Moderate plate sampling and carrying clamp

Abstract

The invention discloses a medium plate sampling and carrying clamp which comprises a fixed table top, a robot connecting flange, a 3D camera, an electromagnet guide rod, an electromagnet and a detection guide rod, the robot connecting flange is welded to the middle of the upper end of the fixed table top, and the end, away from the fixed table top, of the robot connecting flange is used for being connected with an industrial robot; a 3D camera is erected on the fixed table top along the front end of the robot connecting flange, and electromagnet guide rods penetrate into the fixed table top along the two sides of the robot connecting flange. When the medium and thick plate sampling and carrying clamp is used, the piston rod of the guide rod air cylinder moves back and forth to drive the hammering head to knock a steel plate to be sampled, separation of a sample plate and the steel plate to be sampled is achieved, the method is high in compatibility, can be used for grabbing the sample plate with the weight of 100 KG, the length of 50-550 mm and the width of 50-200 mm, can be used for various severe environments of a steel mill, and is suitable for large-scale popularization and application. The problem of sample plate adhesion is solved in a full-automatic mode, manual participation is avoided, and the labor intensity and the operation risk are greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medium and heavy plate sampling equipment, and specifically relates to a medium and heavy plate sampling handling jig. Background Technique

[0002] The sampling of medium and heavy plates is divided into manual sampling and automatic sampling. When using the automatic sampling method, when the thickness of the steel plate to be sampled is relatively large, if the power of the laser cutting machine is insufficient, the molten slag during cutting will not completely flow out, and the molten slag will re-solidify in the cut, resulting in the sample plate not being completely separated from the steel plate to be sampled. The traditional method is to use a hammer to knock manually until it is completely separated, and then the robot transports the sample plate to the designated area.

[0003] Existing automatic sampling mostly uses a robot to transport the sample plate to the designated area using a jig. When a worker uses a hammer to knock to completely separate the sample plate, the worker must enter the working range of the robot, which not only has a large labor intensity and low efficiency, but also has certain safety hazards. Therefore, we propose a medium and heavy plate sampling handling jig. Summary of the Invention

[0004] The purpose of the present invention is to provide a medium and heavy plate sampling handling jig to solve the problems raised in the above background technique.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A medium and heavy plate sampling handling jig, including a fixed tabletop, a robot connection flange, a 3D camera, an electromagnet guide rod, an electromagnet, and a detection guide rod. A robot connection flange is welded to the middle of the upper end of the fixed tabletop, and one end of the robot connection flange away from the fixed tabletop is used to connect an industrial robot. A 3D camera is installed along the front end of the robot connection flange on the fixed tabletop. Electromagnet guide rods are inserted into both sides of the fixed tabletop along the robot connection flange. The lower end of the electromagnet guide rod is threadedly connected to an electromagnet, and a threaded hole is provided at the connection between the electromagnet and the electromagnet guide rod. Guide rod cylinders are installed on both sides of the fixed tabletop, and a hammer head is bolted to the lower end of the guide rod cylinder. A detection guide rod is inserted into one side of the fixed tabletop along the guide rod cylinder, and a detection guide rod is also provided on one side of the fixed tabletop along the electromagnet.

[0006] Preferably, the distance between the two guide rod cylinders is 550 - 650 mm.

[0007] Preferably, a cushion block is installed at the connection of the fixed tabletop along the detection guide rod, and a proximity sensor is bolted to one side of the fixed tabletop close to the cushion block.

[0008] Preferably, a clamp is sleeved on the outer wall of the middle part of the detection guide rod, and a limit ring is fixed to the top of the upper end of the detection guide rod.

[0009] Preferably, a second compression spring is inserted through the connection between the limiting ring and the clamp. A connecting rod is fixed to the top of the upper end of the limiting ring, and a fixing ring is sleeved on the outer wall of the top of the connecting rod. The detection guide rod is slidably connected to the fixed tabletop through the connecting rod, and the connecting rod penetrates through the middle of the inner wall of the cushion block.

[0010] Preferably, proximity sensors are distributed on one side of the fixing ring, and the proximity sensors detect the lifting and lowering actions of the fixing ring.

[0011] Preferably, a linear bearing is sleeved on the outer wall of the electromagnet guide rod, and a photoelectric induction plate is erected on the top of the electromagnet guide rod.

[0012] Preferably, a limiting block is fixed to one end of the electromagnet guide rod close to the photoelectric induction plate, and a first compression spring is sleeved on the outer wall of the electromagnet guide rod along the limiting block. The electromagnet guide rod is connected to the electromagnet through a threaded hole and a bolt.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: When the medium-thick plate sampling handling jig is used, the piston rod of the guide rod cylinder moves back and forth to drive the hammer head to strike the steel plate to be sampled, realizing the separation of the sample plate and the steel plate to be sampled. This method has strong compatibility and can be used to grasp sample plates with a weight of 100 KG, a length of 50 - 550 mm, and a width of 50 - 200 mm. It can be used in various harsh environments in steel mills and solves the problem of sample plate adhesion in a fully automatic manner, avoiding manual participation and greatly reducing the labor intensity and operation risk.

[0014] Proximity sensors are respectively installed at positions on the fixed tabletop close to the three detection guide rods. The proximity sensors are used to detect whether the three detection guide rods are reset after being lifted. By detecting whether the fixing ring is reset by the proximity sensors, it is judged whether the sample plate and the steel plate to be sampled are in the same plane, so as to judge whether the sample plate and the steel plate to be sampled are adhered. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a three-dimensional structural schematic diagram of the present invention;

[0016] Figure 2 is a bottom view structural schematic diagram of the present invention;

[0017] Figure 3 is a structural schematic diagram of the detection guide rod of the present invention;

[0018] Figure 4 is a structural schematic diagram of the connection between the electromagnet guide rod and the electromagnet of the present invention;

[0019] Figure 5 is a side view structural schematic diagram of the present invention.

[0020] In the figure: 1. Fixed table; 11. Spacer block; 12. Proximity sensor; 2. Robot connection flange; 3. 3D camera; 4. Electromagnet guide rod; 41. Linear bearing; 42. Photoelectric induction plate; 43. First compression spring; 44. Limit block; 5. Electromagnet; 51. Threaded hole; 6. Guide rod cylinder; 7. Hammer head; 8. Detection guide rod; 81. Clamp; 82. Limit ring; 83. Second compression spring; 84. Connecting rod; 85. Fixed ring. Specific implementation mode

[0021] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0022] Please refer to Figures 1-5 , the present invention provides a technical solution: a medium-thick plate sampling and handling fixture, including a fixed table 1, a robot connection flange 2, a 3D camera 3, an electromagnet guide rod 4, an electromagnet 5, and a detection guide rod 8. The middle part of the upper end of the fixed table 1 is welded with a robot connection flange 2, and one end of the robot connection flange 2 away from the fixed table 1 is used to connect an industrial robot. A 3D camera 3 is installed along the front end of the robot connection flange 2 on the fixed table 1. Electromagnet guide rods 4 are inserted into both sides of the fixed table 1 along the robot connection flange 2. The lower end of the electromagnet guide rod 4 is threadedly connected with an electromagnet 5, and a threaded hole 51 is provided at the connection between the electromagnet 5 and the electromagnet guide rod 4. Guide rod cylinders 6 are installed on both sides of the fixed table 1, and a hammer head 7 is bolted to the lower end of the guide rod cylinder 6. A detection guide rod 8 is inserted into the fixed table 1 along one side of the guide rod cylinder 6, and a detection guide rod 8 is also provided along one side of the electromagnet 5 on the fixed table 1. The distance between the two guide rod cylinders 6 on both sides is 550 - 650 mm. The two guide rod cylinders 6 are respectively installed at both ends of the fixed table 1, and the installation interval distance between the two guide rod cylinders 6 is 580 mm. The actuator end of the guide rod cylinder 6 is installed with a hammer head 7 that is integrally quenched and tempered and locally surface hardened. When it is detected that the sample plate is adhered, the piston rods of the guide rod cylinders 6 at both ends move back and forth to drive the hammer head 7 to strike the steel plate to be sampled, realizing the separation of the sample plate and the steel plate to be sampled, and solving the situation of adhesion when manually processing the cutting sample plate. This method has strong compatibility and can be used to grasp sample plates with a weight of 100 KG, a length of 50 - 550 mm, and a width of 50 - 200 mm, and can be used in various harsh environments in steel mills.

[0023] A cushion block 11 is installed along the connection of the fixed table 1 to the detection guide rod 8, and a proximity sensor 12 is bolted to the side of the fixed table 1 close to the cushion block 11. A clamp 81 is sleeved on the outer wall of the middle part of the detection guide rod 8, and a limit ring 82 is fixed to the top of the upper end of the detection guide rod 8. A second compression spring 83 is inserted through the connection between the limit ring 82 and the clamp 81. A connecting rod 84 is fixed to the top of the upper end of the limit ring 82, and a fixed ring 85 is sleeved on the outer wall of the top of the connecting rod 84. The detection guide rod 8 is slidably connected to the fixed table 1 through the connecting rod 84, and the connecting rod 84 penetrates through the middle of the inner wall of the cushion block 11. The proximity sensor 12 is distributed on one side of the fixed ring 85, and the proximity sensor 12 detects the lifting and lowering actions of the fixed ring 85. The three detection guide rods 8 are respectively installed on the outer sides of the two guide rod cylinders 6 and on the left side of the electromagnet 5. The detection guide rods 8 at the two outermost ends are used to contact the steel plates to be sampled on both sides of the template after cutting, and the middle detection guide rod 8 is used to contact the template. Proximity sensors 12 are respectively installed at positions on the fixed table 1 close to the three detection guide rods 8. The proximity sensors 12 are used to detect whether the three detection guide rods 8 are reset after being lifted. A second compression spring 83 is installed on the detection guide rod 8 for resetting the detection guide rod 8 after it is lifted. The fixed ring 85 is sleeved on the uppermost part of the connecting rod 84. In the original state, the fixed rings 85 on the three detection guide rods 8 can be detected by the proximity sensors 12. When the fixed table 1 is pressed down through the robot connection flange 2 until the electromagnet 5 sucks the template, at this time, the second compression springs 83 of the three detection guide rods 8 are all compressed, and the three proximity sensors 12 do not detect signals. After the fixed table 1 is lifted through the robot connection flange 2, if the middle proximity sensor 12 does not detect a signal and the proximity sensors 12 at both ends detect signals again, it means that the template and the steel plate to be sampled are not adhered; if the middle proximity sensor 12 does not detect a signal and the proximity sensors 12 at both ends also do not detect signals, at this time, it means that the template and the steel plate to be sampled are on the same plane, that is, the template and the steel plate to be sampled are adhered. This device solves the problem of template adhesion in a fully automatic manner, avoiding manual participation and greatly reducing the labor intensity and operation risk.

[0024] A linear bearing 41 is sleeved on the outer wall of the electromagnet guide rod 4, and a photoelectric induction plate 42 is mounted on the top of the electromagnet guide rod 4. A limit block 44 is fixed at one end of the electromagnet guide rod 4 close to the photoelectric induction plate 42, and a first compression spring 43 is sleeved on the outer wall of the electromagnet guide rod 4 along the limit block 44. The electromagnet guide rod 4 is connected to the electromagnet 5 through a threaded hole 51 and a bolt. The threaded hole 51 is opened on the electromagnet 5, and the electromagnet guide rod 4 and the electromagnet 5 are connected by bolts. Then the electromagnet guide rod 4 passes through the linear bearing 41 installed on the fixed table 1. The upper part of the electromagnet guide rod 4 is limited by the limit block 44 to prevent the electromagnet 5 from slipping out of the linear bearing 41. The photoelectric induction plate 42 of the photoelectric sensor is provided at the top of the electromagnet guide rod 4 to detect that the electromagnet 5 presses down and contacts the template. A first compression spring 43 with high stiffness is installed on the electromagnet guide rod 4 to adjust the distance that the electromagnet 5 presses down and contacts the template, so that the electromagnet 5 can suck the template more reliably.

[0025] Working principle: For this type of medium-thick plate sampling and handling fixture, first, when the fixed table 1 presses down through the robot connection flange 2 until the electromagnet 5 sucks the template, at this time, the second compression springs 83 of the three detection guide rods 8 are all compressed, and the three proximity sensors 12 cannot detect signals. After the fixed table 1 is lifted through the robot connection flange 2, if the middle proximity sensor 12 has no detection signal and the proximity sensors 12 at both ends detect signals again, it means that the template and the steel plate to be sampled are not adhered; if the middle proximity sensor 12 has no detection signal and the proximity sensors 12 at both ends also cannot detect signals, at this time, it means that the template and the steel plate to be sampled are on the same plane, that is, the template and the steel plate to be sampled are adhered. When it is detected that the template is adhered, the piston rods of the guide rod cylinders 6 at both ends move back and forth to drive the hammer heads 7 to strike the steel plate to be sampled, realizing the separation of the template and the steel plate to be sampled.

[0026] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirits of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A medium-thick plate sampling and handling fixture, comprising a fixed tabletop (1), a robot connection flange (2), a 3D camera (3), an electromagnet guide rod (4), an electromagnet (5) and a detection guide rod (8), characterized in that: A robot connection flange (2) is welded to the middle of the upper end of the fixed tabletop (1), and one end of the robot connection flange (2) away from the fixed tabletop (1) is used to connect an industrial robot. A 3D camera (3) is installed on the fixed tabletop (1) along the front end of the robot connection flange (2). Electromagnet guide rods (4) are inserted into both sides of the fixed tabletop (1) along the robot connection flange (2). A lower end of the electromagnet guide rod (4) is threadedly connected to an electromagnet (5), and a threaded hole (51) is formed at the connection between the electromagnet (5) and the electromagnet guide rod (4). Guide rod cylinders (6) are installed on both sides of the fixed tabletop (1), and a hammer head (7) is bolted to a lower end of the guide rod cylinder (6). A detection guide rod (8) is inserted into the fixed tabletop (1) along one side of the guide rod cylinder (6), and a detection guide rod (8) is also arranged on the fixed tabletop (1) along one side of the electromagnet (5).

2. The medium-thick plate sampling and handling fixture according to claim 1, wherein: The distance between the two guide rod cylinders (6) is 550 - 650 mm.

3. The medium-thick plate sampling and handling fixture according to claim 1, wherein: A spacer block (11) is installed on the fixed tabletop (1) at the connection of the detection guide rod (8), and a proximity sensor (12) is bolted to one side of the fixed tabletop (1) close to the spacer block (11).

4. The medium-thick plate sampling and handling fixture according to claim 3, wherein: A clamp (81) is sleeved on an outer wall of the middle of the detection guide rod (8), and a limit ring (82) is fixed to a top of an upper end of the detection guide rod (8).

5. The sampling and handling jig for medium-thick plates according to claim 4, characterized in that: A second compression spring (83) is inserted through a connection between the limit ring (82) and the clamp (81). A connecting rod (84) is fixed to a top of the upper end of the limit ring (82), and a fixed ring (85) is sleeved on an outer wall of a top of the connecting rod (84). The detection guide rod (8) is slidably connected to the fixed tabletop (1) through the connecting rod (84), and the connecting rod (84) penetrates through a middle part of an inner wall of the spacer block (11).

6. The sampling and handling jig for medium-thick plates according to claim 5, characterized in that: The proximity sensor (12) is distributed on one side of the fixed ring (85), and the proximity sensor (12) detects a lifting and lowering action of the fixed ring (85).

7. A medium-thick plate sampling and handling fixture according to claim 1, characterized in that: A linear bearing (41) is sleeved on an outer wall of the electromagnet guide rod (4), and a photoelectric induction plate (42) is installed on a top of the electromagnet guide rod (4).

8. The sampling handling jig for medium-thick plates according to claim 7, characterized in that: A limit block (44) is fixed to one end of the electromagnet guide rod (4) close to the photoelectric induction plate (42), and a first compression spring (43) is sleeved on an outer wall of the electromagnet guide rod (4) along the limit block (44). The electromagnet guide rod (4) is connected to the electromagnet (5) through the threaded hole (51) and a bolt.

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