Clamping equipment
By designing automated clamping equipment, the problems of high labor intensity in manual operation and difficulty in robot recognition were solved, achieving efficient and accurate workpiece loading and improving the level of production automation.
Patent Information
- Application Number
- CN202423184999.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-23
- Publication Date
- 2025-12-19
- Estimated Expiration
- 2034-12-23
AI Technical Summary
The existing clamping process suffers from problems such as high labor intensity and low efficiency of manual operation, and difficulty for robotic arms to identify workpiece type and orientation, leading to clamping errors.
A clamping device was designed, including a material picking, flipping, positioning and identification and material transfer mechanism. The material picking mechanism picks up the workpiece, the flipping mechanism flips it and the positioning and identification mechanism identifies the workpiece, and the material transfer mechanism automatically loads the workpiece into the magazine, realizing a fully automated process.
It has achieved fully automated workpiece loading, improved loading accuracy and work efficiency, reduced manual intervention, and lowered labor intensity.
Smart Images
Figure CN223687573U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of automation equipment, in particular to a clamping device. BACKGROUND
[0002] The magazine is a device for storing and conveying workpieces, and the workpieces on the tray and the assembly line are assembled in the magazine to facilitate subsequent processing of the workpieces, which is a common work flow. At present, the clamping process is usually operated by manual operation and mechanical operation. Manual operation has high labor intensity and low work efficiency. Mechanical operation usually uses a mechanical hand to grab the workpiece and clamp it, but the mechanical hand cannot identify the type, front and back direction of the workpiece when grabbing the workpiece, and clamping errors are prone to occur. CONTENT OF THE UTILITY MODEL
[0003] In view of the above, it is necessary to provide a clamping device which can automatically fill the workpiece into the magazine and can identify the workpiece before filling to improve the filling accuracy and work efficiency.
[0004] The embodiment of the present application provides a clamping device for filling a workpiece into a magazine, comprising: a material taking mechanism for grabbing the workpiece; a turnover mechanism adjacent to the material taking mechanism for receiving the workpiece grabbed by the material taking mechanism and turning over the workpiece; a positioning and identifying mechanism comprising a support frame, a positioning assembly and a sensor, the support frame is arranged close to the turnover mechanism for carrying the workpiece turned over by the turnover mechanism, the positioning assembly is connected to the support frame and used for positioning the workpiece, and the sensor is connected to the support frame and used for identifying the workpiece; a material moving mechanism arranged close to the positioning and identifying mechanism for grabbing the workpiece on the support frame; and a material receiving mechanism comprising a support assembly arranged close to the material moving mechanism and a material receiving assembly connected to the support assembly, the support assembly is used for supporting the magazine, the material receiving assembly is arranged on the lower side of the magazine, the material receiving assembly can be movably inserted into the magazine to support the workpiece placed in the magazine by the material moving mechanism, and the material receiving assembly is used for driving the workpiece to move up and down.
[0005] The clamping device can automatically grab the workpiece through the grabbing mechanism, place the workpiece on the turnover mechanism, turn over the workpiece and place the workpiece on the positioning and identifying mechanism, position and identify the workpiece, and grab the workpiece on the positioning and identifying mechanism through the material moving mechanism. If the position of the workpiece is incorrect or the workpiece is other material, the material moving mechanism places the workpiece in other areas; if the position of the workpiece is correct and the workpiece is the target material, the material moving mechanism moves the workpiece to the material collecting mechanism and places the workpiece in the clip on the supporting assembly. When the material moving mechanism places the workpiece, the receiving assembly is inserted into the clip to support the workpiece and is lowered in the next material placing process until the clip is filled with workpieces. The clamping device realizes the full-automatic process of grabbing, turning over, positioning, and transferring of the workpiece, reduces manual intervention, reduces labor intensity, improves the automation level of production, and can identify the workpiece before filling, so that the filling accuracy is high and the operation efficiency is high.
[0006] In some embodiments, the grabbing mechanism comprises a grabbing drive and a grabbing gripper connected to the grabbing drive, the grabbing gripper comprises a turning drive, a grabbing plate, a plurality of adjusting plates and a plurality of suction nozzles, the turning drive is fixedly connected with the grabbing drive, the grabbing plate is connected with the turning drive, the grabbing plate is provided with a plurality of first through holes, the plurality of adjusting plates are adjustably connected with the grabbing plate and are provided in one-to-one correspondence with the plurality of first through holes, each adjusting plate is provided with a second through hole in communication with the corresponding first through hole, and the plurality of suction nozzles are connected with the plurality of adjusting plates in one-to-one correspondence, and each suction nozzle passes through the corresponding second through hole and the first through hole.
[0007] In some embodiments, the turnover mechanism comprises a turnover assembly and a clamping assembly, the turnover assembly comprises a turnover drive arranged close to the grabbing mechanism, a connecting rod connected to the turnover drive, and a turnover plate connected to one end of the connecting rod away from the turnover drive, and the clamping assembly comprises a clamping drive connected to the turnover plate and a plurality of clamping pieces connected to the clamping drive, the turnover plate is used to carry the workpiece, the clamping drive is used to drive the plurality of clamping pieces to clamp the workpiece, and the turnover drive is used to drive the turnover plate and the workpiece to turn over through the connecting rod.
[0008] In some embodiments, the positioning assembly comprises two positioning drives, two movable positioning members and a plurality of fixed positioning members, the two positioning drives are connected to the support frame, the two movable positioning members are respectively connected to the two positioning drives, and the two movable positioning members correspond to two adjacent sides of the workpiece respectively, and the plurality of fixed positioning members correspond to the other two adjacent sides of the workpiece respectively, the two positioning drives are used to drive the two movable positioning members to push the workpiece to the corresponding fixed positioning members respectively and to position the workpiece.
[0009] In some embodiments, the material moving mechanism comprises a material moving drive and a material moving gripper connected to the material moving drive, the material moving gripper comprises a floating member connected to the material moving drive, a material moving plate connected to the floating member, a clamping drive connected to the material moving plate and a plurality of clamping members connected to the clamping drive, the plurality of clamping members correspond to two sides of the workpiece respectively, and the clamping drive is used to drive the plurality of clamping members to move close to or away from each other to clamp or release the workpiece.
[0010] In some embodiments, the material moving gripper further comprises a plurality of positioning pins, the plurality of positioning pins are arranged on the material moving plate to abut one side of the workpiece, and the support frame is provided with a plurality of positioning holes corresponding to the plurality of positioning pins respectively, and the plurality of positioning pins are used to be inserted into the corresponding positioning holes to position the material moving gripper.
[0011] In some embodiments, the material moving gripper further comprises a plurality of pushing members, the plurality of pushing members are elastically connected to the material moving plate and opposite to the workpiece, and the plurality of pushing members are used to push the workpiece away from the material moving plate when the clamping drive drives the clamping members to release the workpiece.
[0012] In some embodiments, the cartridge comprises a cartridge and a base, the cartridge is provided with a material containing hole extending in the vertical direction and penetrating through the cartridge, the material containing hole is used to contain the workpiece, and the base is arranged at the bottom of the cartridge and is provided with a plurality of third through holes communicating with the material containing hole; the support assembly comprises a frame, a rotating drive connected to the frame and a support plate connected to the rotating drive, the support plate is used to support the cartridge and is provided with a plurality of fourth through holes communicating with the third through holes; the material receiving assembly comprises a lifting drive connected to the frame and a plurality of material receiving rods; wherein the rotating drive is used to drive the support plate to rotate in the horizontal plane to make the plurality of third through holes of the cartridge correspond to the plurality of material receiving rods one by one, and the lifting drive is used to drive the material receiving rods to penetrate through the corresponding third through holes and extend into the material containing hole to support the workpiece.
[0013] In some embodiments, the receiving mechanism further includes a pressing assembly, the pressing assembly including a pressing drive connected to the support plate and a pressing member connected to the pressing drive, the pressing member corresponding to the base, and the pressing drive being used to drive the pressing member to press the base against the support plate.
[0014] In some embodiments, the receiving mechanism further includes a fixing component, which includes a fixing drive connected to the frame and a fixing plate connected to the fixing drive. The fixing plate is disposed above the receiving component and has a fifth through hole corresponding to the receiving hole. The fixing drive is used to drive the fixing plate to move toward the magazine to cooperate with the support plate to fix the magazine. Attached Figure Description
[0015] Figure 1 This is a schematic diagram of the clamping device provided in an embodiment of this application.
[0016] Figure 2 for Figure 1 The diagram shows the structure of the material handling gripper of the clamping device.
[0017] Figure 3 for Figure 1 The diagram shows the structure of the flipping mechanism and the positioning and identification mechanism of the clamping device.
[0018] Figure 4 for Figure 3 The diagram shows the exploded structure of the positioning and identification mechanism.
[0019] Figure 5 for Figure 1 The diagram shows the structure of the material transfer gripper of the clamping device.
[0020] Figure 6 for Figure 1 The diagram shows the structure of the receiving mechanism of the clamping device.
[0021] Main element symbol explanation: clamping device 100, material taking mechanism 10, material taking driving piece 11, material taking gripper 12, turning driving piece 121, material taking plate 122, first through hole 1221, adjusting plate 123, second through hole 1231, suction nozzle 124, overturning mechanism 20, overturning assembly 21, overturning driving piece 211, connecting rod 212, overturning plate 213, clamping assembly 22, clamping driving piece 221, clamping piece 222, buffer 23, positioning and identifying mechanism 30, support frame 31, positioning hole 311, positioning assembly 32, positioning driving piece 321, movable positioning piece 322, fixed positioning piece 323, inductor 33, material moving mechanism 40, material moving driving piece 41, material moving gripper 42, floating piece 421, material moving plate 422, clamping driving piece 423, clamping piece 424, positioning pin 425, pushing piece 426, material collecting mechanism 50, support assembly 51, rack 511, rotating driving piece 512, support plate 513, fourth through hole 5131, material receiving assembly 52, lifting driving piece 521, material receiving rod 522, pressing assembly 53, pressing driving piece 531, pressing piece 532, fixing assembly 54, fixing driving piece 541, fixing plate 542, fifth through hole 5421, positioning block 5422, workpiece 200, spring clip 300, spring magazine 301, material containing hole 3011, positioning groove 3012, base 302, third through hole 3021. DETAILED DESCRIPTION
[0022] The embodiments of the present application will be described in detail below with reference to the drawings, in which the same or similar components have the same or similar reference labels throughout the several views. The embodiments described below are examples for explaining the present application and are not intended to be limiting of the present application.
[0023] In the description of the present application, it should be understood that the terms indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the purpose of describing the present application and simplifying the description, and do not indicate or imply that the devices or components referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" are for the purpose of description only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, it should be noted that the meaning of "a plurality of" is two or more, unless otherwise specifically limited.
[0024] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the term "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection, or can be in communication with each other, it can be direct connection, or indirect connection through intermediate medium, it can be internal communication of two elements or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above-mentioned term in the present application can be understood according to the specific circumstances.
[0025] The embodiments of the present application will be further described below with reference to the accompanying drawings.
[0026] Please refer to Figure 1 , the present application provides a clamping device 100 for assembling workpieces 200 to a magazine 300, the workpieces 200 can be plate-shaped products, such as metal shells of electronic products, etc. The clamping device 100 comprises a taking mechanism 10, a turnover mechanism 20, a positioning and identifying mechanism 30, a moving mechanism 40 and a collecting mechanism 50. In addition, the present application also comprises a control system, which can be controlled by PLC, which is a common technical means for those skilled in the art, and will not be described here.
[0027] Specifically, please refer to Figure 1 and Figure 2 , the taking mechanism 10 is used for grabbing workpieces 200, and the taking mechanism 10 can be arranged close to a rack, an assembly line, etc. for easy taking.
[0028] Please refer to Figure 3 , the turnover mechanism 20 is arranged adjacent to the taking mechanism 10, and is used for receiving the workpieces 200 grabbed by the taking mechanism 10 and turning over the workpieces 200.
[0029] Please refer to Figure 4 , the positioning and identifying mechanism 30 comprises a support frame 31, a positioning assembly 32 and a sensor 33, the support frame 31 is arranged close to the turnover mechanism 20 and is used for bearing the workpieces 200 turned over by the turnover mechanism 20, the positioning assembly 32 is connected to the support frame 31 and is used for positioning the workpieces 200, and the sensor 33 is connected to the support frame 31 and is used for identifying the workpieces 200. The support frame 31 can be arranged on a workbench or the like, the turnover mechanism 20 places the workpieces 200 on the support frame 31 after turning over, the positioning assembly 32 precisely positions the workpieces 200, and the sensor 33 identifies the workpieces 200.
[0030] It can be understood that, in order to facilitate the tracing of the workpiece 200 or the identification of the workpiece 200 in the processing process, an identification structure such as a two-dimensional code, a bar code or a chip is usually arranged on the workpiece 200. In the process of transferring the workpiece 200, whether through a magazine or a flow line, the workpiece 200 is usually arranged with the identification structure facing upward, so as to facilitate the identification of the workpiece 200. In the embodiment, in order to make the inductor 33 not affect the workpiece 200 carried by the support frame 31, the inductor 33 is arranged on the lower side of the support frame 31 for carrying the workpiece 200. The workpiece 200 can be flipped by the flipping mechanism 20 to have the identification structure facing upward, so as to facilitate the inductor 33 to identify the workpiece 200. In other embodiments, if the inductive structure of the workpiece 200 is located on the lower side, the flipping mechanism 20 is not needed to flip the workpiece 200.
[0031] The inductor 33 can be an infrared inductor. When the workpiece 200 is placed in the correct position, the inductor 33 identifies the information of the workpiece 200 and transmits a signal to the material transferring mechanism 40. If the position of the workpiece 200 is incorrect, the inductor 33 cannot identify the information of the workpiece 200 and transmits a signal to the material transferring mechanism 40. If the workpiece 200 is not the material to be loaded this time, the inductor 33 identifies the signal and transmits it to the material transferring mechanism 40.
[0032] Please refer to Figure 5 The material transferring mechanism 40 is arranged close to the positioning and identifying mechanism 30 and is used to grab the workpiece 200 on the support frame 31. After the material transferring mechanism 40 grabs the workpiece 200 on the support frame 31, the next operation is performed according to the information provided by the inductor 33. If the workpiece 200 is placed in the correct position and is the material to be loaded this time, the material transferring mechanism 40 transfers the workpiece 200 to the material receiving mechanism 50. If the workpiece 200 is not placed in the correct position or is not the material to be loaded this time, the workpiece 200 is placed in other areas, such as a flow line, a material receiving magazine, etc.
[0033] Please refer to Figure 6 The material receiving mechanism 50 includes a support assembly 51 arranged close to the material transferring mechanism 40 and a material receiving assembly 52 connected to the support assembly 51. The support assembly 51 is used to support the magazine 300. The material receiving assembly 52 is arranged on the lower side of the magazine 300. The material receiving assembly 52 can be movably inserted into the magazine 300 to support the workpiece 200 loaded in the magazine 300 by the material transferring mechanism 40 and is used to drive the workpiece 200 to move up and down. When the workpiece 200 is loaded, the material receiving assembly 52 is inserted into the magazine 300. The material transferring mechanism 40 places the workpiece 200 in the magazine 300. The material receiving assembly 52 supports the workpiece 200. When the workpiece 200 is loaded next time, the material receiving assembly 52 moves downward by the height of one workpiece 200, so that the workpiece 200 on the upper side of the material receiving assembly 52 supports the next workpiece 200. In this way, the magazine 300 is filled with the workpiece 200.
[0034] It can be understood that, in order to further improve the work efficiency, the taking mechanism can simultaneously grasp multiple workpieces 200, such as two, three, etc., the turnover mechanism 21 can simultaneously turn over multiple workpieces 200, the positioning and identifying mechanism 30 can simultaneously position and identify multiple workpieces 200, the moving mechanism 40 can simultaneously move multiple workpieces 200, and the supporting assembly 51 of the collecting mechanism 50 can carry multiple cartridges 300, and multiple material receiving assemblies 52 corresponding to the cartridges 300 are arranged.
[0035] The clamping device 100 provided by the embodiment of the present application can automatically grasp the workpiece 200 through the taking mechanism 10 and place the workpiece 200 on the turnover mechanism 20, the turnover mechanism 20 can turn over the workpiece 200 and place it on the positioning and identifying mechanism 30, the positioning and identifying mechanism 30 can position and identify the workpiece 200, and the moving mechanism 40 can grasp the workpiece 200 on the positioning and identifying mechanism 30. If the position of the workpiece 200 is incorrect or it is other material, the moving mechanism 40 places the workpiece 200 in other areas; if the position of the workpiece 200 is correct and it is the target material, the moving mechanism 40 moves the workpiece 200 to the collecting mechanism 50 and places it in the cartridge 300 on the supporting assembly 51. When the moving mechanism 40 places the workpiece 200, the material receiving assembly 52 is inserted into the cartridge 300 to support the workpiece 200 and is lowered in the next dispensing process until the cartridge 300 is filled with workpieces 200. The clamping device 100 provided by the embodiment of the present application realizes the fully automatic process of the workpiece 200 from grasping, turning over, positioning, moving to filling, reduces manual intervention, reduces labor intensity, improves the automation level of production, and can identify the workpiece 200 before filling, so that the filling accuracy is high and the work efficiency is high.
[0036] In some embodiments, referring to Figure 1 and Figure 2 , the taking mechanism 10 includes a taking driving member 11 and a taking gripper 12 connected to the taking driving member 11, the taking gripper 12 includes a turning driving member 121, a taking plate 122, multiple adjusting plates 123, and multiple suction nozzles 124, the turning driving member 121 is fixedly connected with the taking driving member 11, the taking plate 122 is connected with the turning driving member 121, the taking plate 122 is provided with multiple first through holes 1221, the multiple adjusting plates 123 are adjustably connected with the taking plate 122 and are arranged in one-to-one correspondence with the multiple first through holes 1221, each adjusting plate 123 is provided with a second through hole 1231 in communication with the corresponding first through hole 1221, and the multiple suction nozzles 124 are connected with the multiple adjusting plates 123 in one-to-one correspondence, and each suction nozzle 124 passes through the corresponding second through hole 1231 and the first through hole 1221.
[0037] The taking driving member 11 can be a mechanical arm or the like driving device, which is used to drive the taking hand claw 12 to move flexibly in a three-dimensional space. The turning driving member 121 can be a rotary cylinder or the like driving device, the taking plate 122 can be a plate structure, the adjusting plate 123 can be a plate structure, the plurality of suction nozzles 124 are connected with an external negative pressure device (not shown in the figure), and the number of the suction nozzles 124 can be two, four or the like. By arranging the turning driving member 121, the direction of the taking plate 122 can be changed, so as to meet the grasping requirements of the workpiece 200 at different angles, and after the workpiece 200 is grasped, the direction of the workpiece 200 can be rotated, so as to facilitate subsequent positioning, identification and filling operations. The first through hole 1221 can be a square hole, and the second through hole 1231 can be a strip-shaped hole. By adjusting the position of the adjusting plate 123 on the taking plate 122 and the position of the suction nozzles 124 on the adjusting plate 123, the position of the suction nozzles 124 can be adjusted, so as to ensure that the suction nozzles 124 can be accurately adsorbed on the appropriate part of the workpiece 200, improve the success rate and stability of taking, and effectively avoid taking failure caused by shape difference of the workpiece 200.
[0038] In some embodiments, referring to Figure 1 and Figure 3 , the turnover mechanism 20 comprises a turnover assembly 21 and a clamping assembly 22. The turnover assembly 21 comprises a turnover driving member 211 arranged close to the taking mechanism 10, a connecting rod 212 connected to the turnover driving member 211, and a turnover plate 213 connected to one end of the connecting rod 212 away from the turnover driving member 211. The clamping assembly 22 comprises a clamping driving member 221 connected to the turnover plate 213 and a plurality of clamping members 222 connected to the clamping driving member 221. The turnover plate 213 is used to carry the workpiece 200. The clamping driving member 221 is used to drive the plurality of clamping members 222 to clamp the workpiece 200. The turnover driving member 211 is used to drive the turnover plate 213 and the workpiece 200 to turn through the connecting rod 212.
[0039] The turnover driving member 211 can be a rotary cylinder, a motor or the like driving device. The connecting rod 212 can be a rod-shaped or strip-shaped structure. The turnover plate 213 can be a hollow plate structure. The clamping driving member 221 can be a double-head cylinder or the like driving device, which is connected to the side of the turnover plate 213 away from the side used to carry the workpiece 200. The clamping member 222 can be a block structure, and the number of the clamping members 222 can be two, four or the like. The plurality of clamping members 222 correspond to the side of the turnover plate 213 used to carry the workpiece 200. During operation, the taking mechanism 10 places the workpiece 200 on the turnover plate 213. The turnover driving member 211 drives the turnover plate 213 to rotate by 180°, so as to make the workpiece 200 abut against the support frame 31. Then, the clamping driving member 221 drives the clamping members 222 to release the workpiece 200. The turnover driving member 211 drives the turnover member to reversely rotate by 180°.
[0040] In some embodiments, please refer to Figure 1 and Figure 3 The overturning mechanism 20 further comprises two buffers 23, which are arranged close to the overturning driving member 211 and on both sides of the overturning assembly 21, and correspond to the positions before and after overturning of the connecting rod 212 respectively, so as to buffer the connecting rod 212 and avoid damage to the workpiece 200 caused by impact of the workpiece 200 on the support frame 31.
[0041] In some embodiments, please refer to Figure 1 , Figure 3 and Figure 4 The positioning assembly 32 comprises two positioning driving members 321, two movable positioning members 322 and a plurality of fixed positioning members 323. The two positioning driving members 321 are connected to the support frame 31, the two movable positioning members 322 are connected to the two positioning driving members 321 respectively, and the two movable positioning members 322 correspond to the two adjacent sides of the workpiece 200 respectively, and the plurality of fixed positioning members 323 correspond to the other two adjacent sides of the workpiece 200 respectively. The two positioning driving members 321 are used to drive the two movable positioning members 322 to push the workpiece 200 to the corresponding fixed positioning members 323 respectively and to position the workpiece 200.
[0042] The positioning driving member 321 can be a driving device such as a pneumatic cylinder, the movable positioning member 322 can be a block structure, and the fixed positioning member 323 can be a columnar, plate-like or block-like structure. The number of fixed positioning members 323 can be two, three or four, which correspond to the two adjacent sides of the workpiece 200 respectively. After the workpiece 200 is placed on the support frame 31, the two positioning driving members 321 drive the corresponding movable positioning members 322 to move towards the workpiece 200, and then push the workpiece 200 to the corresponding fixed positioning members 323, so as to accurately position the workpiece 200 on the horizontal plane. Accurate positioning of the workpiece 200 creates good conditions for subsequent material moving and filling processes, so that the material moving mechanism 40 can more smoothly grasp the positioned workpiece 200, and the filling process is also more smooth because of the accurate position of the workpiece 200, which reduces repeated operations or process stagnation caused by position problems of the workpiece 200, and further improves production efficiency.
[0043] In this embodiment, in order to improve work efficiency, the positioning assembly 32 can simultaneously position two workpieces 200. Each workpiece 200 is provided with fixed positioning members 323 on two adjacent sides, and each workpiece 200 is provided with movable positioning members 322 on the other two adjacent sides. The movable positioning members 322 on the same straight side of the two workpieces 200 can be connected to one positioning driving member 321, so as to reduce the manufacturing cost. The positioning driving member 321 can drive the two movable positioning members 322 to move towards the two workpieces 200, and then position the workpieces 200.
[0044] In some embodiments, referring to Figure 1 and Figure 5 , the material moving mechanism 40 comprises a material moving driver 41 and a material moving gripper 42 connected to the material moving driver 41, the material moving gripper 42 comprises a floating member 421 connected to the material moving driver 41, a material moving plate 422 connected to the floating member 421, a clamping driver 423 connected to the material moving plate 422, and a plurality of clamping members 424 connected to the clamping driver 423, the plurality of clamping members 424 correspond to two sides of the workpiece 200 respectively, and the clamping driver 423 is used to drive the plurality of clamping members 424 to move closer to or away from each other to clamp or release the workpiece 200.
[0045] The material moving driver 41 can be a mechanical arm or other driving device, the floating member 421 can be a floating cylinder or the like, the material moving plate 422 can be a hollow plate structure, the clamping driver 423 can be a double-headed cylinder or other driving device, the clamping driver 423 is connected to the side of the material moving plate 422 away from the side used to abut the workpiece 200, and the clamping member 424 can be a block structure, the number of clamping members 424 can be two, four, etc., and the plurality of clamping members 424 correspond to the side of the material moving plate 422 used to abut the workpiece 200. When the material moving mechanism 40 grabs the workpiece 200 on the support frame 31, the material moving driver 41 drives the material moving gripper 42 to move to the position of the support frame 31 and abuts the workpiece 200, in this process, no gas is introduced into the floating member 421, the floating member 421 can float, so that the material moving plate 422 can float, when the material moving plate 422 abuts the workpiece 200, gas is introduced into the floating member 421, so that the floating member 421 is fixed, and the material moving plate 422 no longer floats. The floating member 421 can compensate for the slight positional deviation that may occur during the material moving process to a certain extent, so as to ensure that the material moving plate 422 can approach and grab the workpiece 200 in a suitable posture. Then the clamping driver 423 drives the plurality of clamping members 424 to move closer to each other to clamp the workpiece 200, and the material moving driver 41 drives the material moving gripper 42 to move the workpiece 200 to the material receiving mechanism 50 for unloading.
[0046] In some embodiments, referring to Figure 1 and Figure 5The material moving hand 42 further comprises a plurality of positioning pins 425, each of which is arranged on the material moving plate 422 and used to abut against one side of the workpiece 200. The support frame 31 is provided with a plurality of positioning holes 311 corresponding to the plurality of positioning pins 425, and the plurality of positioning pins 425 are used to be inserted into the corresponding positioning holes 311 to position the material moving hand 42. The number of the positioning pins 425 can be four, six, eight, etc., and the plurality of positioning pins 425 are arranged around the material moving plate 422 and used to abut against the position of the workpiece 200. The number and position of the positioning holes 311 are consistent with those of the positioning pins 425, and the positioning holes 311 can be correspondingly provided with four, six, eight, etc. In order to improve the accuracy of the positioning holes 311 and avoid wear of the positioning holes 311 after multiple positioning, causing insufficient accuracy, each positioning hole 311 can be arranged in a wear-resistant metal sleeve connected to the support frame 31. Through cooperation of the positioning pins 425 and the positioning holes 311, when the material moving hand 42 is close to the support frame 31 to grab the workpiece 200, the positioning pins 425 are inserted into the corresponding positioning holes 311, which can improve the positioning accuracy of the material moving hand 42 and ensure that the position of the material moving hand 42 is accurate every time the material is taken, so that the material clamping part 424 can accurately align with the workpiece 200, effectively avoiding the situation that the material is not clamped tightly or clamped and taken unsuccessfully due to deviation of the position of the material moving hand 42.
[0047] In some embodiments, referring to Figure 1 and Figure 5 The material moving hand 42 further comprises a plurality of pushing parts 426, each of which is elastically connected to the material moving plate 422 and opposite to the workpiece 200, and the plurality of pushing parts 426 are used to push the workpiece 200 away from the material moving plate 422 when the material clamping driving part 423 drives the material clamping part 424 to release the workpiece 200. The pushing part 426 can be a columnar structure, and the number of the pushing part 426 can be two, four, six, etc. The pushing part 426 and the material moving plate 422 can be connected by a spring or other elastic part. When the material moving hand 42 grabs the workpiece 200, the pushing part 426 is pushed back into the material moving plate 422 by the workpiece 200. When the material moving hand 42 releases the workpiece 200, i.e., when the material clamping driving part 423 drives the material clamping part 424 to release the workpiece 200, the pushing part 426 pushes the workpiece 200 away from the material moving plate 422, facilitating separation of the workpiece 200 from the material moving hand 42. By arranging a plurality of pushing parts 426, the problem that the workpiece 200 may be difficult to smoothly separate from the material moving plate 422 due to adsorption, static electricity or slight friction force is effectively solved. In the production process, the workpiece 200 can quickly leave the material moving plate 422, ensuring efficient completion of the material moving operation and avoiding delay of the production process due to the workpiece 200 failing to timely separate, thereby improving work efficiency.
[0048] In some embodiments, referring to Figure 1 and Figure 6The clip 300 comprises a cartridge 301 and a base 302, the cartridge 301 is provided with a material containing hole 3011 extending along the vertical direction and penetrating through the cartridge 301, the material containing hole 3011 is used for containing the workpiece 200, and the base 302 is arranged at the bottom of the cartridge 301 and is provided with a plurality of third through holes 3021 which are in communication with the material containing hole 3011. The base 302 can be a plate structure, and the third through holes 3021 can be provided with two, three, four or the like. When the cartridge 301 is full of the workpieces 200, the base 302 supports the workpieces 200.
[0049] The support assembly 51 comprises a rack 511, a rotating driving member 512 connected to the rack 511 and a support plate 513 connected to the rotating driving member 512, the support plate 513 is used for supporting the clip 300 and is provided with a plurality of fourth through holes 5131 which are in communication with the third through holes 3021. The material receiving assembly 52 comprises a lifting driving member 521 connected to the rack 511 and a plurality of material receiving rods 522; wherein the rotating driving member 512 is used for driving the support plate 513 to rotate in the horizontal plane so that the plurality of third through holes 3021 of the clip 300 correspond to the plurality of material receiving rods 522 one by one, and the lifting driving member 521 is used for driving the material receiving rods 522 to pass through the corresponding third through holes 3021 and extend into the material containing hole 3011 to support the workpiece 200.
[0050] The rotating driving member 512 can be a rotating cylinder or the like driving device, the number of the fourth through holes 5131 on the support plate 513 can be four, eight or the like, the lifting driving member 521 can be a linear module or the like driving device, and the number and position of the material receiving rods 522 correspond to the third through holes 3021 one by one, which can be two, three, four or the like.
[0051] In the embodiment, the support plate 513 supports four cartridges 300 simultaneously, the receiving assembly 52 is provided in two groups and is connected to the rack 511 close to the material moving driving member 41. When the cartridges 300 are filled with the workpieces 200, the rotating driving member 512 drives two cartridges 300 to rotate to the position close to the material moving driving member 41 through the support plate 513 and correspond to the two groups of receiving assemblies 52, and then the lifting driving member 521 drives the receiving rod 522 to pass through the corresponding fourth through hole 5131 and the third through hole 3021 and then insert into the material containing hole 3011. Then the material moving mechanism 40 places the workpieces 200 into the material containing hole 3011 of the cartridge 301, when the first workpiece 200 is placed, the receiving rod 522 supports the workpiece 200, when the second workpiece 200 is placed, the lifting driving member 521 drives the receiving rod 522 to descend by the thickness of a workpiece 200 to make room for the second workpiece 200, so that the second workpiece 200 can be placed in the material containing hole 3011, and the same is repeated until the material containing hole 3011 is filled with the workpieces 200. When the material containing hole is filled with the workpieces 200, the lowermost workpiece 200 abuts against the base 302, that is, the base 302 supports all the workpieces 200, then the lifting driving member 521 drives the receiving rod 522 to move downward to below the support plate 513, the rotating driving member 512 drives the support plate 513 to rotate, and then moves the other two empty cartridges 300 to correspond to the two groups of receiving assemblies 52, and the above filling steps are repeated. At this time, the two cartridges 300 filled with the workpieces 200 are moved to the side away from the material moving mechanism 40, and the operator can replace the two cartridges 300 filled with the workpieces 200.
[0052] In some embodiments, referring to Figure 1 and Figure 6 , the receiving mechanism 50 further comprises a pressing assembly 53, the pressing assembly 53 comprises a pressing driving member 531 connected to the support plate 513 and a pressing piece 532 connected to the pressing driving member 531, the pressing piece 532 corresponds to the base 302, and the pressing driving member 531 is used to drive the pressing piece 532 to press the base 302 to the support plate 513. The pressing driving member 531 can be a driving device such as a pneumatic cylinder, and the pressing piece 532 can be a block structure. When the cartridge 300 is installed on the support plate 513, the pressing driving member 531 drives the pressing piece 532 to press the base 302, thereby improving the stability of the cartridge 300 during rotation and filling of the workpieces 200.
[0053] In some embodiments, referring to Figure 1 and Figure 6The receiving mechanism 50 further comprises a fixing assembly 54, which comprises a fixing driving member 541 connected to the frame 511 and a fixing plate 542 connected to the fixing driving member 541. The fixing plate 542 is arranged above the receiving assembly 52 and is provided with a fifth through hole 5421 corresponding to the receiving hole 3011. The fixing driving member 541 is configured to drive the fixing plate 542 to move towards the clip 300, so as to fix the clip 300 in cooperation with the supporting plate 513.
[0054] The fixing driving member 541 can be a driving member such as a pneumatic cylinder. In the embodiment, two fixing driving members 541 can be arranged to synchronously drive the fixing plate 542 to move. The fifth through hole 5421 on the fixing plate 542 can also be provided with two through holes. Before the rotating driving member 512 drives the supporting plate 513 to rotate the clip 300, the fixing driving member 541 drives the fixing plate 542 to move upwards away from the supporting plate 513. After the rotating driving member 512 drives the supporting plate 513 to rotate the clip 300, the fixing driving member 541 drives the fixing plate 542 to move towards the clip 300, thereby pressing the clip 300, so as to improve the stability of the clip 300. In order to further improve the stability of the fixing plate 542 when fixing the clip 300, a plurality of positioning grooves 3012 can be arranged on the top of the cartridge 301, and a plurality of positioning blocks 5422 can be arranged around the fifth through hole 5421 on the fixing plate 542. The plurality of positioning blocks 5422 and the plurality of positioning grooves 3012 are arranged one by one in correspondence. When the fixing plate 542 presses the clip 300, the plurality of positioning blocks 5422 are clamped in the corresponding positioning grooves 3012.
[0055] The working process of the clamping device 100 provided by the embodiment is as follows:
[0056] Firstly, the taking driving member 11 of the taking mechanism 10 drives the taking gripper 12 to move. After the taking gripper 12 abuts against the workpiece 200, the suction nozzle 124 adsorbs the workpiece 200. Then, the turning driving member 121 drives the taking plate 122 to rotate the workpiece 200 by 90°. The taking driving member 11 drives the taking gripper 12 to move the workpiece 200 to the turnover mechanism 20 and places the workpiece 200 on the turnover plate 213. The clamping driving member 221 drives the clamping member 222 to clamp the workpiece 200. The taking driving member 11 drives the taking gripper 12 to move away.
[0057] Then, the turnover driving member 211 drives the turnover plate 213 and the workpiece 200 to turn over by 180° through the connecting rod 212 and places the workpiece 200 on the supporting frame 31. The clamping driving member 221 drives the clamping member 222 to release the workpiece 200. The turnover driving member 211 drives the turnover plate 213 to turn over in the reverse direction by 180° through the connecting rod 212, so that the turnover plate 213 moves away from the supporting frame 31 and is ready for the next receiving operation.
[0058] Then, the two positioning driving members 321 of the positioning assembly 32 of the positioning and identifying mechanism 30 respectively drive the two movable positioning members 322 to push the workpiece 200 to the corresponding fixed positioning members 323, so as to precisely position the workpiece 200, and meanwhile the sensor 33 identifies the workpiece 200.
[0059] Subsequently, the material moving driving member 41 of the material moving mechanism 40 drives the material moving gripper 42 to move, the material clamping driving member 423 of the material moving gripper 42 drives the plurality of material clamping members 424 to move close to each other to clamp the workpiece 200 on the support frame 31, and the positioning assembly 32 synchronously releases the workpiece 200. The positioning pin 425 on the material moving gripper 42 is matched with the positioning hole 311 on the support frame 31, so as to ensure that the material moving gripper 42 is accurately positioned. Then the material moving driving member 41 drives the material moving gripper 42 to move the workpiece 200 to the material collecting mechanism 50, so as to prepare to load the workpiece 200.
[0060] When loading the workpiece 200, the lifting driving member 521 drives the material receiving rod 522 to pass through the corresponding fourth through hole 5131 and the third through hole 3021, and then to be inserted into the material containing hole 3011. Then the material moving mechanism 40 places the workpiece 200 into the material containing hole 3011 of the cartridge 301. When the material clamping members 424 release the workpiece 200, the material pushing member 426 pushes the workpiece 200 away from the material moving plate 422, so that the workpiece 200 falls into the material containing hole 3011 and abuts against the material receiving rod 522. When placing the first workpiece 200, the material receiving rod 522 supports the workpiece 200. When placing the second workpiece 200, the lifting driving member 521 drives the material receiving rod 522 to descend by the thickness of one workpiece 200, so as to make room for the second workpiece 200, so that the second workpiece 200 can be placed into the material containing hole 3011. In this way, the material containing hole 3011 is filled with the workpieces 200.
[0061] When the cartridge 300 is filled with the workpieces 200, the fixing driving member 541 drives the fixing plate 542 to move upward, so that the fixing plate 542 is separated from the cartridge 300. The lifting driving member 521 drives the material receiving rod 522 to move downward to below the support plate 513. The rotating driving member 512 drives the support plate 513 to rotate, so as to move the empty cartridge 300 to correspond to the material receiving assembly 52. The fixing driving member 541 drives the fixing plate 542 to move toward the cartridge 300, so as to press and hold the empty cartridge 300, and then the workpieces 200 are continuously loaded. At this time, the workers can replace the two cartridges 300 filled with the workpieces 200.
[0062] It is apparent that the present application is not limited to the details of the foregoing exemplary embodiments, and thus modifications and equivalent arrangements can be made to the application without departing from the spirit or scope of the application. Therefore, the scope of the application should be defined by the appended claims rather than by the foregoing description, and all changes that come within the meaning and range of equivalents are intended to be embraced therein.
[0063] Finally, it should be noted that the above embodiments are merely used to illustrate the technical solutions of the present application, rather than limit the present application. Although the present application is described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the present application.
Claims
1. A clamping device for loading workpieces into a magazine, characterized in that, It comprises: a material taking mechanism for grabbing the workpiece; a turnover mechanism arranged adjacent to the material taking mechanism for receiving the workpiece grabbed by the material taking mechanism and turning over the workpiece; a positioning and identifying mechanism comprising a support frame, a positioning assembly and a sensor, the support frame being arranged adjacent to the turnover mechanism for bearing the workpiece turned over by the turnover mechanism, the positioning assembly being connected to the support frame and used for positioning the workpiece, and the sensor being connected to the support frame and used for identifying the workpiece; a material moving mechanism arranged adjacent to the positioning and identifying mechanism for grabbing the workpiece on the support frame; and a material collecting mechanism comprising a support assembly arranged adjacent to the material moving mechanism and a material receiving assembly connected to the support assembly, the support assembly being used for supporting the magazine, the material receiving assembly being arranged at the lower side of the magazine, the material receiving assembly being movable inserted into the magazine to support the workpiece placed in the magazine by the material moving mechanism and used for moving the workpiece up and down.
2. The clamping device according to claim 1, wherein the material taking mechanism comprises a material taking drive and a material taking gripper connected to the material taking drive, the material taking gripper comprises a turning drive, a material taking plate, a plurality of adjusting plates and a plurality of suction nozzles, the turning drive is fixedly connected with the material taking drive, the material taking plate is connected with the turning drive, the material taking plate is provided with a plurality of first through holes, the plurality of adjusting plates are adjustably connected with the material taking plate and are arranged one by one corresponding to the plurality of first through holes, each of the adjusting plates is provided with a second through hole in communication with the corresponding first through hole, and the plurality of suction nozzles are connected with the plurality of adjusting plates one by one, and each of the suction nozzles passes through the corresponding second through hole and the first through hole.
3. The clamping device according to claim 1, wherein the turnover mechanism comprises a turnover assembly and a clamping assembly, the turnover assembly comprises a turnover drive arranged adjacent to the material taking mechanism, a connecting rod connected to the turnover drive and a turnover plate connected to one end of the connecting rod away from the turnover drive, and the clamping assembly comprises a clamping drive connected to the turnover plate and a plurality of clamping members connected to the clamping drive, the turnover plate is used for bearing the workpiece, the clamping drive is used for driving the plurality of clamping members to clamp the workpiece, and the turnover drive is used for driving the turnover plate and the workpiece to turn over through the connecting rod.
4. The clamping device according to claim 1, wherein the positioning assembly comprises two positioning drives, two movable positioning members and a plurality of fixed positioning members, the two positioning drives are connected to the support frame, the two movable positioning members are respectively connected to the two positioning drives, and the two movable positioning members respectively correspond to two adjacent sides of the workpiece, the plurality of fixed positioning members respectively correspond to the other two adjacent sides of the workpiece, and the two positioning drives are respectively used for driving the two movable positioning members to push the workpiece to the corresponding fixed positioning members and for positioning the workpiece. 5. The clamping device of claim 1, wherein the material moving mechanism comprises a material moving drive and a material moving gripper connected to the material moving drive, the material moving gripper comprising a floating member connected to the material moving drive, a material moving plate connected to the floating member, a material clamping drive connected to the material moving plate, and a plurality of material clamping members connected to the material clamping drive, the plurality of material clamping members corresponding to two sides of the workpiece respectively, the material clamping drive being configured to drive the plurality of material clamping members to move towards or away from each other to clamp or release the workpiece.
6. The clamping device of claim 5, wherein the material moving gripper further comprises a plurality of positioning pins, the plurality of positioning pins being arranged on the material moving plate and configured to abut one side of the workpiece.
7. The clamping device of claim 5, wherein the material moving gripper further comprises a plurality of material pushing members, the plurality of material pushing members being elastically connected to the material moving plate and configured to abut the workpiece, the plurality of material pushing members being configured to push the workpiece away from the material moving plate when the material clamping drive drives the material clamping members to release the workpiece.
8. The clamping device of claim 1, wherein the material clamping mechanism comprises a material clamping magazine and a base, the material clamping magazine being provided with a material accommodating hole extending in a vertical direction and penetrating through the material clamping magazine, the material accommodating hole being configured to accommodate the workpiece, the base being arranged at the bottom of the material clamping magazine and provided with a plurality of third through holes communicating with the material accommodating hole.
9. The clamping device of claim 8, wherein the material collecting mechanism further comprises a pressing assembly, the pressing assembly comprising a pressing drive connected to the support plate and a pressing member connected to the pressing drive, the pressing member corresponding to the base, the pressing drive being configured to drive the pressing member to press the base to the support plate.
10. The clamping device of claim 8 or 9, wherein the material collecting mechanism further comprises a fixing assembly, the fixing assembly comprising a fixing drive connected to the machine frame and a fixing plate connected to the fixing drive, the fixing plate being arranged above the material collecting assembly and provided with a fifth through hole corresponding to the material accommodating hole, the fixing drive being configured to drive the fixing plate to move towards the material clamping magazine to fix the material clamping magazine together with the support plate.