Anode copper plate carrying clamp

Abstract

The invention relates to an anode copper plate carrying clamp, and belongs to the technical field of clamps. Comprising a base, a 3D vision camera, a distance sensor, a top in-place detection switch and a side in-place detection switch. A 3D visual camera is arranged at the bottom of the base; a distance sensor is arranged on the side face of the base. A top in-place detection switch is arranged at the bottom of the base; a fixed clamping plate is arranged on one side of the bottom face of the base, and a movable clamping plate capable of moving towards the fixed clamping plate is arranged on the other side. And a side in-place detection switch is arranged on the side of the fixed clamping plate. The position of the copper plate is determined through the 3D vision camera, then in the process that the clamp moves towards the copper plate, the distance between the copper plate and the clamp is detected through the distance sensor and the top in-place detection switch, so that it is guaranteed that the copper plate can be kept parallel to the clamp during clamping, and correct clamping of the clamp is guaranteed; the lateral position of the copper plate is detected through the lateral in-place detection switch so as to ensure that the clamping plates can make full contact with the copper plate, and the stability of the clamp for clamping the copper plate is effectively ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of fixtures, and particularly to a handling fixture for anodic copper plates. Background Art

[0002] A fixture is a commonly used tool in the manufacturing industry for clamping workpieces for subsequent handling and processing. A reasonable and practical fixture can ensure the definite position and the stability of clamping of the workpiece during the handling process, thereby ensuring the efficiency and safety of the handling.

[0003] Accurate position recognition and stable clamping are the basis for ensuring the smooth operation of the entire handling process. If the shape of the workpiece, the environment in which it is located does not meet the handling requirements, the position where it is located, and the environment and position where the workpiece is stored after processing cannot be quickly recognized, then the efficiency and safety of subsequent clamping and handling the workpiece will be affected, ultimately affecting the entire processing flow. Similarly, changes in the surface friction coefficient or shape differences of the workpiece will make it impossible to clamp normally, and even cause safety problems. During the handling process, unexpected situations such as insufficient clamping force, power failure, and air failure may cause the workpiece to fall. How to improve the safety and stability of the system through functions such as power-off self-protection is also a problem that needs to be considered.

[0004] Traditional copper plate fixtures usually rely on the fixed clamping force of mechanical design to complete the grasping and handling of workpieces. The positioning and clamping of workpieces are achieved manually by operators or through mechanical automation control at fixed points. When clamping copper plates with a relatively large weight, it may be due to improper clamping (specifically, when clamping, the copper plate is clamped obliquely, there is a longitudinal angle between the copper plate and the fixture, the copper plate generates a longitudinal component force on the two side clamping plates, or there is a horizontal angle between the clamping plate and the copper plate, and the contact area between the clamping plate and the edge of the copper plate becomes smaller), resulting in the copper plate falling off during the handling process, thus causing a safety accident and making it difficult to ensure the safe progress of the handling process. Summary of the Invention

[0005] To solve or partially solve the problems existing in the related technologies, the present invention provides a handling fixture for anodic copper plates, aiming to solve the technical problem that the fixture fails to clamp the copper plate properly and there are potential safety hazards.

[0006] The above-mentioned handling fixture for anodic copper plates includes a base, a 3D vision camera, a distance sensor, a top in-place detection switch, and a side in-place detection switch;

[0007] The base is provided with a 3D vision camera at the bottom, and the 3D vision camera is used for visually identifying the workpiece to be clamped;

[0008] The side of the base is provided with a distance sensor, and the distance sensor is used for detecting the distance between the workpiece to be clamped and the base;

[0009] A top-in-place detection switch is provided at the bottom of the base. When the clamp moves to the correct clamping position, the top-in-place detection switch is triggered by the top of the workpiece.

[0010] A fixed clamping plate is provided on one side of the bottom surface of the base, and a movable clamping plate capable of moving towards the fixed clamping plate is provided on the other side. A side-in-place detection switch is provided on the side of the fixed clamping plate. When the fixed clamping plate and the movable clamping plate can correctly clamp the workpiece, the side-in-place detection switch is triggered by the side of the workpiece.

[0011] In some solutions, at least two distance sensors are provided, which are respectively located on both sides of the base.

[0012] In some solutions, at least three top-in-place detection switches are provided, and the three top-in-place detection switches are not on the same straight line.

[0013] In some solutions, two fixed clamping plates are provided, and one side-in-place detection switch is respectively provided on the outside of each of the two fixed clamping plates in a one-to-one correspondence.

[0014] In some solutions, the movable clamping plates are provided in a one-to-one correspondence with the fixed clamping plates. A first auxiliary clamping plate is provided between the two fixed clamping plates, and a second auxiliary clamping plate is provided between the two movable clamping plates.

[0015] The first auxiliary clamping plate and the second auxiliary clamping plate are respectively slidably connected to the base, so that they can approach or move away from each other.

[0016] In some solutions, the cross-sections of the first auxiliary clamping plate and the second auxiliary clamping plate are V-shaped.

[0017] In some solutions, the movable clamping plate is driven to move by a clamping cylinder, and a pressure sensor is provided on the air supply pipeline of the clamping cylinder.

[0018] In some solutions, the side-in-place detection switch and the top-in-place detection switch have the same structure, including a substrate, a proximity switch, a detection rod, and a return spring.

[0019] The detection rod is slidably mounted on the substrate, and the detection rod is perpendicular to the substrate. A rubber head is provided at one end of the detection rod, and a return spring is provided between the rubber head and the substrate. A proximity switch parallel to the substrate is provided on the substrate, and the proximity switch is located on the side of the substrate away from the rubber head.

[0020] Among them, the detection rod moves towards the proximity switch and is detected by the proximity switch, thereby triggering the side-in-place detection switch.

[0021] In some solutions, a ball is rotatably installed inside the rubber head.

[0022] In some solutions, a copper chip guide is rotatably installed on one side of the base. The cross-section of the copper chip guide is L-shaped, and there are two copper chip guides.

[0023] The technical solutions provided by the present invention may include the following beneficial effects:

[0024] In this application, the position of the copper plate is determined by a 3D vision camera. Then, during the movement of the fixture towards the copper plate, the distance between the copper plate and the fixture is detected by a distance sensor and a top in-place detection switch to ensure that the copper plate can be parallel to the fixture during clamping, so as to ensure the correct clamping of the fixture. Finally, the side position of the copper plate is detected by a side in-place detection switch to ensure that the clamping plate can fully contact the copper plate, effectively ensuring the stability of the fixture clamping the copper plate.

[0025] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] By describing the exemplary embodiments of the present invention in more detail in conjunction with the drawings, the above and other objects, features, and advantages of the present invention will become more obvious. Among them, in the exemplary embodiments of the present invention, the same reference numerals generally represent the same components.

[0027] Figure 1 is a schematic structural diagram of a fixture shown in an embodiment of the present invention;

[0028] Figure 2 is another schematic structural diagram of a fixture shown in an embodiment of the present invention;

[0029] Figure 3 is a schematic structural diagram of a side in-place detection switch or a top in-place detection switch of a fixture shown in an embodiment of the present invention;

[0030] Reference Numerals:

[0031] 1. Base; 101. Flange seat; 2. 3D vision camera; 201. Light source; 3. Distance sensor; 4. Top in-place detection switch; 5. Side in-place detection switch; 501. Substrate; 502. Proximity switch; 503. Detection rod; 504. Return spring; 505. Ball; 506. Rubber head; 6. Fixed clamping plate; 7. Movable clamping plate; 701. Clamping cylinder; 8. First auxiliary clamping plate; 9. Second auxiliary clamping plate; 10. Copper chip guide. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited to the described content.

[0033] Please refer to Figure 1 、 Figure 2 and Figure 3 , this application provides an anode copper plate handling jig, which includes a base 1, a 3D vision camera 2, a distance sensor 3, a top in-place detection switch 4, and a side in-place detection switch 5;

[0034] A flange seat 101 is provided at the top of the base 1. The flange seat 101 is used to connect with an external robotic arm or related mechanism to achieve the purpose of installing the jig. During operation, the jig is driven by the robotic arm to move to a relevant position for clamping operation; the actions of the jig are controlled by an external control system.

[0035] A 3D vision camera 2 is provided at the bottom of the base 1. The 3D vision camera 2 is used for visual recognition of the workpiece to be clamped; the 3D vision camera 2 is connected to an external visual recognition and positioning system, and the visual recognition system is connected to the control system; during operation, the 3D vision camera 2 performs visual recognition on the copper plate to be grabbed, and the information collected by the 3D vision camera 2 is transmitted to the control system. After analysis and processing by the control system, the shape and position of the copper plate to be clamped are obtained, and the robotic arm is controlled to adjust the posture of the jig; when identifying the stacked area of the processed copper plates, the 3D vision camera 2 scans and identifies in a specified area, and the angle information of the newly placed copper plates in the blanking stack can be obtained. At the same time, the information read by the visual recognition and positioning system can be transmitted to the control system for memory storage. Therefore, after the copper plate is transported to the processing table, the visual recognition and positioning system can move to the raw material area of the copper plate to be clamped and the placed area of the processed copper plates for photo recognition during the time when the machine tool processes the workpiece, making reasonable use of time and improving the fluency and efficiency of the entire process. The recognition and positioning are rapid and reliable.

[0036] Preferably, a light source 201 is provided on the side of the 3D vision camera 2. The light sources 201 are arranged at intervals around the 3D vision camera 2. When the ambient light is dim, the light sources 201 are turned on to supplement light to the recognition area to ensure the accuracy of the information collected by the 3D vision camera 2 and ensure that the robotic arm can move the jig to the specified position.

[0037] A distance sensor 3 is provided on the side of the base 1, and the distance sensor 3 is used to detect the distance between the workpiece to be clamped and the base 1; a top-in-place detection switch 4 is provided at the bottom of the base 1. When the fixture moves to the correct clamping position, the top-in-place detection switch 4 is triggered by the top of the workpiece. During operation, when the vision recognition and positioning system determines the shape and position information of the anode copper plate, under the control of the control system, the robotic arm drives the fixture to move to the specified position to clamp the copper plate. During the movement of the fixture towards the copper plate, the distance sensor 3 and the top-in-place detection switch 4 sense the distance between the copper plate and the fixture. If the distance measured by the distance sensor 3 between the copper plate and the fixture has reached the set value, but the top-in-place detection switch 4 has not been triggered, or the top-in-place detection switch 4 has been triggered, but the distance measured by the distance sensor 3 between the copper plate and the fixture has not reached the set value, the control system controls the robotic arm to stop. Or when the distance measured by the distance sensor 3 between the copper plate and the fixture has reached the set value, and the top-in-place detection switch 4 has been triggered, the control system will also control the robotic arm to stop. Thus, by synchronously detecting the distance between the top of the copper plate and the fixture by the distance sensor 3 and the top-in-place detection switch 4, the technical problem of the fixture moving over-position and the fixture colliding with the copper plate and being damaged due to the damage of the distance sensor 3 or the top-in-place detection switch 4 is effectively avoided; the safety of the fixture operation is improved. At the same time, it is effectively ensured that when the fixture starts to operate, the distance between the fixture and the copper plate meets the setting, and the clamping stability of the fixture is improved.

[0038] A fixed clamping plate 6 is provided on one side of the bottom surface of the base 1, and a movable clamping plate 7 capable of moving towards the fixed clamping plate 6 is provided on the other side. Specifically, a slide rail is provided at the bottom of the base 1, and the movable clamping plate 7 is installed on the slide rail, so as to realize the sliding connection between the movable clamping plate 7 and the base 1. A clamping cylinder 701 is provided on the side of the movable clamping plate 7. When the clamping cylinder 701 acts, it drives the movable clamping plate 7 to move towards the fixed clamping plate 6. During operation, by moving the movable clamping plate 7 towards the fixed clamping plate 6, the copper plate is clamped between the movable clamping plate 7 and the fixed clamping plate 6 to realize effective clamping of the copper plate. Preferably, a pressure sensor is provided on the air supply pipeline of the clamping cylinder 701 to monitor the pressure in the clamping cylinder 701. If the clamping cylinder 701 leaks air, the pressure in its cylinder does not reach the clamping requirement. At this time, it means that the fixed clamping plate 6 and the movable clamping plate 7 do not firmly clamp the copper plate, and the fixture stops working.

[0039] A side position detection switch 5 is provided on the side of the fixed clamping plate 6. When the fixed clamping plate 6 and the movable clamping plate 7 can correctly clamp the workpiece, the side position detection switch 5 is triggered by the side of the workpiece. During operation, after the fixture moves to the correct position driven by the robotic arm, the movable clamping plate 7 moves towards the fixed clamping plate 6 and pushes the copper plate towards the fixed clamping plate 6 until the copper plate is clamped. At this time, the side of the copper plate triggers the side position detection switch 5. If the copper plate does not correctly trigger the side position detection switch 5, it means that the copper plate is not correctly triggered at this time. After the side position detection switch 5 transmits the signal to the control system, the control system will no longer act, effectively avoiding the situation where the control system acts when the copper plate is not correctly clamped by the fixture, thereby preventing safety accidents such as the copper plate falling off during the handling process of the copper plate.

[0040] After the fixture correctly clamps the copper plate, the control system controls the robotic arm to act and carry the copper plate. During this process, the top position detection switch 4 and the distance sensor 3 continuously detect the position of the copper plate. When it is detected that the copper plate slides or falls off, the triggering of the top position detection switch 4 no longer continues, or / and the distance sensor 3 detects that the distance between the copper plate and the fixture increases. The top position detection switch 4 and the distance sensor 3 send signals to the control system, and the control system controls the robotic arm to stop the carrying operation, effectively avoiding safety accidents caused by the copper plate falling off during the handling process. At the same time, because this is the slow movement stage at this time, the sliding and falling off of the copper plate will not cause damage to the equipment.

[0041] In some specific embodiments, at least two distance sensors 3 are provided, respectively located on both sides of the base 1. Preferably, four distance sensors 3 are provided and arranged in an equilateral triangle. Two of them are located on one side of the base 1, and the remaining one is located in the middle of the other side of the base 1. During operation, if only the distance sensors 3 on one side detect that the distance between the top of the copper plate and the fixture reaches the set value, the control system controls the fixture to deflect towards the other side to adjust the attitude of the fixture, and finally makes the fixture parallel to the copper plate, that is, the detection distances of the distance sensors 3 on both sides reach the set value. Subsequently, the control system controls the fixture to act and perform the clamping operation on the copper plate, effectively ensuring that the fixture can stably clamp the copper plate while preventing the fixture from being damaged due to excessive displacement towards the copper plate direction.

[0042] In this embodiment, at least three top position detection switches 4 are provided, and the three top position detection switches 4 are not on the same straight line. By determining a plane with three points, it is further ensured that when starting to clamp, the copper plate and the fixture are in a parallel state. Specifically, four top position detection switches 4 are provided and arranged in a rectangular distribution.

[0043] In some specific embodiments, there are two fixed clamping plates 6, and one side-to-position detection switch 5 is respectively arranged on the outer sides of the two fixed clamping plates 6 in a one-to-one correspondence; during the process of the movable clamping plate 7 moving towards the fixed clamping plate 6 to clamp the copper plate, if only the side-to-position detection switch 5 on one side is correctly triggered while the other side is not, the movable clamping plate 7 on the untriggered side continues to move, and the other side remains stationary until the side-to-position detection switches 5 on both sides are correctly triggered, which indicates that the copper plate is correctly clamped at this time.

[0044] In some specific embodiments, the movable clamping plates 7 and the fixed clamping plates 6 are arranged in a one-to-one correspondence. A first auxiliary clamping plate 8 is provided between the two fixed clamping plates 6, and a second auxiliary clamping plate 9 is provided between the two movable clamping plates 7; the first auxiliary clamping plate 8 and the second auxiliary clamping plate 9 are respectively slidably connected to the base 1, so that they can approach or move away from each other; on the sides of the first auxiliary clamping plate 8 and the second auxiliary clamping plate 9, an auxiliary air cylinder is respectively arranged, which is respectively used to drive the first auxiliary clamping plate 8 and the second auxiliary clamping plate 9 to move. After the fixed clamping plates 6 and the movable clamping plates 7 clamp the workpiece, the first auxiliary clamping plate 8 and the second auxiliary clamping plate 9 approach each other respectively under the drive of the corresponding auxiliary air cylinders, so as to clamp the copper plate again, providing further guarantee for the stable clamping of the copper plate and avoiding the technical problem of the copper plate falling off.

[0045] In this embodiment, the cross-sections of the first auxiliary clamping plate 8 and the second auxiliary clamping plate 9 are V-shaped. When the first auxiliary clamping plate 8 and the second auxiliary clamping plate 9 clamp the copper plate, the V-shaped design can avoid the technical problem of the copper plate accidentally falling off to the greatest extent, effectively ensuring the safety of the copper plate handling process.

[0046] In some specific embodiments, the side-to-position detection switch 5 and the top-to-position detection switch 4 have the same structure, including a base plate 501, a proximity switch 502, a detection rod 503, and a return spring 504; the detection rod 503 is slidably mounted on the base plate 501, the detection rod 503 is perpendicular to the base plate 501, one end of the detection rod 503 is provided with a rubber head 506, and a return spring 504 is provided between the rubber head 506 and the base plate 501; a proximity switch 502 parallel to the base plate 501 is provided on the base plate 501, and the proximity switch 502 is located on the side of the base plate 501 away from the rubber head 506; during operation, the detection rod 503 moves towards the proximity switch 502 under the drive of the top or side of the copper plate and is detected by the proximity switch 502, thereby triggering it.

[0047] In this embodiment, a ball 505 is rotatably installed inside the rubber head 506. The rubber head 506 makes sliding friction with the copper plate through the ball 505, effectively reducing the wear of the rubber head 506 and being beneficial to improving the service life of the fixture.

[0048] In some specific embodiments, a copper chip guide 10 is rotatably installed on one side of the base 1. The cross-section of the copper chip guide 10 is L-shaped. There are two copper chip guides 10. Specifically, a rotary cylinder is provided on one side of the base 1, and the copper chip guide 10 is arranged on the rotating shaft of the rotary cylinder. In this way, the rotary cylinder drives the copper chip guide 10 to rotate. After the fixture clamps the copper plate, the copper chip guide 10 is attached to the surface of the copper plate under the drive of the rotary cylinder. The fixture tilts towards the direction of the copper chip guide 10, and the copper chips on the surface of the copper plate are completely poured into the copper chip collection device under the converging action of the copper chip guide 10. After the copper chips are poured out, the copper plate is placed at the stacking position of the processed copper plates determined in advance by the visual recognition and positioning system.

[0049] The embodiments of the present invention have been described above. The above description is exemplary and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art in the technical field without departing from the scope and spirit of the described embodiments. The selection of the terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technologies in the market, or to enable other ordinary skill in the art in the technical field to understand the disclosed embodiments.

Claims

1. An anode copper plate handling fixture, characterized in that: It includes a base (1), a 3D vision camera (2), a distance sensor (3), a top-in-place detection switch (4), and a side-in-place detection switch (5); The bottom of the base (1) is provided with a 3D vision camera (2), and the 3D vision camera (2) is used for visually identifying the workpiece to be clamped; The side of the base (1) is provided with a distance sensor (3), and the distance sensor (3) is used for detecting the distance between the workpiece to be clamped and the base (1); The bottom of the base (1) is provided with a top-in-place detection switch (4). When the fixture moves to the correct clamping position, the top-in-place detection switch (4) is triggered by the top of the workpiece; One side of the bottom surface of the base (1) is provided with a fixed clamping plate (6), and the other side is provided with a movable clamping plate (7) that can move towards the fixed clamping plate (6); A side-in-place detection switch (5) is provided on the side of the fixed clamping plate (6). When the fixed clamping plate (6) and the movable clamping plate (7) can correctly clamp the workpiece, the side-in-place detection switch (5) is triggered by the side of the workpiece.

2. The anode copper plate handling fixture according to claim 1, characterized in that: At least two distance sensors (3) are provided, and are respectively located on both sides of the base (1).

3. The anode copper plate handling fixture according to claim 1, characterized in that: At least three top-in-place detection switches (4) are provided, and the three top-in-place detection switches (4) are not on the same straight line.

4. The anode copper plate handling fixture according to claim 1, characterized in that: Two fixed clamping plates (6) are provided, and one side-in-place detection switch (5) is respectively provided on the outside of the two fixed clamping plates (6) in one-to-one correspondence.

5. The anode copper plate handling fixture according to claim 1, characterized in that: The movable clamping plates (7) are provided in one-to-one correspondence with the fixed clamping plates (6). A first auxiliary clamping plate (8) is provided between the two fixed clamping plates (6), and a second auxiliary clamping plate (9) is provided between the two movable clamping plates (7); The first auxiliary clamping plate (8) and the second auxiliary clamping plate (9) are respectively slidably connected to the base (1), so that the two can approach or move away from each other.

6. The anode copper plate handling fixture according to claim 5, characterized in that: The cross-sections of the first auxiliary clamping plate (8) and the second auxiliary clamping plate (9) are V-shaped.

7. The anode copper plate handling fixture according to claim 1, characterized in that: The movable clamping plate (7) is driven to move by a clamping cylinder (701), and a pressure sensor is provided on the air supply pipeline of the clamping cylinder (701).

8. The anode copper plate handling fixture according to claim 1, characterized in that: The side-in-place detection switch (5) and the top-in-place detection switch (4) have the same structure, including a substrate (501), a proximity switch (502), a detection rod (503), and a return spring (504); A detection rod (503) is slidably mounted on the substrate (501). The detection rod (503) is perpendicular to the substrate (501). A rubber head (506) is provided at one end of the detection rod (503). A return spring (504) is provided between the rubber head (506) and the substrate (501). A proximity switch (502) parallel to the substrate (501) is provided on the substrate (501). The proximity switch (502) is located on a side of the substrate (501) away from the rubber head (506). Wherein, the detection rod (503) moves towards the proximity switch (502) and is detected by the proximity switch (502), thereby triggering the side-in-place detection switch (5).

9. The anodic copper plate handling jig according to claim 8, wherein: A ball (505) is rotatably mounted in the rubber head (506).

10. The anodic copper plate handling jig according to claim 1, wherein: A copper chip guide piece (10) is rotatably mounted on one side of the base (1). The cross-section of the copper chip guide piece (10) is L-shaped, and there are two copper chip guide pieces (10).

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