Sheet clamping device and sheet distributing and conveying equipment

Abstract

The utility model belongs to the technical field of material clamping, particularly relates to a sheet clamping device and sheet distributing and conveying equipment, and solves the technical problems of low positioning accuracy and low clamping reliability of sheet clamping in the prior art. The multiple clamping mechanisms are arranged on the first side portion of the moving frame and arranged at intervals in the first direction of the moving frame, and each clamping mechanism comprises at least two suction cup assemblies used for sucking and clamping the sheets; the first driving mechanism is arranged on the first side portion of the moving frame and drives at least one of the multiple clamping mechanisms to move in the first direction. The sheet clamping device and the sheet distributing and conveying equipment have the advantages of being high in positioning accuracy and clamping reliability when being used for clamping sheets.

Description

TECHNICAL FIELD

[0001] The utility model relates to material clamping technical field especially relates to sheet material clamping device and sheet material distribution conveying equipment. BACKGROUND

[0002] In many industries, under the background of rapid development of automation production technology, especially in the automobile, electronic, semiconductor, optoelectronic display and other industries, the clamping and carrying of sheet material type materials play an important role in subsequent processing and assembly. Taking the automobile industry as an example, it usually involves carrying multiple sheet materials such as aluminum sheets with high precision, thin plate type and lamination on the production line, which has high requirements for the accuracy of positioning.

[0003] However, at present, the industry still widely uses manual traditional operation to carry out sheet material, which not only has low positioning accuracy, but also is easy to cause damage to the sheet material, and cannot meet the needs of large-scale industrial production.

[0004] Even if a small amount of automation solutions are used in the industry, they mostly use a single mechanical clamp to handle sheet materials, which can only simply clamp the sheet material and cannot adapt to sheet materials of different sizes, so it cannot adjust the clamping position and adjust the clamping force for different sheet materials, and therefore cannot ensure reliable clamping of the sheet material. Therefore, the market urgently needs a sheet material clamping device with high positioning accuracy and high clamping reliability. SUMMARY

[0005] The utility model discloses a kind of sheet material clamping devices to achieve the purpose of the utility model, provide, including: moving frame;Multiple clamping mechanisms, multiple clamping mechanisms are located on the first side of moving frame and are arranged along the first direction of moving frame with interval, each clamping mechanism includes at least two suction cup assemblies for adsorbing to clamp sheet material;First drive mechanism is arranged on the first side of moving frame, it drives at least one of multiple clamping mechanisms moves along the first direction.

[0006] Further, each clamping mechanism also includes a second drive mechanism, and the second drive mechanism is used to drive the spacing between two adjacent suction cup assemblies in the clamping mechanism in the second direction perpendicular to the first direction.

[0007] Further, the plurality of clamping mechanisms comprises a first clamping mechanism arranged at one end of the first side of the moving frame in the first direction and a second clamping mechanism arranged in sequence and spaced apart along the first direction, the pair of suction disc assemblies of the first clamping mechanism remain unchanged in the first direction and move towards or away from each other in the second direction under the driving of the second driving mechanism, and the pair of suction disc assemblies of the second clamping mechanism can move towards or away from the first clamping mechanism in the first direction under the driving of the first driving mechanism and move towards or away from each other in the second direction under the driving of the second driving mechanism.

[0008] Further, each clamping mechanism further comprises a third driving mechanism which can drive the suction disc assemblies of the clamping mechanism to move in a third direction which is perpendicular to the first direction and the second direction, and during the clamping of the sheet material by the sheet material clamping device, the third driving mechanism of the first clamping mechanism reciprocally drives the suction disc assemblies in the third direction to generate a shaking effect on the adjacent at least two sheet materials so that the sheet material clamping device clamps only a single sheet material.

[0009] Further, the sheet material is a rectangular sheet, the first direction is parallel to the long side of the rectangle, and the second direction is parallel to the short side of the rectangle, a plurality of suction disc assemblies are arranged at equal intervals in the region close to the pair of long sides of the sheet material, and a suction disc assembly is arranged correspondingly in each of the four corner regions of the sheet material.

[0010] Further, the clamping mechanism is provided as three, the suction disc assemblies of the clamping mechanism are provided as a pair opposite to each other in the second direction, in parallel to the first direction, the plurality of suction disc assemblies are arranged in two rows in alignment with each other, and in parallel to the second direction, the plurality of suction disc assemblies are arranged in three columns,

[0011] Further, the sheet material clamping device further comprises a plurality of separating mechanisms arranged outside the clamping mechanism relative to the moving frame, the separating mechanism comprises a brush and a connecting frame for fixing the brush, the brush surface of the brush faces the clamping mechanism, and the brush can separate the excess sheet material from the sheet material clamped by the suction disc assemblies.

[0012] Further, the sheet material clamping device further comprises a plurality of supporting mechanisms fixed between two suction disc assemblies of at least part of the clamping mechanism, the supporting mechanism comprises a supporting piece and an elastic piece, and the supporting piece can abut against the sheet material under the elastic force of the elastic piece.

[0013] Further, the sheet material clamping device further comprises a visual positioning mechanism arranged on the first side of the moving frame, the visual positioning mechanism comprises a visual positioner and a mounting piece, two ends of the mounting piece are connected with the moving frame and the visual positioner respectively, and the visual positioner is used to position the sheet material clamped by the suction disc assemblies.

[0014] To realize another purpose of the utility model, provide a kind of sheet material distribution conveying equipment, including robot and the sheet material clamping device of any one above, fixed seat is equipped on the second side opposite with first side of moving frame, and the mechanical hand of robot is fixed, mechanical hand can drive moving frame movement to convey sheet material to preset position.

[0015] The utility model has the beneficial effects that:

[0016] The sheet material clamping device and the sheet material distribution conveying equipment drive at least one of a plurality of clamping mechanisms to move in the first direction by the first driving mechanism, so that the spacing of the suction cup assembly in the first direction can be adjusted, which can adapt to sheet materials of different sizes in the first direction, and the positioning accuracy is high, and since a plurality of suction cup assemblies are used, the suction and clamping force can be applied to multiple parts of the sheet material, thereby improving the clamping reliability of the sheet material. BRIEF DESCRIPTION OF DRAWINGS

[0017] To more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings needed in the embodiments of the utility model will be briefly introduced below, and other drawings can be obtained by those skilled in the art without creative labor on the premise that they do not pay creative labor, and these are within the protection scope of the utility model.

[0018] Figure 1 The sheet material clamping device provided by the utility model is shown in the structure diagram of the second side view angle direction;

[0019] Figure 2 The sheet material clamping device provided by the utility model is shown in the structure diagram of the first side view angle direction;

[0020] Figure 3 To correspond to the rear view of Figure 1 ;

[0021] Figure 4 To correspond to the top view of Figure 1 ;

[0022] BRIEF DESCRIPTION OF DRAWINGS:

[0023] 1, moving frame; 11, fixed seat; 2, clamping mechanism; 21, suction cup assembly; 22, second driving mechanism; 23, third driving mechanism; 3, first driving mechanism; 4, separation mechanism; 41, brush piece; 42, connecting frame; 5, supporting mechanism; 51, supporting piece; 52, elastic piece; 6, visual positioning mechanism; 61, visual positioner; 62, mounting piece; X, first direction; Y, second direction; Z, third direction. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in combination with the drawings in the embodiments of the utility model. It should be noted that, in this article, relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. In the description of the utility model, it should be understood that the orientation or position relationship indicated by terms such as center, upper, lower, front, rear, left, right, vertical, horizontal, top, bottom, inner, outer, clockwise and counterclockwise is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model. Moreover, the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the elements limited by the statement "include" do not exclude the existence of other identical elements in the process, method, article or device including the elements. If there is no conflict, various features in the embodiments and examples of the utility model can be combined with each other, and all within the protection scope of the utility model.

[0025] Please refer to Figures 1 to 4 As one purpose of the utility model, a sheet clamping device is provided, which comprises a moving frame 1, a plurality of clamping mechanisms 2 and a first driving mechanism 3, the plurality of clamping mechanisms 2 are arranged on the first side of the moving frame 1 and are arranged at intervals along the first direction X of the moving frame 1, and each clamping mechanism 2 comprises at least two suction disc assemblies 21 for adsorbing and clamping a sheet (not shown). The first driving mechanism 3 arranged on the first side of the moving frame 1 drives at least one of the plurality of clamping mechanisms 2 to move in the first direction X. Thus, the sheet clamping device of the utility model drives at least one of the plurality of clamping mechanisms 2 to move relatively in the first direction X by the first driving mechanism 3, so that the spacing of the suction disc assemblies 21 in the first direction X can be adjusted, so that the sheet with different sizes in the first direction X can be adapted, and the beneficial effect of high positioning accuracy is obtained. Moreover, since a plurality of suction disc assemblies 21 are adopted, the suction clamping force can be applied to multiple parts of the sheet, so that the clamping reliability of the sheet can be improved.

[0026] Please refer to Figure 1Preferably, each clamping mechanism 2 further comprises a second driving mechanism 22 for driving the distance between two adjacent suction disc assemblies 21 in the clamping mechanism 2 in a second direction Y perpendicular to the first direction X. Thus, under the joint action of the first driving mechanism 3 and the second driving mechanism 22, the distance between each suction disc assembly 21 can be adjusted in the first direction X and the second direction Y, thereby further adapting to sheet materials of different sizes in the second direction Y, and since the second direction Y is perpendicular to the first direction X, it is particularly suitable for sheet materials of rectangular, square and other shapes with adjacent sides intersecting perpendicularly, thereby further improving the positioning accuracy.

[0027] Please refer to Figure 2 Preferably, the plurality of clamping mechanisms 2 comprises a first clamping mechanism arranged at one end of the first side of the moving frame 1 in the first direction X and a second clamping mechanism arranged sequentially and spaced apart in the first direction X, as shown in Figure 2 The rightmost clamping mechanism is the first clamping mechanism, and each clamping mechanism to the left of the first clamping mechanism in the first direction X is a second clamping mechanism. The pair of suction disc assemblies 21 of the first clamping mechanism remain stationary in the first direction X and move towards or away from each other in the second direction Y under the drive of the second driving mechanism 22. For the pair of suction disc assemblies 21 of the second clamping mechanism, they can move towards or away from the first clamping mechanism in the first direction X under the drive of the first driving mechanism 3, and can move towards or away from each other in the second direction Y under the drive of the second driving mechanism 22. In this way, the first clamping mechanism can serve as a positioning reference to clamp a free end of the sheet material, which is conducive to adjusting the orientation of the suction disc assemblies 21 of the remaining second clamping mechanisms relative to the first clamping mechanism, thereby achieving uniform application of suction and clamping force by each suction disc assembly 21 on sheet materials of different sizes, and achieving the purpose of reliably clamping the sheet material.

[0028] Please refer to Figure 1Specifically, each clamping mechanism 2 further comprises a third driving mechanism 23, which is capable of driving the suction cup assembly 21 of the clamping mechanism to move along a third direction Z, which is perpendicular to both the first direction X and the second direction Y. During the clamping of the sheet material by the sheet material clamping device, the third driving mechanism 23 of the first clamping mechanism drives the suction cup assembly 21 to reciprocate along the third direction Z, thereby generating a shaking effect on at least two adjacent sheet materials, so that the sheet material clamping device clamps only a single sheet material. In this way, under the driving of the third driving mechanism 23, the suction cup assembly 21 of each clamping mechanism can clamp the sheet material in the same horizontal plane, ensuring that the sheet material is uniformly stressed and flat without bending. Moreover, the third driving mechanism 23 of the first clamping mechanism drives the suction cup assembly 21 to move reciprocally, thereby generating a shaking effect on two or more sheet materials that may be adsorbed together along the third direction Z. As a result, the excess sheet material falls under the action of the shaking force and its own gravity, which can significantly reduce the possibility of clamping more than one sheet material. In addition, it should be noted that each driving mechanism described above adopts a cylinder, a driving rod connected to the cylinder, and a matching guide rail and guide groove structure, which is known to those skilled in the art and will not be described here.

[0029] Specifically, the sheet material is a rectangular sheet, and in the present application, the sheet material is exemplified by a rectangular aluminum sheet. The first direction X is parallel to the long side of the rectangular sheet, and the second direction Y is parallel to the short side of the rectangular sheet. A plurality of suction cup assemblies 21 are arranged at equal intervals near the two long sides of the rectangular sheet, and one suction cup assembly 21 is arranged at each of the four corners of the rectangular sheet. Therefore, the sheet material clamping device of the present application is particularly suitable for the clamping of a plurality of aluminum sheets that are high-precision, thin, and stacked, and can provide uniform adsorption clamping force for each single aluminum sheet.

[0030] Please refer to Figure 2 Preferably, the clamping mechanism 2 is provided in three, and the suction cup assemblies 21 of the clamping mechanism 2 are provided in a pair opposite to each other in the second direction Y. In parallel to the first direction X, the plurality of suction cup assemblies 21 are arranged in two rows in alignment with each other, and in parallel to the second direction Y, the plurality of suction cup assemblies 21 are arranged in three columns. In this way, the suction cup assemblies 21 are arranged in order to provide uniform adsorption clamping force for the sheet material, which is particularly rectangular.

[0031] Please refer to Figure 2 and Figure 3Preferably, the sheet clamping device further comprises a plurality of separating mechanisms 4 arranged outside the clamping mechanisms 2 relative to the moving frame 1, the separating mechanisms 4 comprise brush members 41 and connecting frames 42 for fixing the brush members 41, the brush surfaces of the brush members 41 face the clamping mechanisms 2, the brush surfaces can be made of soft and wear-resistant fiber materials to avoid damage to the sheets by the brush surfaces, and the brush surfaces can separate the excess sheets from the single sheet clamped by the suction disc assemblies 21. Thus, the suction disc assemblies 21 can be driven to move relative to the brush surfaces by the third driving mechanisms 23 or the connecting frames 42 can be arranged to be reciprocable, so that the brush surfaces of the plurality of brush members 41 are inserted into the gap between the clamped sheets and the excess sheets and apply a force in the opposite direction of the suction clamping force to the excess sheets in the gap, so as to separate the excess sheets from the suction disc assemblies 21.

[0032] Please refer to Figure 2 Additionally, the sheet clamping device further comprises a plurality of supporting mechanisms 5 fixed between the two suction disc assemblies 21 of at least part of the clamping mechanisms 2, the supporting mechanisms 5 comprise supporting members 51 and elastic members 52, the supporting members 51 can abut against the sheets under the elastic force of the elastic members 52. Thus, the supporting members 51 elastically abut against the sheets to apply appropriate supporting force to the part of the sheets between the two suction disc assemblies 21, so as to prevent the bending of the sheets and facilitate the flat clamping of the sheets.

[0033] Please refer to Figure 3 Additionally, the sheet clamping device further comprises a visual positioning mechanism 6 arranged on the first side of the moving frame 1, the visual positioning mechanism 6 comprises a visual positioner 61 and mounting members 62, the two ends of the mounting members 62 are connected with the moving frame 1 and the visual positioner 61 respectively, and the visual positioner 61 is used for positioning the sheets clamped by the suction disc assemblies 21. For example, the visual positioning mechanism 6 is arranged below the moving frame 1 to position the sheets to be clamped by the suction disc assemblies 21, the distance between the suction disc assemblies 21 and the sheets is determined by obtaining the distance between the visual positioner 61 and the sheets, so that the third driving mechanisms 23 can be controlled to drive the suction disc assemblies 21 to move according to the distance between the suction disc assemblies 21 and the sheets, so as to accurately and efficiently clamp the sheets.

[0034] As another object of the present application, please refer to Figure 1The utility model further provides a sheet material distribution conveying equipment, it includes manipulator (not shown) and above any one kind of sheet material clamping device, the fixed seat 11 who is fixed with the manipulator of robot is equipped on the second side department opposite first side department of moving frame, the moving frame can be driven motion frame motion to convey sheet material to preset position. Sheet material distribution conveying equipment can obtain the beneficial effect brought by any one kind of sheet material clamping device, and here will not repeat.

[0035] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the utility model, and not to limit them; although the utility model is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the utility model, and any modifications, equivalent replacements and improvements made within the spirit and principles of the utility model should be included in the protection scope of the utility model.

Claims

1. A sheet clamping device, characterized by The sheet material clamping device comprises: a moving frame; a plurality of clamping mechanisms arranged on a first side of the moving frame and spaced along a first direction of the moving frame, each of the clamping mechanisms comprising at least two suction disc assemblies for adsorbing and clamping sheet materials; a first driving mechanism arranged on the first side of the moving frame and driving at least one of the clamping mechanisms to move along the first direction.

2. The sheet gripping device according to claim 1, characterized in that Each of the clamping mechanisms further comprises a second driving mechanism for driving the distance between two adjacent suction disc assemblies in the clamping mechanism in a second direction perpendicular to the first direction.

3. The sheet gripping device according to claim 2, characterized in that The plurality of clamping mechanisms comprises a first clamping mechanism arranged at one end of the first side of the moving frame in the first direction and a second clamping mechanism arranged sequentially and spaced along the first direction, a pair of the suction disc assemblies of the first clamping mechanism remain stationary in the first direction and move towards or away from each other in the second direction under the driving of the second driving mechanism, and a pair of the suction disc assemblies of the second clamping mechanism can move towards or away from the first clamping mechanism in the first direction under the driving of the first driving mechanism and can move towards or away from each other in the second direction under the driving of the second driving mechanism.

4. The sheet gripping device according to claim 3, characterized in that Each of the clamping mechanisms further comprises a third driving mechanism for driving the suction disc assemblies of the clamping mechanism to move in a third direction perpendicular to the first direction and the second direction, and the third driving mechanism of the first clamping mechanism reciprocally drives the suction disc assemblies in the third direction to generate a shaking effect on at least two adjacent sheet materials during the clamping of the sheet material clamping device so that the sheet material clamping device clamps only a single sheet material.

5. The sheet gripping device according to claim 2, wherein The sheet material is a rectangular sheet, the first direction is parallel to the long side of the rectangle, and the second direction is parallel to the short side of the rectangle, a plurality of suction disc assemblies are arranged at equal intervals in the region close to a pair of long sides of the rectangle, and one suction disc assembly is arranged in each of the four corner regions of the rectangle.

6. The sheet gripping device according to claim 1, characterized by The clamping mechanisms are three, the suction disc assemblies of the clamping mechanisms are arranged in a pair opposite to each other in the second direction, a plurality of the suction disc assemblies are arranged in two rows in parallel to the first direction, and a plurality of the suction disc assemblies are arranged in three columns in parallel to the second direction.

7. The sheet gripping device according to claim 1, characterized by The sheet material clamping device further comprises a plurality of separating mechanisms arranged outside the clamping mechanisms relative to the moving frame, the separating mechanisms comprise a brush and a connecting frame for fixing the brush, the brush surface of the brush faces the clamping mechanisms, and the brush can separate the excess sheet material from the single sheet material clamped on the suction disc assemblies.

8. The sheet gripping device according to claim 1, characterized by The sheet material clamping device further comprises a plurality of supporting mechanisms fixed between two suction disc assemblies of at least part of the clamping mechanisms, the supporting mechanisms comprise a supporting member and an elastic member, and the supporting member can abut against the sheet material under the elastic force of the elastic member.

9. The sheet gripping device according to claim 1, characterized by The sheet clamping device further comprises a visual positioning mechanism arranged on the first side of the moving frame, the visual positioning mechanism comprising a visual positioner and a mounting member, two ends of the mounting member being connected with the moving frame and the visual positioner respectively, the visual positioner positioning the sheet clamped by the suction disc assembly.

10. A sheet material distributing and conveying apparatus characterized by comprising: The robot and the sheet clamping device as claimed in any one of claims 1 to 9 are provided with a fixing seat fixed with a mechanical hand of the robot on a second side opposite to the first side of the moving frame, the mechanical hand being capable of driving the moving frame to move so as to carry the sheet to a preset position.

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