Clamp and robot suitable for handling of sheet workpieces

Abstract

The utility model discloses a clamp and robot suitable for plate workpiece carries, the utility model discloses a fixed plate, the fixed plate both ends fixedly connected with guide rod, a plurality of guide rod bottom end is connected with same mounting panel, the mounting panel outer wall slidingly connected with a plurality of connecting rods, and the bottom of connecting rod is fixed with the electromagnetic chuck for plate workpiece adsorption fixed, the mounting panel top outer wall is fixed with a plurality of guide cylinder, and the inner wall slidingly fits with the sliding rod, and the bottom of sliding rod is fixed with pressure sensor, and the detection end of pressure sensor is provided with rubber pad, and the mounting panel top outer wall is installed with rubber pad, the utility model discloses setting up mounting panel, connecting rod, guide cylinder, sliding rod, pressure sensor and rubber pad, can make a plurality of electromagnetic chuck adjust position according to the shape of plate workpiece outer wall, make a plurality of electromagnetic chuck can with plate workpiece magnetic suction adsorption, guarantee the adsorption contact surface of plate workpiece.

Description

Technical Field

[0001] This utility model relates to the field of material handling fixtures, and in particular to fixtures and robots suitable for handling plate workpieces. Background Technology

[0002] During the processing of sheet metal workpieces, it is necessary to handle and move the sheet metal workpieces. With the continuous development and progress of technology, the level of automation in the construction machinery industry is also constantly improving. Factories are using more and more robots to replace manual labor for tasks such as handling.

[0003] A search revealed Chinese Patent Publication No. CN215618164U, which discloses a robotic gripper and robot for handling steel plate workpieces. The robotic gripper includes a connector and a retractable adsorption section. The retractable adsorption section comprises a gripper fixing plate, an object adsorption assembly, and a telescopic structure connecting the gripper fixing plate and the object adsorption assembly. The connector connects the gripper fixing plate to the robot controlling the gripper. The object adsorption assembly adsorbs the target steel plate in a first working state and releases the target steel plate in a second working state. The retraction distance of the telescopic structure in the first working state matches the thickness of the target steel plate.

[0004] This patented technology can adapt to different loading heights through its telescopic structure, and has high tolerance, stability and reliability when clamping target steel plates. However, the outer wall of the plate workpiece may not be a flat curved surface during or after processing. There may be flat or curved surfaces at different heights. In this case, the contact area between the telescopic adsorption part and the plate workpiece becomes smaller, the adsorption capacity decreases, and the adsorption stability decreases. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a fixture and robot suitable for handling plate workpieces.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A fixture for handling plate workpieces includes a fixed plate with guide rods fixedly connected to both ends. Multiple guide rods are connected to the same mounting plate at their bottom ends. Multiple connecting rods are slidably connected to the outer wall of the mounting plate. Electromagnetic chucks for adsorbing and fixing the plate workpieces are fixed to the bottom ends of the connecting rods. Multiple guide cylinders are fixed to the top outer wall of the mounting plate. Sliding rods are slidably fitted to the inner walls of the guide cylinders. Pressure sensors are fixed to the bottom ends of the sliding rods. A rubber pad is provided at the detection end of the pressure sensor, and the bottom outer wall of the rubber pad is on the same plane as the bottom outer wall of the electromagnetic chuck. A rubber pad is installed on the top outer wall of the fixed plate, and the telescopic end of the rubber pad is fixedly connected to the mounting plate.

[0008] As a further improvement of this utility model: a tension spring is sleeved on the outer wall of the connecting rod, and the two ends of the tension spring are respectively connected to the connecting rod and the mounting plate.

[0009] As a further improvement of this utility model: one end of the sliding rod is fixed with a telescopic spring, and the other end of the telescopic spring is connected to the inner wall of one end of the guide cylinder.

[0010] As a further embodiment of this utility model: two parallel guide frames are fixed to the top outer wall of the fixed plate, and movable plates are slidably connected to the inner walls of both ends of the guide frames, with the two movable plates being parallel to each other.

[0011] As a further embodiment of this utility model: racks are fixed on the outer walls of the two moving plates on opposite sides, and transmission gears are rotatably connected to the inner wall of the guide frame, with the transmission gears meshing with the two racks on both sides.

[0012] As a further embodiment of this utility model: a support plate is fixedly connected to the end of the movable plate away from the guide frame. The support plate is L-shaped, and two telescopic rods are fixedly installed on the top outer wall of the fixed plate.

[0013] As a further improvement of this utility model: the two telescopic rods are respectively located on the side walls of the two guide frames, and the telescopic ends of the telescopic rods are connected to the movable plate at one end of the guide frame.

[0014] A robot equipped with a gripper for handling plate workpieces includes a robot body and a robotic arm, wherein the gripper for handling plate workpieces is connected to the robotic arm via a connecting frame.

[0015] Compared with the prior art, this utility model provides a fixture and robot suitable for handling plate workpieces, which has the following beneficial effects:

[0016] 1. This utility model, by providing an mounting plate, connecting rod, guide cylinder, sliding rod, pressure sensor and rubber pad, allows multiple electromagnetic chucks to adjust their positions according to the shape of the outer wall of the workpiece, so that all the electromagnetic chucks can magnetically attract and adsorb onto the workpiece, ensuring the adsorption contact surface of the workpiece.

[0017] 2. This utility model, by providing a movable plate, a support plate, and a telescopic rod, can clamp the side wall of the plate workpiece. At the same time, since the plate workpiece is L-shaped, if the electromagnetic chuck accidentally comes into contact with the plate workpiece through magnetic attraction, the support plate can support the plate workpiece from below to prevent the plate workpiece from falling.

[0018] 3. This utility model, by providing a guide frame, rack and pinion, and transmission gear, can drive two support plates to move synchronously in opposite directions through a telescopic rod, reducing the need for a power source and improving the linkage of the device.

[0019] The parts of this device not covered herein are the same as or can be implemented using existing technologies. This utility model has a simple structure and is easy to operate. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the clamp for handling plate workpieces proposed in this utility model;

[0021] Figure 2 This is a side view of the fixture for handling plate workpieces proposed in this utility model.

[0022] Figure 3 This is a partial structural diagram of the fixture for handling plate workpieces proposed in this utility model;

[0023] Figure 4 This is a schematic diagram of the internal structure of the clamp guide frame for handling plate workpieces proposed in this utility model.

[0024] In the diagram: 1. Fixed plate; 2. Connecting frame; 3. Guide rod; 4. Mounting plate; 5. Electromagnetic chuck; 6. Connecting rod; 7. Tension spring; 8. Guide cylinder; 9. Sliding rod; 10. Pressure sensor; 11. Telescopic spring; 12. Rubber pad; 13. Guide frame; 14. Moving plate; 15. Support plate; 16. Rack; 17. Transmission gear; 18. Telescopic rod. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0026] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0027] Example 1

[0028] Fixtures suitable for handling plate workpieces, such as Figures 1 to 3As shown, the system includes a fixed plate 1. A connecting frame 2 is fixed to the top outer wall of the fixed plate 1. Guide rods 3 are fixedly connected to both ends of the fixed plate 1. The bottom ends of multiple guide rods 3 are connected to the same mounting plate 4. Multiple connecting rods 6 are slidably connected to the outer wall of the mounting plate 4. An electromagnetic chuck 5 for adsorbing and fixing the workpiece is fixed to the bottom end of the connecting rod 6. A tension spring 7 is sleeved on the outer wall of the connecting rod 6. The two ends of the tension spring 7 are respectively connected to the connecting rod 6 and the mounting plate 4. Multiple guide cylinders 8 are fixed to the top outer wall of the mounting plate 4. A sliding rod 9 is slidably fitted on the inner wall of the guide cylinder 8. A pressure sensor 10 is fixed to the bottom end of the sliding rod 9. A rubber pad 12 is provided at the detection end of the pressure sensor 10, and the bottom outer wall of the rubber pad 12 is on the same plane as the bottom outer wall of the electromagnetic chuck 5. A telescopic spring 11 is fixed to one end of the sliding rod 9, and the other end of the telescopic spring 11 is connected to the inner wall of one end of the guide cylinder 8. A rubber pad 12 is installed on the top outer wall of the fixed plate 1, and the telescopic end of the rubber pad 12 is fixedly connected to the mounting plate 4.

[0029] During transport, the mounting plate 4 moves above the workpiece to be transported, and the entire fixture moves downward, causing the electromagnetic chuck 5 and rubber pad 12 to contact the outer wall of the workpiece. If the outer wall of the workpiece has a plane or curved surface at different heights, some pressure sensors 10 will detect pressure first, indicating that some electromagnetic chucks 5 have contacted the workpiece. At this time, the fixture continues to move downward, and the rubber pad 12 and electromagnetic chuck 5 that have contacted the workpiece will push the sliding rod 9 and connecting rod 6 to move respectively. The telescopic spring 11 is compressed and deformed, and the tension spring 7 is stretched and deformed. The remaining electromagnetic chucks 5 and rubber pads 12 continue to move downward with the mounting plate 4 until all pressure sensors 10 detect pressure. At this time, it indicates that multiple electromagnetic chucks 5 are in contact with the workpiece, and the electromagnetic chucks 5 magnetically attract and adsorb the workpiece.

[0030] By incorporating a mounting plate 4, a connecting rod 6, a guide cylinder 8, a sliding rod 9, a pressure sensor 10, and a rubber pad 12, multiple electromagnetic chucks 5 can be positioned according to the shape of the outer wall of the workpiece, ensuring that all electromagnetic chucks 5 can magnetically attract and adhere to the workpiece, thus guaranteeing the adsorption contact surface of the workpiece.

[0031] Example 2

[0032] This embodiment of the fixture is suitable for handling plate workpieces. Based on embodiment 1, the following improvements are made: Figure 1 , Figure 4As shown, two parallel guide frames 13 are fixed to the top outer wall of the fixed plate 1. Moving plates 14 are slidably connected to the inner walls of both ends of the guide frames 13. The two moving plates 14 are parallel to each other. A rack 16 is fixed to the outer wall of the opposite side of the two moving plates 14. A transmission gear 17 is rotatably connected to the inner wall of the guide frame 13. The transmission gear 17 meshes with the two racks 16 on both sides. A support plate 15 is fixedly connected to the end of the moving plate 14 away from the guide frame 13. The support plate 15 is L-shaped. Two telescopic rods 18 are fixedly installed on the top outer wall of the fixed plate 1. The two telescopic rods 18 are located on the side walls of the two guide frames 13 respectively. The telescopic ends of the telescopic rods 18 are connected to the moving plate 14 at one end of the guide frame 13.

[0033] When the electromagnetic chuck 5 magnetically attracts the workpiece, the workpiece moves upward with the fixture. At this time, the telescopic rod 18 pulls a support plate 15 to move closer to the guide frame 13. The moving plate 14 drives the rack 16 to move, driving the transmission gear 17 to rotate, causing another rack 16 to drive another moving plate 14 to move in the opposite direction synchronously, causing another support plate 15 to move closer to the guide frame 13 synchronously, so that the support plate 15 clamps the side wall of the workpiece. At the same time, since the workpiece is L-shaped, if the electromagnetic chuck 5 accidentally contacts the workpiece, the support plate 15 can support the workpiece from below to prevent the workpiece from falling.

[0034] The movable plate 14, the support plate 15, and the telescopic rod 18 are provided to clamp the side wall of the workpiece. Since the workpiece is L-shaped, if the electromagnetic chuck 5 accidentally comes into contact with the workpiece through magnetic attraction, the support plate 15 can support the workpiece from below to prevent it from falling.

[0035] By incorporating a guide frame 13, a rack 16, and a transmission gear 17, two support plates 15 can be moved synchronously in opposite directions via a telescopic rod 18, reducing the need for a power source and improving the linkage of the device.

[0036] Example 3

[0037] The robot is equipped with a fixture for handling plate workpieces as described in the above embodiments, including a robot body and a robotic arm. The fixture for handling plate workpieces is connected to the robotic arm via a connecting frame 2. Both the robot body and the robotic arm are existing mature technologies. This embodiment has the fixture for handling plate workpieces as described in the above embodiments. Therefore, it has all the beneficial effects of the fixture for handling plate workpieces as described in any of the above embodiments, which will not be elaborated here.

[0038] Working principle: During transport, the mounting plate 4 moves above the workpiece to be transported, and the entire clamp moves downward, causing the electromagnetic chuck 5 and rubber pad 12 to contact the outer wall of the workpiece. If the outer wall of the workpiece has planes or curved surfaces at different heights, some pressure sensors 10 will detect pressure first, indicating that some electromagnetic chucks 5 have contacted the workpiece. At this time, the clamp continues to move downward, and the rubber pads 12 and electromagnetic chucks 5 that have contacted the workpiece push the sliding rod 9 and connecting rod 6 to move respectively. The telescopic spring 11 is compressed and deformed, and the tension spring 7 is stretched and deformed. The remaining electromagnetic chucks 5 and rubber pads 12 continue to move downward with the mounting plate 4 until all pressure sensors 10 detect pressure. At this point, it indicates that multiple electromagnetic chucks 5 are in contact with the workpiece, and the electromagnetic chucks 5 magnetically attract the workpiece. The workpiece moves upward with the fixture. At this time, the telescopic rod 18 pulls a support plate 15 to move closer to the guide frame 13. The moving plate 14 drives the rack 16 to move, driving the transmission gear 17 to rotate, causing another rack 16 to drive another moving plate 14 to move in the opposite direction synchronously, causing another support plate 15 to move closer to the guide frame 13 synchronously, so that the support plate 15 clamps the side wall of the workpiece. At the same time, since the workpiece is L-shaped, if the electromagnetic chucks 5 accidentally make contact with the workpiece, the support plate 15 can support the workpiece from below to prevent the workpiece from falling.

[0039] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A fixture suitable for handling plate workpieces, comprising a fixed plate (1), characterized in that, The fixed plate (1) is fixedly connected to guide rods (3) at both ends. The bottom ends of multiple guide rods (3) are connected to the same mounting plate (4). Multiple connecting rods (6) are slidably connected to the outer wall of the mounting plate (4). An electromagnetic chuck (5) for adsorbing and fixing the workpiece is fixed at the bottom end of the connecting rod (6). Multiple guide cylinders (8) are fixed to the top outer wall of the mounting plate (4). A sliding rod (9) is slidably fitted to the inner wall of the guide cylinder (8). A pressure sensor (10) is fixed to the bottom end of the sliding rod (9). A rubber pad (12) is provided at the detection end of the pressure sensor (10). The bottom outer wall of the rubber pad (12) is on the same plane as the bottom outer wall of the electromagnetic chuck (5). A rubber pad (12) is installed on the top outer wall of the fixed plate (1). The telescopic end of the rubber pad (12) is fixedly connected to the mounting plate (4).

2. The fixture for handling plate workpieces according to claim 1, characterized in that, The outer wall of the connecting rod (6) is fitted with a tension spring (7), and the two ends of the tension spring (7) are connected to the connecting rod (6) and the mounting plate (4) respectively.

3. The fixture for handling plate workpieces according to claim 1, characterized in that, One end of the sliding rod (9) is fixed with a telescopic spring (11), and the other end of the telescopic spring (11) is connected to the inner wall of one end of the guide cylinder (8).

4. The fixture for handling plate workpieces according to claim 1, characterized in that, The top outer wall of the fixed plate (1) is fixed with two parallel guide frames (13), and the inner walls at both ends of the guide frames (13) are slidably connected with movable plates (14), and the two movable plates (14) are parallel to each other.

5. The fixture for handling plate workpieces according to claim 4, characterized in that, The two movable plates (14) are each fixed with a rack (16) on the outer wall of opposite sides. The inner wall of the guide frame (13) is rotatably connected with a transmission gear (17). The transmission gear (17) meshes with the two racks (16) on both sides.

6. The fixture for handling plate workpieces according to claim 5, characterized in that, The movable plate (14) is fixedly connected to a support plate (15) at the end away from the guide frame (13). The support plate (15) is L-shaped, and two telescopic rods (18) are fixedly installed on the top outer wall of the fixed plate (1).

7. The fixture for handling plate workpieces according to claim 6, characterized in that, The two telescopic rods (18) are located on the side walls of the two guide frames (13) respectively, and the telescopic end of the telescopic rod (18) is connected to the movable plate (14) at one end of the guide frame (13).

8. A robot equipped with a gripper suitable for handling plate workpieces as described in any one of claims 1 to 7, characterized in that, It includes a robot body and a robotic arm, and the fixture suitable for handling plate workpieces is connected to the robotic arm via a connecting frame (2).

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