A special-shaped plate picking and carrying device applied to automobile manufacturing

Abstract

The application provides a special-shaped plate pickup and carrying device applied to automobile manufacturing and relates to the technical field of automobile manufacturing. The device comprises a conveying part and a carrying part. The carrying part comprises a carrying frame body which longitudinally crosses the conveying part. A sliding frame is arranged on the carrying frame body. A first driving part for driving the sliding frame to move is arranged between the sliding frame and the carrying frame body. An end pickup is arranged on the sliding frame in a sliding mode. A second driving part for driving the end pickup to ascend and descend is arranged between the end pickup and the sliding frame. The end pickup comprises an end pickup assembly. The end pickup assembly comprises a vacuum suction cup and a mounting cylinder which is coaxially arranged on the outer part of a rod body of the vacuum suction cup. The mounting cylinder can axially move relative to the rod body. The lower end of the mounting cylinder is provided with an electromagnet. The suction end of the vacuum suction cup is located in the interior of the electromagnet. The device can effectively adapt to steel, aluminum alloy and composite material workpieces and has good versatility.

Description

Technical Field

[0001] This invention relates to the field of automobile manufacturing technology, specifically to a picking and handling device for irregularly shaped sheet metal used in automobile manufacturing. Background Technology

[0002] In automobile manufacturing processes, irregularly shaped stamped sheet metal parts such as doors, hoods, and fenders generally have complex curved structures, irregular contours, and diverse materials, covering a variety of types including steel sheets, aluminum alloy sheets, and polymer composite materials.

[0003] Currently, most of the adsorption equipment used in the industry for handling stamped sheet metal adopts a single vacuum adsorption or single electromagnetic adsorption operation mode. This type of traditional adsorption structure has limited applicability to specific scenarios and has significant technical defects in the operation of irregularly shaped and multi-material stamped sheet metal, making it unable to meet the needs of modern flexible production.

[0004] Single adsorption methods suffer from poor material adaptability and significant operational limitations. Vacuum adsorption structures rely on negative pressure to adsorb the material, but for high-density, heavy steel stampings, the negative pressure adsorption force is insufficient, leading to safety and quality hazards such as sheet metal falling and workpiece damage during operation. Electromagnetic adsorption structures rely solely on magnetic force to adsorb magnetically conductive metals, completely failing to adsorb non-magnetically conductive stampings such as aluminum alloys, plastics, and composite sheets, thus only suitable for single steel sheet operations. This fails to meet the core requirements of flexible production lines handling multiple automotive models and materials, resulting in poor equipment versatility and increased production costs associated with production line changes and equipment adaptation. Summary of the Invention

[0005] In response to the core shortcomings of existing material handling and adsorption equipment, such as poor material compatibility, limited operating scenarios, and insufficient versatility, this application provides a special-shaped plate picking and handling device for automobile manufacturing that can effectively accommodate steel, aluminum alloy, and composite material workpieces and has good versatility.

[0006] The technical solution adopted by this invention to solve its technical problem is: A pick-and-place device for irregularly shaped sheet metal in automobile manufacturing includes a conveying unit and a handling unit. The handling unit includes a handling frame that spans the conveying unit. A carriage is slidably mounted on the handling frame. A first driving component for driving the carriage to move is provided between the carriage and the handling frame. An end effector is slidably mounted on the carriage, and a second drive component for driving the end effector to rise and fall is provided between the end effector and the carriage. The end effector includes an end effector assembly; The end-feed assembly includes a vacuum suction cup and a mounting cylinder coaxially sleeved outside the rod of the vacuum suction cup. The mounting cylinder is axially movable relative to the rod. An electromagnet is provided at the lower end of the mounting cylinder, and the adsorption end of the vacuum suction cup is located inside the electromagnet.

[0007] Furthermore, the conveying assembly includes a conveying frame, a conveyor belt, conveying rollers, and a conveying motor for driving the conveying rollers to rotate. The conveying frame includes two first uprights, and a plurality of second connecting beams are arranged between the two first uprights. A plurality of conveying rollers are rotatably arranged between the two first uprights. The conveying rollers are connected by the conveyor belt to form a continuous conveying surface. One of the conveying rollers at the end is connected to the power output shaft of the drive motor as the active roller.

[0008] Furthermore, the transport frame is slidably connected to the conveyor frame, and the conveyor roller includes a second conveyor roller and a plurality of first conveyor rollers. The first conveyor rollers are rotatably mounted on the conveyor frame, and the second conveyor rollers are located below the first conveyor rollers. Both ends of the second conveyor rollers are rotatably connected to the transport frame. The weight of the transport assembly is transmitted to the conveyor belt through the second conveyor rollers to provide stable tension for the conveyor belt.

[0009] Furthermore, the conveyor roller also includes two third conveyor rollers, which are located between the first and second conveyor rollers, and the two third conveyor rollers are respectively located on both sides of the second conveyor roller. The third conveyor rollers are located outside the conveyor belt and are used to guide the conveyor belt.

[0010] Furthermore, a limiting mechanism is provided between the transport frame and the conveyor frame, which is used to limit the degree of freedom of the transport frame to move upward relative to the conveyor frame.

[0011] Furthermore, the outer surface of the rod includes a first shaft segment and a second shaft segment from bottom to top. The diameter of the first shaft segment is larger than the diameter of the second shaft segment. A first stepped surface is formed between the first shaft segment and the second shaft segment. The upper end of the mounting cylinder forms a guide fit with the second shaft segment.

[0012] Furthermore, the transport frame includes two second uprights, each of which includes a longitudinal beam. Below the longitudinal beam, on both sides of the conveying unit, second columns are respectively provided. Between the two second uprights, on the front and rear sides of the conveying unit, third connecting beams are respectively provided. The two ends of the third connecting beams are respectively fixedly connected to the second uprights.

[0013] Furthermore, the slide is located between the two second uprights, and both ends of the slide are slidably connected to the longitudinal beam via sliding components. The first driving component includes a transport motor mounted on the slide, a gear is mounted on the power output shaft of the transport motor, and a rack meshing with the gear is mounted on one side of the longitudinal beam.

[0014] Furthermore, the end effector includes a main mounting beam, on which a main mounting rod is mounted. The main mounting rod has several mounting supports arranged perpendicularly to it. One end of each mounting support is connected to the main mounting rod via a first clamping seat, which allows adjustment of the axial and circumferential positions of the mounting support in the main mounting rod. The other end of the mounting support is equipped with a vacuum suction cup. The suction cup's rod is connected to the mounting support via a second clamping seat, which also allows adjustment of the axial and circumferential positions of the suction cup in the mounting support.

[0015] Furthermore, guide posts are provided at both ends of the main beam, and guide sleeves that cooperate with the guide posts are provided on the slide. A cylinder for driving the end effector to move up and down is provided between the two guide posts.

[0016] The beneficial effects of this invention are: 1. By innovatively incorporating an electromagnet externally into the vacuum suction cup, a magnetic-vacuum composite adsorption structure was constructed, achieving a synergistic effect between vacuum adsorption negative pressure and electromagnetic adsorption force. This composite structure fully utilizes the advantages of both adsorption mechanisms: for magnetic materials such as steel plates, the electromagnetic adsorption force and vacuum negative pressure are superimposed, significantly enhancing the overall adsorption force and improving gripping stability; while for non-magnetic materials such as aluminum alloys and composite materials, reliable adsorption is achieved independently primarily through vacuum negative pressure, ensuring broad material applicability. This structure features high integration and a compact layout, reducing equipment space occupation. Simultaneously, its fast response speed allows for real-time adaptation to the adsorption needs of different materials, improving operational efficiency. Furthermore, this composite adsorption method significantly improves the adsorption stability and operational safety of irregularly shaped curved materials.

[0017] 2. The vacuum adsorption points and electromagnetic adsorption points are spatially aligned. This layout maintains the same number of adsorption points, avoiding a reduction in adsorption points due to a compact structure. It also ensures that each adsorption point is in an optimal position, preventing the use of suboptimal positions due to layout constraints, which would reduce adsorption force. This maximizes adsorption efficiency within a limited space.

[0018] 3. By cleverly utilizing the weight of the handling components themselves, the necessary tension is applied to the conveyor belt, eliminating the need for an additional tensioning device. This design not only significantly simplifies the overall structure of the conveyor system but also ensures that the conveyor belt maintains a constant and continuous tension during operation. This effectively prevents belt slippage caused by unstable tension, improving system reliability and operating efficiency. Furthermore, this design reduces maintenance costs and equipment complexity, adapting to the long-term stable operation requirements in various working environments.

[0019] 4. By setting a limiting mechanism to restrict the upward movement of the conveying unit, the vertical jump caused by inertia when picking up workpieces vertically upward can be suppressed, thereby avoiding the conveyor belt from bearing transient impact loads and ensuring the smooth operation of the conveyor belt and the long-term reliability of the equipment.

[0020] 5. The pickup position and angle of the pickup component can be adjusted according to the curvature characteristics of the workpiece, thereby precisely adapting to irregular curved surface contours such as car doors and hoods, achieving full contact adhesion and adsorption in areas with relatively gentle curvature. This design not only adapts to the handling needs of different irregularly shaped plates, improving the versatility of the equipment, but also enhances the gripping reliability of the pickup component, reducing the risk of plate detachment. Attached Figure Description

[0021] Figure 1 A three-dimensional structural diagram of a pick-and-place device for irregularly shaped sheet metal in automobile manufacturing, provided as an embodiment of this application; Figure 2 for Figure 1 A magnified structural diagram of part A in the middle; Figure 3 for Figure 1 A magnified structural diagram of part B in the middle section; Figure 4 A rear view of an irregularly shaped sheet metal picking and handling device used in automobile manufacturing, provided as an embodiment of this application; Figure 5 An exploded view of an irregularly shaped sheet metal picking and handling device used in automobile manufacturing, provided as an embodiment of this application; Figure 6 This is a cross-sectional view of the conveyor assembly; Figure 7 A three-dimensional structural diagram of the handling assembly; Figure 8 for Figure 7 A magnified structural diagram of section C; Figure 9 for Figure 7 A magnified structural diagram of section D; Figure 10 This is a schematic diagram of the three-dimensional structure of the end effector; Figure 11 for Figure 10 A magnified structural diagram of section E in the middle; Figure 12 for Figure 10 A magnified structural diagram of section F in the middle; Figure 13 A schematic diagram of the 3D structure of the picking component; Figure 14 To capture the cross-sectional view of the component; Figure 15 To pick up the working state of the component Figure 1 ; Figure 16 To pick up the working state of the component Figure 2 .

[0022] In the diagram: 1. Conveying assembly; 11. Conveying frame; 1111. Crossbeam; 1112. First column; 1113. First connecting beam; 1114. Second guide rail; 112. Second connecting beam; 121. First conveying roller; 122. Second conveying roller; 123. Third conveying roller; 13. Conveyor belt; 14. Drive motor; 15. Limit screw; 151. Handwheel; 2. Handling Components; 21. Handling Frame; 2111. Longitudinal Beam; 2112. Second Upright Column; 2113. Second Mounting Plate; 2114. First Guide Rail; 2115. Reinforcing Beam; 212. Third Connecting Beam; 213. First Mounting Plate; 214. Third Mounting Plate; 2141. Upright Plate; 215. Second Sliding Block; 22. Carriage; 221. First Sliding Block; 231. Rack; 232. Handling Motor; 233. Gear; 24. End Pickup Device ; 241. Install main beam; 2411. Guide column; 2412. Connecting seat; 242. Install main rod; 2421. Mounting seat; 243. Install support rod; 244. First clamping fixing seat; 245. Vacuum suction cup; 2451. Rod body; 246. Second clamping fixing seat; 2461. Mounting hole; 2471. Mounting cylinder; 2472. Electromagnet; 248. Pipe joint; 249. Sealing gasket; 25. Cylinder; 251. Floating joint. Detailed Implementation

[0023] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be described in detail below with reference to the accompanying drawings. The described embodiments are merely a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort should fall within the protection scope of this application.

[0024] To facilitate understanding of the specific embodiments of this application, a coordinate system is now defined as follows: Figure 1As shown, the left and right directions are horizontal, the front and back directions are vertical, and the up and down directions are vertical.

[0025] Example 1 like Figure 1 , Figure 4 and Figure 5 As shown, a pick-and-place device for irregularly shaped sheet metal used in automobile manufacturing includes a conveying unit 1 and a handling unit 2. The conveying unit 1 is used to smoothly transport irregularly shaped sheet metal from the stack to a designated workstation, and the handling unit 2 is used to accurately pick up the irregularly shaped sheet metal transported to the designated workstation and transport it to the next process station.

[0026] The conveying unit 1 adopts a belt conveying structure, specifically including a conveying frame 11, a conveyor belt 13, conveyor rollers, and a conveying motor for driving the conveyor rollers to rotate.

[0027] As one specific implementation method, such as Figure 5 and Figure 6 As shown, the conveyor frame 11 in this embodiment includes two first uprights. Each first upright includes a transverse beam 1111 extending laterally. Several first columns 1112 are arranged below the transverse beam 1111 to support it. A first connecting beam 1113 is arranged between adjacent first columns 1112. Several second connecting beams 112 are arranged between the two first uprights. The two ends of each second connecting beam 112 are fixedly connected to the first upright by welding. For example, the number of second connecting beams 112 is equal to the number of first columns 1112, and they correspond one-to-one. The two ends of each second connecting beam 112 are fixedly connected to the corresponding first column 1112 by welding, thereby enhancing the rigidity and stability of the overall structure. Several conveying rollers are arranged between the two first uprights. The two ends of the conveying rollers are rotatably connected to the first uprights through bearing assemblies. The conveying rollers are connected by a conveyor belt 13 to form a continuous conveying surface. One of the conveying rollers at the end is connected to the power output shaft of the drive motor 14 as the active roller. The drive motor 14 is fixedly mounted on the conveying frame 11 in a detachable manner.

[0028] like Figure 1 and Figure 5 As shown, the conveying unit 2 includes a conveying frame 21 spanning the conveying frame 11. A slide 22 is slidably mounted on the top of the conveying frame 21. A first driving component is disposed between the slide 22 and the conveying frame 21 to drive the slide 22 to reciprocate back and forth along the conveying frame 21. An end effector 24 is mounted on the slide 22 and is capable of moving up and down relative to the slide 22. A second driving component is disposed between the end effector 24 and the slide 22 to drive the end effector 24 to move up and down.

[0029] In one specific embodiment, the transport frame 21 in this embodiment includes two second uprights. Each second upright includes a longitudinal beam 2111 extending longitudinally. Below the longitudinal beam 2111, on the front and rear sides of the conveying unit 1, are respectively provided second columns 2112 for supporting the second uprights. The suspended end of the longitudinal beam 2111 extends above the next workstation to ensure that the end effector 24 can directly transfer the plate to the target workstation after picking it up.

[0030] Furthermore, third connecting beams 212 are respectively provided on the front and rear sides of the conveying unit 1 between the two second uprights, and the two ends of the third connecting beams 212 are fixedly connected to the second uprights. The two second uprights are connected into one unit by the third connecting beams 212, which significantly improves the overall rigidity and torsional resistance of the handling frame 21.

[0031] As one specific implementation method, such as Figure 4 and Figure 5 As shown, in this embodiment, the upper side of the longitudinal beam 2111 is provided with a first guide rail 2114 extending longitudinally, and the left and right ends of the lower side of the slide 22 are respectively provided with first sliders 221 that cooperate with the first guide rail 2114. The first driving component includes a rack 231, which is disposed on the inner side of one of the longitudinal beams 2111 (with the opposite side of the two longitudinal beams 2111 as the inner side). A conveying motor 232 is fixedly disposed on the slide 22, and the power output shaft of the conveying motor 232 extends through the slide 22 to the bottom of the slide 22. A gear 233 that cooperates with the rack 231 is disposed on the power output shaft of the conveying motor 232.

[0032] like Figure 5 , Figure 9 and Figure 10 As shown, guide posts 2411 are respectively provided at both ends of the end effector 24, and guide sleeves that cooperate with the guide posts 2411 are provided on the slide 22. The end effector 24 achieves stable lifting and lowering through the sliding cooperation between the guide posts 2411 and the guide sleeves. For example, the guide sleeves are linear bearings. The second driving component is a cylinder 25, a hydraulic cylinder, or an electric push rod. For example, the second driving component is a cylinder 25, and the cylinder 25 is located between the two guide posts 2411. The cylinder body of the cylinder 25 is fixedly connected to the slide 22 by screws, and the piston rod end of the cylinder 25 passes through the slide 22 and is fixedly connected to the end effector 24 through a floating joint 251.

[0033] like Figure 10As shown, the end effector 24 includes a mounting main beam 241 extending in the front-rear direction. A mounting main rod 242 is mounted on the mounting main beam 241, parallel to and detachably connected to the mounting main beam 241. A plurality of mounting support rods 243 are axially arranged on the mounting main rod 242, perpendicular to the mounting main rod 242. The end of each mounting support rod facing the mounting main rod 242 is fixedly connected to the mounting main rod 242 via a first clamping fixing seat 244. A vacuum suction cup 245 is mounted on the end of each mounting support rod facing away from the mounting main rod 242. The vacuum suction cup 245 is perpendicular to the mounting support rod 243, and its rod body 2451 is fixedly connected to the mounting support rod 243 via a second clamping fixing seat 246. The first clamping and fixing seat 244 allows for adjustment of both the axial position of the mounting rod 243 on the mounting main rod 242 and the circumferential position of the mounting rod 243 on the mounting main rod 242 (i.e., the pitch angle of the mounting rod 243). The second clamping and fixing seat 246 allows for adjustment of both the axial position of the vacuum suction cup 245 on the mounting rod 243 and the circumferential position of the vacuum suction cup 245 on the mounting rod 243. Through the coordinated operation of the first clamping and fixing seat 244 and the second clamping and fixing seat 246, the vacuum suction cup 245 can be adjusted in three-dimensional space to find suitable adsorption sites, adapting to the complex contours of irregular curved surfaces and ensuring that each suction cup tightly adheres to the surface of the material.

[0034] In one specific embodiment, the guide post 2411 is disposed on the mounting main beam 241, which is made of aluminum alloy profile. A connecting plate is fixedly disposed at the lower end of the guide post 2411 by welding, and the connecting plate is fixedly connected to the mounting main beam 241 by bolts. A connecting seat 2412 is disposed on the mounting main beam 241 between two guide posts 2411, and the connecting seat 2412 is fixedly connected to the mounting main beam 241 by bolts. The piston rod end of the cylinder 25 is connected to the connecting seat 2412 via a floating joint 251.

[0035] As one specific implementation method, such as Figure 11As shown, in this embodiment, both ends of the mounting main rod 242 are connected and fixed to the mounting main beam 241 via mounting seats 2421. The mounting seat 2421 includes two mounting blocks, and the mounting main rod 242 is located between the two mounting blocks. Fixing bolts are respectively provided on both sides of the mounting main rod 242 on the mounting seat 2421. The fixing bolts pass through the two mounting blocks in sequence and are locked and fixed to the mounting main beam 241. Under the locking action of the fixing bolts, the mounting main rod 242 is firmly clamped between the two mounting blocks.

[0036] like Figure 11 and Figure 12 As shown, the first clamping fixing seat 244 includes two first clamping blocks, and the mounting support rod 243 is fixedly connected to the first clamping block located on the outer side (with the side away from the mounting main beam 241 as the outer side). The two first clamping blocks are respectively located on both sides of the mounting main rod 242 and are locked together by first fastening bolts. Under the locking action of the first fastening bolts, the two first clamping blocks apply a uniform clamping force radially inward, thereby fixing the mounting support rod 243 in the designated position of the mounting main rod 242. Similarly, the second clamping fixing seat 246 is also composed of two second clamping blocks, and the vacuum suction cup 245 is disposed on one of the second clamping blocks. The two second clamping blocks are respectively located on both sides of the mounting support rod 243 and are locked together by second fastening bolts. Under the locking action of the second fastening bolts, the two second clamping blocks apply a uniform clamping force radially inward, thereby fixing the vacuum suction cup 245 in the designated position of the mounting support rod 243.

[0037] like Figure 13 and Figure 14 As shown, the outer surface of the rod 2451 of the vacuum suction cup 245 has a stepped shaft structure, comprising a first shaft segment and a second shaft segment from bottom to top. The diameter of the first shaft segment is larger than the diameter of the second shaft segment, and a first stepped surface is formed between the first shaft segment and the second shaft segment. A mounting cylinder 2471 is coaxially sleeved on the outside of the rod 2451 of the vacuum suction cup 245. The upper end of the mounting cylinder 2471 forms a guide fit with the second shaft segment, and an electromagnet 2472 is provided at the lower end of the mounting cylinder 2471, coaxially arranged with the vacuum suction cup 245. The vacuum suction cup 245, the mounting cylinder 2471, and the electromagnet 2472 together form a picking assembly for picking up workpieces. When the mounting cylinder 2471 abuts against the first stepped surface, the lower end of the vacuum suction cup 245 protrudes from the lower end face of the mounting cylinder 2471. Figure 15As shown, when the vacuum suction cup 245 is adsorbed onto the workpiece surface under negative pressure, the rubber part at the lower end of the vacuum suction cup 245 will deform and the whole will retract. By making the lower end of the vacuum suction cup 245 protrude beyond the mounting cylinder 2471 by a certain distance (this distance can be obtained through experiments and calculations), space can be reserved for this retraction deformation, thereby ensuring that while the vacuum suction cup 245 is adsorbed onto the workpiece surface, the electromagnet 2472 is in contact with the workpiece surface, and the mounting cylinder 2471 still abuts against the first step surface, thus ensuring that electromagnetic adsorption and vacuum adsorption take effect simultaneously, and the superposition of the dual forces improves the gripping reliability.

[0038] This design has the following advantages: First, electromagnetic adsorption and vacuum adsorption work simultaneously, forming a dual adsorption force when adsorbing steel plate workpieces with large mass, which significantly improves gripping stability and anti-disturbance ability.

[0039] Second, such as Figure 16 As shown, when encountering irregularly shaped adsorption surfaces, the vacuum chuck 245 can be positioned in a relatively flat recessed area. In this case, the vacuum chuck 245 can normally adsorb the workpiece surface. The mounting cylinder 2471 and electromagnet 2472, influenced by surrounding protrusions, will move upwards relative to the rod 2451 of the vacuum chuck 245, thus detaching from the first step surface. However, the electromagnet 2472 remains in contact with the workpiece. On one hand, for steel sheet workpieces, although the adsorption force of the electromagnet 2472 cannot be simultaneously activated with the vacuum chuck 245, it can still independently provide a stable adsorption force, forming a redundancy guarantee with the vacuum chuck 245. That is, when vacuum adsorption fails, electromagnetic adsorption can immediately take over, ensuring the workpiece does not fall off. On the other hand, regardless of whether the workpiece is made of steel sheet or a non-magnetic material, reliable adsorption can be achieved without finding a large flat area, improving adsorption adaptability.

[0040] Third, the vacuum adsorption point and the electromagnetic adsorption point are completely overlapped in space. Compared with the traditional layout of setting vacuum suction cups 245 and electromagnets 2472 at different positions of the end effector 24, on the one hand, it can ensure that the number of adsorption points remains unchanged and there will be no problem of reducing the number of adsorption points due to the compact layout. On the other hand, it can ensure that each adsorption point is in the optimal adsorption position and there will be no situation where the adsorption force is weakened due to the forced selection of a suboptimal position because the adsorption point position is limited. Thus, the adsorption efficiency is maximized in a limited space.

[0041] In one specific embodiment, the electromagnet 2472 described in this embodiment is fixedly connected to the lower end face of the mounting cylinder 2471 by screws.

[0042] As one specific implementation method, such as Figure 14As shown, in this embodiment, the upper end of the second shaft segment of the rod 2451 of the vacuum suction cup 245 further includes a third shaft segment. The diameter of the third shaft segment is smaller than that of the second shaft segment. A second stepped surface is formed between the second and third shaft segments, and the third shaft segment is provided with an external thread. A mounting hole 2461 is provided on the second clamping block on which the vacuum suction cup 245 is mounted, penetrating vertically through the second clamping block. The upper end of the rod 2451 extends from bottom to top into the mounting hole 2461 and is fixedly connected to the second clamping block by a threaded connection. The lower end of the mounting hole 2461 is provided with an internal thread that matches the external thread of the third shaft segment. A pipe connector 248 is provided at the upper end of the mounting hole 2461 for connecting the vacuum pump's suction hose to ensure reliable air circuit sealing.

[0043] Furthermore, a sealing gasket 249 is provided on the third shaft segment below the second clamping block, and the sealing gasket 249 is squeezed between the second clamping block and the second step surface.

[0044] Furthermore, such as Figure 1 , Figure 4 , Figure 5 and Figure 6 As shown, the transport frame 21 is slidably connected to the conveyor frame 11, and the transport frame 21 can slide up and down relative to the conveyor frame 11. The conveyor rollers include a first conveyor roller 121, a second conveyor roller 122, and a third conveyor roller 123. There are several first conveyor rollers 121, evenly arranged laterally. The first conveyor rollers 121 support the workpiece and guide it to be smoothly conveyed along a preset trajectory. The second conveyor rollers 122 are located below the first conveyor rollers 121, and both ends of the second conveyor rollers 122 are rotatably connected to the transport frame 21 via bearing assemblies. The gravity of the transport assembly 2 is transmitted to the conveyor belt 13 through the second conveyor rollers 122, providing stable tension to the conveyor belt 13. There are two third conveyor rollers 123, located between the first conveyor rollers 121 and the second conveyor rollers 122, with the two third conveyor rollers 123 located on either side of the second conveyor roller 122. The third conveyor roller 123 is located outside the conveyor belt 13 and is used to guide the conveyor belt 13 so that the conveyor belt 13 between the second conveyor roller 122 and the third conveyor roller 123 is in a vertical state. At this time, the conveyor belt 13 forms a "T"-shaped wrapping path under the cooperative constraint of the first conveyor roller 121, the second conveyor roller 122 and the third conveyor roller 123. This "T"-shaped wrapping path significantly increases the contact wrap angle between the conveyor belt 13 and the third conveyor roller 123 and the first conveyor roller 121 located at both ends, thereby greatly improving the friction and transmission stability and effectively preventing the conveyor belt 13 from slipping or deviating.

[0045] As one specific implementation method, such as Figure 2 and Figure 3 As shown, in this embodiment, the two ends of the first conveying roller 121 are rotatably connected to the crossbeam 1111 via bearing assemblies. The second conveying roller 122 is located between the two second uprights, and its two ends are rotatably connected to the third connecting beam 212 via bearing assemblies. The third conveying roller 123 is located below the crossbeam 1111, and its two ends are rotatably connected to the crossbeam 1111 via bearing assemblies.

[0046] As one specific implementation method, such as Figure 2 As shown, in this embodiment, the upper side of the third connecting beam 212 is welded with a first mounting plate 213 at both ends, and a stiffening plate is provided between the first mounting plate 213 and the third connecting beam 212. The lower end of the second column 2112 is welded with a second mounting plate 2113, and a stiffening plate is provided between the second mounting plate 2113 and the second column 2112. The first mounting plate 213 and the second mounting plate 2113 are fastened together by bolts. The inner side of the third connecting beam 212 (with the side facing the conveying unit 1 as the inner side) is welded with a third mounting plate 214 at both ends, and a stiffening plate is provided between the third mounting plate 214 and the third connecting beam 212. A second slider 215 is provided on the inner side of the third mounting plate 214 (with the side facing the conveying unit 1 as the inner side), and a second guide rail 1114 that cooperates with the second slider 215 is provided on the outer side of the first frame. For example, the second guide rail 1114 is disposed on the two first columns 1112 located in the middle of the first frame.

[0047] Furthermore, a limiting mechanism is provided between the transport frame 21 and the conveyor frame 11, the limiting mechanism being used to restrict the degree of freedom of the transport frame 21 to move upward relative to the conveyor frame 11.

[0048] As one specific implementation method, such as Figure 1 and Figure 8 As shown, in this embodiment, the upper end of the inner side of the third mounting plate 214 (with the side opposite to the two second uprights as the inner side) is provided with an upright plate 2141 extending towards the conveying unit 1. The crossbeam 1111 of the conveying frame 11 is provided with a limiting screw 15 corresponding to the upright plate 2141. The limiting screw 15 is threadedly connected to the crossbeam 1111. The lower end of the limiting screw 15 abuts against the corresponding upright plate 2141. The upper end of the limiting screw 15 is provided with a handwheel 151 for easy operation. By rotating the handwheel 151, the extension length of the limiting screw 15 can be precisely adjusted, so that the lower end face of the limiting screw 15 abuts against the upright plate 2141.

[0049] By limiting the degree of freedom of the conveyor frame 21 to move upward relative to the conveyor frame 11 through the limiting mechanism, it is possible to effectively prevent the entire conveyor assembly 2 from jumping due to the inertia of the workpiece rising when the end effector 24 stops moving upward, thereby avoiding the conveyor belt from being subjected to instantaneous impact load, ensuring the smooth operation of the conveyor belt 13 and the long-term reliability of the equipment.

[0050] Here, the two second columns 2112 can be located at one end of the longitudinal beam 2111 or at the middle of the longitudinal beam 2111. When the two second columns 2112 are located at one end of the longitudinal beam 2111, only one end of the longitudinal beam 2111 forms a cantilever structure and extends to the next process station; when the two second columns 2112 are located at the middle of the longitudinal beam 2111, both ends of the longitudinal beam 2111 form cantilever structures and extend to the next process station respectively. In actual operation, the support layout of the longitudinal beam 2111 can be flexibly adjusted according to actual needs such as production cycle time to match the requirements of different production line cycles and workstation spacing.

[0051] In one specific implementation, the two second columns 2112 are located in the middle of the longitudinal beam 2111, and both ends of the longitudinal beam 2111 form cantilever structures that extend to the next process position. Preferably, a reinforcing beam 2115 is provided between the outer surfaces of the longitudinal beam 2111 and the second columns 2112 (with the opposite side of the two second columns 2112 as the inner surface).

[0052] The working process of the equipment is as follows: The conveyor unit 1 drives the conveyor belt 13 through the conveyor motor to transport the irregularly shaped plates to the designated picking station. Subsequently, the first drive component drives the slide 22 to move longitudinally along the transport frame 21, so that the end effector 24 is aligned with the plate; the second drive component pushes the end effector 24 to descend vertically, and each picking component approaches the surface of the plate. At this time, the vacuum suction cup 245 and the electromagnet 2472 work together: for flat steel plates, the vacuum suction cup 245 first contacts and compresses and deforms, so that the electromagnet 2472 simultaneously adheres to the plate surface. The vacuum negative pressure and electromagnetic attraction form a double adsorption, which improves the gripping stability; for aluminum alloy or composite plates, the electromagnet 2472 cannot adsorb, and only the vacuum suction cup 245 independently completes reliable adsorption; for irregular curved surfaces, the spatial position and pitch angle of the suction cup can be adjusted in advance to make it adhere to the relatively flat area of ​​the curved surface. After adsorption stabilizes, the end effector 24 lifts the plate. The limiting screw 15 in the limiting mechanism works with the upright plate 2141 to limit the upward movement of the transport frame 21, preventing inertial impact on the conveyor belt 13. The carriage 22 moves above the next process station, the end effector 24 descends and breaks the vacuum, the electromagnet 2472 is de-energized, and the plate is smoothly released. Finally, the end effector 24 rises and the carriage 22 returns, waiting for the next pickup. Throughout the process, the adsorption position and angle of the pickup component can be flexibly adjusted, thus being compatible with steel, aluminum alloy, and composite material workpieces and precisely adapting to irregular curved surface contours.

[0053] Example 2 The third shaft section is removed. The mounting hole 2461 is a through hole. The upper end of the second shaft section of the rod 2451 of the vacuum suction cup 245 extends directly into the mounting hole 2461 and is radially locked by a set screw to ensure that the rod 2451 and the second clamping block are locked and fixed. The upper end of the inner hole of the rod 2451 is provided with an internal thread, and the pipe connector 248 is directly screwed into the internal thread to achieve direct air connection. The rest of the structure is the same as in Embodiment 1.

[0054] Other embodiments obtained by those skilled in the art based on the embodiments provided in this application by combining, splitting, or reorganizing the embodiments of this application do not exceed the protection scope of this application.

[0055] The above detailed embodiments have provided a detailed explanation of the purpose, technical solutions, and beneficial effects of the embodiments of this application. The above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. That is, any modifications, equivalent substitutions, improvements, etc., made on the basis of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A pick-and-place device for irregularly shaped sheet metal parts used in automobile manufacturing, comprising a conveying unit (1) and a handling unit (2), characterized in that: The transport assembly (2) includes a transport frame (21) that spans the transport assembly (1), a slide (22) is slidably mounted on the transport frame (21), and a first drive component for driving the slide (22) to move is provided between the slide (22) and the transport frame (21); An end effector (24) is slidably mounted on the carriage (22), and a second driving component for driving the end effector (24) to rise and fall is provided between the end effector (24) and the carriage (22); The end effector (24) includes an end effector assembly; The end-feed assembly includes a vacuum chuck (245) and a mounting cylinder (2471) coaxially sleeved outside the rod (2451) of the vacuum chuck (245). The mounting cylinder (2471) is axially movable relative to the rod (2451). An electromagnet (2472) is provided at the lower end of the mounting cylinder (2471), and the adsorption end of the vacuum chuck (245) is located inside the electromagnet (2472).

2. The irregularly shaped sheet metal picking and handling equipment for automobile manufacturing according to claim 1, characterized in that: The conveying assembly (1) includes a conveying frame (11), a conveyor belt (13), conveying rollers, and a conveying motor for driving the conveying rollers to rotate. The conveying frame (11) includes two first uprights, and several second connecting beams (112) are arranged between the two first uprights. Several conveying rollers are rotatably arranged between the two first uprights. The conveying rollers are connected by the conveyor belt (13) to form a continuous conveying surface. One of the conveying rollers at the end is connected to the power output shaft of the drive motor (14) as the active roller.

3. The irregularly shaped sheet metal picking and handling equipment for automobile manufacturing according to claim 2, characterized in that: The transport frame (21) is slidably connected to the conveyor frame (11). The conveyor roller includes a second conveyor roller (122) and a plurality of first conveyor rollers (121). The first conveyor rollers (121) are rotatably mounted on the conveyor frame (11). The second conveyor rollers (122) are located below the first conveyor rollers (121), and both ends of the second conveyor rollers (122) are rotatably connected to the transport frame (21). The gravity of the transport unit (2) is transmitted to the conveyor belt (13) through the second conveyor rollers (122) to provide a stable tension for the conveyor belt (13).

4. The irregularly shaped sheet metal picking and handling equipment for automobile manufacturing according to claim 3, characterized in that: The conveyor roller also includes two third conveyor rollers (123), which are located between the first conveyor roller (121) and the second conveyor roller (122), and the two third conveyor rollers (123) are located on both sides of the second conveyor roller (122). The third conveyor rollers (123) are located outside the conveyor belt (13) and are used to guide the conveyor belt (13).

5. The irregularly shaped sheet metal picking and handling equipment for automobile manufacturing according to claim 3, characterized in that: A limiting mechanism is provided between the transport frame (21) and the conveyor frame (11), which is used to limit the degree of freedom of the transport frame (21) to move upward relative to the conveyor frame (11).

6. The irregularly shaped sheet metal picking and handling equipment for automobile manufacturing according to claim 1, characterized in that: The outer side of the rod (2451) includes a first shaft segment and a second shaft segment from bottom to top. The diameter of the first shaft segment is larger than the diameter of the second shaft segment. A first step surface is formed between the first shaft segment and the second shaft segment. The upper end of the mounting cylinder (2471) forms a guide fit with the second shaft segment.

7. The irregularly shaped sheet metal picking and handling equipment applied to automobile manufacturing according to claim 1, characterized in that: The transport frame (21) includes two second uprights, each of which includes a longitudinal beam (2111). Below the longitudinal beam (2111), on both sides of the conveying unit (1), there are second columns (2112). Between the two second uprights, on the front and rear sides of the conveying unit (1), there are third connecting beams (212). The two ends of the third connecting beams (212) are fixedly connected to the second uprights.

8. A pick-and-place device for irregularly shaped sheet metal in automobile manufacturing according to claim 7, characterized in that: The slide (22) is located between the two second uprights, and both ends of the slide (22) are slidably connected to the longitudinal beam (2111) via sliding components. The first driving component includes a transport motor (232) mounted on the slide (22). A gear (233) is mounted on the power output shaft of the transport motor (232), and a rack (231) meshing with the gear (233) is mounted on one side of the longitudinal beam (2111).

9. A pick-and-place device for irregularly shaped sheet metal in automobile manufacturing according to claim 1, characterized in that: The end effector (24) includes a mounting main beam (241), on which a mounting main rod (242) is provided. On the mounting main rod (242), a plurality of mounting support rods (243) are arranged perpendicularly to the mounting main rod (242). One end of the mounting support rod (243) is connected to the mounting main rod (242) through a first clamping fixing seat (244), and the first clamping fixing seat (244) can adjust the position of the mounting support rod (243) in the axial and circumferential directions of the mounting main rod (242). The other end of the mounting support rod (243) is provided with a vacuum suction cup (245). The rod body (2451) of the vacuum suction cup (245) is connected to the mounting support rod (243) through a second clamping fixing seat (246), and the second clamping fixing seat (246) can adjust the position of the vacuum suction cup (245) in the axial and circumferential directions of the mounting support rod (243).

10. A pick-and-place device for irregularly shaped sheet metal in automobile manufacturing according to claim 9, characterized in that: The main beam (241) is provided with guide posts (2411) at both ends, and the slide (22) is provided with guide sleeves that cooperate with the guide posts (2411). A cylinder (25) for driving the end effector (24) to move up and down is provided between the two guide posts (2411).

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