A positioning and grasping device for sheet metal parts

Abstract

The present invention relates to the technical field of sheet metal processing, and specifically to a positioning and grasping device for sheet metal parts, comprising a lifting and rotating seat, on which two groups of adsorption components are arranged, each group of adsorption components comprises a lateral adsorption mechanism, a transmission mechanism and a lifting and adsorption mechanism, the lateral adsorption mechanism comprises a lateral rotating arm, a positioning adjustment member and a No. 1 adsorption member, the positioning adjustment member comprises a rotating plate and a positioning module, the lifting and adsorption mechanism comprises a lifting frame and a No. 2 adsorption member, and the transmission mechanism comprises a No. 1 connecting rod and a No. 2 connecting rod hinged end to end. Through the lateral adsorption mechanism of the device, some special-shaped sheet metals with inclined plates formed on the top surface can be picked up, and some special-shaped sheet metals with vertical plates formed on the top surface can also be picked up. Therefore, compared with traditional mechanical grippers, the application range of the device is wider.

Description

Technical Field

[0001] The invention relates to the technical field of sheet metal processing, and in particular to a positioning and grasping device for sheet metal parts. Background Art

[0002] Sheet metal is a comprehensive cold processing technology for metal sheets, including shearing, punching, cutting, compounding, folding, welding, riveting, splicing and forming. Sheet metal needs to be continuously transferred between various processes during processing. For the transfer of sheet metal, mechanical grippers are mostly used to pick up and place the sheet metal at a fixed point. For special-shaped sheet metal, due to its special shape, it is difficult for ordinary mechanical grippers to pick up. The existing Chinese patent with the announcement number CN109648595B discloses a terminal flexible mechanical gripping device for industrial robots to pick up special-shaped sheet metal, but the patent also has the following defects:

[0003] First, the gripping method of the gripping device in the above patent is clamping, which cannot be used to pick up ordinary flat sheet metals, but can only pick up a special type of special-shaped sheet metals, and has a small scope of application;

[0004] Secondly, the two clamping blocks in the above patent can only translate in the horizontal direction, so the special-shaped sheet metal clamped by the two clamping blocks must contain a straight plate parallel to the clamping blocks. If there is an inclined plate on the top of the special-shaped sheet metal, the two clamping blocks cannot clamp the inclined plate, and ultimately cannot pick up such special-shaped sheet metal. Summary of the invention

[0005] Based on this, it is necessary to provide a positioning and grasping device for sheet metal parts to address the existing technical problems.

[0006] In order to solve the problems of the prior art, the technical solution adopted by the present invention is as follows: a positioning and grasping device for sheet metal parts, including a lifting and rotating seat, on which two groups of adsorption components in a symmetrical state are arranged, each group of adsorption components includes a lateral adsorption mechanism, a transmission mechanism and a lifting and adsorption mechanism, the lifting and adsorption mechanism is close to the center of the lifting and rotating seat, the lateral adsorption mechanism is close to the side end of the lifting and rotating seat, the transmission mechanism is arranged between the lateral adsorption mechanism and the lifting and adsorption mechanism, the lateral adsorption mechanism includes a lateral rotating arm, a positioning adjustment member and a No. 1 adsorption member, and one end of the lateral rotating arm is hinged to the lifting and rotating seat The positioning adjustment part includes a rotating plate and a positioning module. The rotating plate rotates on the other end of the lateral rotating arm. The positioning module and the No. 1 adsorption part are both arranged on the rotating plate. The lifting and adsorption mechanism includes a lifting frame and a No. 2 adsorption part. The lifting frame slides on the lifting and rotating seat. The No. 2 adsorption part is arranged on the lifting frame. The transmission mechanism is used to connect the lifting frame and the lateral rotating arm. The transmission mechanism includes a No. 1 connecting rod and a No. 2 connecting rod hinged at the head and tail. One end of the No. 1 connecting rod is hinged to the lifting and rotating seat, one end of the No. 2 connecting rod is connected to the lifting frame, and one end of the lateral rotating arm hinged to the lifting and rotating seat is connected to the No. 1 connecting rod.

[0007] Furthermore, the lifting and rotating seat includes a supporting seat, a supporting platform, a rotating platform and a lifting column. The supporting platform is fixed on the center of the supporting seat. The rotating platform includes a rotating disk and a driving bin. The rotating disk is arranged on the driving bin. The rotating disk is fixedly connected to the supporting seat. The lifting column is vertically fixedly connected to the driving bin. Two groups of adsorption components are arranged on the supporting seat.

[0008] Furthermore, two groups of lateral swivel arms are respectively arranged at both ends of the support seat, and each group of lateral swivel arms includes a connecting plate and two symmetrical L-shaped rods. Two symmetrical fixed rods are fixed on the support seat, and each fixed rod is horizontal. One end of each L-shaped rod is rotatably connected to the end of the fixed rod. The connecting plate is horizontally arranged between the two L-shaped rods, and the two ends of the connecting plate are respectively fixedly connected to the other ends of the two L-shaped rods. A hydraulic cylinder is provided on the side of each L-shaped rod, and the output end of each hydraulic cylinder is hinged to the end of the L-shaped rod close to the fixed rod, and the tail end of each hydraulic cylinder is hinged to the support seat.

[0009] Furthermore, a dual-axis motor is fixed on each connecting plate, and a horizontal rotating shaft is rotatably provided on the end of each L-shaped rod close to the connecting plate. The two output ends of the dual-axis motor are coaxially fixedly connected to the corresponding two rotating shafts, and each rotating plate is arranged below the corresponding connecting plate. Vertically upward vertical plates are formed at both ends of each rotating plate, and each vertical plate is fixedly connected to the corresponding rotating shaft.

[0010] Furthermore, a groove is formed in the middle of each rotating plate, and each positioning module is fixed in the corresponding groove. Each group of No. 1 adsorption parts includes a number of No. 1 negative pressure suction cups, and the number of No. 1 negative pressure suction cups are evenly divided into two groups and are respectively arranged on both sides of the groove. Each No. 1 negative pressure suction cup is fixedly connected to the rotating plate.

[0011] Furthermore, each lifting frame includes a flat plate and two vertical connecting frames, which are symmetrically fixed at both ends of the flat plate, and are slidably connected to the support seat. Each group of No. 2 adsorption parts includes a number of No. 2 negative pressure suction cups equidistantly distributed along the length direction of the flat plate, and each No. 2 negative pressure suction cup is fixed to the flat plate. A horizontal No. 1 stabilizing rod is provided between the two vertical connecting frames to connect the two.

[0012] Furthermore, two symmetrical transverse plates are fixedly provided on the support seat, and a number of horizontal No. 2 stabilizing bars connecting the two transverse plates are provided between the two transverse plates. Vertical bar seats are fixedly provided at both ends of each transverse plate, and a vertical slide groove is provided in each bar seat, and a vertical slide bar is slidably provided in each slide groove. The two vertical connecting frames in each lifting frame are respectively fixedly connected to the lower ends of the corresponding two slide bars, and a horizontal No. 3 stabilizing bar connecting the two slide bars is provided between the two slide bars.

[0013] Furthermore, each bar seat is formed with a horizontal support rod, one end of each No. 1 connecting rod is hinged to the end of the corresponding support rod, one end of each No. 2 connecting rod is hinged to the corresponding sliding bar, each No. 1 connecting rod is provided with a bar through groove, the length direction of each bar through groove is consistent with the length direction of the No. 1 connecting rod, and a sliding pin that passes horizontally through the bar through groove is formed on the end of each L-shaped rod close to the hydraulic cylinder.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] First, the lifting and adsorption mechanism of the device is used to pick up and place ordinary flat sheet metals, so compared with traditional mechanical grippers, the application range of the device is wider;

[0016] Secondly, the lateral adsorption mechanism of the device can pick up some special-shaped sheet metals with inclined plates on the top surface, and can also pick up some special-shaped sheet metals with vertical plates on the top surface. Compared with the traditional mechanical gripper, the application range of the device is wider;

[0017] Thirdly, when the device picks up and places flat sheet metal, the lateral adsorption mechanism will rotate upward through the transmission mechanism to prevent the lateral adsorption mechanism from colliding with the flat sheet metal. When the device picks up and places special-shaped sheet metal, the lifting adsorption mechanism will rise through the transmission mechanism to prevent the lifting adsorption mechanism from colliding with the special-shaped sheet metal. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of the three-dimensional structure of an embodiment;

[0019] Figure 2 It is a three-dimensional structural schematic diagram of the lifting and rotating seat;

[0020] Figure 3 It is a schematic diagram of the three-dimensional structure of two sets of lateral adsorption mechanisms;

[0021] Figure 4 It is a three-dimensional structural schematic diagram of two sets of lifting and adsorption mechanisms;

[0022] Figure 5 It is a schematic diagram of the three-dimensional structure of a single set of adsorption components;

[0023] Figure 6 It is a three-dimensional structural schematic diagram of a single positioning adjustment member;

[0024] Figure 7 It is a schematic diagram of the three-dimensional structure of two groups of adsorption components;

[0025] Figure 8 It is a schematic diagram of the three-dimensional structure of a flat sheet metal;

[0026] Fig. 9 It is a schematic diagram of the three-dimensional structure of special-shaped sheet metal.

[0027] The numbers in the figure are: 1. lifting and rotating seat; 2. lateral adsorption mechanism; 3. transmission mechanism; 4. lifting and adsorption mechanism; 5. lateral rotating arm; 6. positioning adjustment member; 7. No. 1 adsorption member; 8. rotating plate; 9. positioning module; 10. lifting frame; 11. No. 2 adsorption member; 12. No. 1 connecting rod; 13. No. 2 connecting rod; 14. supporting seat; 15. supporting platform; 16. rotating platform; 17. lifting column; 18. rotating disk; 19. driving bin; 20. connecting plate; 21. L-shaped rod; 22. Fixed rod; 23. Hydraulic cylinder; 24. Double-axis motor; 25. Rotating shaft; 26. Vertical plate; 27. Groove; 28. No. 1 negative pressure suction cup; 29. ​​Flat plate; 30. Vertical connecting frame; 31. No. 2 negative pressure suction cup; 32. No. 1 stabilizing rod; 33. Horizontal plate; 34. No. 2 stabilizing rod; 35. Bar seat; 36. Slide groove; 37. Slide bar; 38. No. 3 stabilizing rod; 39. Support rod; 40. Bar through groove; 41. Sliding pin. DETAILED DESCRIPTION

[0028] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0029] refer to Figures 1 to 9A positioning and grasping device for sheet metal parts shown in the figure comprises a lifting and rotating seat 1, on which two groups of symmetrical adsorption components are arranged, each group of adsorption components comprises a lateral adsorption mechanism 2, a transmission mechanism 3 and a lifting and adsorption mechanism 4, the lifting and adsorption mechanism 4 is close to the center of the lifting and rotating seat 1, the lateral adsorption mechanism 2 is close to the side end of the lifting and rotating seat 1, the transmission mechanism 3 is arranged between the lateral adsorption mechanism 2 and the lifting and adsorption mechanism 4, the lateral adsorption mechanism 2 comprises a lateral rotating arm 5, a positioning adjustment member 6 and a No. 1 adsorption member 7, one end of the lateral rotating arm 5 is hinged to the lifting and rotating seat 1, the positioning adjustment member 6 comprises a rotating plate 8 and a positioning module 9, The rotating plate 8 rotates on the other end of the lateral rotating arm 5, the positioning module 9 and the No. 1 adsorption member 7 are both arranged on the rotating plate 8, the lifting and adsorption mechanism 4 includes a lifting frame 10 and a No. 2 adsorption member 11, the lifting frame 10 slides on the lifting rotating seat 1, the No. 2 adsorption member 11 is arranged on the lifting frame 10, the transmission mechanism 3 is used to transmit and connect the lifting frame 10 and the lateral rotating arm 5, the transmission mechanism 3 includes a No. 1 connecting rod 12 and a No. 2 connecting rod 13 which are hinged end to end, one end of the No. 1 connecting rod 12 is hinged to the lifting rotating seat 1, one end of the No. 2 connecting rod 13 is connected to the lifting frame 10, and the end of the lateral rotating arm 5 hinged to the lifting rotating seat 1 is connected to the No. 1 connecting rod 12.

[0030] This device is used to pick and place special-shaped sheet metal. The shapes of special-shaped sheet metals applicable to this device include but are not limited to: Figure 8 and Fig. 9 The two categories shown, Figure 8 and Fig. 9 Representing flat sheet metal and special-shaped sheet metal respectively, a double-axis displacement mechanism (not shown in the figure) for driving the lifting and rotating seat 1 to translate is provided above the lifting and rotating seat 1 of the device;

[0031] After the lifting and rotating seat 1 is lifted, the two-axis displacement mechanism drives the lifting and rotating seat 1 to translate, and finally brings the flat sheet metal to the corresponding sheet metal landing platform. When the flat sheet metal is located above the sheet metal landing platform, the two-axis displacement mechanism drives the lifting and rotating seat 1 to translate, and finally brings the flat sheet metal to the corresponding sheet metal landing platform. When the flat sheet metal is located above the sheet metal landing platform, the two-axis displacement mechanism drives the lifting and rotating seat 1 to translate, and the flat sheet metal will fall directly onto the sheet metal landing platform, thereby realizing the picking and placing of the flat sheet metal.

[0032] The picking and placing process of the device for special-shaped sheet metal is as follows: the lifting and rotating seat 1 descends. When the lifting and rotating seat 1 is close to the special-shaped sheet metal, the lifting and rotating seat 1 stops moving, and then the two lateral rotating arms 5 respectively drive the two No. 1 adsorption members 7 to rotate downward. At the same time, through the action of the transmission mechanism 3, the No. 1 connecting rod 12 will drive the entire lifting frame 10 to rise through the No. 2 connecting rod 13. When the lateral rotating arm 5 drives the No. 1 adsorption member 7 to rotate downward, the positioning module 9 provided on the rotating plate 8 will scan the side of the special-shaped sheet metal. At this time, if the No. 1 adsorption member 7 is not aligned with the side of the special-shaped sheet metal, the positioning module 9 will transmit the data to the control machine (not shown in the figure), and the control machine will start the rotating plate 8, and the rotating plate 8 will start to rotate. Adjust the direction of the No. 1 adsorption piece 7 so that the No. 1 adsorption piece 7 is aligned with the side of the special-shaped sheet metal, and when the No. 1 adsorption piece 7 is adjusted in the direction, the lateral rotating arm 5 continuously drives the No. 1 adsorption piece 7 to move toward the side of the special-shaped sheet metal. Finally, each group of No. 1 adsorption pieces 7 will generate negative pressure suction, then the two sides of the special-shaped sheet metal will be adsorbed and fixed by two groups of No. 1 adsorption pieces 7, thereafter the lifting and rotating seat 1 rises, and the dual-axis displacement mechanism drives the lifting and rotating seat 1 to translate, and finally the special-shaped sheet metal is brought to the corresponding sheet metal landing platform. When the special-shaped sheet metal is located above the sheet metal landing platform, each group of No. 1 adsorption pieces 7 loses the negative pressure suction, and the special-shaped sheet metal will fall directly onto the sheet metal landing platform, thereby realizing the picking and placing of the special-shaped sheet metal.

[0033] In order to show the specific structure of the lifting and rotating seat 1, the following features are set:

[0034] The lifting and rotating base 1 includes a supporting base 14, a supporting platform 15, a rotating platform 16 and a lifting column 17. The supporting platform 15 is fixed on the center of the supporting base 14. The rotating platform 16 includes a rotating disk 18 and a driving bin 19. The rotating disk 18 is arranged on the driving bin 19. The rotating disk 18 is fixedly connected to the supporting base 15. The lifting column 17 is vertically fixedly connected to the driving bin 19. Two groups of adsorption components are arranged on the supporting base 14.

[0035] In the following description, flat sheet metal and special-shaped sheet metal are collectively referred to as sheet metal. The driving bin 19 drives the support seat 14 to rotate through the rotating disk 18, and the rotation of the support seat 14 drives the two groups of adsorption components to rotate. After the sheet metal is adsorbed, the rotation of the sheet metal can be controlled by the rotating table 16 to adjust the direction of the sheet metal, so that the sheet metal can be placed straight down on the corresponding sheet metal landing platform. When the adsorption component adsorbs the sheet metal, the support seat 14 is driven to rise and fall through the lifting column 17, so that the adsorption component can approach the sheet metal and adsorb the sheet metal. The upper end of the lifting column 17 is connected to the terminal of the dual-axis displacement mechanism, and the dual-axis displacement mechanism drives the adsorbed sheet metal to translate, so that the sheet metal can be moved to the corresponding sheet metal landing platform.

[0036] In order to show the specific structure of the lateral rotating arm 5 and how the lateral rotating arm 5 rotates, the following features are set:

[0037] Two groups of lateral swivel arms 5 are respectively arranged at the two ends of the support seat 14, and each group of lateral swivel arms 5 includes a connecting plate 20 and two symmetrical L-shaped rods 21. Two symmetrical fixed rods 22 are fixedly arranged on the support seat 14, and each fixed rod 22 is horizontal. One end of each L-shaped rod 21 is rotatably connected to the end of the fixed rod 22. The connecting plate 20 is horizontally arranged between the two L-shaped rods 21, and the two ends of the connecting plate 20 are respectively fixedly connected to the other ends of the two L-shaped rods 21. A hydraulic cylinder 23 is provided on the side of each L-shaped rod 21, and the output end of each hydraulic cylinder 23 is hinged to the end of the L-shaped rod 21 close to the fixed rod 22, and the tail end of each hydraulic cylinder 23 is hinged to the support seat 14.

[0038] In the following description, flat sheet metal and special-shaped sheet metal are collectively referred to as sheet metal. The two hydraulic cylinders 23 corresponding to each group of lateral swivel arms 5 are started synchronously, and the lateral swivel arms 5 are driven to rotate by the hydraulic cylinders 23, so that the No. 1 adsorption member 7 provided on the lateral swivel arm 5 will rotate downward and approach the corresponding sheet metal. The connecting plate 20 is used to connect the two L-shaped rods 21 to ensure that the two L-shaped rods 21 can move synchronously. When the output end of the hydraulic cylinder 23 is extended, the No. 1 adsorption member 7 provided on the lateral swivel arm 5 rotates downward. When the output end of the hydraulic cylinder 23 is retracted, the No. 1 adsorption member 7 provided on the lateral swivel arm 5 rotates upward.

[0039] In order to show how the rotating plate 8 rotates, the following features are set:

[0040] A dual-axis motor 24 is fixedly provided on each connecting plate 20, and a horizontal rotating shaft 25 is rotatably provided on the end of each L-shaped rod 21 close to the connecting plate 20. The two output ends of the dual-axis motor 24 are coaxially fixedly connected to the corresponding two rotating shafts 25, respectively. Each rotating plate 8 is arranged below the corresponding connecting plate 20, and vertical upright plates 26 are formed at both ends of each rotating plate 8, and each upright plate 26 is fixedly connected to the corresponding rotating shaft 25.

[0041] When the lateral rotating arm 5 rotates so that the positioning module 9 is close to the side of the special-shaped sheet metal, the positioning module 9 will scan the side of the special-shaped sheet metal. If the No. 1 adsorption component 7 is not aligned with the side of the special-shaped sheet metal, the positioning module 9 will upload the scanning data to the control machine, and the control machine will start the dual-axis motor 24. The dual-axis motor 24 will drive the two rotating shafts 25 to rotate synchronously, so that the rotating plate 8 connected to the rotating shaft 25 through the vertical plate 26 will be driven to rotate, and finally the direction of the No. 1 adsorption component 7 can be adjusted to ensure that the No. 1 adsorption component 7 can be aligned with the side of the special-shaped sheet metal.

[0042] In order to show how the positioning module 9 and the first adsorption member 7 are installed on the rotating plate 8, the following features are set:

[0043] A groove 27 is formed in the middle of each rotating plate 8, and each positioning module 9 is fixed in the corresponding groove 27. Each group of No. 1 adsorption parts 7 includes a number of No. 1 negative pressure suction cups 28, and the number of No. 1 negative pressure suction cups 28 are evenly divided into two groups and are respectively arranged on both sides of the groove 27. Each No. 1 negative pressure suction cup 28 is fixedly connected to the rotating plate 8.

[0044] In the process of positioning module 9 and adsorption part No. 1 moving toward the special-shaped sheet metal, negative pressure suction cup No. 1 28 arranged on both sides of groove 27 will first contact with the side of special-shaped sheet metal, while positioning module 9 arranged in groove 27 will not contact with the side of special-shaped sheet metal. When negative pressure suction cup No. 1 28 is pressed against the side of special-shaped sheet metal, negative pressure suction cup No. 1 28 generates negative pressure suction force to adsorb and fix the special-shaped sheet metal. When negative pressure suction cup No. 1 28 loses negative pressure suction force, the special-shaped sheet metal loses adsorption force and falls down by itself.

[0045] In order to show the specific structure of the lifting frame 10, the following features are set:

[0046] Each lifting frame 10 includes a flat plate 29 and two vertical connecting frames 30. The two vertical connecting frames 30 are symmetrically fixed at both ends of the flat plate 29. The two vertical connecting frames 30 are slidably connected to the support seat 14. Each group of No. 2 adsorption components 11 includes a number of No. 2 negative pressure suction cups 31 equidistantly distributed along the length direction of the flat plate 29. Each No. 2 negative pressure suction cup 31 is fixedly connected to the flat plate 29. A horizontal No. 1 stabilizing rod 32 is provided between the two vertical connecting frames 30 to connect the two.

[0047] The flat plate 29 is raised and lowered by two vertical connecting frames 30 which are slidably connected to the support seat 14. When the flat plate 29 descends, a number of No. 2 negative pressure suction cups 31 arranged on the flat plate 29 will move downward toward the top surface of the flat sheet metal. When the No. 2 negative pressure suction cups 31 are pressed on the top surface of the flat sheet metal, each No. 2 negative pressure suction cup 31 will generate negative pressure suction, and finally the flat sheet metal will be adsorbed and fixed by a number of No. 2 negative pressure suction cups 31. When the No. 2 negative pressure suction cups 31 lose the negative pressure suction, the flat sheet metal will fall by itself. The No. 1 stabilizing bar 32 is used to reinforce the connection between the two vertical connecting frames 30.

[0048] In order to show how the facade connecting frame 30 is slidably connected to the lifting and rotating seat 1, the following features are set:

[0049] Two symmetrical transverse plates 33 are fixedly provided on the support seat 14, and a number of horizontal No. 2 stabilizing rods 34 are provided between the two transverse plates 33 to connect the two. Vertical bar seats 35 are fixedly provided at both ends of each transverse plate 33, and a vertical slide groove 36 is provided in each bar seat 35, and a vertical slide bar 37 is slidably provided in each slide groove 36. The two vertical connecting frames 30 in each lifting frame 10 are respectively fixedly connected to the lower ends of the corresponding two slide bars 37, and a horizontal No. 3 stabilizing rod 38 is provided between the two slide bars 37 to connect the two.

[0050] The lifting frame 10 slides vertically by sliding the slide bar 37 in the slide groove 36. The second stabilizing bar 34 arranged between the two transverse plates 33 is used to reinforce the two transverse plates 33, so as to improve the stability of the transverse plates 33. The third stabilizing bar 38 arranged between the two slide bars 37 is used to reinforce the two slide bars 37, so as to improve the stability of the two slide bars 37 and ensure that the two slide bars 37 can be lifted and lowered synchronously.

[0051] In order to show the specific installation method of the No. 1 connecting rod 12 and the No. 2 connecting rod 13, the following features are set:

[0052] A horizontal support rod 39 is formed on each bar seat 35, one end of each No. 1 connecting rod 12 is hinged to the end of the corresponding support rod 39, one end of each No. 2 connecting rod 13 is hinged to the corresponding slide bar 37, and each No. 1 connecting rod 12 is provided with a bar through groove 40, the length direction of each bar through groove 40 is consistent with the length direction of the No. 1 connecting rod 12, and a sliding pin 41 that transversely passes through the bar through groove 40 is formed on the end of each L-shaped rod 21 close to the hydraulic cylinder 23.

[0053] When the lateral rotating arm 5 drives the No. 1 suction piece 7 to rotate downward, the sliding pin 41 on each L-shaped rod 21 will slide in the corresponding strip-shaped through groove 40. Through the drive of the sliding pin 41, the entire No. 1 connecting rod 12 will drive the No. 2 connecting rod 13 to move upward, and finally the corresponding sliding bar 37 will be driven to rise through the No. 2 connecting rod 13. When the sliding bar 37 rises, the lifting frame 10 will drive the No. 2 suction piece 11 to ensure that when the No. 1 suction piece 7 is pressed downward on the side of the special-shaped sheet metal, the No. 2 suction piece 11 can rise to avoid it. When the No. 2 suction piece 11 is needed to adsorb the flat sheet metal downward, the No. 1 suction piece 7 on the lateral rotating arm 5 is driven to rotate upward through the hydraulic cylinder 23, so that the sliding pin 41 will drive the No. 1 connecting rod 12 to drive the No. 2 connecting rod 13 to move downward, and finally the No. 2 connecting rod 13 will descend through the sliding bar 37, then the No. 2 suction piece 11 will press downward on the top surface of the flat sheet metal, and at the same time the No. 1 suction piece 7 rotates upward to avoid the flat sheet metal.

[0054] Working principle:

[0055] This device is used to pick and place special-shaped sheet metal. The shapes of special-shaped sheet metals applicable to this device include but are not limited to: Figure 8 and 9 The two categories shown, Figure 8 and 9 Representing flat sheet metal and special-shaped sheet metal respectively, a double-axis displacement mechanism (not shown in the figure) for driving the lifting and rotating seat 1 to translate is provided above the lifting and rotating seat 1 of the device;

[0056] After the lifting and rotating seat 1 is lifted, the two-axis displacement mechanism drives the lifting and rotating seat 1 to translate, and finally brings the flat sheet metal to the corresponding sheet metal landing platform. When the flat sheet metal is located above the sheet metal landing platform, the two-axis displacement mechanism drives the lifting and rotating seat 1 to translate, and finally brings the flat sheet metal to the corresponding sheet metal landing platform. When the flat sheet metal is located above the sheet metal landing platform, the two-axis displacement mechanism drives the lifting and rotating seat 1 to translate, and the flat sheet metal will fall directly onto the sheet metal landing platform, thereby realizing the picking and placing of the flat sheet metal.

[0057] The picking and placing process of the device for special-shaped sheet metal is as follows: the lifting and rotating seat 1 descends. When the lifting and rotating seat 1 is close to the special-shaped sheet metal, the lifting and rotating seat 1 stops moving, and then the two lateral rotating arms 5 respectively drive the two No. 1 adsorption members 7 to rotate downward. At the same time, through the action of the transmission mechanism 3, the No. 1 connecting rod 12 will drive the entire lifting frame 10 to rise through the No. 2 connecting rod 13. When the lateral rotating arm 5 drives the No. 1 adsorption member 7 to rotate downward, the positioning module 9 provided on the rotating plate 8 will scan the side of the special-shaped sheet metal. At this time, if the No. 1 adsorption member 7 is not aligned with the side of the special-shaped sheet metal, the positioning module 9 will transmit the data to the control machine (not shown in the figure), and the control machine will start the rotating plate 8, and the rotating plate 8 will start to rotate, so as to adjust The orientation of the No. 1 adsorption member 7 makes the No. 1 adsorption member 7 align with the side of the No. 1 special-shaped plate, and when the No. 1 adsorption member 7 is adjusted in the orientation, the lateral rotating arm 5 continuously drives the No. 1 adsorption member 7 to move toward the side of the No. 1 special-shaped plate. Finally, each group of No. 1 adsorption members 7 will generate negative pressure suction, and then the two sides of the No. 1 special-shaped sheet metal will be adsorbed and fixed by two groups of No. 1 adsorption members 7. Thereafter, the lifting and rotating seat 1 rises, and the dual-axis displacement mechanism drives the lifting and rotating seat 1 to translate, and finally the special-shaped sheet metal is brought to the corresponding sheet metal landing platform. When the special-shaped sheet metal is located above the sheet metal landing platform, each group of No. 1 adsorption members 7 loses the negative pressure suction, and the special-shaped sheet metal will fall directly onto the sheet metal landing platform, thereby realizing the picking and placing of the special-shaped sheet metal.

[0058] The above embodiments only express one or several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A positioning and grasping device for sheet metal parts, characterized in that: It includes a lifting and rotating seat, on which two groups of adsorption components are arranged, each group of adsorption components includes a lateral adsorption mechanism, a transmission mechanism and a lifting and adsorption mechanism, the transmission mechanism is arranged between the lateral adsorption mechanism and the lifting and adsorption mechanism, the lateral adsorption mechanism includes a lateral rotating arm, a positioning adjustment member and a No. 1 adsorption member, one end of the lateral rotating arm is hinged on the lifting and rotating seat, the positioning adjustment member includes a rotating plate and a positioning module, the rotating plate rotates on the other end of the lateral rotating arm, the positioning module and the No. 1 adsorption member are both arranged on the rotating plate, the lifting and adsorption mechanism includes a lifting frame and a No. 2 adsorption member, the lifting frame slides on the lifting and rotating seat, the No. 2 adsorption member is arranged on the lifting frame, the transmission mechanism includes a No. 1 connecting rod and a No. 2 connecting rod hinged head to tail, one end of the No. 1 connecting rod It is hinged with the lifting and rotating seat, one end of the No. 2 connecting rod is connected to the lifting frame, and one end of the lateral rotating arm hinged with the lifting and rotating seat is connected to the No. 1 connecting rod. Two groups of lateral rotating arms are respectively arranged at the two ends of the support seat, and each group of lateral rotating arms includes a connecting plate and two symmetrical L-shaped rods. Two symmetrical fixed rods are fixed on the support seat, and each fixed rod is horizontal. One end of each L-shaped rod is rotatably connected to the end of the fixed rod. The connecting plate is horizontally arranged between the two L-shaped rods, and the two ends of the connecting plate are respectively fixedly connected to the other ends of the two L-shaped rods. A hydraulic cylinder is arranged on the side of each L-shaped rod, and the output end of each hydraulic cylinder is hinged to the end of the L-shaped rod close to the fixed rod, and the tail end of each hydraulic cylinder is hinged to the support seat; The lifting and rotating seat includes a supporting seat, a supporting platform, a rotating platform and a lifting column. The supporting platform is fixed on the center of the supporting seat. The rotating platform includes a rotating disk and a driving bin. The rotating disk is arranged on the driving bin. The rotating disk is fixedly connected to the supporting seat. The lifting column is vertically fixedly connected to the driving bin. Two groups of adsorption components are arranged on the supporting seat. A groove is formed in the middle of each rotating plate, and each positioning module is fixedly arranged in the corresponding groove. Each group of No. 1 adsorption components includes a plurality of No. 1 negative pressure suction cups, and the plurality of No. 1 negative pressure suction cups are evenly divided into two groups and respectively arranged on both sides of the groove. Each No. 1 negative pressure suction cup is fixedly connected to the rotating plate; Each lifting frame includes a flat plate and two vertical connection frames, the two vertical connection frames are symmetrically fixed at both ends of the flat plate, and the two vertical connection frames are slidably connected to the support seat. Each set of No. 2 adsorption components includes a number of No. 2 negative pressure suction cups equidistantly distributed along the length direction of the flat plate, and each No. 2 negative pressure suction cup is fixedly connected to the flat plate. A No. 1 stabilizing rod is provided between the two vertical connection frames and connects the two. Two symmetrical transverse plates are fixed on the support seat, and a number of horizontal No. 2 stabilizing bars connecting the two transverse plates are arranged between the two transverse plates. Vertical strip seats are fixed at both ends of each transverse plate, and a vertical slide groove is opened in each strip seat, and a vertical slide bar is slidably arranged in each slide groove. The two vertical connecting frames in each lifting frame are respectively fixedly connected to the lower ends of the corresponding two slide bars, and a horizontal No. 3 stabilizing bar connecting the two slide bars is arranged between the two slide bars.

2. A positioning and grasping device for sheet metal parts according to claim 1, characterized in that: A double-axis motor is fixed on each connecting plate, and a horizontal rotating shaft is rotatably provided on the end of each L-shaped rod close to the connecting plate. The two output ends of the double-axis motor are coaxially fixedly connected to the corresponding two rotating shafts, and each rotating plate is arranged below the corresponding connecting plate. Vertical upright plates are formed at both ends of each rotating plate, and each upright plate is fixedly connected to the corresponding rotating shaft.

3. A positioning and grasping device for sheet metal parts according to claim 1, characterized in that: A horizontal support rod is formed on each bar seat, one end of each No. 1 connecting rod is hinged to the end of the corresponding support rod, one end of each No. 2 connecting rod is hinged to the corresponding sliding bar, each No. 1 connecting rod is provided with a bar through groove, the length direction of each bar through groove is consistent with the length direction of the No. 1 connecting rod, and a sliding pin that passes horizontally through the bar through groove is formed on the end of each L-shaped rod close to the hydraulic cylinder.

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