Plate material blanking and stacking clamp and stacking method

Abstract

This invention discloses a sheet metal cutting and stacking fixture and a stacking method using the fixture. The fixture includes a frame, a first adsorption assembly, and a second adsorption assembly. A connecting flange is provided on the top of the frame. Two sets of the first adsorption assembly are provided, each connected to one end of the frame and located at the bottom of the frame. At least one set of the second adsorption assembly is provided, detachably connected to the bottom of the frame and located between the two sets of the first adsorption assemblies. Different transport strategies can be used for sheets of different sizes, improving the adaptability of a single stacking process and increasing processing efficiency.

Description

Technical Field

[0001] This invention relates to automated clamping equipment, and particularly to a sheet metal unloading and stacking clamping fixture and stacking method. Background Technology

[0002] In the modern sheet metal processing industry, sheet metal unloading and stacking is a crucial step in the production process. With the continuous improvement of industrial automation, traditional manual stacking methods are gradually being replaced by automated equipment. Currently, various sheet metal stacking equipment exists on the market, including vacuum adsorption equipment. Vacuum adsorption equipment utilizes a vacuum pump to generate negative pressure, using suction cups to grip the sheet metal surface. Depending on the number and layout of the suction cups, it can be divided into single-point adsorption, multi-point adsorption, and other forms. For example, the utility model application CN202510210849.X discloses a welding sheet metal blank transfer and positioning device, belonging to the field of positioning device technology. It includes a blank placement unit, a correction unit, a processing position, and a material handling unit. The blank placement unit is equipped with a stackable sheet metal blank placement table, and the correction unit is equipped with a correction worktable and a correction device. The material handling unit, through a robotic arm and a material handling mechanism, realizes the entire process of automatic gripping, transportation, correction, and precise feeding of the sheet metal blank to the processing position. The material handling mechanism features a combination design of suction cups and ball bearings, allowing both to work alternately on the same support rod. The suction cups are responsible for firmly gripping the sheet metal blanks. In the prior art exemplified by the aforementioned patent, the equipment is typically designed for specific sizes and types of sheet metal, lacking versatility. When processing sheet metal of different sizes, thicknesses, or materials, it is necessary to change the clamps or adjust the equipment parameters, resulting in complex and inefficient operation. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a sheet metal unloading and stacking fixture, which can improve the adaptability of a single stacking process and increase processing efficiency.

[0004] The present invention also proposes a stacking method having the above-mentioned sheet metal cutting and stacking fixture.

[0005] According to a first aspect of the present invention, a sheet metal unloading and stacking fixture includes a frame, a first adsorption assembly, and a second adsorption assembly. A connecting flange is provided on the top of the frame. Two sets of the first adsorption assembly are provided, each set connected to one end of the frame and located at the bottom of the frame. At least one set of the second adsorption assembly is provided, detachably connected to the bottom of the frame, and located between the two sets of the first adsorption assembly. The first adsorption assembly includes a buffer assembly, a mounting frame, a first suction cup, and a second suction cup. The buffer assembly is connected to the end of the frame. The mounting frame is rotatably connected to the lower end of the buffer assembly and can pivot about a fixed axis. The first suction cup is fixedly connected to the bottom of the mounting frame, and a mounting hole is provided through the middle of the first suction cup. The second suction cup is built into the mounting hole and fixedly connected to the mounting frame. The second suction cup can move up and down in the mounting hole, and the second suction cup and the first suction cup are independently controlled.

[0006] The sheet metal unloading and stacking fixture according to embodiments of the present invention has at least the following beneficial effects: different transportation strategies can be used for sheets of different size ranges, improving the adaptability of a single stacking process and increasing processing efficiency.

[0007] According to some embodiments of the present invention, a vision component is fixedly connected to one end of the frame, and the sheet metal unloading and stacking fixture further includes a central processing module. The vision component is used to photograph the sheet metal to be extracted and transmit the photographed data to the central processing module. The central processing module is used to calculate the size of the sheet metal to be extracted based on the photographed data from the vision component.

[0008] According to some embodiments of the present invention, the mounting frame is hollow inside, and the first adsorption component further includes a lifting cylinder. The lifting cylinder is built into the mounting frame and fixedly connected to the mounting frame. The lifting cylinder is fixedly connected to the second suction cup and controls the lifting of the second suction cup.

[0009] According to some embodiments of the present invention, a second mounting block is fixedly connected between the second suction cup and the lifting cylinder. The second mounting block has a built-in second air channel. One end of the second air channel penetrates the upper surface of the second mounting block and is connected to an air source or vacuum pump. The other end penetrates the lower surface of the second mounting block. A ventilation hole is provided through the middle of the second suction cup. The ventilation hole is perpendicular to the adsorption surface of the second suction cup and communicates with the second air channel. In the vertical cross-section of the second suction cup, the ventilation hole first narrows and then expands from top to bottom.

[0010] According to some embodiments of the present invention, a first mounting block is fixedly connected between the first suction cup and the mounting bracket. The first mounting block has a built-in first air channel. One end of the first air channel penetrates the upper surface of the first mounting block and is connected to a vacuum pump, and the other end penetrates the lower surface of the first mounting block. The first suction cup includes a suction cup body and a flexible skirt. The suction cup body is fixedly connected to the first mounting block. The suction cup body is recessed inward to form a negative pressure cavity. A negative pressure hole is provided through the suction cup body, and the negative pressure cavity communicates with the first air channel through the negative pressure hole. The flexible skirt wraps around the edge of the negative pressure cavity and is fixedly connected to the suction cup body. The flexible skirt is deformable so that its edge conforms to the surface of the material.

[0011] According to some embodiments of the present invention, the first suction cup further includes a support frame, which is attached to and fixed to the inner side of the negative pressure cavity. On the vertical cross-section of the suction cup body, the support frame extends from the outer side to the inner side of the suction cup body. Multiple support frames are provided, and the multiple support frames are spaced apart.

[0012] According to some embodiments of the present invention, a pressure-holding membrane is fixedly connected to the inner side of the suction cup body. The pressure-holding membrane covers the negative pressure cavity and is located above the flexible skirt. The pressure-holding membrane is provided with a plurality of micropores through it. The diameter of the micropores is between 5 and 10 micrometers and the porosity is between 35% and 45%. The edge of the pressure-holding membrane is fixedly connected to the support frame. The middle part of the pressure-holding membrane is provided with a clearance hole for avoiding the second suction cup. When the flexible skirt abuts against the surface of the plate, there is a gap between the pressure-holding membrane and the plate.

[0013] According to some embodiments of the present invention, the pressure-holding membrane is constructed of one or both of polyethylene and polytetrafluoroethylene, and the thickness of the pressure-holding membrane is between 1 and 3 millimeters.

[0014] According to some embodiments of the present invention, the second adsorption assembly includes a fixed plate, a multi-axis cylinder, and a third suction cup. The top of the fixed plate is bent to form a mounting surface, which can be fixedly connected to the bottom surface of the frame by screws. The fixed plate is perpendicular to the mounting surface. The multi-axis cylinder is fixedly connected to the fixed plate. The third suction cup is fixed to the multi-axis cylinder and is driven to lift and lower by the multi-axis cylinder.

[0015] According to a second aspect of the present invention, a stacking method for controlling a sheet metal unloading and stacking fixture according to a first aspect of the present invention includes the following steps:

[0016] Step 1: Determine whether the size of the board to be extracted belongs to category A, B, or C; if the size belongs to category A, proceed to step 2.1; if the size belongs to category B, proceed to step 3.1; if the size belongs to category C, proceed to step 4.1.

[0017] Step 2.1: Separate the second adsorption component from the frame, and proceed to step 2.2;

[0018] Step 2.2: Move the frame above the plate to be extracted, and align the first adsorption component at one end with the position of the plate, then proceed to step 2.3;

[0019] Step 2.3: Lower the frame so that the first adsorption component comes into contact with the plate, and use the first suction cup to adsorb and fix the plate, then proceed to step 2.4;

[0020] Step 2.4: Elevate the frame, transport the sheet metal to the sheet metal stacking area via the frame, and proceed with Step 1;

[0021] Step 3.1: Separate the second adsorption component from the frame, and proceed to step 3.2;

[0022] Step 3.2: Move the frame above the plate to be extracted, and align the first adsorption component at one end with the position of the plate, then proceed to step 3.3;

[0023] Step 3.3: Lower the frame so that the first adsorption component comes into contact with the plate, and use the first suction cup to adsorb and fix the plate, then proceed to step 3.4;

[0024] Step 3.4: The second suction cup descends and comes into contact with the board, using the second suction cup to adhere and fix the board, and proceed to step 3.5;

[0025] Step 3.5: Elevate the frame, transport the sheet metal to the sheet metal stacking area via the frame, and proceed with Step 1;

[0026] Step 4.1: Install the second adsorption component onto the frame, and proceed to Step 4.2;

[0027] Step 4.2: Move the frame above the plate to be extracted, so that the first adsorption components at both ends are close to the two ends of the plate in the length direction, and proceed to step 4.3;

[0028] Step 4.3: Lower the frame so that the first adsorption component and the second adsorption component simultaneously come into contact with the plate. Use the first suction cup to adsorb and fix the plate with the second adsorption component, and proceed to step 4.4.

[0029] Step 4.4: The second suction cups of the two first adsorption components descend and abut against the plate, using the second suction cups to adsorb and fix the plate, proceeding to step 4.5;

[0030] Step 4.5: Elevate the frame, transport the sheet metal to the sheet metal stacking area via the frame, and proceed with Step 1;

[0031] Among them, the size of Class A panels is smaller than that of Class B panels, and the size of Class B panels is smaller than that of Class C panels.

[0032] The palletizing method according to embodiments of the present invention has at least the following beneficial effects: different transportation strategies can be used for plates of different size ranges, improving the adaptability of a single palletizing process and increasing processing efficiency.

[0033] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0034] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0035] Figure 1 This is a schematic diagram of a sheet metal unloading and stacking fixture according to an embodiment of the present invention;

[0036] Figure 2 This is a schematic diagram of the first adsorption component of the sheet metal unloading and stacking fixture according to an embodiment of the present invention;

[0037] Figure 3 This is a schematic diagram of the installation of the first and second suction cups of the sheet metal unloading and stacking fixture according to an embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram of the installation of the second suction cup and mounting frame of the sheet metal unloading and stacking fixture according to an embodiment of the present invention;

[0039] Figure 5 This is a schematic diagram of the second adsorption component of the sheet metal unloading and stacking fixture according to an embodiment of the present invention;

[0040] Figure 6 This is a flowchart of a palletizing method according to an embodiment of the present invention.

[0041] In the picture,

[0042] 100. Frame; 110. Connecting flange;

[0043] 200. First suction component; 210. Buffer component; 211. Guide component; 212. Guide post; 213. Connecting plate; 214. Spring; 220. Mounting bracket; 230. First suction cup; 231. Mounting hole; 232. First mounting block; 2321. First air passage; 233. Suction cup body; 2331. Negative pressure hole; 234. Flexible skirt; 235. Support frame; 236. Pressure holding membrane; 2361. Micropore; 2362. Clearance hole; 240. Second suction cup; 241. Second mounting block; 2411. Second air passage; 242. Ventilation hole; 250. Lifting cylinder; 260. Rotating cylinder;

[0044] 300. Second adsorption component; 310. Fixing plate; 311. Mounting surface; 320. Multi-axis cylinder; 330. Third suction cup;

[0045] 400. Visual components; Detailed Implementation

[0046] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0047] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0048] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0049] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0050] Reference Figures 1 to 5The sheet metal unloading and stacking fixture of this invention includes a frame 100, a first adsorption component 200, and a second adsorption component 300. A connecting flange 110 is provided on the top of the frame 100. Two sets of the first adsorption components 200 are provided, each set connected to both ends of the frame 100 and located at the bottom of the frame 100. At least one set of the second adsorption components 300 is provided, detachably connected to the bottom of the frame 100, and located between the two sets of the first adsorption components 200. The first adsorption component 200 includes a buffer component 210 and a mounting bracket 2. 20. A first suction cup 230 and a second suction cup 240, and a buffer assembly 210 are connected to the end of the frame 100; a mounting frame 220 is rotatably connected to the lower end of the buffer assembly 210, and the mounting frame 220 can pivot about a fixed axis; the first suction cup 230 is fixedly connected to the bottom of the mounting frame 220, and a mounting hole 231 is provided through the middle of the first suction cup 230; the second suction cup 240 is built into the mounting hole 231, the second suction cup 240 is fixedly connected to the mounting frame 220, the second suction cup 240 can move up and down in the mounting hole 231, and the second suction cup 240 and the first suction cup 230 are independently controlled.

[0051] In practical use, refer to Figure 1 The entire sheet material unloading and stacking fixture is installed on the robotic arm or moving mechanism via the connecting flange 110. It is used to move the sheet material unloading and stacking fixture to the material picking position or the material placing position. Different extraction methods are selected according to different sheet material sizes and weights. The first adsorption component 200 and the second adsorption component 300 both use the principle of negative pressure adsorption. By generating negative pressure, the first adsorption component 200 or the second adsorption component 300 is made to adhere tightly to the surface of the sheet material.

[0052] Among them, reference Figure 6 The stacking method for controlling the sheet metal unloading and stacking fixture in this embodiment includes the following steps:

[0053] Step 1: Determine whether the size of the board to be extracted belongs to category A, B, or C; if the size belongs to category A, proceed to step 2.1; if the size belongs to category B, proceed to step 3.1; if the size belongs to category C, proceed to step 4.1.

[0054] Step 2.1: Separate the second adsorption component 300 from the frame 100, and proceed to step 2.2;

[0055] Step 2.2: Move the frame 100 above the plate to be extracted, and align the first adsorption component 200 at one end with the position of the plate, then proceed to step 2.3;

[0056] Step 2.3: Lower the frame 100 so that the first adsorption component 200 abuts against the plate and uses the first suction cup 230 to adsorb and fix the plate, and proceed to step 2.4;

[0057] Step 2.4: Elevate the frame 100, and transport the sheet metal to the sheet metal stacking area through the frame 100, and proceed with Step 1;

[0058] Step 3.1: Separate the second adsorption component 300 from the frame 100, and proceed to step 3.2;

[0059] Step 3.2: Move the frame 100 above the plate to be extracted, and align the first adsorption component 200 at one end with the position of the plate, then proceed to step 3.3;

[0060] Step 3.3: Lower the frame 100 so that the first adsorption component 200 abuts against the plate and uses the first suction cup 230 to adsorb and fix the plate, and proceed to step 3.4;

[0061] Step 3.4: The second suction cup 240 descends and comes into contact with the board, using the second suction cup 240 to adhere and fix the board, and proceed to step 3.5;

[0062] Step 3.5: Elevate the frame 100, and transport the sheet metal to the sheet metal stacking area through the frame 100, and proceed with Step 1;

[0063] Step 4.1: Install the second adsorption component 300 onto the frame 100, and proceed to step 4.2;

[0064] Step 4.2: Move the frame 100 above the plate to be extracted, so that the first adsorption components 200 at both ends are close to the two ends of the plate in the length direction, and proceed to step 4.3;

[0065] Step 4.3: Lower the frame 100 so that the first adsorption component 200 and the second adsorption component 300 simultaneously come into contact with the plate. Use the first suction cup 230 to adsorb and fix the plate with the second adsorption component 300, and proceed to step 4.4.

[0066] Step 4.4: The second suction cups 240 of the two first adsorption components 200 descend and abut against the plate, using the second suction cups 240 to adsorb and fix the plate, and proceed to step 4.5;

[0067] Step 4.5: Elevate the frame 100, and transport the sheet metal to the sheet metal stacking area through the frame 100, and proceed with Step 1;

[0068] Among them, the size of Class A panels is smaller than that of Class B panels, and the size of Class B panels is smaller than that of Class C panels.

[0069] In the above process, steps 2.1 to 2.4 are for small boards, using a single first adsorption component 200 to grip them, improving processing speed; steps 3.1 to 3.5 are for medium-sized boards, using the first suction cup 230 and the second suction cup 240 in the single first adsorption component 200 to simultaneously grip them, improving gripping stability; steps 4.1 to 4.5 are for large boards, with the first adsorption components 200 at both ends working in conjunction with the installed second adsorption component 300 to provide multiple adsorption positions, ensuring transportation stability.

[0070] In summary, different transportation strategies can be used for plates of different size ranges to improve the adaptability of a single stacking process and increase processing efficiency.

[0071] In some embodiments, refer to Figure 2 The buffer assembly 210 includes a guide 211, a guide post 212, a connecting plate 213, and a spring 214. The guide 211 is installed at the end of the frame 100 and has a guide hole extending from top to bottom. The guide post 212 is slidably connected to the guide hole and fixedly connected to the connecting plate 213. The connecting plate 213 is rotatably connected to the mounting bracket 220 via a rotating cylinder 260. The spring 214 is sleeved on the guide post 212, and its two ends are fixedly connected to the connecting plate 213 and the guide 211, respectively. When the first suction cup 230 contacts the plate, the spring 214 begins to compress to provide buffering. The spring 214 absorbs the impact force generated during contact. The guide post 212 slides within the guide hole, allowing the mounting bracket 220 to make minor adjustments up and down. The force of the spring 214 balances the suction force to ensure appropriate contact pressure. After releasing the plate, the spring 214 pushes the mounting bracket 220 back to its initial position. The cushioning effect prevents impact damage to the surface of the sheet material, absorbs impact force, reduces mechanical wear on equipment parts, prevents accidents caused by rigid collisions, reduces impact load, and extends the service life of the equipment.

[0072] In some embodiments, refer to Figure 1 The frame 100 is fixedly connected to a vision component 400 at one end. The plate unloading and stacking fixture also includes a central processing module. The vision component 400 is used to photograph the plate to be extracted and transmit the photographed data to the central processing module. The central processing module is used to calculate the size of the plate to be extracted based on the photographed data from the vision component 400.

[0073] In some embodiments, refer to Figure 4The mounting frame 220 is hollow inside. The first adsorption component 200 also includes a lifting cylinder 250, which is built into and fixedly connected to the mounting frame 220. The lifting cylinder 250 is fixedly connected to the second suction cup 240 and controls the lifting and lowering of the second suction cup 240. When not in use, the second suction cup 240 is retracted inside the mounting frame 220. When the second suction cup 240 needs to be used, the lifting cylinder 250 pushes the second suction cup 240 downward, causing it to descend to contact the surface of the board and generate negative pressure on the board surface to adsorb the board. After completing the work, the cylinder drives the second suction cup 240 to rise and return to its original position.

[0074] As an optimization of the above embodiments, refer to Figure 4 A second mounting block 241 is fixedly connected between the second suction cup 240 and the lifting cylinder 250. The second mounting block 241 has a built-in second air passage 2411. One end of the second air passage 2411 passes through the upper surface of the second mounting block 241 and is connected to an air source or vacuum pump. The other end passes through the lower surface of the second mounting block 241. A ventilation hole 242 is provided through the middle of the second suction cup 240. The ventilation hole 242 is perpendicular to the adsorption surface of the second suction cup 240 and communicates with the second air passage 2411. In the vertical cross-section of the second suction cup 240, from top to bottom, the ventilation hole 242 first narrows and then expands.

[0075] When the second air duct 2411 is connected to a vacuum pump, the vacuum pump can generate negative pressure to adsorb and fix the board. When the second air duct 2411 is connected to an air source, the ventilation hole 242 can blow away excess dust from the surface of the board, improving the subsequent adsorption effect. It should be emphasized that, according to the Venturi effect, the increase in flow rate can generate stronger pressure during the adsorption process. During the dust blowing process, the ventilation hole 242 can generate a faster airflow and distribute the airflow to the edge of the entire second suction cup 240, diffusing the airflow and expanding the dust blowing area.

[0076] In some embodiments, refer to Figure 2 and Figure 3A first mounting block 232 is fixedly connected between the first suction cup 230 and the mounting bracket 220. The first mounting block 232 has a built-in first air channel 2321. One end of the first air channel 2321 penetrates the upper surface of the first mounting block 232 and is connected to a vacuum pump, and the other end penetrates the lower surface of the first mounting block 232. The first suction cup 230 includes a suction cup body 233 and a flexible skirt 234. The suction cup body 233 is fixedly connected to the first mounting block 232. The suction cup body 233 is recessed inward to form a negative pressure chamber. The suction cup body 233 is provided with a negative pressure hole 2331. The negative pressure chamber is connected to the first air channel 2321 through the negative pressure hole 2331. The flexible skirt 234 wraps around the edge of the negative pressure chamber. The flexible skirt 234 is fixedly connected to the suction cup body 233. The flexible skirt 234 is deformable so that the edge of the flexible skirt 234 fits against the surface of the board.

[0077] At the moment the first suction cup 230 contacts the plate, it undergoes elastic deformation under pressure and fills the slight unevenness on the plate surface, sealing the negative pressure chamber. The vacuum pump generates negative pressure in the negative pressure chamber through the first air channel 2321 and the negative pressure hole 2331. Under the action of negative pressure, the flexible skirt 234 further adheres tightly to the plate surface, ensuring that the negative pressure state in the negative pressure chamber can be maintained and improving adsorption stability.

[0078] Furthermore, referring to Figure 2 and Figure 3 The first suction cup 230 further includes a support frame 235, which is attached to and fixed to the inner side of the negative pressure cavity. On the vertical cross-section of the suction cup body 233, the support frame 235 extends from the outer side to the inner side of the suction cup body 233. Multiple support frames 235 are provided, spaced apart. The support frame 235 provides structural support inside the negative pressure cavity, preventing excessive deformation of the negative pressure cavity under negative pressure, improving the structural rigidity and stability of the entire second suction cup 240, and preventing deformation or damage to the second suction cup 240 during operation.

[0079] In some embodiments, refer to Figure 2 and Figure 3A pressure-holding membrane 236 is fixedly connected to the inner side of the suction cup body 233. The pressure-holding membrane 236 covers the negative pressure cavity and is located above the flexible skirt 234. The pressure-holding membrane 236 has multiple micropores 2361 through it. The diameter of the micropores 2361 is between 5 and 10 micrometers, and the porosity is between 35% and 45%. The edge of the pressure-holding membrane 236 is fixedly connected to the support frame 235. The middle part of the pressure-holding membrane 236 is provided with a clearance hole 2362 for avoiding the second suction cup 240. When the flexible skirt 234 abuts against the surface of the plate, there is a gap between the pressure-holding membrane 236 and the plate. The flexible skirt 234 first contacts the surface of the plate to form a seal. The vacuum pump then starts working, drawing air through the micropores 2361 of the pressure-holding membrane 236. The micropores 2361 limit the airflow velocity, causing the pressure inside the negative pressure chamber to decrease slowly. Once the set negative pressure value is reached, the micropores 2361 maintain the pressure. The throttling effect of the micropore structure maintains the negative pressure and prevents rapid pressure loss. Even in the event of a minor leak, the pressure-holding membrane 236 can maintain the pressure. This stable negative pressure environment ensures reliable adsorption. Preferably, the pressure-holding membrane 236 is constructed from one or both of polyethylene and polytetrafluoroethylene, and its thickness is between 1 and 3 millimeters.

[0080] In some embodiments, refer to Figure 5 The second adsorption component 300 includes a fixing plate 310, a multi-axis cylinder 320, and a third suction cup 330. The top of the fixing plate 310 is bent to form a mounting surface 311, which can be fixedly connected to the bottom surface of the frame 100 by screws. The fixing plate 310 is perpendicular to the mounting surface 311. The multi-axis cylinder 320 is fixedly connected to the fixing plate 310. The third suction cup 330 is fixed to the multi-axis cylinder 320 and is driven to rise and fall by the multi-axis cylinder 320. The second adsorption component 300 is detachably fixed to the bottom of the frame 100 by screws. The cylinder drives the third suction cup 330 to descend and contact the plate and begin adsorption, cooperating with the first adsorption component 200 to complete the gripping task.

[0081] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A sheet metal cutting and stacking fixture, characterized in that, include: The frame (100) has a connecting flange (110) on top; The first adsorption component (200) is provided in two sets. The two sets of the first adsorption component (200) are respectively connected to both ends of the frame (100) and located at the bottom of the frame (100); The second adsorption component (300) is provided in at least one set. The second adsorption component (300) is detachably connected to the bottom of the frame (100). The second adsorption component (300) is located between two sets of the first adsorption components (200). The first adsorption component (200) includes: A buffer assembly (210) is connected to the end of the frame (100); The mounting bracket (220) is rotatably connected to the lower end of the buffer assembly (210), and the mounting bracket (220) is pivotable about a fixed axis; The first suction cup (230) is fixedly connected to the bottom of the mounting bracket (220), and the first suction cup (230) has a through mounting hole (231) in the middle. The second suction cup (240) is built into the mounting hole (231). The second suction cup (240) is fixedly connected to the mounting bracket (220). The second suction cup (240) can move up and down in the mounting hole (231). The second suction cup (240) and the first suction cup (230) are independently controlled. A first mounting block (232) is fixedly connected between the first suction cup (230) and the mounting bracket (220). The first mounting block (232) has a first air passage (2321) built in. One end of the first air passage (2321) passes through the upper surface of the first mounting block (232) and is connected to a vacuum pump, and the other end passes through the lower surface of the first mounting block (232). The first suction cup (230) includes: The suction cup body (233) is fixedly connected to the first mounting block (232). The suction cup body (233) is recessed inward to form a negative pressure chamber. The suction cup body (233) is provided with a negative pressure hole (2331). The negative pressure chamber is connected to the first air passage (2321) through the negative pressure hole (2331). A flexible skirt (234) is wrapped around the edge of the negative pressure cavity. The flexible skirt (234) is fixedly connected to the suction cup body (233). The flexible skirt (234) can deform so that the edge of the flexible skirt (234) fits against the surface of the plate. A support frame (235) is attached to and fixed to the inner side of the negative pressure cavity. On the vertical section of the suction cup body (233), the support frame (235) extends from the outer side to the inner side of the suction cup body (233). Multiple support frames (235) are provided, and the multiple support frames (235) are spaced apart. The suction cup body (233) is fixedly connected to a pressure-holding membrane (236) on its inner side. The pressure-holding membrane (236) covers the negative pressure cavity and is located above the flexible skirt (234). The pressure-holding membrane (236) is provided with a plurality of micropores (2361) through it. The diameter of the micropores (2361) is between 5 and 10 micrometers and the porosity is between 35% and 45%. The edge of the pressure-holding membrane (236) is fixedly connected to the support frame (235). The middle part of the pressure-holding membrane (236) is provided with a clearance hole (2362) for avoiding the second suction cup (240). When the flexible skirt (234) abuts against the surface of the plate, there is a gap between the pressure-holding membrane (236) and the plate.

2. The sheet metal unloading and stacking fixture according to claim 1, characterized in that, A vision component (400) is fixedly connected to one end of the frame (100). The plate unloading and stacking fixture also includes a central processing module. The vision component (400) is used to photograph the plate to be extracted and transmit the photographed data to the central processing module. The central processing module is used to calculate the size of the plate to be extracted based on the photographed data from the vision component (400).

3. The sheet metal unloading and stacking fixture according to claim 1, characterized in that, The mounting frame (220) is hollow inside. The first adsorption component (200) also includes a lifting cylinder (250). The lifting cylinder (250) is built into the mounting frame (220) and fixedly connected to the mounting frame (220). The lifting cylinder (250) is fixedly connected to the second suction cup (240) and controls the lifting of the second suction cup (240).

4. The sheet metal unloading and stacking fixture according to claim 3, characterized in that, A second mounting block (241) is fixedly connected between the second suction cup (240) and the lifting cylinder (250). The second mounting block (241) has a built-in second air passage (2411). One end of the second air passage (2411) passes through the upper surface of the second mounting block (241) and is connected to an air source or vacuum pump. The other end passes through the lower surface of the second mounting block (241). A ventilation hole (242) is provided through the middle of the second suction cup (240). The ventilation hole (242) is perpendicular to the adsorption surface of the second suction cup (240) and communicates with the second air passage (2411). In the vertical section of the second suction cup (240), from top to bottom, the ventilation hole (242) first narrows and then expands.

5. The sheet metal unloading and stacking fixture according to claim 1, characterized in that, The pressure-holding membrane (236) is constructed of one or both of polyethylene and polytetrafluoroethylene, and the thickness of the pressure-holding membrane (236) is between 1 and 3 mm.

6. The sheet metal unloading and stacking fixture according to claim 1, characterized in that, The second adsorption component (300) includes: A fixing plate (310) is bent at the top to form a mounting surface (311), which can be fixedly connected to the bottom surface of the frame (100) by screws, and the fixing plate (310) is perpendicular to the mounting surface (311); A multi-axis cylinder (320) is fixedly connected to the fixed plate (310); The third suction cup (330) is fixed to the multi-axis cylinder (320) and is driven to lift by the multi-axis cylinder (320).

7. A palletizing method, characterized in that, The sheet metal unloading and stacking fixture according to any one of claims 1 to 6 comprises the following steps: Step 1: Determine whether the size of the board to be extracted belongs to category A, B, or C; if the board size belongs to category A, proceed to step 2.1; if the board size belongs to category B, proceed to step 3.1; if the board size belongs to category C, proceed to step 4.

1. Step 2.1: Separate the second adsorption component (300) from the frame (100) and proceed to step 2.2; Step 2.2: Move the frame (100) above the plate to be extracted, and align the first adsorption component (200) at one end with the plate position, and proceed to step 2.3; Step 2.3: Lower the frame (100) so that the first adsorption component (200) comes into contact with the plate and the first suction cup (230) is used to adsorb and fix the plate, and proceed to step 2.4; Step 2.4: The lifting frame (100) transports the sheet metal to the stacking area of ​​the sheet metal through the frame (100) and performs step 1; Step 3.1: Separate the second adsorption component (300) from the frame (100) and proceed to step 3.2; Step 3.2: Move the frame (100) above the plate to be extracted, and align the first adsorption component (200) at one end with the plate position, and proceed to step 3.3; Step 3.3: Lower the frame (100) so that the first adsorption component (200) comes into contact with the plate and adsorbs and fixes the plate, and proceed to step 3.4; Step 3.4: The second suction cup (240) descends and comes into contact with the board, adsorbing and fixing the board, and proceeding to step 3.5; Step 3.5: Elevating the frame (100), the sheet metal is transported to the stacking area of ​​the sheet metal through the frame (100) and then proceeds to step 1; Step 4.1: Install the second adsorption component (300) onto the frame (100) and proceed to step 4.2; Step 4.2: Move the frame (100) above the plate to be extracted, so that the first adsorption components (200) at both ends are close to the two ends of the plate in the length direction, and proceed to step 4.3; Step 4.3: Lower the frame (100) so that the first adsorption component (200) and the second adsorption component (300) simultaneously come into contact with the plate. Use the first suction cup (230) of the first adsorption component (200) and the second adsorption component (300) to adsorb and fix the plate. Proceed to step 4.

4. Step 4.4: The second suction cups (240) of the two first adsorption components (200) descend and come into contact with the plate. The second suction cups (240) are used to adsorb and fix the plate, and then proceed to step 4.

5. Step 4.5: Elevating the frame (100), the sheet metal is transported to the stacking area of ​​the sheet metal through the frame (100) and then proceeds to step 1; Among them, the size of Class A boards is smaller than that of Class B boards, and the size of Class B boards is smaller than that of Class C boards.

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