Metal plate gripper

Abstract

The utility model provides a metal plate gripper which comprises a fixing frame, a connecting shaft, a first electrophoresis magnet, an electric cylinder, a guide rail, a sliding block and a second electrophoresis magnet, and the first electrophoresis magnet is fixed to the fixing frame through the connecting shaft; one end of the guide rail is fixed on the fixing frame, and the guide rail is parallel to the connecting shaft; the sliding block is arranged on the guide rail; the second electrophoresis magnet is arranged on the front panel in the moving direction of the sliding block; the electric cylinder is arranged on the fixing frame, and a lead screw of the electric cylinder is connected with a rear panel of the sliding block. The automatic feeding and discharging device and a positioning camera are combined with a robot, automatic feeding and discharging are carried out under 3D visual positioning, manual workpiece hoisting and positioning in the cutting and polishing working sections are omitted, feeding and discharging can be carried out between a plurality of cutting tables and polishing tables alternately according to time difference, the construction efficiency is greatly improved, and dangerous work of workers is further relieved.

Description

[0001] This application is a divisional application of the patent application with the application date of January 31, 2024, the application number of 202420240125.0, and the invention name of an intelligent loading and unloading device and gripper for metal plates. Technical Field

[0002] The utility model relates to the technical field of plate loading and unloading equipment in metal cutting and grinding construction sites. Background Art

[0003] In many current heavy industries, for bevel cutting of metal plates, manual labor is required to hoist heavy steel plates onto the cutting platform, then manually mark lines on the steel plates, and then use a flame cutting torch to perform bevel cutting according to the marked lines. After cutting, manual labor is required to unload the workpieces to one side for grinding and bevel slag removal treatment. After grinding, the workpieces are stacked and arranged in a pile.

[0004] The disadvantages of the existing entire construction process for metal plate cutting and grinding are as follows: 1. Manual loading of heavy plates is very slow and not safe; 2. Cutting with a flame cutting gun after manual marking is very slow and has poor accuracy; 3. The noise and dust generated during cutting have a greater impact on the health of workers; 4. After cutting, grinding is required, and another manual unloading is needed, with very slow efficiency; and it is very dangerous to hold the workpiece during grinding, and the sparks during grinding can also hurt people; 5. After grinding, manual labor is required to hoist the workpieces in place for stacking, with slow efficiency and not being neat enough.

[0005] Therefore, it is necessary to improve construction efficiency and the safety guarantee of workers. Content of the Utility Model

[0006] The purpose of the utility model is to provide an intelligent loading and unloading device and gripper for metal plates to minimize manual operations in the workshop and improve the construction efficiency of metal plate cutting and grinding in view of the above-mentioned deficiencies existing in the prior art.

[0007] To achieve the above object, the technical solution adopted by the utility model is as follows:

[0008] An intelligent loading and unloading device for metal plates includes a gripper, a robot, a rough positioning camera, and an electrical control cabinet. The gripper is a metal plate transfer gripper and is arranged on the end shaft of the robot; the rough positioning camera is arranged above the loading station and is used to identify the image and relative position of the workpiece; the electrical control cabinet is used for the automated control of the entire device.

[0009] Further, the gripper is an electromagnetic transfer gripper; furthermore, the gripper includes a fixing frame, a connecting shaft, a first electrophoresis magnet, an electric cylinder, a guide rail, a slider and a second electrophoresis magnet. The first electrophoresis magnet is fixed to the fixing frame through the connecting shaft; one end of the guide rail is fixed to the fixing frame, and the guide rail is parallel to the connecting shaft; the slider is arranged on the guide rail, and the second electrophoresis magnet is arranged on the front panel in the moving direction of the slider; the electric cylinder is arranged on the fixing frame, and the lead screw of the electric cylinder is connected to the rear panel of the slider.

[0010] Furthermore, the center distance between the first electrophoresis magnet and the second electrophoresis magnet is 500 - 1000 mm, the sizes are both (100 - 200) x (100 - 200) mm, the rated load is 150 - 1000 kg, and the high temperature resistance is 320 °C. When the workpiece size is less than 700 mm, one electromagnet is used for grasping; when the workpiece size is greater than 700 mm, two electromagnets are used for grasping simultaneously.

[0011] Furthermore, a first spring shock pad is provided between the connecting shaft and the fixing frame.

[0012] Furthermore, a second spring shock pad is provided between the second electrophoresis magnet and the slider.

[0013] Further, the robot is a six-axis robotic arm. After the rough positioning camera locates the workpiece to be loaded, the robot cooperates with the gripper to automatically load the workpiece onto the cutting table and / or the grinding table, and after the grinding work is completed, unload the workpiece to the finished product station for palletizing. The rated load of the robot is 180 - 360 kg, the working radius is more than 2700 mm, and the repeat positioning accuracy is ±0.2 mm.

[0014] Further, the rough positioning camera is a 3D vision camera, and the recognition position accuracy is 2 mm; the installation height of the rough positioning camera is set to 3000 mm. When the palletizing height of the workpiece is 1000 mm, the recognizable workpiece range is 2000 x 1500 mm.

[0015] For the above-mentioned intelligent loading and unloading device for metal sheets, a safety fence can be further set around the workpiece loading and unloading area to isolate the construction area.

[0016] Advantages of the present utility model:

[0017] The intelligent loading and unloading device for metal sheets provided by the present utility model combines a robot and a gripper, and under the 3D vision positioning, it performs automatic loading and unloading. It not only eliminates the manual hoisting and positioning of workpieces in the cutting and grinding sections, but also can use the time difference to intersperse feeding and unloading between multiple cutting tables and grinding tables, greatly improving the construction efficiency and further eliminating the dangerous work of workers.

[0018] Meanwhile, with the use of robots and vision positioning, the positions of workpiece loading and unloading will be more accurate, and the grinding efficiency will also be higher.

[0019] The following takes the attached drawings as an example to illustrate the specific implementation manners of the present utility model: Description of the Drawings

[0020] Figure 1 It is a schematic structural diagram of a gripper for loading and unloading metal sheets provided by an embodiment of the present utility model.

[0021] Figure 2 It is a schematic structural diagram and an application scenario of an intelligent loading and unloading device for metal sheets provided by an embodiment of the present utility model.

[0022] Reference Signs:

[0023] 1 Gripper, 101 Fixed Frame, 102 Connecting Shaft, 103 First Electrophoretic Magnet, 104 Electric Cylinder

[0024] 105 Guide Rail, 106 Slide Block, 107 Second Electrophoretic Magnet, 108 First Spring Shock Pad

[0025] 109 Second Spring Shock Pad

[0026] 2 Robot, 3 Coarse Positioning Camera, 4 Metal Sheet, 5 Cutting Table, 6 Cutting Machine

[0027] 7 Grinding Machine, 8 Safety Fence, 9 Dust Collector, 10 Turning Machine Specific Implementation Manner

[0028] The specific embodiments described herein are only used to explain the technical solutions of this patent, rather than limiting the disclosed technical solutions. Additionally, it should be noted that for the convenience of description, only parts related to the technical solutions of the present disclosure are shown in the drawings, rather than all structures.

[0029] Before discussing the exemplary embodiments in more detail, it should be mentioned that if the structures of the equipment components and / or modules mentioned in the embodiments are not described in detail, those skilled in the art can understand them according to the existing disclosed technologies or commercially available products.

[0030] Reference Figure 1, this embodiment provides a gripper for metal sheets, which includes a fixed frame 101, a connecting shaft 102, a first electro-permanent magnet 103, an electric cylinder 104, a guide rail 105, a slider 106 and a second electro-permanent magnet 107. The first electro-permanent magnet 103 is fixed to the fixed frame 101 through the connecting shaft 102; one end of the guide rail 105 is fixed to the fixed frame 101, and the guide rail 105 is parallel to the connecting shaft 102; the slider 106 is arranged on the guide rail 105, and the second electro-permanent magnet 107 is arranged on the front panel in the moving direction of the slider 106; the electric cylinder 104 is arranged on the fixed frame 101, and the lead screw of the electric cylinder 104 is connected to the rear panel of the slider 106.

[0031] Two electro-permanent magnets are arranged on the gripper, one is fixed and the other can be lifted. It can be selected whether to grab the workpiece with one electromagnet or two electromagnets simultaneously according to the size of the workpiece. For example, two electromagnets with dimensions of 160x160mm, a rated load of 320kg, and a center distance of 500mm are used. When the workpiece size is less than 700mm, one electromagnet is used to grab the workpiece. When the workpiece size is greater than 700mm, two electromagnets are used to grab the workpiece simultaneously. Considering that metal cutting and grinding will cause the workpiece to heat up, electro-permanent magnets with a high temperature resistance of 320°C are further selected.

[0032] Another preferred solution is to further set a first spring shock pad 108 between the connecting shaft 102 and the fixed frame 101, and a second spring shock pad 109 between the second electro-permanent magnet 107 and the slider 106, which can play a buffering and stabilizing role for external unstable stress impacts when grabbing the workpiece for slag hanging and grinding.

[0033] Reference Figure 2 , this embodiment provides an intelligent loading and unloading device for metal sheets, which includes a gripper 1, a robot 2, a rough positioning camera 3 and an electrical control cabinet. The gripper 1 is a gripper for transferring metal sheets and is arranged on the end shaft of the robot 2; the rough positioning camera 3 is arranged above the loading station and is used to identify the image and relative position of the workpiece; the electrical control cabinet is used for the automatic control of the whole device.

[0034] The rough positioning camera selects a 3D vision camera to take pictures of the workpiece at the loading station, identify the image and relative position of the workpiece, and perform a rough positioning of the workpiece. The robot selects a six-axis robotic arm. After the 3D vision camera locates the workpiece to be loaded, the gripper automatically loads the workpiece onto the cutting table under the cooperation of the robotic arm. After cutting is completed, the workpiece is transported to the grinding table; then it can move and rotate the workpiece according to the contour trajectory of another fine positioning workpiece to contact the grinding head of the grinding table to complete the grinding work; after the workpiece is ground, it is moved to the unloading area for palletizing. In this way, the cutting and grinding processes of the workpiece do not require manual participation throughout the process.

[0035] Set the palletizing height of the workpiece to 1000 mm, the installation height of the 3D camera to 3000 mm, the recognizable workpiece range to 2000x1500 mm, the recognized workpiece size to 600x400x30 mm, and the recognition position accuracy to 2 mm. The rated load of the six-axis robotic arm is 250 kg, the working radius is 2710 mm, and the repeat positioning accuracy is ±0.2 mm. As Figure 2 shown, an intelligent loading and unloading device for metal sheets of this patent can continuously load, unload, and grind workpieces for two cutting tables and one grinding table.

[0036] To further improve construction safety and isolate the equipment and personnel, a safety fence is set in the peripheral area of the equipment and the loading and unloading areas.

[0037] The working process that can be referred to when using the intelligent loading and unloading device for metal sheets provided by the present utility model is as follows:

[0038] S1: Manually place a stack of sheet materials at the loading position. The loading vision (coarse positioning camera) locates and identifies the workpiece to determine the position and image of the workpiece and whether the workpiece needs to be turned over.

[0039] S2: If the workpiece needs to be turned over, the present utility model first places the workpiece on the turning machine. After the turning machine completes a 180° turn of the workpiece, the present utility model then places the workpiece into the right-station cutting table; if the workpiece does not need to be turned over, the workpiece is directly grabbed and placed into the right-station cutting table; the placement position is obtained by calculating the relationship between the center of gravity of the drawing and the support position.

[0040] S3: The fine positioning vision on the cutting table takes a photo to accurately position the workpiece. The dust removal of the cutting table at the station (for example, the right cutting table) is turned on, and the cutting machine performs bevel cutting on the workpiece.

[0041] S4: Synchronously with S3, the present utility model loads the next workpiece to be cut onto another station cutting table (the left cutting table).

[0042] S5: After the right cutting table finishes cutting, the cutting machine directly turns to the left cutting table to perform bevel cutting on the workpiece, and the present utility model grabs the cut workpiece in the right cutting table and grinds it at the grinding table.

[0043] S6: After the present utility model finishes grinding, it unloads and palletizes the workpiece, and then reloads it onto the right cutting table.

[0044] S7: Synchronously, the bevel cutting of the workpiece in the left cutting table is completed, and the cutting machine then turns to the right cutting table for cutting.

[0045] S8: At this time, the present utility model grabs the cut workpiece in the left cutting table and grinds it at the grinding table.

[0046] S9: After grinding is completed, the workpiece is unloaded and stacked, and then re-loaded onto the left cutting table;

[0047] Loop S1 - S9 like this until all the workpieces in the loading area are completely cut and unloaded and stacked. After the workpieces in the field are overall unloaded and transported, they can be re-loaded.

[0048] The above is an example of the preferred implementation of the present utility model, but the present invention is not limited to the described embodiments. Those skilled in the art can also make various equivalent deformations or substitutions without departing from the spirit of the present utility model, and these equivalent deformations or substitutions are all included within the scope defined by the claims of this application.

Claims

1. A metal sheet gripper, characterized in that: The invention comprises a fixing frame (101), a connecting shaft (102), a first electrophoretic magnet (103), an electric cylinder (104), a guide rail (105), a slider (106) and a second electrophoretic magnet (107), wherein the first electrophoretic magnet (103) is fixed to the fixing frame (101) via the connecting shaft (102); one end of the guide rail (105) is fixed to the fixing frame (101), and the guide rail (105) is parallel to the connecting shaft (102); the slider (106) is arranged on the guide rail (105), and the second electrophoretic magnet (107) is arranged on the front panel of the slider (106) in the moving direction; the electric cylinder (104) is arranged on the fixing frame (101), and the lead screw of the electric cylinder (104) is connected to the rear panel of the slider (106).

2. The metal sheet gripper according to claim 1, characterized in that: The center distance between the first electrophoretic magnet (103) and the second electrophoretic magnet (107) is 500-1000 mm, the rated load is 150-1000 kg, and the high temperature resistance is 320°C.

3. The metal sheet gripper according to claim 1, characterized in that: A first spring shock-absorbing pad (108) is provided between the connecting shaft (102) and the fixing frame (101).

4. The metal sheet gripper according to claim 1, characterized in that: A second spring shock-absorbing pad (109) is provided between the second electrophoretic magnet (107) and the slider (106).

5. The metal sheet gripper according to claim 2, characterized in that: A first spring shock-absorbing pad (108) is provided between the connecting shaft (102) and the fixing frame (101).

6. The metal sheet gripper according to claim 2, characterized in that: A second spring shock-absorbing pad (109) is provided between the second electrophoretic magnet (107) and the slider (106).

7. The metal sheet gripper according to claim 2, characterized in that: A first spring shock-absorbing pad (108) is provided between the connecting shaft (102) and the fixing frame (101), and a second spring shock-absorbing pad (109) is provided between the second electrophoretic magnet (107) and the sliding block (106).

8. The metal sheet gripper according to claim 1, characterized in that: A first spring shock-absorbing pad (108) is provided between the connecting shaft (102) and the fixing frame (101), and a second spring shock-absorbing pad (109) is provided between the second electrophoretic magnet (107) and the sliding block (106).

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