Workpiece carrying device

Abstract

The utility model discloses a workpiece carrying device, and relates to the technical field of dispergation machines. The workpiece carrying device comprises a carrying frame, a suction cup assembly and an electromagnet assembly, the suction cup assembly and the electromagnet assembly are arranged on the carrying frame, the suction cup assembly is used for adsorbing workpieces and further provided with a pressure sensor electrically connected with the controller, the pressure sensor is used for detecting the adsorption force of the suction cup assembly, and the electromagnet assembly is electrically connected with the controller. The adsorption force of the suction cup assembly is detected through the pressure sensor, and when the adsorption force of the suction cup assembly is smaller than a preset value, the controller controls the electromagnet assembly to be powered on, so that the metal flat plate workpiece is magnetically attracted through the electromagnet assembly, and stable carrying of the workpiece carrying device to the metal flat plate workpiece is guaranteed.

Description

Technical Field

[0001] This application relates to the field of adhesive release machine technology, and more specifically, to a workpiece handling device. Background Technology

[0002] The workflow of the transport mechanism in a fully automatic degumming machine when transporting flat components is roughly as follows: Positioning and Picking: First, the transport mechanism accurately positions the flat component to be transported according to the system's instructions; then, it uses suction cups to adhere the flat component, ensuring its stability and preventing it from falling off during the entire transport process. Translation and Rotation: Once the flat component is securely picked up, the transport mechanism translates along a preset path, which may include lateral, longitudinal, or vertical movement; Placement and Release: After reaching the target position, the transport mechanism precisely aligns with the placement point again and then smoothly releases the flat component; Return to Original Position for Next Transport: After completing the release action, the transport mechanism returns to its initial position or the position of the next flat component to be transported, ready for the next transport cycle.

[0003] In existing technologies, material handling operations are generally performed by suction cups. When the suction cups malfunction, metal flat components may fall onto the degumming machine, causing damage to the machine. Utility Model Content

[0004] The purpose of this application is to provide a workpiece handling device that can improve the stability of flat panel components during handling.

[0005] The embodiment of the present application is implemented as follows:

[0006] This application provides a workpiece handling device, including a handling frame and a suction cup assembly and an electromagnet assembly disposed on the handling frame. The suction cup assembly is used to adsorb workpieces, and a pressure sensor electrically connected to a controller is also disposed on the suction cup assembly. The pressure sensor is used to detect the adsorption force of the suction cup assembly, and the electromagnet assembly is electrically connected to the controller.

[0007] Optionally, as an implementable method, the transport frame includes a main frame, a first mounting arm, and a second mounting arm, with the middle portion of the first mounting arm and the middle portion of the second mounting arm connected to the main frame, and the suction cup assembly and the electromagnet assembly being provided on both the first mounting arm and the second mounting arm.

[0008] Optionally, as an implementable method, the workpiece handling device further includes a vacuum generator. The first mounting arm is provided with a first mounting hole and a second mounting hole, and the second mounting arm is provided with a third mounting hole and a fourth mounting hole. The suction cup assembly includes a first suction cup mounted on the first mounting hole, a second suction cup mounted on the second mounting hole, a third suction cup mounted on the third mounting hole, and a fourth suction cup mounted on the fourth mounting hole. The first suction cup, the second suction cup, the third suction cup, and the fourth suction cup are respectively connected to the vacuum generator.

[0009] Optionally, as an implementable method, the first suction cup, the second suction cup, the third suction cup, and the fourth suction cup are each provided with a plurality of suction holes.

[0010] Optionally, as an implementable method, the vacuum generator is provided with a delivery pipe, and the vacuum generator is connected to the first suction cup, the second suction cup, the third suction cup and the fourth suction cup through the delivery pipe.

[0011] Optionally, as an implementable method, the delivery pipe includes a main delivery pipe connected to the vacuum generator and a plurality of delivery branch pipes connected to the main delivery pipe, wherein the plurality of delivery branch pipes are respectively connected to the first suction cup, the second suction cup, the third suction cup and the fourth suction cup in a one-to-one correspondence.

[0012] Optionally, as an implementable method, the main conveying pipe is provided with a solenoid valve electrically connected to the controller, and the solenoid valve controls the opening and closing of the air passage of the main conveying pipe.

[0013] Optionally, as an implementable method, the electromagnet assembly includes a first electromagnet and a second electromagnet disposed at both ends of the first mounting arm, and a third electromagnet and a fourth electromagnet disposed at both ends of the second mounting arm, wherein the first electromagnet, the second electromagnet, the third electromagnet and the fourth electromagnet are electrically connected to the controller.

[0014] Alternatively, as an implementable method, the pressure sensor is disposed within the delivery main pipe.

[0015] Alternatively, as an implementable method, the workpiece handling device may further include a robotic arm, with the handling frame disposed at the end of the robotic arm.

[0016] The beneficial effects of the embodiments of this application include:

[0017] The workpiece handling device provided in this application includes a handling frame and a suction cup assembly and an electromagnet assembly mounted on the handling frame. The suction cup assembly is used to adsorb the workpiece. The suction cup assembly is also equipped with a pressure sensor electrically connected to a controller. The pressure sensor is used to detect the adsorption force of the suction cup assembly. The electromagnet assembly is electrically connected to the controller. By detecting the adsorption force of the suction cup assembly through the pressure sensor, when the adsorption force of the suction cup assembly is less than a preset value, the controller controls the electromagnet assembly to be energized so that the electromagnet assembly magnetically adsorbs the metal plate workpiece, thereby ensuring the stable handling of the metal plate workpiece by the workpiece handling device. Attached Figure Description

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 This is one of the structural schematic diagrams of the workpiece handling device provided in the embodiments of this application;

[0020] Figure 2 This is a second schematic diagram of the workpiece handling device provided in the embodiments of this application.

[0021] Icons: 100-Workpiece handling device; 110-Transfer frame; 111-Main frame; 112-First mounting arm; 113-Second mounting arm; 120-Suction cup assembly; 121-First suction cup; 122-Second suction cup; 123-Third suction cup; 124-Fourth suction cup; 130-Electromagnet assembly; 131-First electromagnet; 132-Second electromagnet; 133-Third electromagnet; 134-Fourth electromagnet; 140-Vacuum generator; 150-Pressure sensor; 160-Solenoid valve; 170-Conveying pipe; 171-Main conveying pipe; 172-Branch conveying pipe. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0024] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0025] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0026] Please refer to Figure 1 and Figure 2 This embodiment provides a workpiece handling device 100, including a handling frame 110 and a suction cup assembly 120 and an electromagnet assembly 130 disposed on the handling frame 110. The suction cup assembly 120 is used to adsorb workpieces. The suction cup assembly 120 is also provided with a pressure sensor 150 electrically connected to the controller. The pressure sensor 150 is used to detect the adsorption force of the suction cup assembly 120. The electromagnet assembly 130 is electrically connected to the controller.

[0027] Specifically, when using the workpiece handling device 100 of this application, the suction cup assembly 120 adsorbs the corresponding position of the metal plate workpiece, and the handling frame 110 is moved to the preset position. During the movement, the pressure sensor 150 detects the adsorption force of the suction cup assembly 120 and transmits the detection data to the controller. When the value transmitted by the pressure sensor 150 is greater than or equal to the preset value, the controller controls the electromagnet assembly 130 to de-energize, and the metal plate workpiece is adsorbed by the suction cup assembly 120. When the value transmitted by the pressure sensor 150 is less than the preset value, the controller controls the electromagnet assembly 130 to energize, so that the metal plate workpiece is magnetically attracted by the electromagnet assembly 130, thus preventing the metal plate workpiece from falling when the suction cup assembly 120 fails, thereby ensuring the stable handling of the metal plate workpiece by the workpiece handling device 100.

[0028] The workpiece handling device 100 provided in this application includes a handling frame 110 and a suction cup assembly 120 and an electromagnet assembly 130 disposed on the handling frame 110. The suction cup assembly 120 is used to adsorb the workpiece. The suction cup assembly 120 is also provided with a pressure sensor 150 electrically connected to the controller. The pressure sensor 150 is used to detect the adsorption force of the suction cup assembly 120. The electromagnet assembly 130 is electrically connected to the controller. The pressure sensor 150 detects the adsorption force of the suction cup assembly 120. When the adsorption force of the suction cup assembly 120 is less than a preset value, the controller controls the electromagnet assembly 130 to be energized so that the electromagnet assembly 130 magnetically adsorbs the metal plate workpiece, thereby ensuring the stable handling of the metal plate workpiece by the workpiece handling device 100.

[0029] In one possible embodiment of this application, such as Figure 1 and Figure 2 As shown, the transport frame 110 includes a main frame 111, a first mounting arm 112 and a second mounting arm 113. The middle part of the first mounting arm 112 and the middle part of the second mounting arm 113 are connected to the main frame 111. The first mounting arm 112 and the second mounting arm 113 are each provided with a suction cup assembly 120 and an electromagnet assembly 130.

[0030] Furthermore, the workpiece handling device 100 also includes a vacuum generator 140. The first mounting arm 112 is provided with a first mounting hole and a second mounting hole, and the second mounting arm 113 is provided with a third mounting hole and a fourth mounting hole. The suction cup assembly 120 includes a first suction cup 121 mounted on the first mounting hole, a second suction cup 122 mounted on the second mounting hole, a third suction cup 123 mounted on the third mounting hole, and a fourth suction cup 124 mounted on the fourth mounting hole. The first suction cup 121, the second suction cup 122, the third suction cup 123, and the fourth suction cup 124 are respectively connected to the vacuum generator 140.

[0031] Specifically, the middle of the first connecting arm is connected to the main frame 111, and the first suction cup 121 and the second suction cup 122 are respectively installed on both sides. The middle of the second connecting arm is connected to the main frame 111, and the third suction cup 123 and the fourth suction cup 124 are respectively installed on both sides. The first and second connecting arms are located on both sides of the main frame 111. The first suction cup 121, the second suction cup 122, the third suction cup 123 and the fourth suction cup 124 are distributed around the transport frame 110. Gas is pumped by the vacuum generator 140, and the first suction cup 121, the second suction cup 122, the third suction cup 123 and the fourth suction cup 124 uniformly adsorb around the metal plate workpiece, thereby ensuring the stable adsorption of the metal plate workpiece by the suction cup assembly 120, and thus ensuring the stable transport of the metal plate workpiece by the workpiece transport device 100.

[0032] In one possible embodiment of this application, such as Figure 1 and Figure 2As shown, the first suction cup 121, the second suction cup 122, the third suction cup 123 and the fourth suction cup 124 are each provided with multiple suction holes.

[0033] Multiple adsorption holes are provided on the adsorption surfaces of the first suction cup 121, the second suction cup 122, the third suction cup 123, and the fourth suction cup 124. The diameter of the adsorption holes is less than 5 mm. The adsorption force of the first suction cup 121, the second suction cup 122, the third suction cup 123, and the fourth suction cup 124 is increased by the multiple adsorption holes, thereby ensuring the stable adsorption of the first suction cup 121, the second suction cup 122, the third suction cup 123, and the fourth suction cup 124 on the metal plate workpiece.

[0034] In one possible embodiment of this application, such as Figure 1 As shown, a delivery pipe 170 is provided on the vacuum generator 140, and the vacuum generator 140 is connected to the first suction cup 121, the second suction cup 122, the third suction cup 123 and the fourth suction cup 124 through the delivery pipe 170.

[0035] Furthermore, the delivery pipe 170 includes a main delivery pipe 171 connected to the vacuum generator 140 and a plurality of delivery branch pipes 172 connected to the main delivery pipe 171. The plurality of delivery branch pipes 172 are respectively connected to the first suction cup 121, the second suction cup 122, the third suction cup 123 and the fourth suction cup 124.

[0036] Furthermore, the conveying main pipe 171 is equipped with a solenoid valve 160 that is electrically connected to the controller, and the solenoid valve 160 controls the opening and closing of the air passage of the conveying main pipe 171.

[0037] Furthermore, a pressure sensor 150 is disposed within the delivery main pipe 171.

[0038] Specifically, when using the conveying device provided in this application, vacuum gas is pumped into the conveying main pipe 171 by the vacuum generator 140, and the solenoid valve 160 is opened so that the conveying branch pipe 172 and the connecting pipes of the first suction cup 121, the second suction cup 122, the third suction cup 123 and the fourth suction cup 124 are all vacuum chambers, so that the adsorption surfaces of the first suction cup 121, the second suction cup 122, the third suction cup 123 and the fourth suction cup 124 all have adsorption force, so that the metal plate workpiece can be stably adsorbed by the first suction cup 121, the second suction cup 122, the third suction cup 123 and the fourth suction cup 124.

[0039] In one possible embodiment of this application, such as Figure 1 and Figure 2As shown, the electromagnet assembly 130 includes a first electromagnet 131 and a second electromagnet 132 disposed at both ends of the first mounting arm 112, and a third electromagnet 133 and a fourth electromagnet 134 disposed at both ends of the second mounting arm 113. The first electromagnet 131, the second electromagnet 132, the third electromagnet 133 and the fourth electromagnet 134 are electrically connected to the controller.

[0040] Specifically, the first electromagnet 131 and the second electromagnet 132 are located at both ends of the first mounting arm 112, and the third electromagnet 133 and the fourth electromagnet 134 are arranged at both ends of the second mounting arm 113, so that the first electromagnet 131, the second electromagnet 132, the third electromagnet 133 and the fourth electromagnet 134 respectively magnetically attract the metal plate workpiece, thereby ensuring the stable transport of the metal plate workpiece by the workpiece transport device 100.

[0041] When using the conveying device provided in this application, vacuum gas is pumped into the conveying main pipe 171 by the vacuum generator 140, and the solenoid valve 160 is opened so that the conveying branch pipe 172 and the connecting pipes of the first suction cup 121, the second suction cup 122, the third suction cup 123 and the fourth suction cup 124 are all vacuum chambers, so that the adsorption surfaces of the first suction cup 121, the second suction cup 122, the third suction cup 123 and the fourth suction cup 124 all have adsorption force, so that the metal plate workpiece can be stably adsorbed by the first suction cup 121, the second suction cup 122, the third suction cup 123 and the fourth suction cup 124. When the pressure sensor 150 detects that the adsorption force of the suction cup assembly 120 is less than a preset value, the controller controls the electromagnet assembly 130 to be energized, so that the first electromagnet 131, the second electromagnet 132, the third electromagnet 133 and the fourth electromagnet 134 respectively magnetically adsorb the metal plate workpiece, thereby ensuring the stable conveying of the metal plate workpiece by the workpiece conveying device 100.

[0042] In one possible embodiment of this application, such as Figure 1 and Figure 2 As shown, the workpiece handling device 100 also includes a robotic arm, and a handling frame 110 is disposed at the end of the robotic arm.

[0043] When using the handling device provided in this application, the robotic arm moves the handling frame 110 above the metal plate assembly to be handled, and the vacuum generator 140 pumps vacuum gas into the conveying main pipe 171. The solenoid valve 160 is opened so that the connecting pipes of the conveying branch pipe 172 and the first suction cup 121, the second suction cup 122, the third suction cup 123 and the fourth suction cup 124 are all vacuum chambers, so that the adsorption surfaces of the first suction cup 121, the second suction cup 122, the third suction cup 123 and the fourth suction cup 124 all have adsorption force, so that the metal plate workpiece can be stably adsorbed by the first suction cup 121, the second suction cup 122, the third suction cup 123 and the fourth suction cup 124. When the pressure sensor 150 detects that the adsorption force of the suction cup assembly 120 is less than the preset value, the controller controls the electromagnet assembly 130 to be energized, so that the first electromagnet 131, the second electromagnet 132, the third electromagnet 133 and the fourth electromagnet 134 respectively magnetically attract the metal plate workpiece. Then, the robotic arm transports the stably attracted metal plate workpiece to the designated position, closes the solenoid valve 160 or de-energizes the electromagnet assembly 130 to place the metal plate workpiece in the designated position, and the robotic arm will return to the initial position to prepare for the next round of handling cycle.

[0044] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A workpiece handling device, characterized in that, The device includes a transport frame and a suction cup assembly and an electromagnet assembly mounted on the transport frame. The suction cup assembly is used to adsorb workpieces. The suction cup assembly is also equipped with a pressure sensor electrically connected to a controller. The pressure sensor is used to detect the adsorption force of the suction cup assembly. The electromagnet assembly is electrically connected to the controller.

2. The workpiece handling device according to claim 1, characterized in that, The transport frame includes a main frame, a first mounting arm, and a second mounting arm. The middle part of the first mounting arm and the middle part of the second mounting arm are connected to the main frame. The suction cup assembly and the electromagnet assembly are provided on both the first mounting arm and the second mounting arm.

3. The workpiece handling device according to claim 2, characterized in that, The workpiece handling device further includes a vacuum generator. The first mounting arm is provided with a first mounting hole and a second mounting hole, and the second mounting arm is provided with a third mounting hole and a fourth mounting hole. The suction cup assembly includes a first suction cup mounted on the first mounting hole, a second suction cup mounted on the second mounting hole, a third suction cup mounted on the third mounting hole, and a fourth suction cup mounted on the fourth mounting hole. The first suction cup, the second suction cup, the third suction cup, and the fourth suction cup are respectively connected to the vacuum generator.

4. The workpiece handling device according to claim 3, characterized in that, The first suction cup, the second suction cup, the third suction cup, and the fourth suction cup are all provided with multiple suction holes.

5. The workpiece handling device according to claim 3, characterized in that, The vacuum generator is equipped with a delivery pipe, and the vacuum generator is connected to the first suction cup, the second suction cup, the third suction cup, and the fourth suction cup through the delivery pipe.

6. The workpiece handling device according to claim 5, characterized in that, The delivery pipe includes a main delivery pipe connected to the vacuum generator and multiple delivery branch pipes connected to the main delivery pipe. The multiple delivery branch pipes are respectively connected to the first suction cup, the second suction cup, the third suction cup and the fourth suction cup.

7. The workpiece handling device according to claim 6, characterized in that, The main conveying pipe is equipped with a solenoid valve that is electrically connected to the controller, and the solenoid valve controls the opening and closing of the air passage in the main conveying pipe.

8. The workpiece handling device according to claim 2, characterized in that, The electromagnet assembly includes a first electromagnet and a second electromagnet disposed at both ends of the first mounting arm, and a third electromagnet and a fourth electromagnet disposed at both ends of the second mounting arm. The first electromagnet, the second electromagnet, the third electromagnet and the fourth electromagnet are electrically connected to the controller.

9. The workpiece handling device according to claim 6, characterized in that, The pressure sensor is installed inside the main delivery pipe.

10. The workpiece handling device according to claim 1, characterized in that, The workpiece handling device also includes a robotic arm, and the handling frame is disposed at the end of the robotic arm.

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