Automatic hanging plate feeding and discharging clamp

Abstract

The invention discloses an automatic hanging plate feeding and discharging clamp which comprises a main body frame, a fixed side gripper and a movable side gripper are arranged on the two sides of the top end of the main body frame correspondingly, the fixed side gripper comprises a first sliding plate, and a first gripping plate is fixedly arranged at the bottom of one side of the first sliding plate. According to the device, the six-axis robot drives the clamp to accurately hang the hanging plate on the drum frame, so that manual operation is replaced, work is stable, the labor intensity of workers is reduced, the production efficiency is improved, the cost is saved, the robot connecting base is connected with the connecting flange of the six-axis robot, the clamp is driven by the six-axis robot to move, and the hanging plate can be accurately hung on the drum frame. The first grabbing plate and the second grabbing plate are arranged at the two ends of the hanging plate correspondingly, the floating connector is driven by the air cylinder to contract, and then the second sliding plate is driven to contract along the two third linear guide rails till the second grabbing plate and the first grabbing plate make close contact with the two ends of the hanging plate correspondingly.

Description

Technical Field

[0001] The invention relates to the field of automated glass production and processing, and in particular to an automatic loading and unloading fixture for hanging plates. Background Art

[0002] During the glass production and processing, the glass is pasted on the hanging board, which is vertically hung on the circular cradle and enters the vacuum coating equipment through the drum frame conveyor line for coating. At present, the hanging board with glass is hung on the cradle manually, and the hanging board is removed manually after coating, which is repeated over and over again. This requires a lot of manpower, has high work intensity and low efficiency.

[0003] In order to solve the above problems, an automatic loading and unloading fixture for hanging plates is proposed. Summary of the invention

[0004] The purpose of the present invention is to provide a hanging plate automatic loading and unloading fixture to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automatic loading and unloading fixture for hanging plates, comprising a main frame, wherein fixed side grippers and movable side grippers are respectively arranged on both sides of the top of the main frame, the fixed side grippers comprise a first sliding plate, a first gripping plate is fixedly arranged on the bottom of one side of the first sliding plate, a first positioning block is fixedly arranged on the middle of the first gripping plate, a fixed bracket is fixedly arranged in the middle of one side of the first sliding plate, a sensor is fixedly installed on one side of the fixed bracket, two first sliding seats are fixedly arranged on the top of one side of the first sliding plate, first linear guides are slidably arranged on the inner sides of the two first sliding seats, a first mounting plate is fixedly arranged on one side between the two first linear guides, and the movable The side gripper includes two mounting brackets, a cylinder is fixedly installed on the top between the two mounting brackets, a floating joint is fixedly connected to the movable end of the cylinder, a connecting piece is fixedly connected to the end of the floating joint away from the cylinder, a second sliding plate is fixedly connected to the bottom end of the connecting piece, a guide rail mounting plate is fixedly connected to one end of the second sliding plate, two second linear guides are fixedly arranged on the side of the guide rail mounting plate away from the first linear guide, second sliding seats are slidably arranged on the surfaces of the two second linear guides, a third sliding plate is fixedly arranged on one side between the two second sliding seats, a second grabbing plate is fixedly arranged on the bottom of the third sliding plate close to the second linear guide, and a second positioning block is fixedly arranged on the middle of the second grabbing plate.

[0006] The device drives the clamp to accurately hang the hanging plate on the drum frame through a six-axis robot, thereby replacing manual operation. It not only works stably, but also reduces the labor intensity of workers, improves production efficiency and saves costs. The device is connected to the connecting flange of the six-axis robot through a robot connecting seat, and the clamp is driven to move by the six-axis robot, so that the first grab plate and the second grab plate are respectively placed at the two ends of the hanging plate, and then the floating joint is driven to shrink by the cylinder, thereby driving the second sliding plate to shrink along the two third linear guide rails, thereby driving the guide rail mounting plate and the third sliding plate and other structures to move, and then driving the second grab plate and the second positioning block to move until the second grab plate and the first grab plate are respectively in close contact with the two ends of the hanging plate, and the first positioning block and the second positioning block are matched to facilitate accurate positioning of the hanging plate, and then the sensor detects whether the clamp grabs the hanging plate, and then the six-axis robot drives the clamp to accurately hang the hanging plate on the drum frame.

[0007] Preferably, two third sliding seats are fixedly provided at the bottom end of the second sliding plate, and third linear guides are slidably provided at the bottom ends of the two third sliding seats. Mounting seats are fixedly provided at both ends of the two third linear guides, and oil pressure buffers are fixedly provided at the tops of the two mounting seats. The two oil pressure buffers are respectively provided corresponding to the two third sliding seats, and the provision of the two oil pressure buffers can play a buffering and protective role for the two third sliding seats.

[0008] Preferably, a third rib plate is fixedly provided at the connection between the second sliding plate and the guide rail mounting plate, and second baffles are fixedly provided on both sides of the top of the guide rail mounting plate. The two second baffles are respectively provided corresponding to the two second sliding seats, and the provision of the two second baffles can play a limiting role on the two second sliding seats.

[0009] Preferably, a second upper spring fixing seat is fixedly provided in the middle of the top end of the guide rail mounting plate, a second pointer is fixedly provided on one side of the second upper spring fixing seat, second spring shafts are fixedly provided on both sides of the bottom end of the second upper spring fixing seat, a second lower spring fixing seat is fixedly provided at the bottom between the two second spring shafts, the second lower spring fixing seat is fixedly connected to the third sliding plate, and a second telescopic spring is sleeved in the middle of the surfaces of the two second spring shafts, and the arrangement of the two second telescopic springs can play a role of buffering and protection.

[0010] Preferably, first baffles are fixedly provided on both sides of the top end of the first mounting plate, and the two first baffles are respectively provided corresponding to the two first sliding seats, and the two first sliding seats can be limited by the provision of the two first baffles.

[0011] Preferably, a first upper spring fixing seat is fixedly provided in the middle of the top end of the first mounting plate, a first pointer is fixedly provided on one side of the first upper spring fixing seat, first spring shafts are fixedly provided on both sides of the bottom end of the first upper spring fixing seat, a first lower spring fixing seat is fixedly provided at the bottom between the two first spring shafts, the first lower spring fixing seat is fixedly connected to the first sliding plate, and a first telescopic spring is sleeved in the middle of the surfaces of the two first spring shafts, and the setting of the first telescopic spring can play a buffering and protective role.

[0012] Preferably, the main frame includes a base plate, a first rib plate is fixedly provided on both sides of the top of the base plate, a connecting plate is fixedly provided in the middle of the top of the base plate, a second rib plate is fixedly provided on both sides of the connecting plate, and a robot connecting seat is fixedly provided on the top between the connecting plate and the two base plates, which is connected to the connecting flange of the six-axis robot through the robot connecting seat.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] The device drives the fixture to accurately hang the hanging plate on the drum frame through a six-axis robot, thereby replacing manual operation. It not only works stably, but also reduces the labor intensity of workers, improves production efficiency, and saves costs. The robot connection seat is connected to the connection flange of the six-axis robot, and the fixture is driven to move by the six-axis robot, so that the first grab plate and the second grab plate are respectively placed at the two ends of the hanging plate, and then the floating joint is driven to shrink by the cylinder, thereby driving the second sliding plate to shrink along the two third linear guide rails, thereby driving the guide rail mounting plate and the third sliding plate and other structures to move, and then driving the second grab plate and the second positioning block to move until the second grab plate and the first grab plate are respectively in close contact with the two ends of the hanging plate, and the first positioning block and the second positioning block are matched to facilitate accurate positioning of the hanging plate, and then the sensor detects whether the fixture grabs the hanging plate, and then the six-axis robot drives the fixture to accurately hang the hanging plate on the drum frame, wherein the setting of the two first telescopic springs and the two second telescopic springs can have a certain size tolerance space when the equipment precision is different, so as to more accurately achieve the success of hanging the plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is an overall stereogram of the present invention;

[0016] Figure 2 It is a structural diagram of the main frame of the present invention;

[0017] Figure 3 A first stereoscopic view of the fixed side gripper of the present invention;

[0018] Figure 4 A second stereoscopic view of the fixed side gripper of the present invention;

[0019] Figure 5 A first stereoscopic view of the movable side gripper of the present invention;

[0020] Figure 6 A second stereoscopic view of the movable side gripper of the present invention;

[0021] Figure 7 It is a front view of the clamp of the present invention in an open state;

[0022] Figure 8 It is a front view of the clamp of the present invention in an open and clamped state.

[0023] In the figure: 1, main frame; 11, bottom plate; 12, first rib plate; 13, connecting plate; 14, robot connecting seat; 15, second rib plate; 2, fixed side gripper; 21, sensor; 22, fixed bracket; 23, first sliding plate; 24, first mounting plate; 25, first linear guide; 26, first baffle; 27, first pointer; 28, first upper spring fixing seat; 29, first spring shaft; 210, first telescopic spring; 211, first lower spring fixing seat; 212, first gripper; 213, first positioning block; 214, first sliding seat; 3, movable side gripper; 31, mounting Mounting bracket; 32, cylinder; 33, floating joint; 34, connecting piece; 35, second sliding plate; 36, guide rail mounting plate; 37, third rib plate; 38, second baffle plate; 39, second linear guide; 310, third sliding plate; 311, second grab plate; 312, second positioning block; 313, third linear guide; 314, mounting seat; 315, hydraulic buffer; 316, second upper spring fixing seat; 317, second spring shaft; 318, second telescopic spring; 319, second lower spring fixing seat; 320, second pointer; 321, third sliding seat; 322, second sliding seat. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0025] See also Figure 1-8The present invention provides an automatic loading and unloading fixture for hanging plates, comprising a main frame 1, wherein fixed side grippers 2 and movable side grippers 3 are respectively arranged on both sides of the top of the main frame 1, wherein the fixed side grippers 2 comprise a first sliding plate 23, wherein a first gripping plate 212 is fixedly arranged at the bottom of one side of the first sliding plate 23, wherein a first positioning block 213 is fixedly arranged at the middle of the first gripping plate 212, wherein a fixed bracket 22 is fixedly arranged at the middle of one side of the first sliding plate 23, wherein a sensor 21 is fixedly installed at one side of the fixed bracket 22, wherein two first sliding seats 214 are fixedly arranged at the top of one side of the first sliding plate 23, wherein first linear guide rails are slidably arranged on the inner sides of the two first sliding seats 214 25, a first mounting plate 24 is fixedly provided on one side between the two first linear guide rails 25, the movable side gripper 3 includes two mounting brackets 31, a cylinder 32 is fixedly provided on the top between the two mounting brackets 31, a floating joint 33 is fixedly connected to the movable end of the cylinder 32, a connecting piece 34 is fixedly connected to the end of the floating joint 33 away from the cylinder 32, a second sliding plate 35 is fixedly connected to the bottom end of the connecting piece 34, a guide rail mounting plate 36 is fixedly connected to one end of the second sliding plate 35, two second linear guide rails 39 are fixedly provided on the side of the guide rail mounting plate 36 away from the first linear guide rail 25, and second linear guide rails 39 are slidably provided on the surfaces of the two second linear guide rails A third sliding plate 310 is fixedly arranged on one side between the two second sliding seats 322, a second grab plate 311 is fixedly arranged on the bottom of the third sliding plate 310 close to the second linear guide rail 39, and a second positioning block 312 is fixedly arranged in the middle of the second grab plate 311. The device drives the fixture to accurately hang the hanging plate on the drum frame through a six-axis robot, thereby replacing manual operation, which not only works stably, but also reduces the labor intensity of workers, improves production efficiency, and saves costs. It is connected to the connecting flange of the six-axis robot through the robot connecting seat 14, and the fixture is driven to move by the six-axis robot, so that the first grab plate 212 and the second grab plate are connected. 311 are respectively placed at both ends of the hanging plate, and then the floating joint 33 is driven to shrink by the cylinder 32, thereby driving the second sliding plate 35 to shrink along the two third linear guide rails 313, thereby driving the guide rail mounting plate 36 and the third sliding plate 310 and other structures to move, and then driving the second grab plate 311 and the second positioning block 312 to move until the second grab plate 311 and the first grab plate 212 are respectively in close contact with the two ends of the hanging plate, and the first positioning block 213 and the second positioning block 312 are coordinated to facilitate accurate positioning of the hanging plate, and then the sensor 21 detects whether the fixture has grabbed the hanging plate, and then the six-axis robot drives the fixture to accurately hang the hanging plate on the drum frame.

[0026] Two third sliding seats 321 are fixedly provided at the bottom end of the second sliding plate 35, and the bottom ends of the two third sliding seats 321 are slidably provided with third linear guides 313, and mounting seats 314 are fixedly provided at both ends of the two third linear guides 313, wherein the tops of the two mounting seats 314 are fixedly provided with hydraulic buffers 315, and the two hydraulic buffers 315 are respectively provided corresponding to the two third sliding seats 321, and the connection between the second sliding plate 35 and the guide rail mounting plate 36 is fixedly provided with a third rib plate 37, and the two sides of the top of the guide rail mounting plate 36 are fixedly provided with second baffles 38, and the two The second baffle plate 38 is respectively arranged corresponding to the two second sliding seats 322, a second upper spring fixing seat 316 is fixedly arranged in the middle of the top of the guide rail mounting plate 36, a second pointer 320 is fixedly arranged on one side of the second upper spring fixing seat 316, a second spring shaft 317 is fixedly arranged on both sides of the bottom of the second upper spring fixing seat 316, a second lower spring fixing seat 319 is fixedly arranged at the bottom between the two second spring shafts 317, the second lower spring fixing seat 319 is fixedly connected to the third sliding plate 310, and a second telescopic spring 318 is sleeved on the middle of the surface of the two second spring shafts 317;

[0027] When in use, the two hydraulic buffers 315 can provide a buffering and protective effect on the two third sliding seats 321, the two second baffles 38 can limit the two second sliding seats 322, and the two second telescopic springs 318 can provide a buffering and protective effect.

[0028] A first baffle 26 is fixedly provided on both sides of the top of the first mounting plate 24, and the two first baffles 26 are respectively provided corresponding to the two first sliding seats 214, a first upper spring fixing seat 28 is fixedly provided in the middle of the top of the first mounting plate 24, a first pointer 27 is fixedly provided on one side of the first upper spring fixing seat 28, first spring shafts 29 are fixedly provided on both sides of the bottom of the first upper spring fixing seat 28, a first lower spring fixing seat 211 is fixedly provided at the bottom between the two first spring shafts 29, the first lower spring fixing seat 211 is fixedly connected to the first sliding plate 23, and the middle parts of the surfaces of the two first spring shafts 29 are sleeved with first telescopic springs 210, the main frame 1 includes a bottom plate 11, first rib plates 12 are fixedly provided on both sides of the top of the bottom plate 11, a connecting plate 13 is fixedly provided in the middle of the top of the bottom plate 11, second rib plates 15 are fixedly provided on both sides of the connecting plate 13, and a robot connecting seat 14 is fixedly provided at the top between the connecting plate 13 and the two bottom plates 11;

[0029] When in use, the two first baffles 26 are provided to limit the two first sliding seats 214, the first telescopic springs 210 are provided to play a buffering and protective role, and the robot connecting seat 14 is connected to the connecting flange of the six-axis robot.

[0030] When the embodiment of the present application is in use: the device drives the fixture to accurately hang the hanging plate on the drum frame through the six-axis robot, thereby replacing manual operation, which not only works stably, but also reduces the labor intensity of workers, improves production efficiency, and saves costs. The robot connecting seat 14 is connected to the connecting flange of the six-axis robot, and the fixture is driven to move by the six-axis robot, so that the first grab plate 212 and the second grab plate 311 are respectively placed at the two ends of the hanging plate, and then the floating joint 33 is driven to shrink by the cylinder 32, thereby driving the second sliding plate 35 to shrink along the two third linear guide rails 313, thereby driving the guide rail mounting plate 36 and the third sliding plate 310 and other structures move, and then drive the second grab plate 311 and the second positioning block 312 to move, until the second grab plate 311 and the first grab plate 212 are respectively in close contact with the two ends of the hanging plate, and the first positioning block 213 and the second positioning block 312 are arranged in coordination to facilitate accurate positioning of the hanging plate, and then the sensor 21 detects whether the clamp has grabbed the hanging plate, and then the six-axis robot drives the clamp to accurately hang the hanging plate on the drum frame, wherein the arrangement of the two first telescopic springs 210 and the two second telescopic springs 318 can have a certain size accommodation space when the equipment precision is different, thereby more accurately achieving the success of hanging the plate.

[0031] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A hanging plate automatic loading and unloading fixture, comprising a main frame (1), characterized in that: A fixed side gripper (2) and a movable side gripper (3) are respectively arranged on both sides of the top of the main frame (1); the fixed side gripper (2) comprises a first sliding plate (23); a first gripping plate (212) is fixedly arranged at the bottom of one side of the first sliding plate (23); a first positioning block (213) is fixedly arranged in the middle of the first gripping plate (212); a fixed bracket (22) is fixedly arranged in the middle of one side of the first sliding plate (23); a sensor (21) is fixedly installed on one side of the fixed bracket (22); two first sliding seats (214) are fixedly arranged at the top of one side of the first sliding plate (23); first linear guide rails (25) are slidably arranged on the inner sides of the two first sliding seats (214); a first mounting plate (24) is fixedly arranged on one side between the two first linear guide rails (25); the movable side gripper (3) comprises two mounting brackets (31); a first mounting plate (24) is fixedly arranged between the two mounting brackets (31); A cylinder (32) is fixedly installed on the top, a floating joint (33) is fixedly connected to the movable end of the cylinder (32), a connecting piece (34) is fixedly connected to the end of the floating joint (33) away from the cylinder (32), a second sliding plate (35) is fixedly connected to the bottom end of the connecting piece (34), one end of the second sliding plate (35) is fixedly connected to a guide rail mounting plate (36), two second linear guides (39) are fixedly arranged on the side of the guide rail mounting plate (36) away from the first linear guide (25), second sliding seats (322) are slidably arranged on the surfaces of the two second linear guides (39), a third sliding plate (310) is fixedly arranged on one side between the two second sliding seats (322), a second grab plate (311) is fixedly arranged on the bottom of the third sliding plate (310) close to the second linear guide (39), and a second positioning block (312) is fixedly arranged in the middle of the second grab plate (311).

2. The automatic loading and unloading fixture for hanging boards according to claim 1 is characterized in that: Two third sliding seats (321) are fixedly provided at the bottom end of the second sliding plate (35), and third linear guide rails (313) are slidably provided at the bottom ends of the two third sliding seats (321), and mounting seats (314) are fixedly provided at both ends of the two third linear guide rails (313), wherein oil pressure buffers (315) are fixedly provided at the tops of the two mounting seats (314), and the two oil pressure buffers (315) are respectively provided corresponding to the two third sliding seats (321).

3. The automatic loading and unloading fixture for hanging boards according to claim 1 is characterized in that: A third rib plate (37) is fixedly provided at the connection between the second sliding plate (35) and the guide rail mounting plate (36), and second baffle plates (38) are fixedly provided on both sides of the top end of the guide rail mounting plate (36), and the two second baffle plates (38) are respectively provided corresponding to the two second sliding seats (322).

4. The automatic loading and unloading fixture for hanging boards according to claim 1 is characterized in that: A second upper spring fixing seat (316) is fixedly arranged in the middle of the top of the guide rail mounting plate (36), a second pointer (320) is fixedly arranged on one side of the second upper spring fixing seat (316), second spring shafts (317) are fixedly arranged on both sides of the bottom of the second upper spring fixing seat (316), a second lower spring fixing seat (319) is fixedly arranged at the bottom between the two second spring shafts (317), the second lower spring fixing seat (319) is fixedly connected to the third sliding plate (310), and a second telescopic spring (318) is sleeved in the middle of the surface of the two second spring shafts (317).

5. The automatic loading and unloading fixture for hanging boards according to claim 1 is characterized in that: First baffles (26) are fixedly arranged on both sides of the top end of the first mounting plate (24), and the two first baffles (26) are respectively arranged corresponding to the two first sliding seats (214).

6. The automatic loading and unloading fixture for hanging boards according to claim 1 is characterized in that: A first upper spring fixing seat (28) is fixedly arranged in the middle of the top of the first mounting plate (24), a first pointer (27) is fixedly arranged on one side of the first upper spring fixing seat (28), first spring shafts (29) are fixedly arranged on both sides of the bottom of the first upper spring fixing seat (28), a first lower spring fixing seat (211) is fixedly arranged at the bottom between the two first spring shafts (29), the first lower spring fixing seat (211) is fixedly connected to the first sliding plate (23), and a first telescopic spring (210) is sleeved on the middle of the surface of the two first spring shafts (29).

7. The automatic loading and unloading fixture for hanging boards according to claim 1 is characterized in that: The main frame (1) comprises a bottom plate (11), first ribs (12) are fixedly arranged on both sides of the top of the bottom plate (11), a connecting plate (13) is fixedly arranged in the middle of the top of the bottom plate (11), second ribs (15) are fixedly arranged on both sides of the connecting plate (13), and a robot connecting seat (14) is fixedly arranged at the top between the connecting plate (13) and the two bottom plates (11).

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