Anti-falling intelligent grabbing device for machining

Abstract

The invention belongs to the technical field of clamping mechanisms, particularly relates to an anti-falling mechanical processing intelligent grabbing device, and provides the following scheme aiming at the problem that in the prior art, when one side of a plate is grabbed in a small area, the plate is easy to slip when being in an approximately vertical state, and the anti-falling mechanical processing intelligent grabbing device comprises a U-shaped frame with an upward opening and in a lying state; a transposition mechanism is arranged on the front face of the U-shaped frame and comprises a transfer table, and a raw material table is fixed to the position, located at the top end of the short vertical rod, of the U-shaped frame. During normal clamping at ordinary times, a labor-saving lever can be formed through extrusion of the two abutting springs, a raw material plate can be tightly clamped, once the raw material plate is turned to be in a close vertical state and slightly slides off, the anti-skid touch mechanism can be immediately triggered, at the moment, the two electric control positioning pins can be automatically started, and the raw material plate can be tightly clamped. And then the abutting spring is extruded, and meanwhile reverse pushing force is generated, so that the end, close to the anti-skid rubber, of the special-shaped clamping plate is clamped more tightly.

Description

Technical Field

[0001] The invention relates to the technical field of clamping mechanisms, and in particular to an anti-falling mechanical processing intelligent grasping device. Background Art

[0002] In the production process of ceramic wall and floor tiles, wood boards and other boards, a board grabbing device is often used to grab a certain number of boards from a stack of stacked boards. The board grabbing device includes a moving seat connected to a frame, an extraction cylinder is installed on the moving seat, the piston rod of the extraction cylinder is connected to a gripping frame, and the gripping frame is driven up and down by the piston rod, and a gripping claw and a ruler plate are installed on the gripping frame.

[0003] After searching, it is found that the existing grasping devices all use a fully enclosed grasping and clamping mechanism to fully enclose the target object. Although this grasping method is safer and will not fall off, it is necessary to customize a special grasping mechanism to deal with plates of different sizes. There is also a clamping mechanism that clamps one side of the plate, but this device is easy to slip when the plate is in a vertical state. Therefore, we propose an anti-slip intelligent plate grasping device. Summary of the invention

[0004] In view of the technical problem in the prior art that when a small area of ​​a plate is grabbed on one side, the plate is easy to slip when it is in a nearly vertical state, the present invention adopts the following technical solution: An anti-falling mechanical processing intelligent grasping device, comprising a U-shaped frame with an opening upward in a lying state, a shifting mechanism is arranged on the front of the U-shaped frame, and the shifting mechanism comprises a transfer table, a raw material table is fixed on the top of a vertical rod of the U-shaped frame, and an auxiliary plate-out mechanism that can only push out one raw material plate at a time is arranged on the upper surface of the raw material table; an adjusting card seat is fixed on the front of the transfer table, and a grasping mechanism is slidably connected in the adjusting card seat, and the grasping mechanism comprises a fixing rod fixed in the adjusting card seat, and a clamping device is arranged at one end of the fixing rod close to the raw material table The clamping device comprises two special-shaped clamping plates which are symmetrically rotated and connected to the end of the fixed rod; the opposite ends of the two special-shaped clamping plates are provided with anti-skid rubber at the clamping position, and a clamping spring is fixed between the ends of the two special-shaped clamping plates away from the anti-skid rubber and the fixed rod; the ends of the two clamping springs away from the fixed rod are provided with spring baffles and electric-controlled positioning pins, and the two electric-controlled positioning pins are respectively clamped on the two special-shaped clamping plates; the end of the fixed rod close to the raw material table is provided with an axle rod socket, and an anti-skid touch mechanism is provided in the axle rod socket.

[0005] Preferably, the shifting mechanism further comprises a mounting hole 1 and a mounting hole 2 respectively opened in the middle of the bottom of the U-shaped frame and near the top of the tall vertical rod, wherein anti-slip bearings are fixed in the mounting hole 1 and the mounting hole 2, and shaft rods 1 extending horizontally forward are inserted in the two anti-slip bearings, and a sliding block 1 and a T-shaped swing rod are respectively fixed at the ends of the two shaft rods 1 away from the U-shaped frame, a movable shaft is inserted at the front of the T-shaped swing rod near the top, and a turntable is fixed at the end of the movable shaft away from the U-shaped frame, and a round rod 1 is welded on the side of the turntable close to the sliding block 1. A wear-resistant slip ring is embedded on the slide block 1 and forms a sliding fit with the round rod 1; a driving wheel is arranged on the front of the U-shaped frame below the raw material table, and a connecting rod is rotatably connected to the front of the driving wheel near the circumferential edge, a hinge point is arranged on the side of the T-shaped swing arm near the driving wheel near the lower half, and the end of the connecting rod away from the driving wheel is fixed on the hinge point on the side of the T-shaped swing arm; by setting a shifting mechanism, the horizontally stacked raw material plates can be clamped and transported to the working position one by one in cooperation with the clamping mechanism, and placed in the required vertical state.

[0006] Preferably, a reduction motor is fixed to the back of the U-shaped frame near the back of the driving wheel, and a servo positioning mechanism is fixed to the output shaft end of the reduction motor, and an extension shaft is fixed to the output shaft end of the servo positioning mechanism through a coupling, and the extension shaft passes through the U-shaped frame and is fixed in the middle of the driving wheel; a counterweight platform is fixed to the back of the U-shaped frame near the bottom end; through the set servo positioning mechanism, the transposition mechanism can be kept in a stationary state when the driving wheel rotates to the proximal stop point and the distal stop point, that is, when the clamping device is clamping and releasing the material.

[0007] Preferably, the clamping mechanism also includes an electric push rod fixed to an end of the fixed rod away from the clamping jaw device, the extension rod of the electric push rod extends in a direction toward the end away from the clamping jaw device, and a V-shaped rod is fixed to the end of the extension stem of the electric push rod, and steel wires are fixed to both ends of the V-shaped rod; the circumferential outer wall of the fixed rod is reserved with two ribs that are centrally symmetrical to each other, and wire grooves are reserved on the sides opposite to each other of the two ribs, and fixed pulleys are provided at the ends of the outer walls of the fixed rod close to the wire grooves, and the steel wire passes around the fixed pulley on the side where the wire is located and is fixed to the end of the special-shaped clamping plate away from the anti-slip rubber.

[0008] Preferably, the anti-slip touch mechanism includes a pressure contact block slidably connected in the shaft rod socket, and a return spring is arranged between the end of the pressure contact block and the bottom of the groove of the shaft rod socket, a pin hole is opened near the end of the rod body of the fixed rod and is communicated with the shaft rod socket, and a sliding top block is slidably connected in the pin hole, an oblique cut surface is arranged at one end of the sliding top block close to the pressure contact block, and a return spring is sleeved on the outer wall of the end of the sliding top block away from the oblique cut surface, an L-shaped baffle is fixed to the end of the return spring away from the sliding top block, and the L-shaped baffle is fixed to the outer wall of the fixed rod; a pressure sensor is fixed to the surface of the L-shaped baffle close to the end of the sliding top block; and the pressure sensor is connected to a controller through a signal line, and a signal output end of the controller is connected to a control switch of the electric control positioning pin through a signal line.

[0009] Preferably, a support frame with adjustable height is fixed to the top of the raw material table near the rear side, and a raw material frame with a square tube structure is fixed to the top of the support frame. A distance is reserved between the bottom end of the raw material frame and the upper surface of the raw material table, and the distance is equal to 1.2-1.7 times the thickness of the raw material plate. The raw material frame is arranged to facilitate pushing out only one raw material plate at a time, and the distance can be adjusted if two plates need to be pushed out.

[0010] Preferably, the auxiliary plate-out mechanism includes an execution part and a detection part, and the detection part includes a compression spring fixed to the circumferential outer wall of the driving wheel, a touch ball is fixed to the end of the compression spring away from the driving wheel, and the fixed position of the compression spring is located at the hinge point closest to the connecting rod; two sliding rod seats are fixed to the side of the U-shaped frame close to the driving wheel, and metal rods are slidably connected to the two sliding rod seats, the same trapezoidal slide is fixed to the end of the two metal rods close to the driving wheel, and a return spring is fixed between the trapezoidal slide and the surface of the sliding rod seat, and a contact rod that is connected to the two metal rods is arranged on the back of the U-shaped frame; the two contact rods are connected in series in the circuit of the detection part.

[0011] Preferably, the raw material table has two parallel rectangular holes, and the length direction of the rectangular holes is consistent with the pulling-out direction of the raw material plate, the lower surface of the raw material table is located on both sides of the rectangular holes and are fixed with angle steel slide rails, and the same discharging push block is slidably connected between the two angle steel slide rails, the top of the discharging push block protrudes from the upper surface of the raw material table, and the top of the discharging push block is lower than the bottom of the raw material frame; a permanent magnetic column is fixed on the side of the discharging push block away from the clamping claw device, and an electromagnet is fixed on the end of the lower surface of the raw material plate near the permanent magnetic column. When the electromagnet is energized, the magnetic pole of one end near the permanent magnetic column repels the magnetic pole of the permanent magnetic column, thereby generating a thrust to push the discharging push block together with the bottom raw material plate away from the original position, a reset spring is fixed on the side of the discharging push block near the electromagnet, and the end of the reset spring away from the discharging push block is fixed to the lower surface of the raw material table; a magnet slot matching the diameter of the permanent magnetic column is opened on the side of the discharging push block.

[0012] Preferably, the center position of the raw material frame on the raw material table passes through the plane where the moving track of the clamping device is located, ensuring that the clamping device is clamped in the middle position of the raw material plate when grabbing.

[0013] Preferably, notches are provided on both sides of the top of the raw material frame, and an observation window is reserved on the front of the raw material frame to facilitate observation of the remaining amount of the raw material plate inside the raw material frame.

[0014] The beneficial effects of the present invention are: 1. By setting up the anti-skid touch mechanism and two clamping claws with anti-skid rubber, a labor-saving lever can be formed by squeezing two clamping springs during normal clamping, so that the raw material plate can be tightly clamped to prevent it from falling off. Once the raw material plate is turned to a vertical state and slightly slips, the anti-skid touch mechanism will be immediately triggered. At this time, the two electrically controlled positioning pins will automatically start, and then squeeze the clamping springs to generate a reverse pushing force at the same time, so that the end of the special-shaped clamping plate close to the anti-skid rubber is clamped tighter to prevent the raw material plate from slipping.

[0015] 2. Through the electric push rod and steel wire, after the clamping device transports the raw material plate to the predetermined position, the two special-shaped clamping plates tightly clamped on the surface of the raw material plate can be separated by pulling the two steel wires in opposite directions at the same time.

[0016] 3. Through the anti-slip contact mechanism, when loading, the raw material plate can be first pushed into place, that is, the protruding part of the pressing contact block is completely pushed into the shaft rod socket of the fixed rod. At this time, the pressing contact block squeezes the sliding top block and contacts the pressure sensor. At this time, it is in a normal clamping state; once slippage occurs, the pressing contact block loses the pressure of the raw material plate, and is pushed out a certain distance under the action of the reset spring. At this time, the sliding top block also loses its limit and is separated from the pressure sensor under the action of the reset spring, and the pressure signal is lost. At this time, the controller controls the electronically controlled positioning pin to start, so as to quickly increase the clamping force.

[0017] 4. Through the setting of the touch ball and trapezoidal slide, once the touch ball rotates to the trapezoidal slide, the trapezoidal slide is pressed to force the two metal rods to contact the contact rods, and then the circuit is connected to release a signal to the execution part in the auxiliary board mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the device during the grasping process; Figure 2 This is a schematic diagram of the structure of the device when it is preparing to bite into the plate before grabbing; Figure 3 This is a schematic diagram of the rear structure of the device before grasping; Figure 4 is a top view of the device; Figure 5 It is a three-dimensional structural schematic diagram of the discharging push block in this device; Figure 6 This is a schematic diagram of the rear view structure of the right side of the device; Figure 7 For this device Figure 4 A cross-sectional view of the middle raw material platform along AA; Figure 8 This is the main view of the device during grasping; Fig. 9 It is a schematic diagram of the overall structure of the grabbing mechanism in the device; Fig.10 is a cross-sectional view of the grabbing mechanism in the device; Fig.11 This is an exploded view of the grabbing mechanism in this device.

[0019] In the figure: 1, U-shaped frame; 101, mounting hole 1; 102, mounting hole 2; 2, trapezoidal slide; 3, driving wheel; 4, touch ball; 5, raw material table; 6, auxiliary plate discharging mechanism; 61, electromagnet; 62, permanent magnetic column; 63, angle steel slide rail; 64, reset spring; 65, discharging push block; 6501, magnet slot; 7, raw material frame; 701, raw material plate; 8, clamping claw device; 81, special-shaped clamping plate; 82, pressing contact block; 83, anti-slip rubber; 84, electric control positioning pin; 85, fixed pulley; 8 6. Clamping spring; 87. Sliding top block; 88. Pressure sensor; 89. L-shaped baffle; 810. Reset spring; 9. Fixed rod; 901. Shaft rod socket; 902. Wire trough; 10. Transfer table; 11. Electric push rod; 12. Sliding rod block 1; 13. Round rod 1; 14. Shaft rod 1; 15. Counterweight table; 16. T-shaped rocker arm; 17. Anti-slip bearing; 18. Connecting rod; 19. Adjustment seat; 20. Reset spring 1; 21. Reducer motor; 22. Contact rod; 23. Sliding rod seat; 24. Steel wire. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0021] In this embodiment Please refer to Figure 1-10, an anti-falling mechanical processing intelligent grasping device, comprising a U-shaped frame 1 with an opening facing upward and in a lying state, a transposition mechanism is arranged on the front of the U-shaped frame 1, and the transposition mechanism comprises a transfer table 10, a raw material table 5 is fixed on the top of a short vertical rod of the U-shaped frame 1, and an auxiliary plate discharging mechanism 6 which can only push out one raw material plate 701 at a time is arranged on the upper surface of the raw material table 5; an adjusting card seat 19 is fixed on the front of the transfer table 10, and a grasping mechanism is slidably connected in the adjusting card seat 19, and the grasping mechanism comprises a fixed rod 9 fixed in the adjusting card seat 19, and a clamping device 8 is arranged at one end of the fixed rod 9 close to the raw material table 5, and the clamping device 8 comprises two special-shaped clamping plates 81 which are symmetrically rotated and connected to the end of the fixed rod 9; The opposite ends of the two special-shaped clamping plates 81 are provided with anti-skid rubber 83 at the clamping position, and a clamping spring 86 is fixed between the ends of the two special-shaped clamping plates 81 away from the anti-skid rubber 83 and the fixed rod 9; the ends of the two clamping springs 86 away from the fixed rod 9 are provided with spring baffles and electric control positioning pins 84, and the two electric control positioning pins 84 are respectively clamped on the two special-shaped clamping plates 81; An axle rod socket 901 is formed at one end of the fixing rod 9 close to the raw material table 5, and an anti-skid touch mechanism is arranged in the axle rod socket 901; through the anti-skid touch mechanism and two clamping claw devices 8 with anti-skid rubber 83, a labor-saving lever can be formed during normal clamping through the squeezing of two clamping springs 86, so that the raw material plate 701 can be tightly clamped to prevent it from falling off, and once the raw material plate 701 is turned to a state close to the vertical state and slightly slips, the anti-skid touch mechanism will be immediately triggered. At this time, the two electrically controlled positioning pins 84 will automatically start, and then squeeze the clamping springs 86 and generate a reverse pushing force at the same time, so that the end of the special-shaped clamping plate 81 close to the anti-skid rubber 83 is clamped tighter to prevent the raw material plate 701 from slipping.

[0022] Reference Figure 6The shifting mechanism also includes a mounting hole 101 and a mounting hole 2 102 respectively opened in the middle of the bottom of the U-shaped frame 1 and near the top of the tall vertical rod, and anti-slip bearings 17 are fixed in the mounting hole 101 and the mounting hole 2 102, and the two anti-slip bearings 17 are plugged with a shaft rod 14 extending horizontally forward, and the ends of the two shaft rods 14 away from the U-shaped frame 1 are respectively fixed with a slide block 12 and a T-shaped swing rod 16, and the front of the T-shaped swing rod 16 is plugged with a movable shaft near the top, and the transfer table 10 is fixed at the end of the movable shaft away from the U-shaped frame 1, and a round rod 1 is welded on the side of the transfer table 10 close to the slide block 12 13, and the slide block 12 is embedded with a wear-resistant slip ring that forms a sliding fit with the round rod 13; the front of the U-shaped frame 1 is located below the raw material table 5 and is provided with a driving wheel 3, and the front of the driving wheel 3 is rotatably connected with a connecting rod 18 near the circumferential edge, and a hinge point is provided on the side of the T-shaped rocker 16 close to the driving wheel 3 near the lower half, and the end of the connecting rod 18 away from the driving wheel 3 is fixed on the hinge point on the side of the T-shaped rocker 16; by setting a transposition mechanism, the horizontally stacked raw material plates 701 can be clamped and transported to the working position one by one in cooperation with the clamping mechanism, and placed in the required vertical state.

[0023] Please refer to Figure 6 A reduction motor 21 is fixed to the back of the U-shaped frame 1 near the back of the driving wheel 3, and a servo positioning mechanism is fixed to the output shaft end of the reduction motor 21. An extension shaft is fixed to the output shaft end of the servo positioning mechanism through a coupling. The extension shaft passes through the U-shaped frame 1 and is fixed in the middle of the driving wheel 3; a counterweight platform 15 is fixed to the back of the U-shaped frame 1 near the bottom end; through the set servo positioning mechanism, the transposition mechanism can be kept in a stationary state when the driving wheel 3 rotates to the proximal dead point and the distal dead point, that is, when the clamping jaw device 8 is clamping and discharging.

[0024] Please refer to Fig. 9 and Fig.11 The clamping mechanism also includes an electric push rod 11 fixed to the end of the fixed rod 9 away from the clamping claw device 8, the extension rod of the electric push rod 11 extends in the direction of the end away from the clamping claw device 8, and a V-shaped rod is fixed to the end of the extended stem of the electric push rod 11, and steel wires 24 are fixed at both ends of the V-shaped rod; the circumferential outer wall of the fixed rod 9 is reserved with two ribs that are centrally symmetrical to each other, and the two ribs are reserved on the opposite sides of the two ribs. A wire groove 902 is reserved, and a fixed pulley 85 is provided at the end of the outer wall of the fixed rod 9 close to the wire groove 902, and the steel wire 24 passes around the fixed pulley 85 on the side where it is located and is fixed to the end of the special-shaped clamping plate 81 away from the anti-slip rubber 83; through the set electric push rod 11 and steel wire 24, after the clamping claw device 8 transports the raw material plate 701 to the predetermined position, only the two steel wires 24 need to be pulled in the opposite direction at the same time to separate the two special-shaped clamping plates 81 tightly clamped on the surface of the raw material plate 701.

[0025] Please refer to Figure 8 , Fig. 9 , Fig.10 and Fig.11 The anti-slip contact mechanism includes a pressing contact block 82 slidably connected to the shaft rod socket 901, and a return spring 810 is arranged between the end of the pressing contact block 82 and the bottom of the groove of the shaft rod socket 901. A pin hole is opened near the end of the rod body of the fixed rod 9 and is communicated with the shaft rod socket 901, and a sliding top block 87 is slidably connected in the pin hole. An inclined surface is arranged at one end of the sliding top block 87 close to the pressing contact block 82, and a return spring is sleeved on the outer wall of the end of the sliding top block 87 away from the inclined surface. An L-shaped baffle 89 is fixed to the end of the return spring away from the sliding top block 87, and the L-shaped baffle 89 is fixed to the outer wall of the fixed rod 9; a pressure sensor 88 is fixed to the surface of the L-shaped baffle 89 close to the end of the sliding top block 87; and the pressure sensor 88 is connected to a controller through a signal line, and the control The signal output end of the device is connected to the control switch of the electric control positioning pin 84 through a signal line; through the anti-slip touch mechanism, when loading, the raw material plate 701 can be first pressed into place, that is, the protruding part of the pressing contact block 82 is completely pushed into the shaft rod socket 901 of the fixed rod 9. At this time, the pressing contact block 82 squeezes the sliding top block 87 and contacts the pressure sensor 88, and is in a normal clamping state; once slippage occurs, the pressing contact block 82 loses the pressure of the raw material plate 701, and is pushed out a distance under the action of the reset spring 810. At this time, the sliding top block 87 also loses its limit and is separated from the pressure sensor 88 under the action of the reset spring, and the pressure signal is lost. At this time, the controller controls the electric control positioning pin 84 to start to quickly increase the clamping force.

[0026] Please refer to Figure 6 A support frame with adjustable height is fixed to the top of the raw material table 5 near the rear side, and a raw material frame 7 with a square tube structure is fixed to the top of the support frame. A distance is reserved between the bottom end of the raw material frame 7 and the upper surface of the raw material table 5, and the distance is equal to 1.2-1.7 times the thickness of the raw material plate 701; the modified raw material frame 7 is arranged to facilitate pushing out only one raw material plate 701 at a time, and the distance can be adjusted if two plates need to be pushed out.

[0027] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 6The auxiliary plate-out mechanism 6 includes an execution part and a detection part, and the detection part includes a compression spring fixed to the outer wall of the circumference of the driving wheel 3, and a touch ball 4 is fixed to the end of the compression spring away from the driving wheel 3, and the fixed position of the compression spring is located at the hinge point closest to the connecting rod 18; two slide rod seats 23 are fixed to the side of the U-shaped frame 1 close to the driving wheel 3, and metal rods are slidably connected to the two slide rod seats 23, and the same trapezoidal slide 2 is fixed to the end of the two metal rods close to the driving wheel 3, and a return spring 20 is fixed between the surface of the trapezoidal slide 2 and the slide rod seat 23, and a contact rod 22 docking with the two metal rods is provided on the back of the U-shaped frame 1; the two contact rods 22 are connected in series in the circuit of the detection part, and once the touch ball 4 rotates to the trapezoidal slide 2, the trapezoidal slide 2 is pressed to force the two metal rods to contact the contact rod 22, and then the circuit is connected to release a signal to the execution part in the auxiliary plate-out mechanism 6.

[0028] Please refer to Figure 4 and Figure 5 Two parallel rectangular holes are opened on the raw material table 5, and the length direction of the rectangular holes is consistent with the pulling direction of the raw material plate 701. The lower surface of the raw material table 5 is located on both sides of the rectangular hole and is fixed with angle steel slide rails 63, and the two angle steel slide rails 63 are slidably connected with the same discharge push block 65, the top of the discharge push block 65 protrudes from the upper surface of the raw material table 5, and the top of the discharge push block 65 is lower than the bottom end of the raw material frame 7; a permanent magnetic column 62 is fixed on the side of the discharge push block 65 away from the clamping claw device 8, and the lower surface of the raw material plate 701 is fixed with a permanent magnetic column 62. An electromagnet 61 is fixed to the end of the surface close to the permanent magnetic column 62. When the electromagnet 61 is energized, the magnetic pole at one end close to the permanent magnetic column 62 repels the magnetic pole of the permanent magnetic column 62, thereby generating a thrust to push the discharge push block 65 together with the bottom raw material plate 701 away from the original position. A reset spring 64 is fixed to the side of the discharge push block 65 close to the electromagnet 61, and the end of the reset spring 64 away from the discharge push block 65 is fixed to the lower surface of the raw material table 5; a magnet slot 6501 matching the diameter of the permanent magnetic column 62 is opened on the side of the discharge push block 65.

[0029] Please refer to Figure 4 The center position of the raw material frame 7 on the raw material table 5 passes through the plane where the moving track of the clamping device 8 is located, ensuring that the clamping device 8 is clamped in the middle position of the raw material plate 701 when grabbing.

[0030] Please refer to Figure 1 There are gaps on both sides of the top of the raw material frame 7, and an observation window is reserved on the front of the raw material frame 7 to facilitate observation of the remaining amount of the raw material plate 701 inside the raw material frame 7.

[0031] When the device is in use, the reduction motor 21 cooperates with the servo positioning mechanism to move the clamping device 8 in the transposition mechanism to the position ready to bite the plate. At the same time, since the two contact rods 22 are connected in series in the circuit of the detection part, the touch ball 4 rotates to the trapezoidal slide 2, pressing the trapezoidal slide 2 to force the two metal rods to contact the contact rod 22, and then the circuit is connected, and a signal is released to the execution part in the auxiliary plate discharging mechanism 6; the electromagnet 61 is energized, and then a thrust is generated to push the discharging push block 65 together with the bottom raw material plate 701 away from the original position; the end of the raw material plate 701 is just inserted between the two anti-slip rubbers 83 of the clamping device 8; until the protruding part of the pressing contact block 82 is completely pushed into the fixing rod 9, at this time, the pressing contact block 82 squeezes the sliding top block 87 and contacts with the pressure sensor 88, and is in a normal clamping state; the reduction motor 21 can continue to be controlled to run, that is, the shifting mechanism starts to control the clamping mechanism to pull out the bitten raw material plate 701, and then flip it over and transport it to another workstation; in this process, once slippage occurs, the pressing contact block 82 loses the pressure of the raw material plate 701, and is pushed out a distance under the action of the reset spring 810. At this time, the sliding top block 87 also loses its limit and is separated from the pressure sensor 88 under the action of the reset spring, and the pressure signal is lost. At this time, the controller controls the electronically controlled positioning pin 84 to start to quickly increase the clamping force.

[0032] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An anti-falling mechanical processing intelligent grasping device, comprising a U-shaped frame (1) with an opening facing upwards and lying in a horizontal position, a transposition mechanism is arranged on the front of the U-shaped frame (1), and the transposition mechanism comprises a transfer table (10), characterized in that: The U-shaped frame (1) is located at the top of a short vertical rod, and a raw material table (5) is fixed on the upper surface of the raw material table (5), and an auxiliary plate discharging mechanism (6) that can only push out one raw material plate (701) at a time is arranged; the front of the transfer table (10) is fixed with an adjustment card seat (19), and a gripping mechanism is slidably connected in the adjustment card seat (19), and the gripping mechanism includes a fixed rod (9) fixed in the adjustment card seat (19), and a clamping device (8) is arranged at one end of the fixed rod (9) close to the raw material table (5), and the clamping device (8) includes two special-shaped clamping plates (81) symmetrically rotatably connected to the end of the fixed rod (9) ; The two special-shaped clamping plates (81) are provided with anti-skid rubber (83) at the clamping position at the opposite ends thereof, and a clamping spring (86) is fixed between the ends of the two special-shaped clamping plates (81) away from the anti-skid rubber (83) and the fixed rod (9); the two ends of the two clamping springs (86) away from the fixed rod (9) are provided with spring baffles and electric control positioning pins (84), and the two electric control positioning pins (84) are respectively clamped on the two special-shaped clamping plates (81); the fixed rod (9) is provided with a shaft rod insertion hole (901) at one end thereof close to the raw material table (5), and an anti-skid touch mechanism is provided in the shaft rod insertion hole (901).

2. The anti-falling mechanical processing intelligent grasping device according to claim 1 is characterized in that: The shifting mechanism further comprises a mounting hole 1 (101) and a mounting hole 2 (102) respectively provided in the middle of the bottom of the U-shaped frame (1) and near the top of the tall vertical rod, wherein the mounting hole 1 (101) and the mounting hole 2 (102) are both fixed with anti-slip bearings (17), and the two anti-slip bearings (17) are both plugged with shaft rods 1 (14) extending horizontally forward, and the ends of the two shaft rods 1 (14) away from the U-shaped frame (1) are respectively fixed with a sliding rod block 1 (12) and a T-shaped swing rod (16), and the front of the T-shaped swing rod (16) is plugged with a movable shaft near the top, and the transfer table (10) is fixed at the movable shaft away from the U-shaped frame. (1), a round rod (13) is welded to one end of the transfer table (10) on one side close to the slide block (12), and a wear-resistant slip ring is embedded on the slide block (12) to form a sliding fit with the round rod (13); the front side of the U-shaped frame (1) is located below the raw material table (5) and is provided with a driving wheel (3), and the front side of the driving wheel (3) is rotatably connected to a connecting rod (18) near the circumferential edge, a hinge point is provided on one side of the T-shaped swing arm (16) close to the driving wheel (3) near the lower half, and the end of the connecting rod (18) away from the driving wheel (3) is fixed to the hinge point on the side of the T-shaped swing arm (16).

3. The anti-falling mechanical processing intelligent grasping device according to claim 2 is characterized in that: A reduction motor (21) is fixed to the back of the U-shaped frame (1) near the back of the driving wheel (3), and a servo positioning mechanism is fixed to the output shaft end of the reduction motor (21); an extension shaft is fixed to the output shaft end of the servo positioning mechanism via a coupling, and the extension shaft passes through the U-shaped frame (1) and is fixed to the middle of the driving wheel (3); a counterweight platform (15) is fixed to the back of the U-shaped frame (1) near the bottom.

4. The anti-falling mechanical processing intelligent grasping device according to claim 1 is characterized in that: The clamping mechanism further comprises an electric push rod (11) fixed to an end of the fixed rod (9) away from the clamping claw device (8), the extension rod of the electric push rod (11) extending in a direction toward the end away from the clamping claw device (8), and a V-shaped rod is fixed to the end of the extension rod of the electric push rod (11), and steel wires (24) are fixed to both ends of the V-shaped rod; two ribs symmetrical to each other are reserved on the circumferential outer wall of the fixed rod (9), and wire grooves (902) are reserved on the opposite sides of the two ribs; fixed pulleys (85) are provided at the ends of the outer wall of the fixed rod (9) close to the wire grooves (902), and the steel wire (24) passes around the fixed pulley (85) on the side and is fixed to the end of the special-shaped clamping plate (81) away from the anti-slip rubber (83).

5. The anti-falling mechanical processing intelligent grasping device according to claim 4 is characterized in that: The anti-slip contact mechanism comprises a pressing contact block (82) slidably connected to the shaft rod socket (901), and a return spring (810) is arranged between the end of the pressing contact block (82) and the bottom of the groove of the shaft rod socket (901), a pin hole is opened near the end of the rod body of the fixed rod (9) and is communicated with the shaft rod socket (901), and a sliding top block (87) is slidably connected in the pin hole, and an end of the sliding top block (87) near the pressing contact block (82) is provided with a chamfered surface, and the sliding top block A return spring is sleeved on the outer wall of the end of (87) away from the chamfered surface, and an L-shaped baffle (89) is fixed to the end of the return spring away from the sliding top block (87), and the L-shaped baffle (89) is fixed to the outer wall of the fixed rod (9); a pressure sensor (88) is fixed to the end of the surface of the L-shaped baffle (89) close to the sliding top block (87); and the pressure sensor (88) is connected to a controller via a signal line, and the signal output end of the controller is connected to the control switch of the electric control positioning pin (84) via the signal line.

6. The anti-falling mechanical processing intelligent grasping device according to claim 1 is characterized in that: A support frame is fixed to the top of the raw material platform (5) near the rear side, and a raw material frame (7) with a square tube structure is fixed to the top of the support frame. A distance is reserved between the bottom end of the raw material frame (7) and the upper surface of the raw material platform (5), and the distance is equal to 1.2-1.7 times the thickness of the raw material plate (701).

7. The anti-falling mechanical processing intelligent grasping device according to claim 2 is characterized in that: The auxiliary plate-discharging mechanism (6) comprises an execution part and a detection part, and the detection part comprises a compression spring fixed to the outer wall of the circumference of the driving wheel (3), a touch ball (4) being fixed to one end of the compression spring away from the driving wheel (3), and the fixing position of the compression spring is located at the hinge point closest to the connecting rod (18); two slide rod seats (23) are fixed to one side of the U-shaped frame (1) close to the driving wheel (3), and metal rods are slidably connected to the two slide rod seats (23), the same trapezoidal slide table (2) is fixed to one end of the two metal rods close to the driving wheel (3), and a return spring 1 (20) is fixed between the surfaces of the trapezoidal slide table (2) and the slide rod seat (23), and a contact rod (22) is arranged on the back of the U-shaped frame (1) and is connected to the two metal rods; the two contact rods (22) are connected in series in the circuit of the detection part.

8. The anti-falling mechanical processing intelligent grasping device according to claim 7 is characterized in that: The raw material platform (5) has two parallel rectangular holes, and the length direction of the rectangular holes is consistent with the pulling direction of the raw material plate (701). The lower surface of the raw material platform (5) is located on both sides of the rectangular holes and is fixed with angle steel slide rails (63), and the two angle steel slide rails (63) are slidably connected with the same discharge push block (65). The top of the discharge push block (65) protrudes from the upper surface of the raw material platform (5), and the top of the discharge push block (65) is lower than the bottom of the raw material frame (7); the discharge push block (65) 5) A permanent magnetic column (62) is fixed on the side away from the clamping claw device (8), and an electromagnet (61) is fixed on the end of the lower surface of the raw material plate (701) close to the permanent magnetic column (62), a reset spring (64) is fixed on the side of the discharge push block (65) close to the electromagnet (61), and the end of the reset spring (64) away from the discharge push block (65) is fixed to the lower surface of the raw material platform (5); a magnet slot (6501) matching the diameter of the permanent magnetic column (62) is opened on the side of the discharge push block (65).

9. The anti-falling mechanical processing intelligent grasping device according to claim 1 is characterized in that: The center position of the raw material frame (7) on the raw material table (5) passes through the plane where the moving track of the clamping claw device (8) is located.

10. The anti-falling mechanical processing intelligent grasping device according to claim 1, characterized in that: Notches are provided on both sides of the top of the raw material frame (7), and an observation window is reserved on the front of the raw material frame (7).

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