Robot flip transfer fixture

Abstract

The utility model provides a kind of robot overturns and moves and carries clamp, it is related to mechanical equipment technical field, including clamp body, the adsorption surface of clamp body is equipped with multiple vacuum chuck, the mounting surface of clamp body is fixedly connected with robot mechanical arm;The mounting surface of clamp body is also equipped with multiple slidable lock catch plate and the vacuum generator being communicated with each vacuum chuck.Achieved effect is by fixing connection of clamp body and robot mechanical arm, traditional manual operation is completely replaced, production efficiency is greatly improved and artificial cost and strength are reduced;Vacuum adsorption and mechanical lock catch double insurance mechanism simultaneously, even when vacuum unexpected failure, product slip or drop can be prevented by mechanical interference, fundamentally solve the security risk of pure adsorption fixture, it is especially suitable for the safety overturning of large equipment.

Description

Technical Field

[0001] This utility model relates to the field of mechanical equipment technology, and in particular to a robot flipping and transferring load fixture. Background Technology

[0002] In the manufacturing of large-format LCD TVs, especially for ultra-large sizes such as 98-inch and 115-inch, the safe and efficient transfer of the TV module (LCM) from the previous process to the assembly line and the necessary 180-degree flip (screen-down) is a critical and challenging process. Currently, the industry's commonly used solutions are inefficient and rely heavily on manual labor. The most traditional method is purely manual handling, requiring multiple operators to work together, moving the heavy and fragile modules by hand or with simple tools. This method is not only extremely labor-intensive and poses significant personal safety hazards, but its slow operation speed and reliance on individual experience severely restrict the overall production cycle, becoming a bottleneck for improving production efficiency. Furthermore, the positioning accuracy of manual handling is difficult to guarantee, and uneven force during operation can easily cause subtle, imperceptible damage to the screen, such as micro-cracks or frame damage, potentially affecting the quality of the final product.

[0003] To partially alleviate the burden on manpower, the industry has also tried to introduce manually operated suction fixtures, such as balancers with vacuum suction cups. While these tools help operators bear most of the module's weight, there is still a significant risk of slippage or even detachment during movement and flipping, making safety insufficient.

[0004] In summary, both existing methods, whether purely manual handling or existing adsorption fixtures, suffer from a series of inherent and interconnected drawbacks, such as high labor costs, limited production efficiency, and a significant risk of clamping and detachment. Utility Model Content

[0005] To address the problems existing in the prior art, this utility model provides a robot flipping and transferring fixture, comprising: The fixture body has multiple vacuum suction cups on its adsorption surface, and its mounting surface is fixedly connected to the robot arm. The mounting surface of the clamp body is also provided with multiple sliding locking plates and a vacuum generator connected to each of the vacuum suction cups.

[0006] Preferably, it also includes a vision camera, which is fixed to the mounting surface of the clamp body by a camera bracket.

[0007] Preferably, the mounting surface of the fixture body is also equipped with a plurality of slide cylinders, and each slide cylinder is fixed with a locking plate.

[0008] Preferably, the slide cylinder includes at least four cylinders, which are respectively disposed at the four corners of the fixture body and slide in the same direction.

[0009] Preferably, one side of the locking plate has a fixing hole for fixed connection with the slide table, and the other side of the locking plate extends toward the adsorption surface and has a bending portion.

[0010] Preferably, the bending direction of the bent portion is towards the clamp body.

[0011] Preferably, it also includes a solenoid valve, which is electrically connected to the vacuum generator.

[0012] Preferably, the mounting surface of the fixture body is provided with a mounting flange, the mounting flange is fixedly connected to the robot arm, the mounting flange has a hollow center, and the side wall of the mounting flange has multiple hollow grooves.

[0013] Preferably, it also includes a fixing fixture, which is fixedly installed on the transfer equipment to be overturned, and the fixing fixture is provided with a locking part corresponding to each of the locking plates.

[0014] The above technical solution has the following advantages or beneficial effects: Combining vacuum adsorption with mechanical locking creates a reliable double-safety mechanism. This ensures that even in the event of an accidental leak in the vacuum system during the flipping process (such as a drop in vacuum level or failure of a single suction cup), the locking plate provides mechanical intervention to prevent the TV from slipping or falling off. This fundamentally solves the safety hazards inherent in pure adsorption fixtures, making it particularly suitable for the safe flipping of heavy, expensive large LCD TVs. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of a robot flipping and transferring load fixture, which is a preferred embodiment of the present invention. Detailed Implementation

[0016] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. The present invention is not limited to this embodiment; other embodiments that conform to the spirit of the present invention may also fall within its scope.

[0017] In a preferred embodiment of this utility model, based on the above-mentioned problems existing in the prior art, a robot flipping and transferring load fixture is provided, such as... Figure 1 As shown, it includes: The fixture body 1 has multiple vacuum suction cups 2 on its adsorption surface, and the mounting surface of the fixture body 1 is fixedly connected to the robot arm. The mounting surface of the fixture body 1 is also provided with multiple sliding locking plates 3 and a vacuum generator 4 connected to each vacuum suction cup.

[0018] Specifically, this embodiment combines vacuum adsorption with mechanical locking to form a reliable double-safety mechanism. Specifically, multiple vacuum suction cups provide the primary adsorption force, firmly gripping the TV module; simultaneously, multiple sliding locking plates activate after adsorption, physically constraining and limiting the edges of the TV module or specific structures (such as fixtures) fixed to it. This design ensures that even if the vacuum system leaks unexpectedly during the flipping process (such as a decrease in vacuum or failure of a single suction cup), the locking plates provide mechanical intervention to prevent the TV from slipping or falling off, fundamentally solving the safety hazards inherent in pure adsorption fixtures. It is particularly suitable for the safe flipping of heavy, expensive large LCD TVs.

[0019] Furthermore, the slidable arrangement of multiple vacuum suction cups 2 and locking plates 3 in this embodiment means that the number and layout of the vacuum suction cups, as well as the locking distance between the two locking plates, can be flexibly designed and adjusted according to different sizes and models of TV modules, thus giving the fixture good adaptability to product changeovers. The integration of the vacuum generator also makes the vacuum supply direct and efficient.

[0020] In summary, this utility model provides a safe, efficient, precise and reliable flipping and loading solution through the synergistic effect of robot connection, vacuum adsorption and mechanical locking, successfully overcoming all the major shortcomings of the prior art and providing key technical support for the high-quality and high-efficiency production of large LCD TVs.

[0021] In a preferred embodiment of the present invention, a fixing fixture is further included. The fixing fixture is fixedly installed on the transfer equipment to be flipped and transferred. The fixing fixture is provided with a locking part corresponding to each locking plate 3.

[0022] In a preferred embodiment of the present invention, a vision camera 5 is further included, which is fixed to the mounting surface of the fixture body by a camera bracket 6.

[0023] Specifically, this embodiment, based on the above embodiments, further integrates a vision camera, which is securely mounted on the fixture body via a camera bracket. This added vision component provides the technical foundation for intelligent sensing and position compensation in this invention.

[0024] In a production line, the positions of TV modules output from the previous process on the tray or conveyor line are not always consistent and can vary to some extent. Traditional fixtures can only repeatedly execute preset, fixed gripping paths and cannot adapt to such changes.

[0025] The vision camera of this invention can first photograph and visually locate the TV module below before the robot grasps it. The acquired images are then uploaded to the robot's control system, which accurately identifies the deviation between the actual and theoretical positions (including X and Y coordinates and rotation angle θ). Subsequently, the robot converts this deviation data with its own coordinate system and dynamically adjusts the gripper's grasping posture in real time, thereby achieving precise positioning and grasping. This fundamentally eliminates accumulated positioning errors on the production line, avoiding product collisions, scratches, or unstable adhesion caused by forced grasping or inaccurate positioning. Existing control systems for controlling the movement and rotation of robot arms are already very mature and have the function of calculating deviations based on images and then adjusting the position of the robot arm. This control system is not the focus of this invention, and the process of controlling the robot arm will not be described in detail here.

[0026] In a preferred embodiment of the present invention, a plurality of slide cylinders 7 are also mounted on the mounting surface of the fixture body 1, and a locking plate 3 is fixed on each slide cylinder 7.

[0027] In a preferred embodiment of the present invention, the slide cylinder 7 includes at least four cylinders, which are respectively disposed at the four corners of the fixture body 1 and slide in the same direction.

[0028] Specifically, such as Figure 1 As shown, in this embodiment, the locking plate 3 is provided with precise and reliable linear drive through the integrated slide cylinder 7. The layout of the slide cylinders has also been optimized, with at least four slide cylinders 7 positioned at the four corners of the fixture body. This layout ensures that the locking force is evenly distributed in the critical corner areas of the product.

[0029] Furthermore, the sliding direction of all slide cylinders is consistent. Figure 1 The X-direction (in the context of the signal) means that they can receive the same control signal, enabling all latch plates to extend (release) and retract (lock) synchronously. This synchronicity is crucial, preventing product wobbling or stress concentration that may be caused by delays in the action of a single latch.

[0030] In the locked state, the retracted locking plate mechanically clamps the side edge of the TV module or the fixing fixture. Compared to flexible adsorption that relies solely on vacuum suction, this rigid mechanical restraint greatly enhances the reliability of the clamping, forming an effective second layer of protection.

[0031] In a preferred embodiment of the present invention, a fixing hole 31 for fixed connection with the slide is provided on one side of the locking plate 3, and a bending part 32 is provided on the other side of the locking plate 3 extending toward the adsorption surface.

[0032] In a preferred embodiment of the present invention, the bending direction of the bent portion 32 is toward the clamp body 1.

[0033] Specifically, during the assembly process of the fixture, there are unavoidable manufacturing and assembly tolerances in the installation positions of multiple slide cylinders 7, the machining dimensions of the locking plate, and the structure of the entire fixture body.

[0034] If ordinary round holes are used, the position of the locking plates is completely fixed after the bolts are tightened, with no room for adjustment. Any tiny cumulative tolerance may cause all the locking plates to fail to simultaneously and accurately align with the ideal locking position of the TV module edge, resulting in some locking plates being suspended or unevenly stressed, seriously affecting the locking effect.

[0035] like Figure 1 As shown, the fixing hole 31 in this embodiment is a slotted hole. The design of the slotted hole allows the locking plate 3 to slide and adjust within a small range along the length of the slotted hole before the final tightening of the bolts. This allows operators or assembly robots to precisely adjust the final protrusion position of each locking plate on-site, ensuring that the bent portions of all locking plates can achieve uniform and reliable contact with the side of the TV module or the fixing fixture on the TV module, thereby compensating for the aforementioned tolerances and ensuring a balanced distribution of the locking force.

[0036] In a preferred embodiment of the present invention, a solenoid valve 8 is further included, which is electrically connected to the vacuum generator 4.

[0037] Specifically, the solenoid valve 8 is used to control the vacuum suction cup 2 to enter a vacuum state when the vacuum suction cup 2 is attached to equipment such as a television during the robot's handling process.

[0038] More specifically, in this embodiment, the robot flipping and loading fixture, when working in conjunction with the robot arm, performs the operation from grasping, flipping, to placing, and its complete process is as follows: Step 1: Positioning and Visual Localization The robotic arm, carrying a gripper, moves to a predetermined position above the TV module from the previous process (such as an LCM line). The vision camera 5, fixed to the gripper, is activated to take a picture of the TV module below, and the robot's control system accurately identifies its current actual position and angle.

[0039] The robot control system calculates the positional deviation in real time based on the feedback data from the vision camera and adjusts the pose of the end effector of the robotic arm so that the vacuum suction cup 2 and the locking plate 3 on the fixture can be precisely aligned with the TV module.

[0040] Step 2: Grasping and Double Locking After the pose adjustment is completed, the robotic arm drives the gripper to descend, so that multiple vacuum suction cups 2 make close contact with the panel of the TV module.

[0041] Vacuum generator 4 is activated, providing negative pressure to all vacuum suction cups 2, which firmly adsorbs the TV module onto the suction surface of the clamp.

[0042] After adsorption stabilizes, multiple sliding cylinders 7 installed at the four corners of the fixture operate synchronously, pushing the locking plate inward to retract. The bent portion 32 at the front end of the locking plate 3 abuts against the side edge of the TV module or against the locking portion of the fixing fixture installed on the TV module, mechanically covering and constraining it to complete the mechanical locking. Thus, the TV module achieves double-safety fixation through vacuum adsorption and mechanical locking.

[0043] Step 3: Lifting and Safe Flipping The robotic arm smoothly lifts the gripper and the TV module being grasped.

[0044] After ensuring a safe height completely free from surrounding equipment, the robotic arm executes a preset 180° flip program. Throughout the high-speed flip, the locking mechanism acts as a rigid limit, effectively resisting product slippage or shaking that may occur due to enormous inertia, ensuring a safe and stable flipping action.

[0045] Step 4: Transplanting and Precise Placement The robotic arm carries the TV module that has been flipped (screen down) and moves it to the target placement point for the next process (such as the ASSY line).

[0046] Optionally, the vision camera can be restarted to take pictures of the target tray or positioning mark, achieving secondary precise positioning before placement to compensate for cumulative errors caused by robot movement and the system.

[0047] The robotic arm makes fine adjustments based on the final positioning results, and then precisely places the TV module onto the target workstation.

[0048] Step 5: Release and Reset Once the position is confirmed to be stable, the slide cylinder 7 will activate first, causing all the locking plates 3 to extend outward and release the mechanical locking.

[0049] Subsequently, vacuum generator 4 is turned off, vacuum suction cup 2 breaks the vacuum, and releases the TV module.

[0050] The robotic arm lifts and moves the gripper to the standby position or the next gripping point, ready to start a new work cycle.

[0051] In a preferred embodiment of the present invention, the mounting surface of the fixture body 1 is provided with a mounting flange 9, the mounting flange 9 is fixedly connected to the robot arm, the center of the mounting flange 9 is hollowed out, and the side wall of the mounting flange 9 is provided with multiple hollowed-out grooves 91.

[0052] Specifically, in this embodiment, a composite design is adopted on the mounting flange 9 that connects to the robot arm, which has a central hollow and multiple hollow slots 91 on the side wall. This structure aims to achieve lightweighting, dynamic performance optimization and functional integration of the fixture.

[0053] Specifically, as the end effector of a robot, the weight of the gripper directly affects the robot's load capacity, movement speed, and positioning accuracy. By hollowing out the center and creating multiple slots in the sidewalls of non-load-bearing critical areas, redundant material can be removed to the maximum extent, achieving topology optimization of the structure. This significantly reduces the overall weight of the gripper, thereby reducing the robot's load, improving motion efficiency, and reducing motion inertia.

[0054] The above are merely preferred embodiments of the present utility model and are not intended to limit the implementation methods and protection scope of the present utility model. Those skilled in the art should realize that any equivalent substitutions and obvious changes made using the content of this specification and illustrations should be included within the protection scope of the present utility model.

Claims

1. A robot flipping and transferring fixture, characterized in that, include: The fixture body has multiple vacuum suction cups on its adsorption surface, and its mounting surface is fixedly connected to the robot arm. The mounting surface of the clamp body is also provided with multiple sliding locking plates and a vacuum generator connected to each of the vacuum suction cups.

2. The robot flipping and transferring fixture according to claim 1, characterized in that, It also includes a vision camera, which is fixed to the mounting surface of the clamp body by a camera bracket.

3. The robot flipping and transferring fixture according to claim 1, characterized in that, The mounting surface of the fixture body is also equipped with multiple slide cylinders, and each slide cylinder is fixed with a locking plate.

4. The robot flipping and transferring fixture according to claim 3, characterized in that, The slide cylinder includes at least four cylinders, which are respectively arranged at the four corners of the fixture body and slide in the same direction.

5. The robot flipping and transferring fixture according to claim 3, characterized in that, One side of the locking plate has a fixing hole for fixed connection with the slide table, and the other side of the locking plate extends toward the adsorption surface and has a bending part.

6. The robot flipping and transferring fixture according to claim 5, characterized in that, The bending direction of the bent portion is towards the clamp body.

7. The robot flipping and transferring fixture according to claim 1, characterized in that, It also includes a solenoid valve, which is electrically connected to the vacuum generator.

8. The robot flipping and transferring fixture according to claim 1, characterized in that, The mounting surface of the fixture body is provided with a mounting flange, which is fixedly connected to the robot arm. The mounting flange has a hollow center and multiple hollow grooves on its side wall.

9. The robot flipping and transferring fixture according to claim 1, characterized in that, It also includes a fixing fixture, which is fixedly installed on the transfer equipment to be overturned, and the fixing fixture is provided with a locking part corresponding to each of the locking plates.

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