the octagonal tube connector; 20, the first cylinder; 21, the laser distance sensor installation sheet metal A; 22, the laser distance sensor; 23, the blowing block; 24, the bamboo Section pipe; 25, silencer; 26, solenoid valve base B; 27, solenoid valve B; 28, guide shaft B; 29, first spring; 30, guide shaft pressure block; 31, second spring; 32, first slider; 33, linear guide rail; 34, pallet clamping block S; 35, rubber pad; 36, pallet clamping block X; 37, small slide rail fixing plate; 38, second slider; 39, linear guide rail; 40, small slide rail connecting block; 41, second cylinder; 42, laser ranging sensor installation sheet metal B; 43, robot; 44, tooling pallet; 45, transfer table; 46, rotating cylinder; 47, clamping top block. DETAILED DESCRIPTION

[0070] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0071] Embodiment 1:

[0072] like Figure 1-Figure 6 As shown, the present invention provides a clamp assembly, including a supporting module, a first clamping module and a second clamping module; wherein: the first clamping module is arranged on the supporting module, and clamps the product in a centering clamping manner; the second clamping module is arranged on the supporting module, and clamps the product in a pushing manner.

[0073] The clamp assembly provided by the present invention includes a first clamping module for clamping the product, and a second clamping module for clamping the product in a top-pushing manner. It can realize product clamping in two clamping methods, can clamp parts and material racks, and has dual-use. The clamp assembly is applied to the robot 43, which can completely replace manual loading and unloading of parts and realize the function of transporting material racks, greatly reducing labor costs and improving safety.

[0074] In this embodiment, in order to improve the loading and unloading efficiency of the clamp assembly and to increase the applicable scope of the equipment, the number of the first clamping modules is two sets, which are arranged side by side. Specifically, the two sets of first clamping modules are respectively arranged at the two ends of the support module, and the second clamping module is arranged between the two sets of first clamping modules; the structures of the two sets of first clamping modules are exactly the same, and both are used to clamp the products before and after the flipping posture. That is, the two sets of first clamping modules can clamp the products before flipping, and can also be used to clamp the products after flipping.

[0075] The present invention has two sets of first clamping modules, forming a double-station structure for double-station clamping, which is compatible with the clamping of part blanks and finished products, and improves the loading and unloading efficiency of the robot 43. The two sets of first clamping modules have the same structure, and each station can be used for clamping blanks or finished products.

[0076] Furthermore, in the present embodiment, in order to realize the lightweight design of the fixture assembly, the support module includes an octagonal tube frame 5 and a fixing plate 6; wherein: the octagonal tube frame 5 is a rectangular structure, made of octagonal tubes, specifically, including two horizontal octagonal tubes and two vertical octagonal tubes, the two vertical octagonal tubes are arranged in parallel and spaced apart at the middle position of the two horizontal octagonal tubes or at 1 / 4 of the horizontal octagonal tubes; the octagonal tube frame 5 is made of aluminum alloy material; it should be noted here that if a round tube or a quadrilateral tube is used to process the frame, because the round one is easy to rotate and the quadrilateral one is not strong enough, the inventor has used a quadrilateral tube in the R&D center. The case of using an aluminum alloy to build a frame with a polygonal shape, but it is easy to deform over time and has great instability; after a large number of tests, it was found that the cross-section of the octagonal tube is a regular octagon, which will not rotate, has evenly distributed holes, high installation accuracy, convenient measurement, accurate positioning, and anti-loosening; it also has the advantages of high strength, light weight, and easy assembly, so the octagonal tube frame 5 structure is finally adopted; the fixing plate 6 is a flat plate structure, fixed to the bottom of the octagonal tube frame 5, used to carry the first clamping module and the second clamping module; the two sets of first clamping modules are symmetrically arranged on both sides of the fixing plate 6; it should be noted here that Figure 1 Taking the perspective as an example, the fixed plate 6 is a rectangular structure, and the two sets of first clamping modules are respectively arranged at both ends of the width direction of the fixed plate 6; the second clamping module is located between the two sets of clamping modules and is fixedly connected to the fixed plate 6. In other words, the two sets of first clamping modules and second clamping modules are arranged in sequence along the width direction of the fixed plate 6. The fixture of the present invention adopts a lightweight design and is built with a standard octagonal tube frame 5, which reduces the weight of the fixture and makes the movement of the robot 43 more flexible and stable.

[0077] As an optional embodiment of the present invention, the first clamping module includes a first clamping jaw 1, a first cylinder 20, a product position detection unit, an air blowing device, an in-place detection unit and a buffer unit; and also includes a solenoid valve for controlling the action of the first cylinder 20; wherein: the number of the first cylinders 20 is two, which are respectively fixed at both ends of the support module; specifically, the two first cylinders 20 are respectively fixed at both ends of the length direction of the octagonal tube frame 5 through an octagonal tube connector 19, specifically, the top of the octagonal tube connector 19 is clamped at the bottom of the octagonal tube frame 5 according to an octagonal angle, and the bottom of the octagonal tube connector 19 is connected to the first cylinder 20; both ends of the first cylinder 20 are provided with telescopic rods; the two first cylinders 20 are respectively connected to the two groups of first clamping jaws 1 in transmission connection to drive the two groups of first clamping jaws 1 to open or clamp; specifically, the two sides of each first cylinder 20 are respectively connected to the two jaws in the first clamping jaw 1 through a telescopic rod, so that When the telescopic rod is extended or retracted, it can drive the two claws in the first clamp 1 to synchronously approach each other for clamping, or synchronously move away from each other to release the product; in order to prevent the clamp from causing damage to the product during clamping, increase the clamping force and ensure the clamping stability, a clamp pressure block 2 is provided on the inner side of the first clamp 1; it should be noted that, in the present embodiment, a base 15 is installed on the top of the octagonal tube frame 5, and a robot connecting flange 16 is installed on the base 15 for detachable connection with the arm of the robot 43; a solenoid valve fixing plate is provided on one side of the base 15 at the top of the octagonal tube frame 5; a solenoid valve base A13 and a solenoid valve base B26 are arranged side by side on the solenoid valve fixing plate; the solenoid valve A14 and the solenoid valve B27 are respectively installed on the solenoid valve base A13 and the solenoid valve base B26; the solenoid valve A14 and the solenoid valve B27 are respectively connected to the cylinders in the first clamping module and the second clamping module for controlling the start and stop of the cylinders.It should be noted that, in the present embodiment, the solenoid valve base A13 and the solenoid valve base B26 are provided with six holes to communicate with the inside of the base; two of the holes are used to install the silencer 25 for silencing; three holes are used to install the plug, and the last hole is used to connect the air pipe; a junction box fixing plate 18 is provided on the other side of the base 15 at the top of the octagonal tube frame 5, and a junction box 17 for providing power and electronic control to all electrical components in the fixture assembly is installed on the junction box fixing plate 18; the product position detection unit is provided on the support module and is located between the two first cylinders 20; specifically, the product position detection unit is used to detect the position between the fixture assembly and the part, and then adjust the moving position of the fixture assembly according to the detected position; further, the product position detection unit includes a laser ranging sensor Sensor, the laser distance sensor is fixedly set on the support module through the laser distance sensor mounting sheet metal. Specifically, since the present invention is provided with a first clamping module and a second clamping module, laser distance sensors are set in both modules to measure the distance. The laser distance sensor in the first clamping module is installed at the bottom of the octagonal tube frame 5 through the laser distance sensor mounting sheet metal A21. The measuring direction of the laser distance sensor is toward the direction of the part, which is used to measure the distance between the fixture and the part. Before use, the laser is first fired to measure the distance, and then the fixture is controlled to approach the part; the laser distance sensor in the second clamping module is installed at the bottom of the octagonal tube frame 5 through the laser distance sensor mounting sheet metal B42. The measuring direction of the laser distance sensor is toward the direction of the pallet, which is used to measure the distance between the fixture and the pallet. The present invention uses a laser distance sensor to detect and locate the product, the number of pallet layers and the position to achieve the purpose of positioning. By using a laser distance sensor to realize positioning of the product and the tooling pallet 44, the problem of cumulative error of stacked tooling is solved.

[0078] The blowing device is arranged on the supporting module, and can perform blowing cleaning on the product surface and the first clamping jaw 1; specifically, the blowing device includes at least one blowing block 23 and a bamboo tube 24 connected to the blowing block 23, wherein: all the blowing blocks 23 are arranged side by side and spaced on the supporting module, and are respectively connected to the air source; two bamboo tubes 24 are arranged side by side on each blowing block 23. In this embodiment, there are three blowing blocks 23 in each set of the first clamping module, and the bamboo tubes 24 are fixed to the bottom of the octagonal tube frame 5 through the blowing blocks 23; the bamboo tubes 24 can be adjusted in direction according to the site and blow to the corresponding position.

[0079] There are two groups of in-place detection units, which are respectively arranged on one side of the two groups of first clamping jaws 1. The in-place detection units are used to detect whether the clamped parts are in place; in this embodiment, the in-place detection unit includes a guide shaft, a linear bearing 7, a spring, a guide shaft pressure block 30, a detection block 9, and a proximity sensor 10; wherein: the guide shaft is movably arranged on the support module through the linear bearing 7; the guide shaft pressure block 30 is fixed at the bottom of the guide shaft; the spring is sleeved on the outside of the guide shaft, and the top end abuts against the support module, and the bottom end abuts against the guide shaft pressure block 30; the detection block 9 is arranged at the top of the guide shaft; the proximity sensor 10 is arranged beside the guide shaft, and is arranged corresponding to the position of the detection block 9. Furthermore, the proximity sensor 10 is fixed on the fixed plate 6 through the proximity sensor fixing sheet metal 11; the proximity sensor fixing sheet metal 11 is an L-shaped structure, and the number of proximity sensors 10 is two, one is in a normal position, used to detect the normal in-place condition of the workpiece, and the other is in a slightly higher side position, and there is a certain angle with the first proximity sensor 10, used to detect whether the workpiece is in an abnormal position. Specifically, the guide shaft B28 is installed on the fixed plate 6 through the linear bearing 7, and a detection block 9 is arranged on the top of the guide shaft B28; a guide shaft pressure block 30 is arranged on the bottom of the guide shaft B28; the first spring 29 is sleeved on the outside of the guide shaft B28, the bottom abuts on the guide shaft pressure block 30, and the top abuts on the bottom of the fixed plate 6; when the guide shaft pressure block 30 contacts the part, it will push the guide shaft pressure block 30, so that the guide shaft B28 moves upward, so that the detection block 9 is close to the proximity sensor 10. When the detection block 9 is close to the proximity sensor 10 in the normal position, it is judged that the part is clamped in place. If the detection block 9 reaches the abnormal position proximity sensor 10, it is judged that the part is clamped abnormally, deflected or other abnormalities occur, and re-clamping is required. The present invention designs the guide shaft and the linear bearing 7, which is similar to the telescopic rod structure, and is used to detect the position of the telescopic rod (guide shaft) by equipping two proximity sensors 10 to detect the position of the telescopic rod (guide shaft), so as to judge whether the part is clamped in place or in an abnormal state.

[0080] There are two groups of buffer units, which are respectively arranged on the other side of the two groups of first clamps 1. That is to say, the buffer unit and the in-place detection unit are respectively located on both sides of the first clamp 1. As a further improvement of the present invention, the buffer unit includes at least one buffer penetrated on the support module; the buffer is arranged between the clamping center position of the first clamp 1 and the middle position of the two rotating cylinders 46 in the rotating clamping module. The buffer is used for calibration in the up and down directions during clamping to ensure the position of the parts. Furthermore, the buffer includes two, namely buffer A3 and buffer B4, and buffer A3 and buffer B4 are respectively arranged side by side on the fixed plate 6 and aligned with the center of the product clamp. In this embodiment, the first clamping module also includes a stabilization reinforcement unit arranged between the first clamp 1 and the first cylinder 20. Furthermore, the stabilizing and reinforcing unit includes a small slide rail connection block 40, a linear guide rail 39, a second slider 38, and a small slide rail fixing plate 37; wherein: the number of the linear guide rails 39 is two, which are respectively mounted on the two jaws of the first clamping jaw 1 through the small slide rail connection block 40; the number of the second sliders 38 is two, which are respectively slidably arranged on the two linear slide rails; one end of the small slide rail fixing plate 37 is connected to the first cylinder 20, and the other end is connected to the two second sliders 38. The present invention plays a balancing and reinforcing role by setting a stabilizing and reinforcing unit, resists the gravity of the workpiece when the workpiece is clamped, reduces the force on the cylinder, and increases the strength of the two clamping jaws.

[0081] As a further improvement of the present invention, the second clamping module includes a second cylinder 41, a pallet clamping unit, a product position detection unit, and an in-place detection unit; wherein: the second cylinder 41 is a three-axis cylinder, the number is two, and they are fixed on both sides of the bottom of the support module; specifically, the two second cylinders 41 are fixed on both sides of the bottom of the fixed plate 6 through the pad blocks; the control element of the second cylinder 41 is also a solenoid valve, such as the setting structure of the solenoid valve in the first clamping module, which is fixed on the top of the octagonal tube frame 5; the number of pallet clamping units is two, which are U-shaped structures , the opening is set outward, and is connected to the two second cylinders 41 respectively; the pallet clamping unit includes a pallet clamping block S34 and a pallet clamping block X36, and the pallet clamping block S34 and the pallet clamping block X36 are spliced ​​together to form a U-shaped pallet clamping unit. In order to prevent damage to the pallet during pushing, a high-strength rubber pad 35 is provided at the bottom of the U-shaped inner cavity of the pallet clamping unit; the pallet clamping unit also includes a first slider 32 and a linear slide rail 33; the linear slide rail 33 is fixed at the bottom of the fixed plate 6; the first slider 32 is slidably set on the linear slide rail 33; the pallet clamp The holding block S34 is connected to the first slider 32 and can be extended and retracted along the fixed plate 6; when the two second cylinders 41 are extended and retracted, the two pallet clamping units can be driven to extend and retract, thereby supporting the pallet or releasing the pallet; the product position detection unit is arranged at the bottom of the support module; specifically, the product position detection unit includes a laser ranging sensor, and the laser ranging sensor is fixedly arranged on the support module through a laser ranging sensor mounting sheet metal. Specifically, since the present invention is provided with a first clamping module and a second clamping module, laser ranging sensors are arranged in both modules to measure the distance. The laser ranging sensor in the first clamping module is installed at the bottom of the octagonal tube frame 5 through a laser ranging sensor mounting sheet metal A. The measuring direction of the laser ranging sensor is toward the direction of the part, and is used to measure the distance between the fixture and the part. Before use, the laser is emitted to measure the distance, and then the fixture is controlled to approach the part; the laser ranging sensor in the second clamping module is installed at the bottom of the octagonal tube frame 5 through a laser ranging sensor mounting sheet metal B42, and the measuring direction of the laser ranging sensor is toward the direction of the pallet, and is used to measure the distance between the fixture and the pallet. The present invention uses a laser distance measuring sensor to detect and locate the product, the number of pallet layers and the position, so as to achieve the purpose of positioning. By using a laser distance measuring sensor to realize positioning of the product and the tooling pallet 44, the problem of cumulative error of stacked tooling is solved.

[0082] The in-place detection unit is fixed on the support module and is located beside the tray clamping unit. There are two groups of in-place detection units, which are respectively arranged on one side of the two groups of tray clamping units. The in-place detection unit is used to detect whether the clamped tray is clamped in place; in this embodiment, the in-place detection unit includes a guide shaft, a linear bearing 7, a spring, a guide shaft pressure block 30, a detection block 9, and a proximity sensor 10; wherein: the guide shaft is movably arranged on the support module through the linear bearing 7; the guide shaft pressure block 30 is fixed at the bottom of the guide shaft; the spring is sleeved on the outside of the guide shaft, and the top end abuts the support module, and the bottom end abuts the guide shaft pressure block 30; the detection block 9 is arranged at the top of the guide shaft; the proximity sensor 10 is arranged beside the guide shaft, and is arranged corresponding to the position of the detection block 9. Furthermore, the proximity sensor 10 is fixed to the fixed plate 6 through a proximity sensor fixing sheet metal 11; the proximity sensor fixing sheet metal 11 is an L-shaped structure, and there are two proximity sensors 10, one is in a normal position, used to detect whether the pallet is in place normally, and the other is in a slightly higher side position and at a certain angle to the first proximity sensor 10, used to detect whether the pallet is in an abnormal position.

[0083] Specifically, the guide shaft A8 is installed on the fixed plate 6 through the linear bearing 7, and a detection block 9 is arranged on the top of the guide shaft A8; a guide shaft pressure block 30 is arranged at the bottom of the guide shaft A8; the second spring 31 is sleeved on the outside of the guide shaft A8, the bottom abuts on the guide shaft pressure block 30, and the top abuts on the bottom of the fixed plate 6; when the guide shaft pressure block 30 contacts the pallet, it will push the guide shaft pressure block 30, thereby moving the guide shaft A8 upward, so that the detection block 9 approaches the proximity sensor 10. When the detection block 9 approaches the proximity sensor 10 in the normal position, it is judged that the pallet is clamped in place. If the detection block 9 reaches the abnormal position proximity sensor 10 that is relatively high, it is judged that the pallet is clamped abnormally, deflection or other abnormalities occur, and re-clamping is required.

[0084] The present invention designs a guide shaft and a linear bearing 7, which is similar to a telescopic rod structure, to detect the position of the part. Two proximity sensors 10 are provided to detect the position of the telescopic rod (guide shaft), thereby determining whether the part is in place or in an abnormal state.

[0085] When this embodiment is used to clamp the tail beam parts, the method of use is as follows: the processing flow of this part is mainly that the robot 43 loads and unloads the parts, grabs the parts from the tooling tray 44, moves them to the top of the transfer table 45, and then places the parts on the transfer table 45 for caching, and the clamp changes the face to clamp and realize flipping. After the flipping is completed, the robot 43 clamps the parts and places them on the machine tool for processing. After the processing is completed, the robot 43 clamps the parts and places them on the transfer table 45, flips them, and then places them on the finished tooling position of the tooling tray 44, that is, the part processing is completed, and the cycle is repeated in sequence. Since the placement posture of the parts on the tooling tray 44 is different from that on the machine tool workbench, it is necessary to cache them through the transfer table 45, and the clamp is used to switch the clamping surface of the parts to achieve the purpose of flipping the parts. Taking into account the light weight of the parts, the fixture mainly adopts two clamping first cylinders 20 to meet the requirements; when preparing to clamp, the initial movement of the first cylinder 20 is the maximum stroke, and the robot 43 controls the fixture to move to the top of the part so that the center of the first cylinder 20 coincides with the center of the part, and then the fixture moves downward until the proximity sensor 10 of the in-place detection unit receives the detection signal, that is, the part reaches the clamping range of the fixture, and the fixture stops moving downward. At this time, buffer A3 and buffer B4 start to work synchronously to calibrate the position of the part. At the same time, the blowing device blows and cleans the position of the first clamping jaw 1 to ensure that there will be no inaccurate positioning or damage to the part due to residual aluminum chips during clamping. Then the first cylinders 20 at the left and right ends work synchronously to clamp the part, thereby completing the clamping of the part. When clamping a part, the robot 43 moves to the top of the part, the part is stationary, and the fixture moves slowly downward until the guide shaft pressure block 30 contacts the part and compresses the first spring 29. When the detection block 9 is pushed to the detection range of the proximity sensor 10 below, the signal of the part being in place is received. At this time, the fixture no longer moves downward and the clamping condition is met; if the detection block 9 is pushed to the detection range of the proximity sensor 10 above, it means that the position of the part is abnormal and does not meet the clamping requirements, and an alarm signal will be generated. The fixture assembly of the present invention can clamp products and pallets. The purpose of clamping the pallet is to reduce labor costs, and at the same time, it can also reduce the risk of manual handling and improve safety. The fixture clamps the pallet mainly by the second cylinder 41 (three-axis) TCL25X40S with the pallet clamping unit, and the pallet is handled by clamping the crossbeams at both ends of the pallet by external support. The first slider 32 and the linear slide rail 33 are provided at the position of the pallet clamping unit, which mainly play the role of sharing the load so that the second cylinder 41 will not be fully stressed. The pallet clamping part is also equipped with an in-place detection unit based on the same principle as the parts clamping part. Buffers are provided at both ends, which are mainly used to apply a downward force to the pallet and work together with the cylinder clamp to clamp it.

[0086] Embodiment 2:

[0087] like Figure 7-Figure 14As shown, the present invention provides a clamp assembly, including a supporting module, a first clamping module and a second clamping module; wherein: the first clamping module is arranged on the supporting module, and clamps the product in a centering clamping manner; the second clamping module is arranged on the supporting module, and clamps the product in a pushing manner.

[0088] The clamp assembly provided by the present invention includes a first clamping module for clamping the product, and a second clamping module for clamping the product in a top-pushing manner. It can realize product clamping in two clamping modes, can clamp parts and material racks, and has dual-purpose properties. The clamp assembly is applied to the robot 43, which can completely replace manual loading and unloading of parts, and realize the function of transporting material racks, greatly reducing labor costs and improving safety. In this embodiment, in order to improve the loading and unloading efficiency of the clamp assembly and improve the scope of application of the equipment, the number of first clamping modules is two sets, which are arranged side by side. Specifically, the two sets of first clamping modules are respectively arranged at both ends of the support module, and the second clamping module is arranged between the two sets of first clamping modules; the two sets of first clamping modules have different structures and are respectively used to clamp products before and after the flipping posture. That is, one set of the first clamping modules is used to clamp the product before flipping, and the other set of the first clamping modules is used to clamp the product after flipping.

[0089] The first clamping modules of the present invention are in two sets, forming a dual-station structure, which is compatible with the clamping of part blanks and finished products, and part flipping processing, and is compatible with the clamping of parts before and after flipping, thereby improving the loading and unloading efficiency of the robot 43. The two sets of first clamping modules have different structures, and the two stations can be used for clamping blanks and finished products respectively. It is possible to combine part characteristics, placement posture, robot 43 movements, beat requirements, etc., to design a fixture that can meet the efficient and automated loading and unloading of the product.

[0090] Furthermore, in the present embodiment, in order to realize the lightweight design of the fixture assembly, the support module includes an octagonal tube frame 5 and a fixing plate 6; wherein: the octagonal tube frame 5 is a rectangular structure, made of octagonal tubes, specifically, including four horizontal octagonal tubes and two vertical octagonal tubes, and the two vertical octagonal tubes are arranged in parallel and spaced in the middle of the four horizontal octagonal tubes; the octagonal tube frame 5 is made of aluminum alloy material; it should be noted here that if a round tube or a quadrilateral tube is used to process the frame, because the round one is easy to rotate and the quadrilateral one is not strong enough, the inventor has used a quadrilateral aluminum alloy in the R&D center. The case of building a frame with gold, but it is easy to deform over time and has great instability; after a lot of tests, it was found that the cross-section of the octagonal tube is a regular octagon, which will not rotate, has evenly distributed holes, high installation accuracy, convenient measurement, accurate positioning, and anti-loosening; at the same time, it has the advantages of high strength, light weight, and easy assembly, so the octagonal tube frame 5 structure is finally adopted; the fixed plate 6 is a flat plate structure, fixed to the bottom of the octagonal tube frame 5, used to carry the first clamping module and the second clamping module; the two sets of first clamping modules are symmetrically arranged on both sides of the fixed plate 6; it should be noted here that Figure 7 Taking the perspective as an example, the fixed plate 6 is a rectangular structure, and the two sets of first clamping modules are respectively arranged at both ends of the width direction of the fixed plate 6; the second clamping module is located between the two sets of clamping modules and is fixedly connected to the fixed plate 6. In other words, the two sets of first clamping modules and second clamping modules are arranged in sequence along the width direction of the fixed plate 6. The fixture of the present invention adopts a lightweight design and is built with a standard octagonal tube frame 5, which reduces the weight of the fixture and makes the movement of the robot 43 more flexible and stable.

[0091] As an optional embodiment of the present invention, the first clamping module includes a first clamping jaw 1, a first cylinder 20, a product position detection unit, an air blowing device, an in-place detection unit, a buffer unit and a rotating clamping module; it also includes a solenoid valve for controlling the action of the first cylinder 20; wherein: the number of the first cylinders 20 is two, which are respectively fixed at both ends of the support module; specifically, the two first cylinders 20 are respectively fixed at both ends of the length direction of the octagonal tube frame 5 through an octagonal tube connector 19, specifically, the top of the octagonal tube connector 19 is clamped at the bottom of the octagonal tube frame 5 according to an octagonal angle, and the bottom of the octagonal tube connector 19 is connected to the first cylinder 20; both ends of the first cylinder 20 are provided with telescopic rods; the two first cylinders 20 are respectively connected to the two groups of first clamping jaws 1 in transmission connection to drive the two groups of first clamping jaws 1 to open or clamp; specifically, the two sides of each first cylinder 20 are respectively connected to the two jaws in the first clamping jaw 1 through a telescopic rod, so that When the telescopic rod of the cylinder 20 is extended or retracted, it can drive the two claws in the first clamp 1 to move synchronously closer to each other for clamping, or move synchronously away from each other to release the product; in order to prevent the clamp from causing damage to the product during clamping, increase the clamping force and ensure the clamping stability, a clamp pressure block 2 is provided on the inner side of the first clamp 1; it should be noted that, in the present embodiment, a base 15 is installed on the top of the octagonal tube frame 5, and a robot connecting flange 16 is installed on the base 15 for detachable connection with the arm of the robot 43; a solenoid valve fixing plate is provided on one side of the base 15 at the top of the octagonal tube frame 5; a solenoid valve base A13 and a solenoid valve base B26 are arranged side by side on the solenoid valve fixing plate; the solenoid valve A14 and the solenoid valve B27 are respectively installed on the solenoid valve base A13 and the solenoid valve base B26; the solenoid valve A14 and the solenoid valve B27 are respectively connected to the cylinders in the first clamping module and the second clamping module for controlling the start and stop of the cylinders. It should be noted that, in this embodiment, the solenoid valve base A13 and the solenoid valve base B26 each have six holes to communicate with the interior of the base; two holes are used to install the muffler 25 for silencing; three holes are used to install the plug, and the last hole is used to connect the air pipe;

[0092] The other side of the base 15 is located at the top of the octagonal tube frame 5 and is provided with a junction box fixing plate 18. The junction box 17 for providing power and electric control to all electrical components in the fixture assembly is installed on the junction box fixing plate 18; the product position detection unit is arranged on the support module and is located between the two first cylinders 20; specifically, the product position detection unit is used to detect the position between the fixture assembly and the part, and then adjust the moving position of the fixture assembly according to the detected position; further, the product position detection unit includes a laser distance measuring sensor, which is movably arranged on the support module and can be raised and lowered relative to the support module; specifically, the laser distance measuring sensor can be fixed to the bottom of the octagonal tube frame 5 through a telescopic cylinder and a laser distance measuring sensor mounting sheet metal. The telescopic cylinder is lifted and lowered to drive the laser distance measuring sensor to lift and lower. Before use, it is first lowered, the distance is measured, and then raised. Not only can the distance measurement be completed, but also no interference is caused to the clamped workpiece. Since the present invention is provided with a first clamping module and a second clamping module, laser ranging sensors are provided in both modules for distance measurement. The laser ranging sensor in the first clamping module is installed at the bottom of the octagonal tube frame 5 through a telescopic cylinder and a laser ranging sensor mounting sheet metal A. The measuring direction of the laser ranging sensor is toward the direction of the part, and is used to measure the distance between the fixture and the part. Before use, a laser is emitted to measure the distance, and then the fixture is controlled to approach the part; the laser ranging sensor in the second clamping module is installed at the bottom of the octagonal tube frame 5 through a laser ranging sensor mounting sheet metal B42. The measuring direction of the laser ranging sensor is toward the direction of the pallet, and is used to measure the distance between the fixture and the pallet.

[0093] The present invention uses a laser distance measuring sensor to detect and locate the product, the number of pallet layers and the position, so as to achieve the purpose of positioning. By using a laser distance measuring sensor to realize positioning of the product and the tooling pallet 44, the problem of cumulative error of stacked tooling is solved.

[0094] The blowing device is arranged on the supporting module, and can perform blowing cleaning on the product surface and the first clamping jaw 1; specifically, the blowing device includes at least one blowing block 23 and a bamboo tube 24 connected to the blowing block 23, wherein: all the blowing blocks 23 are arranged side by side and spaced on the supporting module, and are respectively connected to the air source; two bamboo tubes 24 are arranged side by side on each blowing block 23. In this embodiment, there are three blowing blocks 23 in each set of the first clamping module, and the bamboo tubes 24 are fixed to the bottom of the octagonal tube frame 5 through the blowing blocks 23; the bamboo tubes 24 can be adjusted in direction according to the site and blow to the corresponding position.

[0095] There are two groups of in-place detection units, which are respectively arranged on one side of the two groups of first clamping jaws 1. The in-place detection units are used to detect whether the clamped parts are in place; in this embodiment, the in-place detection unit includes a guide shaft, a linear bearing 7, a spring, a guide shaft pressure block 30, a detection block 9, and a proximity sensor 10; wherein: the guide shaft is movably arranged on the support module through the linear bearing 7; the guide shaft pressure block 30 is fixed at the bottom of the guide shaft; the spring is sleeved on the outside of the guide shaft, and the top end abuts against the support module, and the bottom end abuts against the guide shaft pressure block 30; the detection block 9 is arranged at the top of the guide shaft; the proximity sensor 10 is arranged beside the guide shaft, and is arranged corresponding to the position of the detection block 9. Furthermore, the proximity sensor 10 is fixed on the fixed plate 6 through the proximity sensor fixing sheet metal 11; the proximity sensor fixing sheet metal 11 is an L-shaped structure, and the number of proximity sensors 10 is two, one is in a normal position, used to detect the normal in-place condition of the workpiece, and the other is in a slightly higher side position, and there is a certain angle with the first proximity sensor 10, used to detect whether the workpiece is in an abnormal position. Specifically, the guide shaft B28 is installed on the fixed plate 6 through the linear bearing 7, and a detection block 9 is arranged on the top of the guide shaft B28; a guide shaft pressure block 30 is arranged on the bottom of the guide shaft B28; the first spring 29 is sleeved on the outside of the guide shaft B28, the bottom abuts on the guide shaft pressure block 30, and the top abuts on the bottom of the fixed plate 6; when the guide shaft pressure block 30 contacts the part, it will push the guide shaft pressure block 30, so that the guide shaft B28 moves upward, so that the detection block 9 is close to the proximity sensor 10. When the detection block 9 is close to the proximity sensor 10 in the normal position, it is judged that the part is clamped in place. If the detection block 9 reaches the abnormal position proximity sensor 10, it is judged that the part is clamped abnormally, deflected or other abnormalities occur, and re-clamping is required. The present invention designs the guide shaft and the linear bearing 7, which is similar to the telescopic rod structure, and is used to detect the position of the telescopic rod (guide shaft) by equipping two proximity sensors 10 to detect the position of the telescopic rod (guide shaft), so as to judge whether the part is clamped in place or in an abnormal state.

[0096] There are two groups of buffer units, which are respectively arranged on the other side of the two groups of first clamps 1. That is to say, the buffer unit and the in-place detection unit are respectively located on both sides of the first clamp 1. As a further improvement of the present invention, the buffer unit includes at least one buffer penetrated on the support module; the buffer is arranged between the clamping center position of the first clamp 1 and the middle position of the two rotating cylinders 46 in the rotating clamping module. The buffer is used for calibration in the up and down directions during clamping to ensure the position of the parts. Furthermore, the buffer includes two, namely buffer A3 and buffer B4, and buffer A3 and buffer B4 are respectively arranged side by side on the fixed plate 6 and aligned with the center of the product clamp. In this embodiment, the first clamping module also includes a stabilization reinforcement unit arranged between the first clamp 1 and the first cylinder 20. Furthermore, the stabilizing and reinforcing unit includes a small slide rail connection block 40, a linear guide rail 39, a second slider 38, and a small slide rail fixing plate 37; wherein: the number of the linear guide rails 39 is two, which are respectively mounted on the two jaws of the first clamping jaw 1 through the small slide rail connection block 40; the number of the second sliders 38 is two, which are respectively slidably arranged on the two linear slide rails; one end of the small slide rail fixing plate 37 is connected to the first cylinder 20, and the other end is connected to the two second sliders 38. The present invention plays a balancing and reinforcing role by setting a stabilizing and reinforcing unit, resists the gravity of the workpiece when the workpiece is clamped, reduces the force on the cylinder, and increases the strength of the two clamping jaws.

[0097] The rotary clamping module is arranged outside the blowing device and between the two first clamping jaws 1. Specifically, the rotary clamping modules in the two sets of first clamping modules have different structures, so as to be respectively used to clamp the parts before flipping and the parts after flipping; and the difference in the structure of the rotary clamping modules lies in the placement position and direction, but the structure is the same. Specifically, the number of rotary clamping modules included in each set of first clamping modules is three groups, and the three groups of rotary clamping modules are arranged side by side and fixed to the bottom of the octagonal tube support frame through a mounting plate; each group of rotary clamping modules includes a clamping top block 47 and a rotating cylinder 46; the clamping top block 47 and the rotating cylinder 46 are arranged side by side, and the two are fixed to the mounting plate through a base plate.

[0098] The rotary clamping module also includes an in-place detection unit and a buffer unit; the number of in-place detection units in the rotary clamping module is a group, which is arranged between two adjacent rotary cylinders 46, and the in-place detection unit is used to detect whether the clamped parts are clamped in place; in this embodiment, the in-place detection unit includes a guide shaft, a linear bearing 7, a spring, a guide shaft pressure block 30, a detection block 9, and a proximity sensor 10; wherein: the guide shaft is movably inserted into the support module through the linear bearing 7; the guide shaft pressure block 30 is fixed at the bottom of the guide shaft; the spring is sleeved on the outside of the guide shaft, and the top end abuts against the support module, and the bottom end abuts against the guide shaft pressure block 30; the detection block 9 is arranged at the top of the guide shaft; the proximity sensor 10 is arranged beside the guide shaft, and is arranged corresponding to the position of the detection block 9. Furthermore, the proximity sensor 10 is fixed on the mounting plate through a proximity sensor fixing sheet metal 11; the proximity sensor fixing sheet metal 11 is an L-shaped structure, and there are two proximity sensors 10, one is in a normal position, used to detect whether the workpiece is in place normally, and the other is in a slightly higher side position and has a certain angle with the first proximity sensor 10, used to detect whether the workpiece is in an abnormal position.

[0099] Specifically, the guide shaft B28 is installed on the mounting plate through a linear bearing 7, and a detection block 9 is arranged on the top of the guide shaft B28; a guide shaft pressure block 30 is arranged on the bottom of the guide shaft B28; the first spring 29 is sleeved on the outside of the guide shaft B28, the bottom abuts on the guide shaft pressure block 30, and the top abuts on the bottom of the fixed plate 6; when the guide shaft pressure block 30 contacts the part, it will push the guide shaft pressure block 30, thereby moving the guide shaft B28 upward, so that the detection block 9 is close to the proximity sensor 10. When the detection block 9 is close to the proximity sensor 10 in the normal position, it is judged that the part is clamped in place. If the detection block 9 reaches the abnormal position proximity sensor 10 that is relatively high, it is judged that the part is clamped abnormally, deflection or other abnormalities occur, and re-clamping is required.

[0100] The present invention designs a guide shaft and a linear bearing 7, which is similar to a telescopic rod structure, to detect the position of the part. Two proximity sensors 10 are provided to detect the position of the telescopic rod (guide shaft), thereby determining whether the part is in place or in an abnormal state.

[0101] The buffer units are provided in a group, which are arranged between two adjacent rotating cylinders 46 and are located beside the in-place detection unit. As a further improvement of the present invention, the buffer unit includes a buffer penetrated on the mounting plate. As a further improvement of the present invention, the second clamping module includes a second cylinder 41, a pallet clamping unit, a product position detection unit, and an in-place detection unit; wherein: the second cylinder 41 is a three-axis cylinder, two in number, respectively fixed on both sides of the bottom of the support module; specifically, the two second cylinders 41 are respectively fixed on both sides of the bottom of the fixed plate 6 by means of pad blocks; the control element of the second cylinder 41 is also a solenoid valve, such as the setting structure of the solenoid valve in the first clamping module, which is fixed on the top of the octagonal tube frame 5; there are two pallet clamping units, which are U-shaped structures, with openings facing outward, and are respectively connected to the two second cylinders 41; the pallet clamping unit includes a pallet The clamping block S34 and the pallet clamping block X36 are spliced ​​together to form a U-shaped pallet clamping unit. In order to prevent damage to the pallet during pushing, a high-strength rubber pad 35 is provided at the bottom of the U-shaped inner cavity of the pallet clamping unit; the pallet clamping unit also includes a first slider 32 and a linear slide rail 33; the linear slide rail 33 is fixed at the bottom of the fixed plate 6; the first slider 32 is slidably arranged on the linear slide rail 33; the pallet clamping block S34 is connected to the first slider 32 and can be extended and retracted along the fixed plate 6; when the two second cylinders 41 are extended and retracted, the two pallet clamping units can be driven to extend and retract, thereby supporting the pallet or releasing the pallet;

[0102] In this embodiment, the model of buffer A3 is SACM2020H; the model of buffer B4 is SAD1410H; the model of linear bearing 7 is GSDNRB16; the model of guide shaft A8 is GSDWBJ16-132-M4-N4-SC0; the model of first cylinder 20 is HFT20x40S; the model of first spring 29 is CSWL22-100; the model of second spring 31 is CSWL20-50; the model of first slider 32 is LSD15BK-HN-ND-M4; the model of second slider 38 is MGN9C; the model of linear slide 33 is LSD15RLX100-S20-ND; the model of linear guide 39 is MGN9C1R55Z0CM; the second cylinder 41 is a three-axis cylinder, model TCL25X40S.

[0103] The method of using the front crossbeam parts of this embodiment is as follows: the first central clamping cylinder 20 is used in combination with the product pressing block to clamp the product with a relatively flat surface; there is a buffer located at each of the two first clamping jaws 1 and the rotating cylinder 46, a total of 3 buffers, which are located at different positions above the product, and their main function is to calibrate the position of the product when clamping the product. When the product is uneven in the vertical direction, the buffer can provide a pressure to correct the position of the product to a relatively horizontal state; the air blowing device is mainly used to clean the clamping jaws. Since a large amount of aluminum chips will be generated during the processing of the product, the clamp is prone to cause aluminum chips to remain on the surface of the clamping jaws when clamping for multiple times. Therefore, the blowing device will work every time it clamps, first clean the clamping claws, and then clamp them, providing a clean and stable state for clamping the product; a buffer is also provided in the second clamping module, which is different from the previous buffer stroke and is used to correct the position of the pallet; the laser emission surface of the laser ranging sensor 22 is downward, and it mainly detects the number of layers of the pallet. The sensor can be set to a certain distance, and the robot 43 moves to the top of the pallet and slowly descends. When the laser reaches the distance measured by the sensor, the number of layers of the pallet can be determined; the rotating clamping module is located at the clamping station after the product is turned over. A single station is designed with three identical components. According to the different positions of the structural characteristics of the product, the three positions of the part are pressed mainly by cooperating with the clamping top block 47 through the rotating cylinder 46, and at the same time, the first clamping claw is clamped to completely clamp the product on the fixture assembly; considering the problem of interference with the product, the laser distance sensor in the first clamping module is connected through a three-axis cylinder. When the cylinder is extended, it is in the detection state, and when the cylinder is retracted, it is in the waiting state or the detection is completed. When detecting the position of the product, the robot 43 drives the fixture to move to the front of the product. When it approaches a certain distance, the cylinder connected to the laser distance sensor is extended to the maximum stroke, the sensor starts working, and then the machine The robot 43 drives the clamp to slowly approach the product until it reaches the sensor set distance and stops moving. The cylinder retracts the minimum stroke. At this time, the product clamp is just above the product, and the clamp slowly moves downward until the proximity sensor 10 sends an in-place signal, that is, the product is in place, and the cylinder starts working to clamp the product. When clamping the pallet, the working principle is the same. This method is used to locate the position of the pallet to achieve precise positioning, and at the same time solves the problem of position error of about 30mm caused by stacking multiple layers of tooling pallets. When clamping the pallet, it is mainly supported from the inside to the outside by two cylinders to support the beams at the left and right ends of the pallet, thereby completing the clamping of the pallet.

[0104] like Fig.12 As shown, in this embodiment, the product position detection unit has two laser distance measuring sensors 22. In order to simplify the installation structure, the two laser distance measuring sensors 22 are installed on one cylinder. The laser distance measuring sensors 22 can be raised and lowered by one cylinder at the same time.

[0105] Example 3

[0106] like Figure 1-Figure 14 As shown, a production equipment provided by the present invention includes a transfer table 45, a tooling tray 44, a robot 43 and a fixture assembly; wherein: a fixture assembly is installed on the arm of the robot 43; the transfer table 45 and the tooling tray 44 are respectively arranged on the side of the robot 43. It should be noted here that the in-place detection unit in the present invention can use a visual solution to position the parts, but the cost is high and the debugging is difficult, and it is not the optimal embodiment; of course, the octagonal tube frame can also be built with aluminum profiles, but the strength is not enough and it is easy to become unstable after a long time of operation; and the first clamping module and the second clamping module can be clamped by adding a suction cup, but this part will produce a lot of aluminum chips during the processing process, which are easily adsorbed on the surface of the part, affecting the suction effect of the suction cup and causing instability. The first clamp of the present invention reserves a space of 9mm on one side when the clamp is clamping the part, which provides the clamp with position adjustment when taking materials, which is convenient for debugging.

[0107] The production equipment of the present invention includes a clamp assembly installed on the arm of a robot 43 for realizing automatic loading and unloading; the clamp assembly uses an octagonal tube to build a support frame of the clamp, and the octagonal tube is made of aluminum alloy, which has the advantages of light weight, good flexibility and rapid replacement; in order to solve the problem that the parts are placed in different postures on the tray rack and the machine tool workbench, that is, the parts are flipped during the loading and unloading process, a double-station first clamping module is designed. When the clamping surfaces on both sides of the part are flat, two first clamping modules with the same structure are used to clamp the part before and after flipping; when there are non-flat surfaces in the clamping surfaces on both sides of the part, two first clamping modules with different structures are used to clamp the parts before and after flipping respectively, so as to realize the clamping of compatible parts before and after flipping, in the first In the embodiment, that is, when the structures of the two first clamping modules are exactly the same, a single workstation can be compatible with clamping before and after flipping at the same time, while in the second embodiment, that is, when the structures of the two first clamping modules are different, one workstation is specified as the clamping station before flipping and the other is the clamping station after flipping; in the first embodiment, the first clamping module uses double cylinders to clamp the parts in the center. When clamping the parts, a 9mm fault-tolerant space is reserved between the clamping claws and the parts, thereby improving the stability of the clamped parts; in the second embodiment, the first clamping module mainly uses two clamping cylinders when clamping the parts, and clamps the relatively flat side of the product in a center clamping manner, and then three rotating cylinders 46 are used in combination with a clamping top block 47 to press in the middle. Through clamping at multiple points, the fixture has higher stability when clamping the product. Both clamps are equipped with laser displacement sensors to detect the position of the clamp and the part. A guide shaft (telescopic rod) detection mechanism is designed to detect the position of the clamp when clamping the part. Considering that there may be a certain degree of position deviation during clamping, a buffer is installed to provide calibration in the up and down directions when clamping the part to ensure the accurate position of the part. In addition, the clamp not only meets the requirements of loading and unloading parts, but also has two second cylinders 41 designed on the left and right of the clamp, which move synchronously and clamp the material rack in an external support manner, so that the material rack can be recycled, and the robot 43 can replace manual handling of empty material racks, while meeting the function of replacing the material rack level.

[0108] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A clamp assembly, characterized in that: It includes a supporting module, a first clamping module and a second clamping module; wherein: The first clamping module is arranged on the supporting module and clamps the product in a centering clamping manner; The second clamping module is arranged on the supporting module and clamps the product in a push manner.

2. The clamp assembly according to claim 1, characterized in that: There are two sets of the first clamping modules, which are arranged side by side; the structures of the two sets of the first clamping modules are exactly the same, and both are used to clamp the products before and after the flipping posture; or, the structures of the two sets of the first clamping modules are different, and they are used to clamp the products before and after the flipping posture respectively.

3. The clamp assembly according to claim 2, characterized in that: The support module includes an octagonal tube frame and a fixing plate; wherein: The octagonal tube frame is a rectangular structure and is made of octagonal tubes; The fixing plate is fixed to the bottom of the octagonal tube frame; Two sets of the first clamping modules are symmetrically arranged on both sides of the fixing plate; The second clamping module is located between the two sets of the clamping modules and is fixedly connected to the fixing plate.

4. The clamp assembly according to claim 2, characterized in that: The first clamping module includes a first clamping jaw, a first cylinder, a product position detection unit, an air blowing device, an in-place detection unit and a buffer unit; wherein: There are two first cylinders, which are respectively fixed at two ends of the support module; The two first cylinders are respectively connected to the two groups of the first clamping jaws in a transmission manner to drive the two groups of the first clamping jaws to open or clamp; The product position detection unit is arranged on the support module and is located between the two first cylinders; The air blowing device is arranged on the supporting module and can perform air blowing cleaning on the product surface and the first clamping jaw; There are two groups of in-position detection units, which are respectively arranged on one side of the two groups of the first clamping jaws; There are two groups of buffer units, which are respectively arranged on the other side of the two groups of the first clamping jaws.

5. The clamp assembly according to claim 4, characterized in that: The blowing device comprises at least one blowing block and a bamboo tube connected to the blowing block, wherein: All the blowing blocks are arranged side by side and at intervals on the supporting module, and are respectively connected to the air source; Two bamboo tubes are arranged side by side on each of the blowing blocks.

6. The clamp assembly according to claim 4, characterized in that: The first clamping module further comprises a rotating clamping module which is arranged outside the blowing device and located between the two first clamping jaws.

7. The clamp assembly according to claim 6, characterized in that: The buffer unit comprises at least one buffer which is penetrated on the supporting module; the buffer is arranged at the clamping center position of the first clamping jaw and the middle position between two rotating cylinders in the rotating clamping module.

8. The clamp assembly according to claim 6, characterized in that: The second clamping module includes a second cylinder, a tray clamping unit, a product position detection unit, and an in-place detection unit; wherein: There are two second cylinders, which are respectively fixed on two sides of the bottom of the support module; There are two pallet clamping units in a U-shaped structure, which are respectively connected to the two second cylinders; The product position detection unit is arranged at the bottom of the support module; The in-place detection unit is fixed on the supporting module and is located beside the tray clamping unit.

9. The clamp assembly according to claim 8, characterized in that: The in-position detection unit includes a guide shaft, a linear bearing, a spring, a guide shaft pressure block, a detection block, and a proximity sensor; wherein: The guide shaft is movably arranged on the support module through the linear bearing; The guide shaft pressing block is fixed to the bottom of the guide shaft; The spring is sleeved on the outside of the guide shaft, with the top end abutting against the support module and the bottom end abutting against the guide shaft pressure block; The detection block is arranged on the top of the guide shaft; The proximity sensor is arranged beside the guide shaft and corresponds to the position of the detection block.

10. The clamp assembly according to claim 4, characterized in that The first clamping module further includes a stabilizing and reinforcing unit disposed between the first clamping jaw and the first cylinder; the stabilizing and reinforcing unit includes a small slide rail connecting block, a linear guide rail, a second slide block, and a small slide rail fixing plate; wherein: There are two linear guide rails, which are respectively installed on the two jaws of the first clamp through the small slide rail connecting blocks; The number of the second sliding blocks is two, which are slidably arranged on the two linear slide rails respectively; One end of the small slide rail fixing plate is connected to the first cylinder, and the other end is connected to the two second sliding blocks.

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