A workpiece gripping mechanism and method

Abstract

This invention relates to the field of parts processing technology and discloses a material gripping mechanism and method. The material gripping mechanism includes a worktable and processing equipment, and further includes: a conveying mechanism disposed on the worktable, comprising a first conveying channel and a second conveying channel for conveying the material to be processed and the processed material, respectively; and a flipping component disposed on the conveying mechanism. When the material in the first conveying channel is in the correct direction, it passes directly over the flipping component; if the material is in the wrong direction, it is flipped by the flipping component. This invention enables dual-channel precision positioning conveying of the material to be processed and the processed material, while effectively separating the front and rear materials, facilitating highly flexible gripping of the materials, and enabling correction and flipping of the materials before gripping, which is beneficial for achieving high-efficiency and high-precision automated production.

Description

Technical Field

[0001] This invention relates to the field of parts processing technology, specifically to a material gripping mechanism and method. Background Technology

[0002] With the rapid development of industrial automation technology, automated production lines have been widely used in fields such as electronic manufacturing, automotive parts processing, and precision instrument assembly. In the automated production process, the automatic conveying and gripping of materials is one of the key links to achieve unmanned operation.

[0003] During the material conveying process, it is usually necessary to ensure the correct orientation of the material (the vertical orientation of the material is not consistent). Then, the material gripping equipment grabs the material to the processing area during the conveying process. After processing is completed, the material is grabbed back to the conveying area to complete the automated processing of the material.

[0004] Current material handling generally adopts a single-channel conveying mode, where the materials to be processed and the finished materials share the same conveying channel. During this process, the materials to be processed and the finished materials are prone to mixing or cross-contamination. Moreover, manual or mechanical grippers are required to place the materials in the conveying channel in a specific direction, which affects the quality of the materials. In addition, the equipment cycle time is limited, making it difficult to achieve continuous and efficient automated production. Furthermore, the lack of effective positioning and separation mechanisms during gripping and unloading operations can easily cause material accumulation or positional deviation, leading to gripping failure or reduced processing accuracy. Summary of the Invention

[0005] This invention provides a material gripping mechanism that can distinguish material channels through a conveying mechanism to prevent material mixing. The positioning part separates the material to be processed from the processed material and adjusts and flips the material with abnormal orientation. This facilitates continuous and efficient automated production. It also has highly flexible gripping and placement components, thereby achieving precise positioning of the material and solving the problems of material mixing, insufficient positioning accuracy, and low production efficiency mentioned in the background art.

[0006] This invention provides the following technical solution: A material gripping mechanism includes a worktable and a processing device, and further includes: a conveying mechanism disposed on the worktable, the conveying mechanism including a first conveying channel and a second conveying channel for conveying a material to be processed and a processed material, respectively; a flipping component disposed on the conveying mechanism, wherein when the material in the first conveying channel is in the correct orientation, it passes directly over the flipping component; if the material is in the wrong orientation, it is flipped by the flipping component; a gripping component and a placing component are distributed at intervals on the side of the worktable near the conveying mechanism, the gripping component gripping the material on the first conveying channel to the processing device, and the placing component placing the material at the processing device onto the second conveying channel; and a positioning part disposed on the first and second conveying channels respectively, wherein when the material to be processed is conveyed through the first conveying channel, the positioning part restricts the material to be below the gripping component; and when the processed material is transferred to the second conveying channel through the placing component, the positioning part restricts the relative displacement between the material and the placing component.

[0007] As a preferred embodiment of the present invention, the conveying mechanism includes a support and a conveyor frame. The support is mounted on a workbench, the conveyor frame is mounted on the support, a power device is mounted on the support, a conveyor belt is provided on the conveyor frame, and the drive shaft end of the conveyor belt is connected to the power device.

[0008] As a preferred embodiment of the present invention, it further includes a connecting beam and a partition. One end of the connecting beam is installed on both sides of the top of the conveyor frame, and the other end of the connecting beam is fixedly connected to the partition. The partition is located above the midpoint of the conveyor belt. A first conveying channel is formed between one side of the partition and the conveyor frame, and a second conveying channel is formed between the other side of the partition and the conveyor frame.

[0009] As a preferred embodiment of the present invention, the flipping assembly includes a correction block and a lifting device. The correction blocks are symmetrically arranged on both sides of the first conveying channel. The lifting device is mounted on a conveying frame. A mounting frame is installed at the output end of the lifting device. A servo motor is mounted on the mounting frame. A connecting plate is installed at the output end of the servo motor. A positioning block is mounted on the connecting plate. A flipping suction cup is installed on the side of the positioning block closest to the material conveying direction. The correction block is inclined along the material conveying direction. The positioning blocks are staggered and matched with the upper and lower layers of the material, respectively. The distance between the positioning blocks along the conveying direction matches the distance between the upper and lower layers of the material.

[0010] In a preferred embodiment of the present invention, both the gripping component and the placement component include a support platform. A mounting platform is mounted on the support platform, a guide rail is mounted on the mounting platform, and a driving device is mounted on the mounting platform. The driving device is electrically connected to the guide rail. A sliding table is slidably connected to the guide rail, and a mounting plate is mounted on the sliding table. A lifting cylinder is mounted on the mounting plate, and a guide plate is mounted on the output end of the lifting cylinder. The guide plate and the fixing part of the lifting cylinder are connected by a sliding rail, and a gripping suction cup is mounted on the guide plate.

[0011] As a preferred embodiment of the present invention, when the material is conveyed along the first conveying channel, the material first reaches the area below the gripping suction cup on the gripping component. The gripping suction cup matches the shape of the material to be processed. The processing equipment is located between the gripping component and the placement component. The gripping suction cup on the placement component matches the shape of the material after processing.

[0012] As a preferred embodiment of the present invention, the positioning part includes a first positioning mechanism and a second positioning mechanism. The first positioning mechanism includes a first cylinder, which is installed on the side of the conveyor frame near the first conveying channel. A first stop is installed at the output end of the first cylinder. A first sensor is installed on the side of the conveyor frame near the first cylinder. A first lifting drive is installed on the side of the conveyor frame near the first sensor. A first baffle is installed at the output end of the first lifting drive. When the material is conveyed along the conveyor belt, it passes through the first stop, the first sensor, and the first baffle in sequence. The first stop is L-shaped. The first sensor is electrically connected to the first cylinder and the first lifting drive. When the material is conveyed to the first sensor, the first baffle moves downward to position the material. At this time, the material is located below the gripping suction cup.

[0013] As a preferred embodiment of the present invention, the second positioning mechanism includes a second cylinder, which is mounted on the side of the conveyor frame near the second conveying channel. A second stop is mounted on the conveying end of the second cylinder. A second sensor is mounted on the side of the conveyor frame near the second stop. A second lifting drive is mounted on the side of the conveyor frame near the second sensor. A second baffle is mounted on the output end of the second lifting drive. The shape of the second stop matches the shape of the first stop. The second sensor is electrically connected to the second cylinder and the second lifting drive. The second sensor is located below the gripping suction cup on the placement assembly.

[0014] As a preferred embodiment of the present invention, the processing equipment includes a material conveying section and a processing section. The initial end of the material conveying section is located below the gripping component, and the end of the material conveying section is located below the placement component. When the material moves along the material conveying section, the processing section sequentially performs various processing operations on the material. After processing is completed, the material moves to the end of the material conveying section.

[0015] A material gripping method includes the following steps: Step 1: When processing materials, place the materials on the equipment and convey them. Step 2: If part of the material exceeds the conveying position of the equipment during the conveying process, push the material back to the conveying position. If the direction of the material conveying is opposite to the gripping direction, flip the material. Step 3: Once the material has moved to the designated position, it stops moving and blocks subsequent material transport. Step 4: The equipment then picks up the material and moves it to the processing area for various processing operations; Step 5: After the material is processed, the equipment picks up the material from the processing area and moves it to the conveyor of the equipment. Step Six: When placing the material, position the material to prevent relative displacement between the conveyor and the equipment until the equipment has completely placed the material at the conveyor. Step 7: Finally, stop positioning the material. The processed material is then conveyed along the equipment and collected at the end of the equipment.

[0016] Compared with the prior art, the present invention provides a material gripping mechanism and method, which has the following beneficial effects: 1. In this material gripping mechanism, the conveying mechanism can realize the separate conveying of the material to be processed and the material after processing through dual channels, so as to avoid the mixing or cross-contamination of materials. In addition, the material in the initial conveying channel is corrected and the material with abnormal direction is flipped to ensure the processing quality of the material and improve the processing efficiency of the material.

[0017] 2. In this material gripping mechanism, the gripping component and the placement component can flexibly grip the material through dual channels, and the positioning part can accurately position the material and separate adjacent materials, so as to realize continuous and efficient automated production of the equipment, while preventing the material from piling up or shifting position, and improving the stability of material gripping and processing accuracy.

[0018] The parts not covered in this device are the same as or can be implemented using existing technologies. This invention can achieve dual-channel precision positioning and conveying of the workpiece to be processed and the workpiece after processing. At the same time, it can effectively separate the workpieces in front and behind, making it easy to grasp the workpieces with high flexibility. It can also correct the deviation and flip the workpieces before grasping, which is conducive to achieving high-efficiency and high-precision automated production. Attached Figure Description

[0019] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, the elements or parts are not necessarily drawn to actual scale.

[0020] Figure 1 This is a three-dimensional schematic diagram of the present invention; Figure 2 This is a partial perspective view of the present invention; Figure 3 This is a three-dimensional schematic diagram of the conveying mechanism, gripping component, and placement component in this invention; Figure 4 This is a three-dimensional schematic diagram of the grasping or placing component in this invention; Figure 5 This is a three-dimensional schematic diagram of the conveying mechanism in this invention; Figure 6 For the present invention Figure 5 A schematic diagram of the structure of part A; Figure 7 For the present invention Figure 5 A structural diagram of section B; Figure 8 This is a partial top view of the conveyor frame in this invention; Figure 9 This is a schematic diagram of the normal material conveying process in this invention; Figure 10 This is a schematic diagram of the conveying of materials with abnormal orientation in this invention.

[0021] In the diagram: 1. Workbench; 2. Conveying mechanism; 201. Support frame; 202. Conveying frame; 2021. Correction block; 2022. Lifting device; 2023. Mounting bracket; 2024. Servo motor; 2025. Connecting plate; 2026. Positioning block; 2027. Tilting suction cup; 203. Power equipment; 204. Conveyor belt; 205. Connecting beam; 206. Partition plate; 211. First cylinder; 212. First stop block; 213. First sensor; 214. First lifting drive component; 215. First baffle; 221. Second cylinder; 222. Second stop block; 223. Second sensor; 224. Second lifting drive component; 225. Second baffle; 3. Processing equipment; 4. Gripping component; 401. Support platform; 402. Mounting platform; 403. Guide rail; 404. Drive device; 405. Slide table; 406. Mounting plate; 407. Lifting cylinder; 408. Guide plate; 409. Gripping suction cup; 5. Place the components. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Example 1: Reference Figures 1-10 A material gripping mechanism includes a workbench 1 and a processing device 3. The processing device 3 includes a material conveying section and a processing section. The initial end of the material conveying section is located below the gripping component 4, and the end end of the material conveying section is located below the placement component 5. When the material moves along the material conveying section, the processing section performs various processing operations on the material in sequence. After processing is completed, the material moves to the end of the material conveying section. The processing device 3, the gripping component 4, and the placement component 5 may include multiple sets for connecting and gripping the remaining material after a single conveying.

[0024] The processing section of the processing equipment 3 is set according to the specific requirements of the material. For example, it may include processing equipment 3 for drilling, grinding, welding, cutting, etc. After the gripping component 4 grips the material from the first conveying channel, it only needs to move a short distance to place the material at the starting position of the processing equipment 3, which reduces the material transfer time and movement stroke and improves the production cycle. The end of the material conveying section is located below the placement component 5 (the rear end position along the material conveying direction), which makes it easy for the placement component 5 to grip the finished material and transfer it to the second conveying channel. When the material moves along the material conveying section, it passes through each processing station of the processing section in sequence to complete multiple processing steps, realize the continuous operation of material processing, avoid the frequent loading and unloading operations in the traditional single-machine processing mode, and significantly improve production efficiency.

[0025] Reference Figure 5The conveying mechanism 2 is set on the workbench 1. The conveying mechanism 2 includes a first conveying channel and a second conveying channel, which are used to convey the workpiece to be processed and the processed workpiece, respectively. The conveying mechanism 2 includes a bracket 201 and a conveying frame 202. The bracket 201 is installed on the workbench 1, and the conveying frame 202 is installed on the bracket 201. A power device 203 is installed on the bracket 201, and a conveyor belt 204 is provided on the conveyor frame 202. The drive shaft end of the conveyor belt 204 is connected to the power device 203.

[0026] The first conveyor channel is dedicated to conveying materials to be processed, and the second conveyor channel is dedicated to conveying processed materials. This fundamentally solves the problem of mixing materials to be processed and finished products, ensuring product quality traceability. It also avoids secondary contamination or damage to finished products during the return process, allowing loading and unloading operations to be carried out simultaneously without interference, significantly reducing the idle waiting time of the equipment. The conveyor frame 202 is installed on the bracket 201 and serves as the load-bearing frame for the conveyor belt 204. The power device 203 is usually a combination of a motor and a reducer, providing continuous and stable power output to the conveyor belt 204. Driven by the power device 203, the drive shaft of the conveyor belt 204 achieves continuous cyclic operation, thereby moving the materials placed on it forward. It features smooth operation, low noise, and strong adaptability, and can meet the conveying needs of materials of different shapes and weights.

[0027] Reference Figures 5-6 It also includes a connecting beam 205 and a partition plate 206. One end of the connecting beam 205 is installed on both sides of the top of the conveyor frame 202, and the other end of the connecting beam 205 is fixedly connected to the partition plate 206. The partition plate 206 is located above the midpoint of the conveyor belt 204. One side of the partition plate 206 forms a first conveying channel with the conveyor frame 202, and the other side of the partition plate 206 forms a second conveying channel with the conveyor frame 202. The connecting beam 205 is inverted C-shaped, and the concave part of the inverted C-shape is located above the first or second conveying channel. The dimensions of the conveyor belt 204 and the concave part are larger than the dimensions of the material.

[0028] The connecting beam 205 is a cantilever support. The partition plate 206 is stably mounted above the midpoint of the conveyor belt 204. One side of the partition plate 206 naturally forms a first conveying channel with the conveyor frame 202, and the other side forms a second conveying channel with the conveyor frame 202. The width of the two channels can be flexibly adjusted according to the size of the materials. By simply replacing the partition plate 206 with a different width or adjusting the installation position of the partition plate 206, it can adapt to the production of products of different specifications. The inverted C-shaped concave part of the connecting beam 205 is located on the upper part of the first or second conveying channel. The square shape creates an open working space. The dimension between the conveyor belt 204 and the recess is larger than the dimension of the material. When the material moves on the conveyor belt 204, even if the material has a certain height or irregular shape, it can pass smoothly under the inverted C-shaped recess without interference or collision. At the same time, the inverted C-shape allows the connecting beam 205 to provide stable support while minimizing the space occupied above the channel, leaving sufficient space for the vertical movement of the gripping component 4 and the placement component 5, and avoiding motion interference between mechanical structures.

[0029] Reference Figures 8-10 The flipping component is installed on the conveying mechanism 2. When the material in the first conveying channel is in the correct direction, it passes directly over the flipping component. If the material is in the wrong direction, the flipping component flips the material. The flipping component includes a correction block 2021 and a lifting device 2022. The correction block 2021 is symmetrically arranged on both sides of the first conveying channel. The lifting device 2022 is installed on the conveying frame 202. The output end of the lifting device 2022 is equipped with a mounting frame 2023. A servo motor 2024 is installed on the mounting frame 2023. A connecting plate 2025 is installed on the output end of the servo motor 2024. A positioning block 202 is installed on the connecting plate 2025. 6. A tilting suction cup 2027 is installed on the side of the positioning block 2026 near the material conveying direction. The correction block 2021 is inclined along the material conveying direction. The positioning blocks 2026 are staggered and matched with the upper and lower layers of the material respectively. The distance between the positioning blocks 2026 along the conveying direction matches the distance between the upper and lower layers of the material. An inductive element is provided on the positioning block 2026. The inductive element is electrically connected to the lifting device 2022 and the servo motor 2024. When a single inductive element is triggered, the lifting device 2022 works. When two inductive elements are triggered, the servo motor 2024 and the tilting suction cup 2027 work.

[0030] After the material is quickly placed into the first conveying channel by the feeding device or manually, part of the material will contact the conveyor belt 204 and move in the direction of the conveyor belt 204. When the material is conveyed to the correction block 2021, if the material is completely within the first conveying channel (either forward or backward), the material will continue to be conveyed directly through the correction block 2021. If part of the material exceeds the first conveying channel (the material is tilted and only partially contacts the conveyor belt 204), the material will be straightened when it passes the correction block 2021. The material continues to move with the conveyor belt 204. When it reaches the positioning block 2026, if the material's orientation is normal (the surface to be processed is on top), it should be explained that the dimensions of the upper and lower layers are different depending on whether the surface to be processed is on top or bottom. In other words, if the material's orientation is normal, when it reaches the positioning block 2026, only one layer of the material contacts the flipping suction cup 2027 on the positioning block 2026. At this time, the inductive element controls the lifting device 2022 to work, driving the positioning block 2026 upwards to prevent it from obstructing the material and ensuring continuous material transport. However, if the material's orientation is abnormal (the surface to be processed is on the bottom), when the material reaches the positioning block 2026, the horizontal distance between the two positioning blocks 2026 matches the horizontal distance between the upper and lower layers of the material. At this point, the upper and lower sides of the workpiece simultaneously contact the flipping suction cup 2027 on the positioning block 2026. The inductive element controls the servo motor 2024 and the flipping suction cup 2027 to work. The flipping suction cup 2027 is used to fix the workpiece and prevent it from falling during the flipping process. At the same time, the servo motor 2024 drives the positioning block 2026 to rotate, so that the surface of the workpiece to be processed is on the top, and then it falls onto the conveyor belt 204. In addition, it should be explained that the lifting device 2022 and the servo motor 2024 both have a reset function. That is, after the flipping or lifting work, the positioning block 2026 can automatically reset to facilitate the subsequent flipping of the workpiece. This makes it possible to place the workpiece on the conveyor belt 204 in a specific direction without the need for manual personnel or mechanical grippers during the entire production process, which greatly improves the processing efficiency of the workpiece.

[0031] Reference Figures 3-4 The gripping component 4 and the placing component 5 are distributed at intervals on the side of the workbench 1 near the conveying mechanism 2. The gripping component 4 is used to grip the material on the first conveying channel to the processing equipment 3, and the placing component 5 is used to place the material at the processing equipment 3 on the second conveying channel. Both the gripping component 4 and the placement component 5 include a support platform 401. A mounting platform 402 is mounted on the support platform 401. A guide rail 403 is mounted on the mounting platform 402. A drive device 404 is mounted on the mounting platform 402 and is electrically connected to the guide rail 403. A slide table 405 is slidably connected to the guide rail 403. A mounting plate 406 is mounted on the slide table 405. A lifting cylinder 407 is mounted on the mounting plate 406. The output end of the lifting cylinder 407 is installed with… There is a guide plate 408, and the guide plate 408 and the fixed part of the lifting cylinder 407 are connected by a slide rail. A gripping suction cup 409 is installed on the guide plate 408. When the material is conveyed along the first conveying channel, the material first reaches the gripping suction cup 409 on the gripping assembly 4. The gripping suction cup 409 matches the shape of the material to be processed. The processing equipment 3 is located between the gripping assembly 4 and the placement assembly 5. The gripping suction cup 409 on the placement assembly 5 matches the shape of the material after processing.

[0032] The gripping component 4 and the placement component 5 adopt the same modular structure design. The guide rail 403 provides precise linear motion guidance for the slide table 405. The drive device 404 is electrically connected to the guide rail 403 and is connected to the transmission mechanism (such as a lead screw or synchronous belt) on the guide rail 403. Driven by the drive device 404, the slide table 405 reciprocates horizontally along the guide rail 403, realizing the transfer of materials between the conveying mechanism 2 and the processing equipment 3. The guide plate 408 can make precise linear motion in the vertical direction under the drive of the lifting cylinder 407. The guiding effect of the slide rail effectively constrains the movement trajectory of the guide plate 408, preventing it from moving horizontally during the lifting process. The deviation or shaking of the material ensures the smoothness of the movement and the positioning accuracy. The gripping suction cup 409 on the guide plate 408 grips the material through vacuum adsorption, which will not damage the surface of the material. It is especially suitable for handling fragile or high-precision materials such as precision electronic components and hardware parts with high surface finish requirements. The shape of the gripping suction cup 409 matches the shape of the material to be processed and the shape of the material after processing. Since the shape of the material after processing may change due to processing operations (such as stamping, bending, welding, etc.), the gripping component 4 and the placement component 5 adopt suction cup designs that are adapted to the shape of the material to be processed and the finished product, respectively, to ensure reliable gripping and safe placement of the finished material.

[0033] The positioning part is respectively set on the first conveying channel and the second conveying channel. When the workpiece to be processed is conveyed through the first conveying channel, the positioning part restricts the workpiece to be below the gripping component 4. When the workpiece after processing is transferred to the second conveying channel through the placement component 5, the positioning part restricts the relative displacement between the workpiece and the placement component 5.

[0034] Reference Figures 5-6The positioning unit includes a first positioning mechanism and a second positioning mechanism. The first positioning mechanism includes a first cylinder 211, which is installed on the side of the conveyor frame 202 near the first conveying channel. A first stop 212 is installed at the output end of the first cylinder 211. A first sensor 213 is installed on the side of the conveyor frame 202 near the first cylinder 211. A first lifting drive 214 is installed on the side of the conveyor frame 202 near the first sensor 213. A first baffle 215 is installed at the output end of the first lifting drive 214. When the material is conveyed along the conveyor belt 204, it passes through the first stop 212, the first sensor 213 and the first baffle 215 in sequence. The first stop 212 is L-shaped. The first sensor 213 is electrically connected to the first cylinder 211 and the first lifting drive 214. When the material is conveyed to the first sensor 213, the first baffle 215 moves downward to position the material. At this time, the material is located below the gripping suction cup 409.

[0035] The first stop 212 is L-shaped and, when extended, can simultaneously limit the material from the side and front, preventing it from moving forward and also preventing lateral deviation due to the friction of the conveyor belt 204. The first sensor 213 and the second sensor 223 are both optical sensors, capable of accurately detecting the position of the material to determine if it has reached the designated location. The first baffle 215 can move vertically under the drive of the first lifting drive 214. As the material is conveyed along the conveyor belt 204, it passes sequentially through the first stop 212, the first sensor 213, and... When the material is conveyed from upstream to the first sensor 213, the first baffle 215 is triggered. The first cylinder 211 drives the first stop block 212 to extend and block the material being conveyed. After the first sensor 213 detects the material signal, it sends a control command to the first lifting drive 214. The first baffle 215 moves downward to block and position the material, ensuring that the gripping suction cup 409 can accurately align with the center of the material when it descends. The gripping suction cup 409 completes the gripping and rises away. The first baffle 215 rises and releases, entering the next working cycle.

[0036] Reference Figure 5 and Figure 7The second positioning mechanism includes a second cylinder 221, which is installed on the side of the conveyor frame 202 near the second conveying channel. A second stop 222 is installed at the conveying end of the second cylinder 221. A second sensor 223 is installed on the side of the conveyor frame 202 near the second stop 222. A second lifting drive 224 is installed on the side of the conveyor frame 202 near the second sensor 223. A second baffle 225 is installed at the output end of the second lifting drive 224. The shape of the second stop 222 matches the shape of the first stop 212. The second sensor 223 is electrically connected to the second cylinder 221 and the second lifting drive 224. The second sensor 223 is located below the gripping suction cup 409 on the placement assembly 5.

[0037] The structure of the second positioning mechanism corresponds to that of the first positioning mechanism, ensuring consistent blocking and limiting effects on the material. When the gripping suction cup 409 grips the finished material above the second conveying channel, the second sensor 223 is triggered as the material descends. This triggers the second baffle 225 to move downwards via the second lifting drive component 224, blocking and positioning the material. This prevents the material from falling off due to relative movement between the material and the gripping suction cup 409 when it comes into contact with the conveyor belt 204, ensuring that the material is accurately placed in the second conveying channel. At the same time, the second baffle 222 separates and blocks the material being conveyed subsequently, preventing collisions between adjacent materials and maintaining a stable production rhythm.

[0038] Example 2: Similar to Example 1, a material gripping method is proposed based on Example 1, including the following steps: Step 1: When processing materials, place the materials on the equipment and convey them. It enables automatic feeding of materials, eliminating the need to align each material with the gripping position individually, thus reducing labor intensity.

[0039] Step 2: If part of the material exceeds the conveying position of the equipment during the conveying process, push the material back to the conveying position. If the direction of the material conveying is opposite to the gripping direction, flip the material. The system enables automatic correction and flipping of materials. Operators only need to place the materials in the first conveyor channel. The flipping component can automatically correct and flip the materials, ensuring that the materials are conveyed in the correct posture along the first conveyor channel before being picked up, thus improving the processing efficiency of the materials.

[0040] Step 3: Once the material has moved to the designated position, it stops moving and blocks subsequent material transport. When the material moves along the first conveying channel to the designated position (i.e. below the gripping component 4), the first sensor 213 detects the material signal, triggering the first cylinder 211 and the first lifting drive component 214 to operate. The first stop block 212 extends to block the subsequent conveyed material, and the first baffle 215 descends to accurately position the material, stopping its movement. This prevents subsequent materials from continuing to move forward and interfering with the gripping operation of the current material, achieving automatic and accurate positioning of the material and effective separation of materials in front and behind, ensuring the accuracy and stability of the gripping operation.

[0041] Step 4: The equipment then picks up the material and moves it to the processing area for various processing operations; After the material is precisely positioned, the gripping suction cup 409 contacts the surface of the material and draws a vacuum to adsorb it. Then, the lifting cylinder 407 rises, and the driving device 404 drives the slide table 405 to move above the initial end of the material conveying section of the processing equipment 3. The lifting cylinder 407 descends, the gripping suction cup 409 releases the vacuum, and the material is placed on the processing equipment 3, completing the gripping and transfer of the material. This realizes the automated transfer of the material from the conveying mechanism 2 to the processing equipment 3 without manual intervention.

[0042] Step 5: After the material is processed, the equipment picks up the material from the processing area and moves it to the conveyor of the equipment. The material moves along the material conveying section in the processing equipment 3, passing through each processing station in the processing section in sequence. After completing all processing operations, it moves to the end of the material conveying section. At this time, the placement component 5 picks up the processed material from the end of the processing equipment 3 and transfers it to the top of the second conveying channel according to the same action flow as in step three.

[0043] Step Six: When placing the material, position the material to prevent relative displacement between the conveyor and the equipment until the equipment has completely placed the material at the conveyor. When placing the material, the second positioning mechanism is activated in advance, and the second baffle 225 descends onto the second conveying channel to position the material. The placement component 5 places the material at the position defined by the second baffle 225. The second baffle 225 positions and constrains the material to prevent relative displacement between the material and the placement component 5 due to the impact force during placement or the movement of the conveyor belt 204. This ensures that the material is accurately placed at the designated position on the second conveying channel. By pre-positioning before placement, the problem of uncertain material position in traditional placement methods is avoided.

[0044] Step 7: Finally, stop positioning the material. The processed material is then conveyed along the equipment and collected at the end of the equipment.

[0045] Once the placement component 5 has completely placed the material onto the second conveying channel and risen away, the second lifting drive component 224 drives the second baffle 225 to rise, stopping the positioning of the material. After processing, the material continues to be conveyed along the second conveying channel under the drive of the conveyor belt 204, and finally the material is collected at the end of the equipment, completing the entire processing process.

[0046] Components not described in detail in this article are existing technologies.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A material gripping mechanism, comprising a worktable (1) and processing equipment (3), characterized in that, Also includes: The conveying mechanism (2) is set on the workbench (1). The conveying mechanism (2) includes a first conveying channel and a second conveying channel, which are used to convey the workpiece to be processed and the workpiece after processing, respectively. The flipping component is set on the conveying mechanism (2). When the material in the first conveying channel is in the normal direction, it can directly pass the flipping component. When the material is in the abnormal direction, the material is flipped by the flipping component. The gripping component (4) and the placing component (5) are distributed at intervals on the side of the workbench (1) near the conveying mechanism (2). The gripping component (4) is used to grip the material on the first conveying channel to the processing equipment (3), and the placing component (5) is used to place the material at the processing equipment (3) on the second conveying channel. Positioning units are respectively disposed on the first conveying channel and the second conveying channel. When the workpiece to be processed is conveyed through the first conveying channel, the positioning units restrict the workpiece to be below the gripping component (4). When the processed material is transferred to the second conveying channel through the placement assembly (5), the positioning part restricts the relative displacement between the material and the placement assembly (5).

2. The material gripping mechanism according to claim 1, characterized in that, The conveying mechanism (2) includes a bracket (201) and a conveyor frame (202). The bracket (201) is mounted on the workbench (1), and the conveyor frame (202) is mounted on the bracket (201). A power device (203) is mounted on the bracket (201), and a conveyor belt (204) is provided on the conveyor frame (202). The drive shaft end of the conveyor belt (204) is connected to the power device (203).

3. The material gripping mechanism according to claim 2, characterized in that, It also includes a connecting beam (205) and a partition plate (206). One end of the connecting beam (205) is installed on both sides of the top of the conveyor frame (202), and the other end of the connecting beam (205) is fixedly connected to the partition plate (206). The partition plate (206) is located above the midpoint of the conveyor belt (204). A first conveying channel is formed between one side of the partition (206) and the conveyor frame (202), and a second conveying channel is formed between the other side of the partition (206) and the conveyor frame (202).

4. The material gripping mechanism according to claim 3, characterized in that, The flipping assembly includes a correction block (2021) and a lifting device (2022). The correction block (2021) is symmetrically arranged on both sides of the first conveying channel. The lifting device (2022) is installed on the conveying frame (202). A mounting frame (2023) is installed at the output end of the lifting device (2022). A servo motor (2024) is installed on the mounting frame (2023). A connecting plate (2025) is installed at the output end of the servo motor (2024). A positioning block (2026) is installed on the connecting plate (2025). A flipping suction cup (2027) is installed on the side of the positioning block (2026) closest to the material conveying direction. The correction block (2021) is inclined along the conveying direction of the material, and the positioning block (2026) is staggered and matched with the upper and lower layers of the material respectively. The distance between the positioning blocks (2026) along the conveying direction matches the distance between the upper and lower layers of the material.

5. A material gripping mechanism according to claim 3, characterized in that, Both the gripping component (4) and the placement component (5) include a support platform (401). The support platform (401) has an mounting platform (402) installed on it. The mounting platform (402) has a guide rail (403) installed on it. The mounting platform (402) has a driving device (404) installed on it. The driving device (404) is electrically connected to the guide rail (403). The guide rail (403) has a sliding table (405) slidably connected on it. The sliding table (405) has an mounting plate (406) installed on it. The mounting plate (406) has a lifting cylinder (407) installed on it. The output end of the lifting cylinder (407) has a guide plate (408) installed on it. The guide plate (408) and the fixing part of the lifting cylinder (407) are connected by a sliding rail. The guide plate (408) has a gripping suction cup (409) installed on it.

6. A material gripping mechanism according to claim 5, characterized in that, When the material is conveyed along the first conveying channel, the material first arrives below the gripping suction cup (409) on the gripping component (4). The gripping suction cup (409) matches the shape of the material to be processed. The processing equipment (3) is located between the gripping component (4) and the placement component (5). The gripping suction cup (409) on the placement component (5) matches the shape of the material after processing.

7. A material gripping mechanism according to claim 5, characterized in that, The positioning unit includes a first positioning mechanism and a second positioning mechanism. The first positioning mechanism includes a first cylinder (211). The first cylinder (211) is installed on the side of the conveyor frame (202) near the first conveying channel. A first stop (212) is installed at the output end of the first cylinder (211). A first sensor (213) is installed on the side of the conveyor frame (202) near the first cylinder (211). A first lifting drive (214) is installed on the side of the conveyor frame (202) near the first sensor (213). A first baffle (215) is installed at the output end of the first lifting drive (214). When the material is conveyed along the conveyor belt (204), it passes through the first stop (212), the first sensor (213) and the first baffle (215) in sequence. The first stop (212) is L-shaped. The first sensor (213) is electrically connected to the first cylinder (211) and the first lifting drive (214). When the material is conveyed to the first sensor (213), the first baffle (215) moves downward to position the material. At this time, the material is located below the gripping suction cup (409).

8. A material gripping mechanism according to claim 7, characterized in that, The second positioning mechanism includes a second cylinder (221), which is installed on the side of the conveyor frame (202) near the second conveying channel. A second stop (222) is installed at the conveying end of the second cylinder (221). A second sensor (223) is installed on the side of the conveyor frame (202) near the second stop (222). A second lifting drive (224) is installed on the side of the conveyor frame (202) near the second sensor (223). A second baffle (225) is installed at the output end of the second lifting drive (224). The shape of the second stop (222) matches the shape of the first stop (212), the second sensor (223) is electrically connected to the second cylinder (221) and the second lifting drive (224), and the second sensor (223) is located below the gripping suction cup (409) on the placement assembly (5).

9. A material gripping mechanism according to claim 1, characterized in that, The processing equipment (3) includes a material conveying section and a processing section. The initial end of the material conveying section is located below the gripping component (4), and the end of the material conveying section is located below the placement component (5). When the material moves along the material conveying section, the processing section performs various processing operations on the material in sequence. After processing is completed, the material is moved to the end of the material conveying section.

10. A material gripping method, employing a material gripping mechanism according to any one of claims 1-9, characterized in that, Includes the following steps: Step 1: When processing materials, place the materials on the equipment and convey them. Step 2: If part of the material exceeds the conveying position of the equipment during the conveying process, push the material back to the conveying position. If the direction of the material conveying is opposite to the gripping direction, flip the material. Step 3: Once the material has moved to the designated position, it stops moving and blocks subsequent material transport. Step 4: The equipment then picks up the material and moves it to the processing area for various processing operations; Step 5: After the material is processed, the equipment picks up the material from the processing area and moves it to the conveyor of the equipment. Step Six: When placing the material, position the material to prevent relative displacement between the conveyor and the equipment until the equipment has completely placed the material at the conveyor. Step 7: Finally, stop positioning the material. The processed material is then conveyed along the equipment and collected at the end of the equipment.

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