Automatic clamping and carrying device for polygonal samples

Abstract

The utility model discloses an automatic clamping and carrying device for a polygonal sample, which comprises a main body bracket which is a structural supporting piece of the device and is provided with an end face supporting and protecting structure for clamping the polygonal sample, and the end face supporting and protecting structure is provided with a pressure sensor; the centering and clamping unit is arranged behind the main body bracket, comprises a pressure maintaining valve, a centering and clamping device and a proximity sensor, and is used for controlling an end surface supporting and protecting structure on the main body bracket to clamp or loosen a polygonal sample; the mechanical arm auxiliary gun changing disc is arranged on the rear side of the centering clamping unit and used for being matched with a robot to achieve overturning and front-back movement of the device. According to the device, quick replacement of the device and the mechanical arm can be achieved through the auxiliary gun replacing disc of the mechanical arm, automatic clamping, placing and overturning of polygonal samples can be achieved, and convenience is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of sample transportation, in particular to an automatic clamping and carrying device for polygonal samples. Background Art

[0002] In automated production lines, automated pick-and-place devices are required to place samples from one station to another, or to flip samples and place them on a station. When placing or flipping samples, polygonal samples or polygonal samples are prone to collision, friction, and extrusion between samples and other tooling due to impact, tilt, and sliding, resulting in damage to the sample surface, which greatly affects the quality and safety of the samples. Utility Model Content

[0003] In order to solve the problems in the prior art, the purpose of the utility model is to provide an automatic clamping and handling device for polygonal samples, so as to realize automatic handling of polygonal samples.

[0004] The utility model solves the above problems through the following technical solutions:

[0005] An automatic clamping and handling device for polygonal samples, the device comprising:

[0006] The main body support is a structural support of the device, and the main body support is provided with an end surface supporting structure for clamping the polygonal sample, and the end surface supporting structure is provided with a pressure sensor;

[0007] A centering clamping unit, which is arranged at the rear of the main support and includes a pressure holding valve, a centering clamp and a proximity sensor, and is used to control the end face supporting structure on the main support to clamp or loosen the polygonal sample;

[0008] The manipulator auxiliary gun changing plate is arranged at the rear side of the centering clamping unit and is used to cooperate with the robot to realize the flipping and forward and backward movement of the device.

[0009] As a further improvement of the present invention, the main body bracket has an L-shaped connecting portion and a bracket mounting portion; the two L-shaped connecting portions are relatively arranged on the two centering clamps of the centering clamping unit, so that the bracket mounting portions arranged on the L-shaped connecting portions can be controlled by the centering clamps to move toward or in the opposite direction, and the L-shaped connecting portion can prevent the two bracket mounting portions from being excessively squeezed; the bracket mounting portion is a two-side embracing structure, and the end face supporting structure is provided.

[0010] As a further improvement of the utility model, the end surface supporting structure is a U-shaped clamping jaw with adjustable opening and closing angles, and the two U-shaped clamping jaws are relatively arranged at the lower part of the main body bracket.

[0011] As a further improvement of the utility model, a silicone tube is vertically arranged in the middle of the two bracket mounting parts, and a U-shaped clamp flush with the bottom side of the silicone tube is arranged at one end of the two bracket mounting parts away from the middle tightening unit, so that the polygonal sample is provided with four-point contact protection through the silicone tube and the U-shaped clamp.

[0012] As a further improvement of the present invention, the centering clamping unit further comprises a mounting plate, and the pressure holding valve, the centering clamper and the proximity sensor are arranged on the mounting plate.

[0013] As a further improvement of the utility model, an explosion-proof electric box is also provided on the mounting plate.

[0014] As a further improvement of the present invention, the end surface supporting structure is provided with a soft protective layer.

[0015] Compared with the prior art, the utility model has the following advantages and beneficial effects:

[0016] (1) The utility model uses proximity sensors to provide real-time feedback on the movement status and position information of the end face supporting structure, and uses pressure sensors to provide feedback on whether the left and right end face supporting structures are in contact with the sample and whether the specified clamping force has been reached. The proximity sensors limit abnormal movement of the end face supporting structure, thereby effectively preventing the product from falling due to lack of tightening.

[0017] (2) The utility model forms a quick-change joint through the manipulator auxiliary gun-changing plate and the connecting bracket, thereby realizing quick replacement of the device and the manipulator arm.

[0018] (3) The device of the utility model can realize the smooth forward card placement, reverse card placement and flipping of polygonal samples, which provides the necessary conditions for realizing the automatic transportation of polygonal samples. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic structural diagram of an automatic clamping and handling device for polygonal samples in an embodiment;

[0020] Figure 2 It is a schematic diagram of the installation of the U-shaped clamp, the silicone tube and the main body bracket in the embodiment.

[0021] Reference numerals:

[0022] 1. Silicone tube; 2. Main bracket; 21. L-shaped connecting part; 22. Bracket mounting part; 3. Centering clamp; 4. Proximity sensor; 5. Pressure holding valve; 6. Manipulator auxiliary gun changing plate; 7. Connecting bracket; 8. Explosion-proof electric box; 9. U-shaped clamp. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below in conjunction with the drawings in the preferred embodiments of the present application. In the drawings, the same or similar reference numerals throughout represent the same or similar parts or parts with the same or similar functions. The described embodiments are part of the embodiments of the present application, not all of the embodiments. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limitations on the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0024] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0025] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0026] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are orientations or positional relationships based on the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0027] In addition, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or display that includes a series of steps or elements is not necessarily limited to those steps or elements explicitly listed but may include other steps or elements not explicitly listed or inherent to such process, method, product, or display.

[0028] The following will be combined Figure 1-2 , an automatic clamping and handling device for polygonal samples involved in the embodiment of the present application is described in detail. It is worth noting that the following embodiments are only used to explain the present application and do not constitute a limitation of the present application.

[0029] Example:

[0030] Combined with Figure 1-2 As shown, an automatic clamping and handling device for polygonal samples mainly includes:

[0031] The main support 2 is a structural support of the device, and an end surface supporting structure for clamping the polygonal sample is provided on the main support, and a pressure sensor is provided on the end surface supporting structure;

[0032] A centering clamping unit, which is arranged at the rear of the main support and is used to control the main support to clamp or loosen the explosive sample;

[0033] The centering clamping unit includes a centering clamp 3, a proximity sensor 4 and a pressure holding valve 5. The centering clamp is provided with a proximity sensor and a pressure holding valve for monitoring the working state of the clamp. The pressure holding valve 5 is used to provide feedback on whether the end face supporting structure is in contact with the polygonal sample and whether the contact force meets the process requirements, so as to ensure that the end face supporting structure clamps the polygonal sample; the proximity sensor 4 is provided above the centering clamping unit, and is used to provide real-time feedback on the movement state and position information of the centering clamp of the centering clamping unit, and to limit the abnormal movement of the end face supporting structure. When the limit is exceeded, the centering clamp 3 is controlled to stop moving, and the pressure holding valve maintains the pressure unchanged;

[0034] The manipulator auxiliary gun-changing plate 6 is arranged at the rear side of the centering clamping unit and is used to be connected to the connecting bracket 7. A quick-change joint is formed by the manipulator auxiliary gun-changing plate and the connecting bracket to realize the quick replacement of the device and the robot arm, so as to cooperate with the robot to realize the flipping and forward and backward movement of the device.

[0035] In this embodiment, the end surface supporting structure is a U-shaped clamping jaw with adjustable opening and closing angles, and the two U-shaped clamping jaws are relatively arranged at the lower part of the main support. The U-shaped clamping jaw 9 can adjust the opening and closing angles, and the device is also suitable for automatic clamping and handling of samples of other shapes, and has a wider applicability.

[0036] The main support 2 is a structure that embraces both sides, and is provided with an L-shaped connecting part 21 and a support mounting part 22. The two L-shaped connecting parts 21 are relatively arranged on the two centering cylinders of the centering clamping unit, so that the support mounting parts arranged on the L-shaped connecting parts can be controlled by the centering cylinder to move toward or in the opposite direction. The two relatively arranged L-shaped connecting parts can further prevent the two support mounting parts from being excessively squeezed, so that there is a certain distance between the two support mounting parts; a silicone tube 1 is vertically arranged in the middle of the two support mounting parts, and a U-shaped clamping claw flush with the bottom side of the silicone tube 1 is arranged at one end of the two support mounting parts away from the center tightening unit. The silicone tube and the U-shaped clamping claw are used to perform four-point contact protection on the polygonal sample, effectively preventing the product from falling due to lack of tightening.

[0037] The U-shaped jaw of the device moves left and right under the drive of the centering cylinder, and the movement status and position information of the centering cylinder on the centering clamp are fed back in real time through the proximity sensor 4, and whether the U-shaped jaw is in contact with the product and whether the contact force meets the process requirements are fed back through the pressure holding valve, thereby ensuring that the U-shaped jaw clamps the product, and limiting the abnormal movement of the U-shaped jaw through the proximity sensor 4. After exceeding the limit, the centering cylinder stops moving and the pressure holding valve keeps the pressure unchanged, thereby realizing automatic clamping and placement of the product, and then the robot cooperating with the device realizes the forward and backward movement and flipping of the device, thereby realizing automatic clamping, placement and flipping of the product.

[0038] Specifically, there are two U-shaped clamping claws, which are respectively arranged on both sides of the main frame.

[0039] Optionally, a soft protective layer is provided on the U-shaped clamping jaw, and the U-shaped clamping jaw may be arc-shaped so as to better contact with the product.

[0040] The connecting bracket 7 of the device is connected to the mechanical arm of the robot, and the quick replacement of the device and the mechanical arm is achieved through the connecting bracket 7 and the mechanical arm auxiliary gun changing plate 6.

[0041] Furthermore, preferably, the centering clamping unit also includes a mounting plate arranged on the rear side of the proximity sensor 4, the proximity sensor 4 is arranged above the proximity sensor 4 through the mounting plate, and the pressure holding valve 5 is arranged on the rear side of the mounting plate and connected to the manipulator auxiliary gun changing plate 6 through the pressure holding valve.

[0042] Optionally, an explosion-proof electrical box 8 is also provided on the rear side of the mounting plate to prevent explosion when the polygonal sample is an explosive sample.

[0043] The following is combined with this embodiment and the attached Figure 1-2 The utility model provides a method for using an automatic clamping and handling device for polygonal samples. When the device slowly descends from above the sample, when the U-shaped jaws descend to the sample clamping position, the two U-shaped jaws begin to move closer. In the process of contacting the sample, the pressure sensor feeds back the size of the clamping force in real time to determine whether the clamping force between the U-shaped jaws and the sample reaches the set value. If the set value is not reached, the U-shaped jaw continues to move until the clamping force reaches the set value and stops moving; and the proximity sensor monitors whether the U-shaped jaw moves to the alarm position set above the height, and gives a reminder.

[0044] The safe picking, placing and flipping method of the utility model comprises the following steps:

[0045] 1) Front / back loading: First open the U-shaped clamp and slowly lower the device from above the sample. When the U-shaped clamp is lowered to the sample clamping position, the U-shaped clamp is slowly closed by the centering clamping unit. When the clamping force reaches the set value, the U-shaped clamp stops moving.

[0046] 2) After the clamped sample is lifted to a certain height, it returns to a safe position to complete the automatic clamping of the sample;

[0047] 3) With the help of robot manipulator, the product can be automatically flipped;

[0048] 4) Front-side placement / reverse-side placement: First, slowly lower the device. When the end face of the sample contacts the placement tooling, slowly open the U-shaped clamp, then raise the device to a height higher than the maximum height of the sample and return to a safe position to complete the sample placement.

[0049] Although the present invention is described herein with reference to the illustrative embodiments of the present invention, the above embodiments are merely preferred embodiments of the present invention, and the embodiments of the present invention are not limited to the above embodiments. It should be understood that those skilled in the art can design many other modifications and implementations, which will fall within the scope and spirit of the principles disclosed in this application.

Claims

1. An automatic clamping and handling device for polygonal samples, characterized in that: The device comprises: The main body support is a structural support of the device, and the main body support is provided with an end surface supporting structure for clamping the polygonal sample, and the end surface supporting structure is provided with a pressure sensor; A centering clamping unit, which is arranged at the rear of the main support and includes a pressure holding valve, a centering clamp and a proximity sensor, and is used to control the end face supporting structure on the main support to clamp or loosen the polygonal sample; The manipulator auxiliary gun changing plate is arranged at the rear side of the centering clamping unit and is used to cooperate with the robot to realize the flipping and forward and backward movement of the device.

2. The automatic clamping and handling device for polygonal samples according to claim 1, characterized in that: The main body bracket has an L-shaped connecting part and a bracket mounting part; the two L-shaped connecting parts are relatively arranged on the two centering clamps of the centering clamping unit, so that the bracket mounting parts arranged on the L-shaped connecting parts can be controlled by the centering clamps to move toward or in the opposite direction, and the L-shaped connecting part is used to prevent the two bracket mounting parts from being excessively squeezed; the bracket mounting part is a two-side embracing structure, and the end face supporting structure is provided.

3. The automatic clamping and handling device for polygonal samples according to claim 2, characterized in that: The end surface supporting structure is a U-shaped clamping jaw with adjustable opening and closing angles, and two U-shaped clamping jaws are arranged oppositely at the lower part of the main support.

4. The automatic clamping and handling device for polygonal samples according to claim 3, characterized in that: A silicone tube is vertically arranged in the middle of the two bracket mounting parts, and a U-shaped clamp flush with the bottom side of the silicone tube is arranged at one end of the two bracket mounting parts away from the middle clamping unit. The silicone tube and the U-shaped clamp are used to provide four-point contact protection for the polygonal sample.

5. The automatic clamping and handling device for polygonal samples according to claim 1, characterized in that: The centering clamping unit further comprises a mounting plate, on which the pressure holding valve, the centering clamper and the proximity sensor are arranged.

6. The automatic clamping and handling device for polygonal samples according to claim 5, characterized in that: An explosion-proof electric box is also arranged on the mounting plate.

7. The automatic clamping and handling device for polygonal samples according to claim 1, characterized in that: The end surface supporting structure is provided with a soft protective layer.

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