CN112139678A - Workpiece clamp and clamping method based on workpiece characteristic self-adaptive adjustment - Google Patents

Workpiece clamp and clamping method based on workpiece characteristic self-adaptive adjustment Download PDF

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Publication number
CN112139678A
CN112139678A CN202011128786.7A CN202011128786A CN112139678A CN 112139678 A CN112139678 A CN 112139678A CN 202011128786 A CN202011128786 A CN 202011128786A CN 112139678 A CN112139678 A CN 112139678A
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workpiece
vacuum
chuck
electromagnetic
sucker
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CN112139678B (en
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陈月圆
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Dongguan Hongda Precision Manufacturing Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/36—Removing material
    • B23K26/38—Removing material by boring or cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70—Auxiliary operations or equipment
    • B23K26/702—Auxiliary equipment
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Jigs For Machine Tools (AREA)

Abstract

The invention provides a workpiece clamp capable of self-adaptively adjusting based on workpiece characteristics, which comprises a plurality of sucker beams, two sucker longitudinal beams, a certain amount of electromagnetic suckers, a certain amount of vacuum suckers and a control device, wherein the sucker beams are arranged on the two sucker longitudinal beams; the control device is combined with the material characteristics and the surface appearance characteristics of the workpiece, the positions of the electromagnetic chuck and the vacuum chuck are adaptively adjusted according to a preset adjusting strategy, and the electromagnetic chuck and/or the vacuum chuck are adopted to grab the workpiece under the constraint conditions of minimum required vacuum degree and shortest moving path. The invention can combine the material characteristics and the surface appearance characteristics of the workpiece, adaptively adjust the positions of the electromagnetic chuck and the vacuum chuck according to a preset adjusting strategy, and adopt the electromagnetic chuck and/or the vacuum chuck to grab the workpiece under the constraint conditions of minimum required vacuum degree and shortest moving path, so that the workpiece clamp is applicable to workpieces in different forms as far as possible, the influence of a cutting gap on the grabbing effect is reduced, the dependence on the vacuum degree and the magnetic attraction is reduced, and the energy consumption is saved.

Description

Workpiece clamp and clamping method based on workpiece characteristic self-adaptive adjustment
Technical Field
The invention relates to the field of laser cutting machines, in particular to a workpiece clamp and a clamping method based on workpiece characteristic self-adaptive adjustment.
Background
In order to realize automatic blanking, the existing laser cutting machine sometimes adopts a blanking assembly with a sucker assembly to assist blanking, for example, the sucker assembly is adopted to suck a workpiece, and then the sucker assembly is moved to enable the workpiece to leave a blanking table and be placed into a material conveying trolley.
However, since the surface of the workpiece cut by the laser is not flat and changes according to the change of the cutting process, the current vacuum chuck often has insufficient suction force due to the fact that the workpiece is adsorbed at the position of a slit after cutting, so that the workpiece is difficult to grab, and even falls from a half space, and accidents occur.
Disclosure of Invention
The invention aims to provide a workpiece clamp and a clamping method based on workpiece characteristic self-adaptive adjustment, which can be used for self-adaptively adjusting the positions of an electromagnetic chuck and a vacuum chuck according to a preset adjustment strategy by combining the material characteristics and the surface appearance characteristics of a workpiece, and grabbing the workpiece by adopting the electromagnetic chuck and/or the vacuum chuck under the constraint conditions of minimum required vacuum degree and shortest moving path, so that the workpiece clamp is applicable to workpieces in different forms as much as possible, the influence of a cutting gap on the grabbing effect is reduced, the dependence on the vacuum degree and magnetic attraction is reduced, and the energy consumption is saved.
In order to achieve the above purpose, with reference to fig. 1, the present invention provides a workpiece fixture adaptively adjusted based on workpiece characteristics, where the workpiece fixture includes a plurality of suction cup beams, two suction cup longitudinal beams, a certain amount of electromagnetic suction cups, a certain amount of vacuum suction cups, and a control device;
the sucker beams are arranged in parallel, and the distance between every two adjacent sucker beams is equal; the two sucker longitudinal beams are fixed above the sucker cross beams and connected with all the sucker cross beams, the extending direction of the sucker longitudinal beams is perpendicular to the extending direction of the sucker cross beams, and the sucker cross beams are fixed on the sucker support through the sucker longitudinal beams;
each electromagnetic chuck is arranged on the chuck beam through an electromagnetic chuck mounting mechanism and is adjustable in position in the horizontal direction, and each vacuum chuck is arranged on the chuck beam through a vacuum chuck mounting mechanism and is adjustable in position in the vertical direction; the electromagnetic chucks and the vacuum chucks are alternately arranged, and the initial position of the vacuum chuck is lower than the highest no-load position of the electromagnetic chucks and higher than the lowest no-load position of the electromagnetic chucks;
the control device is combined with the material characteristics and the surface appearance characteristics of the workpiece, the positions of the electromagnetic chuck and the vacuum chuck are adaptively adjusted according to a preset adjusting strategy, and the electromagnetic chuck and/or the vacuum chuck are adopted to grab the workpiece under the constraint conditions of minimum required vacuum degree and shortest moving path.
Furthermore, the sucker beam is cuboid and consists of a certain amount of first beam units and a certain amount of second beam units which are alternately arranged along the horizontal direction; the first beam unit is a cuboid frame with the length of L1, and the vacuum chuck is installed below the first beam unit and moves horizontally along the first beam unit; the second beam unit is a cuboid frame with the length of L2, and the electromagnetic chuck is installed below the second beam unit and vertically moves along the second beam unit; the L1 is greater than L2; the adjacent first beam unit and the second beam unit share at least two vertical rods.
Further, the vacuum chuck mounting mechanism comprises a first motor, a first sliding block, a linear bearing, a hollow floating rod and at least two horizontal guide rails;
the first sliding block is in a square shape, a vertical through hole is formed in the middle of the first sliding block, the linear bearing is installed above the vertical through hole of the first sliding block, one end of the hollow floating rod penetrates through the linear bearing to vertically extend above the first sliding block and is connected with the vacuum generator, and the other end of the hollow floating rod is connected with the vacuum sucker;
the at least two horizontal guide rails are respectively arranged on the at least two cross rods of the first cross beam unit, the first sliding block is arranged on the horizontal guide rails and is connected with the control device through a first motor, and the first motor adjusts the rotating speed of the output shaft according to a control command sent by the control device so as to drive the first sliding block to move along the horizontal guide rails.
Further, the electromagnetic chuck mounting mechanism comprises a second motor, a second sliding block, a spring assembly, a guide rod, a connecting chain and at least two vertical guide rails;
the second sliding block is in a square shape, a cylindrical groove is formed in the second sliding block, and the opening of the groove faces downwards; the spring assembly is vertically arranged in the cylindrical groove and is connected with the electromagnetic chuck through the guide rod and the connecting chain in sequence; the size of the opening of the groove is matched with that of the guide rod and is smaller than that of the spring assembly and the connecting chain;
the at least two vertical guide rails are respectively installed on the at least two vertical rods of the second cross beam unit, the second sliding block is installed on the vertical guide rails and connected with the control device through a second motor, and the second motor adjusts the rotating speed of the output shaft according to a control command sent by the control device so as to drive the second sliding block to move along the vertical guide rails.
Further, the preset adjustment strategy is as follows:
when the work piece is the magnetism material and weight is not more than when predetermineeing the weight threshold value, only adopt electromagnet to snatch the work piece, the process includes:
s201, lowering all the electromagnetic chucks to the lowest position, and lowering the chuck support to enable all the electromagnetic chucks to be adsorbed on the surface of a workpiece;
s202, raising the position of the second slider with the curved connecting chain to enable the corresponding connecting chain to be vertically connected between the electromagnetic chuck and the second slider or move the second slider to the highest position;
s203, lifting the sucker bracket, and grabbing a workpiece by using an electromagnetic sucker;
when the work piece is for magnetism material and weight to be greater than when predetermineeing the weight threshold value, adopt electromagnet and vacuum chuck to snatch the work piece simultaneously, the process includes:
s301, importing a cutting path and cutting parameters of a current workpiece, and calculating to obtain corresponding surface form data; adjusting the position of the vacuum chuck by combining the surface form data of the workpiece, so that as many vacuum chucks as possible correspond to the flat surface of the workpiece;
s302, lowering all the electromagnetic chucks to the lowest position, lowering the chuck support to enable all the vacuum chucks to be in contact with the surface of the workpiece, and enabling all the electromagnetic chucks to be adsorbed on the surface of the workpiece;
s303, moving the second sliding blocks corresponding to all the electromagnetic chucks to the highest position;
s304, starting a vacuum generator, lifting a sucker support, and grabbing a workpiece by using an electromagnetic sucker and a vacuum sucker;
when the work piece is non-magnetic material, adopt vacuum chuck to snatch the work piece, the process includes:
s401, lifting all the electromagnetic chucks to the highest position;
s402, importing a cutting path and cutting parameters of a current workpiece, and calculating to obtain corresponding surface form data; adjusting the position of the vacuum chuck by combining the surface form data of the workpiece, so that as many vacuum chucks as possible correspond to the flat surface of the workpiece;
s403, lowering the sucker support to enable all vacuum suckers to be in contact with the surface of the workpiece, and starting a vacuum generator;
and S404, lifting the sucker support, and grabbing the workpiece by using a vacuum sucker.
Further, when the continuous N work pieces of waiting to unload from current work piece are non-magnetic material, adopt vacuum chuck to snatch the process of work piece and still include:
importing cutting paths and cutting parameters of N continuous workpieces to be blanked from a current workpiece, and calculating to obtain surface form data of each workpiece to be blanked;
and calculating the arrangement data of all the vacuum chucks corresponding to the N continuous workpieces to be blanked from the current workpiece by combining the surface shape data of the N continuous workpieces to be blanked from the current workpiece and taking the shortest total length of the adjustment path of the vacuum chucks as a constraint condition, so that the number of the vacuum chucks in contact with the flat surface of the workpieces to be blanked is greater than a required number threshold.
Furthermore, the vacuum chuck mounting mechanism also comprises a limiting block arranged above or below the linear bearing, a cylindrical vertical through hole is arranged in the middle of the limiting block, and the hollow floating rod penetrates through the limiting block;
the cylindrical vertical through hole inboard is provided with movable recess and activity card, and the activity card has two kinds of working form: (1) the movable clamping piece is fixedly and completely accommodated in the movable groove, (2) the movable clamping piece freely rotates along a rotating point positioned below the movable groove, moves into the movable groove when rotating upwards, and moves out of the movable groove when rotating downwards;
when the movable clamping piece is fixedly accommodated in the movable groove, the hollow floating rod moves up and down in the linear bearing, and when the movable clamping piece is ejected out, the hollow floating rod is limited by the matching groove on the outer side surface of the hollow floating rod and only allows the hollow floating rod to move upwards in the linear bearing.
Based on the workpiece clamp, the invention also provides a material clamping method based on workpiece characteristic self-adaptive adjustment, and the material clamping method comprises the following steps:
s1, judging the material property and the weight property of the current workpiece, if the current workpiece is magnetic and the weight is not more than a preset weight threshold, turning to S2, if the current workpiece is magnetic and the weight is more than the preset weight threshold, turning to S3, and if the current workpiece is non-magnetic, turning to S4;
s2, adjusting the position of the electromagnetic chuck to grab the workpiece by the electromagnetic chuck, and the method comprises the following steps:
s201, lowering all the electromagnetic chucks to the lowest position, and lowering the chuck support to enable all the electromagnetic chucks to be adsorbed on the surface of a workpiece;
s202, raising the position of the second slider with the curved connecting chain to enable the corresponding connecting chain to be vertically connected between the electromagnetic chuck and the second slider or move the second slider to the highest position;
s203, lifting the sucker bracket, and grabbing a workpiece by using an electromagnetic sucker;
s3, adjusting the positions of the electromagnetic chuck and the vacuum chuck to simultaneously grab the workpiece by adopting the electromagnetic chuck and the vacuum chuck, and the method comprises the following steps:
s301, importing a cutting path and cutting parameters of a current workpiece, and calculating to obtain corresponding surface form data; adjusting the position of the vacuum chuck by combining the surface form data of the workpiece, so that as many vacuum chucks as possible correspond to the flat surface of the workpiece;
s302, lowering all the electromagnetic chucks to the lowest position, lowering the chuck support to enable all the vacuum chucks to be in contact with the surface of the workpiece, and enabling all the electromagnetic chucks to be adsorbed on the surface of the workpiece;
s303, moving the second sliding blocks corresponding to all the electromagnetic chucks to the highest position;
s304, starting a vacuum generator, lifting a sucker support, and grabbing a workpiece by using an electromagnetic sucker and a vacuum sucker;
s4, adjusting the positions of the electromagnetic chuck and the vacuum chuck to grab the workpiece by the vacuum chuck, and the method comprises the following steps:
s401, lifting all the electromagnetic chucks to the highest position;
s402, importing a cutting path and cutting parameters of a current workpiece, and calculating to obtain corresponding surface form data; adjusting the position of the vacuum chuck by combining the surface form data of the workpiece, so that as many vacuum chucks as possible correspond to the flat surface of the workpiece;
s403, lowering the sucker support to enable all vacuum suckers to be in contact with the surface of the workpiece, and starting a vacuum generator;
and S404, lifting the sucker support, and grabbing the workpiece by using a vacuum sucker.
Compared with the prior art, the technical scheme of the invention has the following remarkable beneficial effects:
(1) the workpiece clamp can be used for adaptively adjusting the positions of the electromagnetic chuck and the vacuum chuck according to a preset adjusting strategy by combining the material characteristics and the surface appearance characteristics of the workpiece, the minimum required vacuum degree and the shortest moving path are taken as constraint conditions, the electromagnetic chuck and/or the vacuum chuck are used for grabbing the workpiece, so that the workpiece clamp is applicable to workpieces in different forms as far as possible, the influence of a cutting gap on grabbing effects is reduced, the dependence on the vacuum degree and the magnetic attraction is reduced, and the energy consumption is saved.
(2) The spring assembly is provided for two purposes: firstly, provide positive pulling force, secondly, further adjust the relative height between the electromagnetism magnetic disc, make all electromagnetism sucking discs all participate in the absorption process as far as possible, improve and absorb efficiency, especially to some unconventional work pieces. Thirdly, the spring assembly can adjust the relative position between the vacuum chuck and the electromagnetic chuck more flexibly, and the grabbing mode is switched rapidly, and when the two chucks work simultaneously, the electromagnetic chuck applies a positive pulling force on the workpiece, so that the workpiece and the vacuum chuck are in a more close contact state, and the vacuum chuck provides more stable suction on the workpiece.
(3) The guide rod is adopted to avoid the electromagnetic chuck from shaking greatly due to the spring.
(4) When the electromagnetic chuck and the vacuum chuck absorb workpieces with larger weight at the same time, because the vacuum chuck adopts the design of the hollow floating rod and the linear bearing, the shaking range of the electromagnetic chuck and the vacuum chuck can be reduced at the same time, and the safety and the stability of workpiece absorption are improved.
It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of this disclosure unless such concepts are mutually inconsistent. In addition, all combinations of claimed subject matter are considered a part of the presently disclosed subject matter.
The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
fig. 1 is a schematic structural diagram of a workpiece holder for adaptive adjustment based on workpiece characteristics according to the present invention.
Fig. 2 is a partial structural schematic view of the suction cup beam of the present invention.
Fig. 3 is a schematic view of the structure of the vacuum chuck of the present invention.
Fig. 4 is a schematic structural diagram of the electromagnetic chuck of the present invention.
Fig. 5 is a schematic structural diagram of the limiting block of the present invention.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.
In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily defined to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any one implementation. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.
With reference to fig. 1, the present invention provides a workpiece fixture adaptively adjusted based on workpiece characteristics, which includes a plurality of suction cup beams 10, two suction cup longitudinal beams 20, a certain amount of electromagnetic suction cups 51, a certain amount of vacuum suction cups 41, and a control device.
The sucker beams 10 are arranged in parallel, and the distance between every two adjacent sucker beams 10 is equal; the two sucker longitudinal beams 20 are fixed above the sucker beam 10 and connected with all the sucker beams 10, the extending direction of the sucker longitudinal beams 20 is perpendicular to the extending direction of the sucker beam 10, and the sucker beam 10 is fixed on the sucker support 30 through the sucker longitudinal beams 20.
Each electromagnetic chuck 51 is mounted on the chuck beam 10 through an electromagnetic chuck mounting mechanism 50 and is adjustable in horizontal position, and each vacuum chuck 41 is mounted on the chuck beam 10 through a vacuum chuck mounting mechanism 40 and is adjustable in vertical position; the electromagnetic chucks 51 and the vacuum chucks 41 are alternately arranged, and the initial position of the vacuum chucks 41 is lower than the highest no-load position of the electromagnetic chucks 51 and higher than the lowest no-load position of the electromagnetic chucks 51.
The control device adaptively adjusts the positions of the electromagnetic chuck 51 and the vacuum chuck 41 according to a preset adjusting strategy by combining the material characteristics and the surface topography characteristics of the workpiece, and adopts the electromagnetic chuck 51 and/or the vacuum chuck 41 to grab the workpiece under the constraint conditions of minimum required vacuum degree and shortest moving path.
The vacuum chuck 41 has an advantage in that, for any material workpiece, sufficient suction force can be provided as long as the surface flatness of the workpiece meets the condition, and if a long gap exists on the surface of the workpiece, especially if the gap extends to the outside of the vacuum chuck 41, the suction force of the vacuum chuck 41 is suddenly reduced due to the communication with the outside air. The electromagnetic chuck 51 has the advantage that for a workpiece made of magnetic material, the amount of attraction force depends only on the contact surface area, and better attraction force can be provided for the surface or inclined surface with the gap than for the vacuum chuck 41. The invention combines the two suckers, so that the combined sucker device can provide better suction for workpieces, particularly irregular customized workpieces and the like.
First, principle of structure
Referring to fig. 2, the suction cup beam 10 is rectangular and is composed of a certain number of first beam units 11 and a certain number of second beam units 12 alternately along a horizontal direction; the first beam unit 11 is a rectangular parallelepiped frame having a length of L1, and the vacuum chuck 41 is installed below the first beam unit 11 and horizontally moves along the first beam unit 11; the second beam unit 12 is a rectangular parallelepiped frame having a length of L2, and the electromagnetic chuck 51 is mounted below the second beam unit 12 and moves vertically along the second beam unit 12; the L1 is greater than L2; the adjacent first beam unit 11 and the second beam unit 12 share at least two vertical rods. The vacuum chuck 41 and the electromagnetic chuck 51 are separated by the structure, so that the structural interference between the two is avoided.
The vacuum chuck 41 and the electromagnetic chuck 51 occupy different spaces, and unlike the vacuum chuck 41, the suction force can be enhanced by adding a high-performance vacuum generator, and for the electromagnetic chuck 51, the larger the contact surface is, the stronger the suction force is. Therefore, in some cases, the electromagnetic chuck 51 having a large contact surface can be used as much as possible. In order to avoid the structural interference and the fine adjustment of the suction position of the electromagnetic chuck 51, the electromagnetic chuck 51 and the vacuum chuck 41 are arranged in a staggered manner, preferably, the vacuum chuck 41 and the electromagnetic chuck 51 on the adjacent chuck beam 10 are also arranged alternately, so that the electromagnetic chuck 51 is located in the middle area formed by the plurality of vacuum chucks 41. That is, the distance between the adjacent electromagnetic chucks 51 is as far as possible, so that it has a larger moving space. For example, if the plurality of electromagnetic chucks 51 are uniformly distributed and the plurality of vacuum chucks 41 are uniformly distributed, each electromagnetic chuck is located at the center of the four vacuum chucks 41 adjacent to the electromagnetic chuck. It should be understood that the electromagnetic chucks 51 and the vacuum chucks 41 may be non-uniformly distributed, but it is more reasonable to stagger the two in order to avoid structural interference.
Referring to fig. 3, the vacuum chuck mounting mechanism 40 includes a first motor, a first slider, a linear bearing 43, a hollow float bar 42, and at least two horizontal rails 13.
The first slider is square, and it is equipped with vertical through-hole to open in the middle of it, and linear bearing 43 installs in the vertical through-hole top of first slider, the one end of cavity floating lever 42 is passed linear bearing 43 and is vertically extended to first slider top, is connected with vacuum generator, and vacuum chuck 41 is connected to the other end.
The at least two horizontal guide rails 13 are respectively installed on the at least two cross bars of the first beam unit 11, the first sliding block is installed on the horizontal guide rails 13 and connected with the control device through a first motor, and the first motor adjusts the rotating speed of the output shaft according to a control command sent by the control device so as to drive the first sliding block to move along the horizontal guide rails 13.
The working principle of the vacuum chuck 41 is as follows: the air pump provides the air supply and produces the negative pressure suction through vacuum generator, and vacuum generator is connected to vacuum chuck 41 through cavity floating lever 42, and when vacuum chuck 41 and work piece contact, the inside air of sucking disc is siphoned away by vacuum generator, produces the negative pressure chamber, firmly holds the work piece. When the workpiece needs to be loosened, the air source can be closed through the electromagnetic valve, external air enters the vacuum chuck 41 to balance negative pressure, and the vacuum chuck 41 loses suction force.
In the invention, the position adjustment of the vacuum chuck 41 can be realized in two ways, namely, in the first way, the first sliding block is pushed to move on the horizontal guide rail 13 so as to realize the horizontal position adjustment of the vacuum chuck 41; in the second way, the position of the vacuum chuck 41 in the vertical direction is adjusted by the hollow floating rod 42 and the linear bearing 43. Specifically, the hollow floating rod 42 slides up and down in the middle of the linear bearing 43 and falls to the bottom under the action of gravity, when the air cylinder presses the whole sucker support 30 downwards, and the vacuum sucker 41 touches the workpiece, the workpiece provides upward supporting force, so that the hollow floating rod 42 slides upwards on the linear bearing 43, the vacuum sucker 41 which does not touch the workpiece continues downwards along with the air cylinder until the workpiece provides supporting force, and the problem that part of the vacuum sucker 41 is difficult to adsorb to the surface of the workpiece due to the fact that the height of the workpiece is uneven is effectively solved. After the position of the vacuum chuck 41 is determined, the position of the hollow floating rod 42 is locked by the locking nut. Preferably, with reference to fig. 5, a limiting block 44 may be further disposed above or below the linear bearing 43, a cylindrical vertical through hole is disposed in the middle of the limiting block 44, the hollow floating rod 42 passes through the limiting block 44, a movable groove 441 and a movable clamping piece 442 are disposed inside the cylindrical vertical through hole, and the movable clamping piece 442 has two working modes: is fixedly and completely accommodated in the movable groove 441; freely rotating along a rotation point located below the movable groove 441, wherein the movable clip 442 moves into the movable groove 441 when rotating upward and moves out of the movable groove 441 when rotating downward. When the movable catch 442 is fixedly received in the movable groove 441, the hollow floating rod 42 can move up and down in the linear bearing 43, and when the movable catch 442 is ejected, the hollow floating rod 42 is restricted by the matching groove of the outer side surface and can only move up in the linear bearing 43.
Referring to fig. 4, the electromagnetic chuck mounting mechanism 50 includes a second motor, a second slider, a spring assembly 54, a guide bar 53, a connecting chain 52, and at least two vertical guide rails 14.
The second sliding block is in a square shape, a cylindrical groove is formed in the second sliding block, and the opening of the groove faces downwards; the spring assembly 54 is vertically arranged in the cylindrical groove and is connected with the electromagnetic chuck 51 through the guide rod 53 and the connecting chain 52 in sequence; the recess opening is sized to match the size of the guide bar 53 and is smaller than the size of the spring assembly 54 and the connecting link 52.
The at least two vertical guide rails 14 are respectively installed on at least two vertical rods of the second beam unit 12, the second sliding block is installed on the vertical guide rails 14 and connected with the control device through a second motor, and the second motor adjusts the rotating speed of the output shaft according to a control command sent by the control device so as to drive the second sliding block to move along the vertical guide rails 14.
The use of the link chain 52 allows for better adjustment of the suction surface of the electromagnetic chuck 51. For example, since the electromagnetic chucks 51 are connected by the connecting chain 52, the electromagnetic chucks 51 have a certain angle adjustment capability. For a small inclined plane existing on the surface of the workpiece, if the workpiece is made of a magnetic material, the inclined plane can be sucked by the electromagnetic chuck 51. When the length of the connecting chain 52 allows, the suction position of the electromagnetic suction cup 51 can be finely adjusted.
The vertical guide rail 14, the second sliding block and the spring assembly 54 are arranged, so that the height of the electromagnetic chucks 51 in the vertical direction can be adjusted as required, the relative heights between the electromagnetic chucks 51 and the vacuum chuck 41 are optimized, and the stress distribution of each chuck is more reasonable.
For example, assuming that the heights of the electromagnetic suckers 51 are the same in the initial state, for example, the inclined plane is sucked by the part of the electromagnetic suckers 51, and the sucking position is finely adjusted by the part of the electromagnetic suckers 51, after the part of the electromagnetic suckers 51 are adjusted, the relative heights between the electromagnetic suckers 51 are likely to be different, and there is a height difference, so that the workpiece is likely to be inclined during sucking, even the gravity of the workpiece is borne by only the part of the electromagnetic suckers, and at this time, the heights of the electromagnetic suckers 51 can be made as uniform as possible by adjusting the second slider, so as to optimize the suction distribution and maintain the horizontal movement. This adjustment feature is also applicable to a scenario where the vacuum chuck 41 and the electromagnetic chuck 51 share the weight of the workpiece or the vacuum chuck 41 alone shares the weight of the workpiece.
The spring assembly 54 serves two purposes: firstly, providing positive tension, secondly, further adjusting the relative height between the electromagnetic disks, enabling all the electromagnetic chucks 51 to participate in the suction process as much as possible, and improving the suction efficiency, particularly aiming at partial unconventional workpieces, such as a certain workpiece, the surface of which is provided with a higher step or inclined plane, limited by the height of the chuck beam 10, the second slider has reached the highest point in the vertical direction, the connecting chain 52 of the partial electromagnetic chucks 51 corresponding to the step or inclined plane still presents a certain bending state, due to the arrangement of the spring assembly 54, when the workpiece fixture is lifted, the other electromagnetic chucks 51 will be stressed first, the corresponding springs will be pulled up, as the workpiece fixture continues to be lifted, the connecting chain 52 of the electromagnetic chuck 51 corresponding to the step or inclined plane gradually presents a vertical state and begins to be stressed, and finally most or all the electromagnetic chucks 51 are enabled to jointly act to perform the suction process, that is, the spring assembly 54 can also adjust the relative position between the electromagnetic chucks 51 together with the second slider. Thirdly, considering that the work holder of the present invention also relates to the vacuum chuck 41, and the suction process is performed by selecting the electromagnetic chuck 51, the vacuum chuck 41 or the combination chuck according to the material property and the work property, respectively, in the present invention, the adjustment of the positional relationship between the vacuum chuck 41 and the electromagnetic chuck 51 is very important, and the spring assembly 54 can adjust the relative position therebetween more flexibly. For example, for a workpiece with a conventional shape and a weight greater than a predetermined weight threshold value, the electromagnetic chuck 51 and the vacuum chuck 41 are used to grasp the workpiece, the electromagnetic chuck 51 is lowered to the lowest position, the position of the electromagnetic chuck 51 is lower than the position of the vacuum chuck 41, the chuck support 30 is lowered to contact the vacuum chuck 41 with the surface of the workpiece, theoretically, all the electromagnetic chucks 51 can contact the surface of the workpiece and generate an attraction force because the position of the electromagnetic chuck 51 is lower than the position of the vacuum chuck 41, the second slider is moved to the highest position, because the highest initial position of the electromagnetic chuck 51 is higher than the position of the vacuum chuck 41, the spring assembly 54 is pulled up, a positive pulling force is applied to the workpiece, the vacuum generator is started at this time, a downward extrusion force is applied to the workpiece by the gravity of the vacuum chuck 41 alone, and because the attraction force exists between the workpiece and the electromagnetic chuck 51, the workpiece exerts an upward force on the vacuum chuck 41, and the workpiece and the vacuum chuck 41 are in closer contact, which undoubtedly allows the vacuum chuck 41 to provide a more stable suction force on the workpiece. The flexibility of the position adjustment is more advantageous for non-conventional shaped workpieces (e.g., workpieces having curved surfaces or having relatively high protrusions or recesses). Take the surface of the workpiece to be provided with a small number of deep grooves as an example, if all the electromagnetic chucks 51 are to be in contact with the surface of the workpiece, undoubtedly, the chuck support 30 needs to be lowered to a very low position, at this time, the electromagnetic chucks 51 in the deep groove portions can be temporarily not considered, after the positions of other chucks are adjusted, the electromagnetic chucks 51 in the deep groove portions are manually pulled by a worker to be adsorbed on the workpiece, so that the problem that the chuck support 30 is lowered too much to bring structural interference, and even the chuck support 30 is lowered to the lowest point, any chuck cannot be in contact with the bottom of the groove.
As can be seen from the foregoing, the size of the recess opening matches the size of the guide bar 53, less the size of the spring assembly 54 and the connecting chain 52. Therefore, the bottom surface of the second slider also serves as a limiting function, and the spring assembly 54 is prevented from being excessively pulled up due to work of a workpiece. The guide rod 53 can prevent the electromagnetic chuck 51 from shaking greatly due to the spring. It should be noted here that when the electromagnetic chuck 51 alone sucks the workpiece, the workpiece sucking process is not damaged by a small swing due to the limited weight of the workpiece; when the weight of the workpiece is heavy, the electromagnetic chuck 51 and the vacuum chuck 41 need to suck the workpiece at the same time, and because the vacuum chuck 41 adopts the design of the hollow floating rod 42 and the linear bearing 43, the shaking amplitude of the electromagnetic chuck 51 and the vacuum chuck 41 can be reduced at the same time, and the safety and the stability of workpiece suction are improved.
Second, workpiece grabbing method
Based on the workpiece clamp, the invention also provides a material clamping method based on workpiece characteristic self-adaptive adjustment, and the material clamping method comprises the following steps:
s1, judging the material property and the weight property of the current workpiece, if the current workpiece is magnetic and the weight is not more than the preset weight threshold, going to S2, if the current workpiece is magnetic and the weight is more than the preset weight threshold, going to S3, and if the current workpiece is non-magnetic, going to S4.
S2, adjusting the position of the electromagnetic chuck 51 to grasp the workpiece with the electromagnetic chuck 51, comprising the steps of:
s201, lowering all the electromagnetic chucks 51 to the lowest position, and since the initial position of the electromagnetic chucks 51 in the no-load state is lower than the initial position of the vacuum chuck 41, after lowering the chuck support 30, all the electromagnetic chucks 51 can be attracted to the surface of the workpiece, and the vacuum chuck 41 does not contact with the workpiece. In actual operation, even if the partial vacuum chuck 41 contacts the workpiece due to the uneven surface of the workpiece, the negative effect is not caused for the following reasons: on the one hand, the pressing force of the workpiece on the vacuum chuck 41 will move the hollow floating rod 42 upwards along the linear bearing 43, and when the chuck support 30 is lifted, the vacuum chuck 41 will be located above the workpiece finally because the corresponding spring assembly 54 of the electromagnetic chuck 51 will be pulled up.
S202, the position of the second slider with the curved connecting chain 52 is lifted, so that the corresponding connecting chain 52 is vertically connected between the electromagnetic chuck 51 and the second slider or the second slider is moved to the highest position. This step is for adjusting the relative position between the electromagnetic chucks 51 as described above.
And S203, lifting the sucker support 30, and grabbing the workpiece by using the electromagnetic sucker 51.
S3, adjusting the positions of the electromagnetic chuck 51 and the vacuum chuck 41 to simultaneously grasp the workpiece with the electromagnetic chuck 51 and the vacuum chuck 41, comprising the steps of:
s301, importing a cutting path and cutting parameters of a current workpiece, and calculating to obtain corresponding surface form data; the position of the vacuum chuck 41 is adjusted in accordance with the surface shape data of the workpiece so that as many vacuum chucks 41 as possible correspond to the flat surface of the workpiece. The adjustment of the position of the vacuum chuck 41 herein means the adjustment of the horizontal position of the vacuum chuck 41 by the first slider. It should be understood that in some extreme cases, the partial vacuum cups 41 may not avoid the gap even if they are adjusted horizontally, but only to ensure that most of the vacuum cups 41 avoid to provide sufficient suction with the lowest possible vacuum requirement. One of the purposes of the present invention is to reduce the dependence on the degree of vacuum, the more the vacuum chuck 41 can be brought into contact with the workpiece, the more the stress distribution of the workpiece as a whole is reasonable, and the smaller the degree of vacuum required.
S302, all the electromagnetic chucks 51 are lowered to the lowest position, the chuck support 30 is lowered to enable all the vacuum chucks 41 to be in contact with the surface of the workpiece, and at the moment, because the lowest no-load position of the electromagnetic chucks 51 is lower than the initial position of the vacuum chucks 41, all the electromagnetic chucks 51 can be adsorbed on the surface of the workpiece under the condition that the shape of the workpiece is not uneven to a large extent. On the other hand, for a workpiece having a large part shape, the electromagnetic chuck 51 may be manually adjusted to be adsorbed on the surface of the workpiece by the electromagnetic chuck 51, and the deep groove processing method for the surface of the workpiece may be performed as described above.
And S303, moving the second sliding blocks corresponding to all the electromagnetic chucks 51 to the highest position, wherein the highest no-load position of the electromagnetic chucks 51 is higher than that of the vacuum chuck 41, so that the electromagnetic chucks 51 can provide the workpiece adsorption force.
S304, the vacuum generator is started to make the vacuum chuck 41 provide the suction force on the workpiece. The suction cup holder 30 is lifted while gripping the workpiece with the electromagnetic suction cup 51 and the vacuum suction cup 41.
S4, adjusting the positions of the electromagnetic chuck 51 and the vacuum chuck 41 to grasp the workpiece with the vacuum chuck 41, comprising the steps of:
s401, lifting all the electromagnetic chucks 51 to the highest position, and enabling the positions of the electromagnetic chucks 51 to be higher than the vacuum chuck 41.
S402, importing a cutting path and cutting parameters of a current workpiece, and calculating to obtain corresponding surface form data; the position of the vacuum chuck 41 is adjusted in accordance with the surface shape data of the workpiece so that as many vacuum chucks 41 as possible correspond to the flat surface of the workpiece.
S403, the suction cup holder 30 is lowered to make all the vacuum suction cups 41 contact with the surface of the workpiece, and the relative position between the vacuum suction cups 41 can be adjusted by the hollow floating rod 42 and the linear bearing 43. The vacuum generator is activated so that the vacuum chuck 41 provides suction on the workpiece.
S404, lifting the sucker support 30, and grabbing the workpiece by using the vacuum sucker 41.
In some examples, when N consecutive workpieces to be blanked from the current workpiece are all made of a non-magnetic material, the process of gripping the workpieces by using the vacuum chuck 41 further includes:
and importing cutting paths and cutting parameters of N continuous workpieces to be blanked from the current workpiece, and calculating to obtain surface form data of each workpiece to be blanked. And calculating the arrangement data of all the vacuum chucks 41 corresponding to the N continuous workpieces to be blanked from the current workpiece by combining the surface shape data of the N continuous workpieces to be blanked from the current workpiece and taking the shortest total length of the adjustment path of the vacuum chucks 41 as a constraint condition, so that the number of the vacuum chucks 41 in contact with the flat surface of the workpieces to be blanked is greater than a required number threshold.
The calculation of the surface form data of each workpiece to be blanked means that the edge position information and the gap information of the workpiece to be blanked are obtained according to the cutting path and the cutting parameters, and the form data, the position information and the surface data of each workpiece to be blanked can be obtained by combining the surface form of the original workpiece. This part of the data is the basis for the subsequent adjustment of the position of the vacuum chuck 41.
As a preferred example, the process of calculating the arrangement data of all the vacuum chucks 41 corresponding to the N consecutive workpieces to be blanked from the current workpiece includes the following steps:
and S11, acquiring the machining processes of the continuous N workpieces to be blanked from the current workpiece, dividing the machining processes into L blanking groups according to the time of the workpieces to be blanked reaching the blanking table, and replacing the blanking sequence of the workpieces to be blanked in the same group.
And S12, mapping the workpiece clamp in the current state to the surface of each workpiece to be blanked, wherein the center position of the workpiece clamp coincides with the mass center of the workpiece to be blanked.
S13, analyzing the contact surface characteristics of the current position of each vacuum chuck 41 and the workpiece to be blanked, and counting the number L of effective chuck groups corresponding to each workpiece to be blanked and contacting with the flat surfacenN is 1,2, …, N. The effective suction cup group is a vacuum suction cup 41 having a suction force satisfying a predetermined suction force requirement, and may be defined narrowly as a vacuum suction cup 41 having no gap extending to the outer side of the vacuum suction cup 41 on the contact surface.
S14, judging whether workpieces to be blanked with the number of effective sucker groups smaller than a preset number threshold exist, if not, maintaining all the vacuum suckers 41 in the current state, and executing a blanking program of N continuous workpieces to be blanked from the current workpiece; otherwise, adjusting the position information of the partial vacuum chuck 41 according to a preset adjustment strategy, and executing the blanking program in batches until the Nth workpiece to be blanked is executed.
S15, setting the (N + 1) th workpiece to be blanked as the current workpiece, and returning to the step S11.
For each workpiece to be blanked, the number of the corresponding least effective sucker groups is different, and in order to simplify the calculation process, a larger number threshold is set to comprehensively consider all the workpieces to be blanked, such as 80% M and the like. Preferably, in order to obtain more accurate suction effect, the following design can be adopted: and taking N workpieces to be blanked as a group, and selecting the minimum effective sucker group number with the largest value to set the number threshold of the effective sucker groups. More preferably, in consideration of the distribution requirement of the effective sucker groups, the threshold of the number of the effective sucker groups can be set by regions or the threshold of the total number is multiplied by the distribution coefficient, so that the suction distribution caused by excessive concentration of the effective sucker groups is avoided from being too uneven.
In some examples, in step S14, the adjusting the position information of the partial vacuum chuck 41 according to the preset adjusting strategy, and the batch-wise performing the blanking process includes the following steps:
s141, workpieces to be blanked with the number of the first effective sucker groups smaller than a preset number threshold value1Dividing N workpieces to be blanked into a normal operation group and an adjustment operation group as separation points; setting a normal operation group to contain (N-K) workpieces to be blanked, and setting an adjustment operation group to contain K workpieces to be blanked, wherein N isk，k＝1，2，…,K。
S142, screening out the numbers of the invalid sucker groups simultaneously corresponding to all the workpieces to be blanked in the adjustment operation group, and calculating the moving route of the invalid sucker groups in the self travel range so as to avoid the workpieces n to be blanked in the adjustment operation group as much as possiblekAn uneven surface of (2). Preferably, the stroke range of the vacuum chuck 41 is related to the length of the first beam unit 11. The inactive suction cup group and the active suction cup group are two different states of the vacuum suction cup 41 facing each other.
S143, judging the workpiece n to be blankedkIf so, maintaining the initial state of all the vacuum chucks 41, executing the blanking program of the continuous (N-K) workpieces to be blanked from the current workpiece, moving the screened invalid chuck groups according to the moving route calculated in the step S142, executing the remaining K workpieces to be blanked, and if not, entering the step S144.
S144, taking the center of the mapped workpiece clamp as an intersection point, and enabling each workpiece n to be blankedkUniformly dividing the workpiece into a plurality of areas, and analyzing to obtain each workpiece n to be blankedkThe area distribution density map of the effective chuck group.
S145, sequentially selecting the invalid sucker groups contained in the area distribution density from high to low, and calculating the moving route of the invalid sucker groups in the self-travel range to avoidOpening and adjusting work group to discharge workpieces n as many as possiblekUp to all workpieces n to be blankedkThe number of the effective sucker groups meets the corresponding workpiece requirements, the initial state of all the vacuum suckers 41 is maintained, the blanking program of the continuous (N-K) workpieces to be blanked from the current workpiece is executed, the screened vacuum suckers 41 are moved according to the moving routes calculated in the step S142 and the step S145 in sequence, and the remaining K workpieces to be blanked are executed.
For example, the number of the first effective sucker groups is less than the preset number threshold value1Dividing N workpieces to be blanked into normal operation groups as separation points
Figure BDA0002734411730000101
And adjusting the job group nkI ═ 1,2, …, (N-K), K ═ 1,2, …, K. Due to normal operation group
Figure BDA0002734411730000102
Can be adapted to the layout of the current vacuum chuck 41, so that the arrangement of the current vacuum chuck 41 can be maintained for the blanking operation. For the adjustment operation group nkFirstly, all the corresponding invalid sucker groups are adjusted, wherein the invalid sucker groups correspond to the normal operation groups
Figure BDA0002734411730000103
Possibly a valid set of suction cups, so that the normal set of operations is performed first
Figure BDA0002734411730000104
The blanking process of (1) to reduce the adjustment objects as much as possible, if the adjusted workpiece clamp can meet the blanking requirement, executing the blanking process, and taking the arrangement state of the adjusted vacuum chucks 41 as the current state to continuously execute the next blanking process of the N workpieces to be blanked. If the adjusted floating sucker assembly still cannot meet the blanking requirement, other vacuum suckers 41 need to be adjusted, the part of the vacuum suckers 41 is an invalid sucker group for part of workpieces to be blanked, and the other part of the workpieces to be blanked is an effective sucker groupPreferably, the vacuum chucks 41 are selected to adjust so as to avoid the change of the distribution of the force applied to the workpiece caused by the change of the suction state due to the movement of the vacuum chucks 41. Preferably, the surface morphology distribution of the workpiece can be introduced for screening, but the method is easy to cause the problem of unstable suction state caused by uncontrollable change of the stress distribution of the workpiece in the practical process.
Preferably, after the first adjustment, grouping can be continuously performed, the number of the adjustment objects is continuously reduced, then screening of the common invalid sucker group or calculation of the area distribution density is performed, and the number of the adjustment objects is gradually reduced through an iterative idea, so that the uncontrollable property in the blanking process is reduced as much as possible.
In other examples, an air valve is connected between the vacuum chuck 41 and the corresponding vacuum generator; on this basis, the material clamping method further comprises the following steps: during the blanking process, the air valve corresponding to the ineffective suction cup group is closed to enhance the suction force of the other vacuum suction cups 41 as much as possible.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.

Claims (8)

1. A workpiece clamp capable of self-adaptive adjustment based on workpiece characteristics is characterized by comprising a plurality of sucker beams, two sucker longitudinal beams, a certain amount of electromagnetic suckers, a certain amount of vacuum suckers and a control device;
the sucker beams are arranged in parallel, and the distance between every two adjacent sucker beams is equal; the two sucker longitudinal beams are fixed above the sucker cross beams and connected with all the sucker cross beams, the extending direction of the sucker longitudinal beams is perpendicular to the extending direction of the sucker cross beams, and the sucker cross beams are fixed on the sucker support through the sucker longitudinal beams;
each electromagnetic chuck is arranged on the chuck beam through an electromagnetic chuck mounting mechanism and is adjustable in position in the horizontal direction, and each vacuum chuck is arranged on the chuck beam through a vacuum chuck mounting mechanism and is adjustable in position in the vertical direction; the electromagnetic chucks and the vacuum chucks are alternately arranged, and the initial position of the vacuum chuck is lower than the highest no-load position of the electromagnetic chucks and higher than the lowest no-load position of the electromagnetic chucks;
the control device is combined with the material characteristics and the surface appearance characteristics of the workpiece, the positions of the electromagnetic chuck and the vacuum chuck are adaptively adjusted according to a preset adjusting strategy, and the electromagnetic chuck and/or the vacuum chuck are adopted to grab the workpiece under the constraint conditions of minimum required vacuum degree and shortest moving path.
2. The workpiece clamp capable of self-adaptive adjustment based on workpiece characteristics as claimed in claim 1, wherein the sucker beam is rectangular and consists of a certain amount of first beam units and a certain amount of second beam units which are alternately arranged along a horizontal direction; the first beam unit is a cuboid frame with the length of L1, and the vacuum chuck is installed below the first beam unit and moves horizontally along the first beam unit; the second beam unit is a cuboid frame with the length of L2, and the electromagnetic chuck is installed below the second beam unit and vertically moves along the second beam unit; the L1 is greater than L2; the adjacent first beam unit and the second beam unit share at least two vertical rods.
3. The workpiece clamp capable of adaptive adjustment based on workpiece characteristics as claimed in claim 2, wherein the vacuum chuck mounting mechanism comprises a first motor, a first slide block, a linear bearing, a hollow floating rod and at least two horizontal guide rails;
the first sliding block is in a square shape, a vertical through hole is formed in the middle of the first sliding block, the linear bearing is installed above the vertical through hole of the first sliding block, one end of the hollow floating rod penetrates through the linear bearing to vertically extend above the first sliding block and is connected with the vacuum generator, and the other end of the hollow floating rod is connected with the vacuum sucker;
the at least two horizontal guide rails are respectively arranged on the at least two cross rods of the first cross beam unit, the first sliding block is arranged on the horizontal guide rails and is connected with the control device through a first motor, and the first motor adjusts the rotating speed of the output shaft according to a control command sent by the control device so as to drive the first sliding block to move along the horizontal guide rails.
4. The workpiece clamp capable of self-adaptive adjustment based on workpiece characteristics as claimed in claim 2, wherein the electromagnetic chuck mounting mechanism comprises a second motor, a second sliding block, a spring assembly, a guide rod, a connecting chain and at least two vertical guide rails;
the second sliding block is in a square shape, a cylindrical groove is formed in the second sliding block, and the opening of the groove faces downwards; the spring assembly is vertically arranged in the cylindrical groove and is connected with the electromagnetic chuck through the guide rod and the connecting chain in sequence; the size of the opening of the groove is matched with that of the guide rod and is smaller than that of the spring assembly and the connecting chain;
the at least two vertical guide rails are respectively installed on the at least two vertical rods of the second cross beam unit, the second sliding block is installed on the vertical guide rails and connected with the control device through a second motor, and the second motor adjusts the rotating speed of the output shaft according to a control command sent by the control device so as to drive the second sliding block to move along the vertical guide rails.
5. The workpiece clamp capable of being adaptively adjusted according to the workpiece characteristic of claim 4, wherein the preset adjustment strategy is as follows:
when the work piece is the magnetism material and weight is not more than when predetermineeing the weight threshold value, only adopt electromagnet to snatch the work piece, the process includes:
s201, lowering all the electromagnetic chucks to the lowest position, and lowering the chuck support to enable all the electromagnetic chucks to be adsorbed on the surface of a workpiece;
s202, raising the position of the second slider with the curved connecting chain to enable the corresponding connecting chain to be vertically connected between the electromagnetic chuck and the second slider or move the second slider to the highest position;
s203, lifting the sucker bracket, and grabbing a workpiece by using an electromagnetic sucker;
when the work piece is for magnetism material and weight to be greater than when predetermineeing the weight threshold value, adopt electromagnet and vacuum chuck to snatch the work piece simultaneously, the process includes:
s301, importing a cutting path and cutting parameters of a current workpiece, and calculating to obtain corresponding surface form data; adjusting the position of the vacuum chuck by combining the surface form data of the workpiece, so that as many vacuum chucks as possible correspond to the flat surface of the workpiece;
s302, lowering all the electromagnetic chucks to the lowest position, lowering the chuck support to enable all the vacuum chucks to be in contact with the surface of the workpiece, and enabling all the electromagnetic chucks to be adsorbed on the surface of the workpiece;
s303, moving the second sliding blocks corresponding to all the electromagnetic chucks to the highest position;
s304, starting a vacuum generator, lifting a sucker support, and grabbing a workpiece by using an electromagnetic sucker and a vacuum sucker;
when the work piece is non-magnetic material, adopt vacuum chuck to snatch the work piece, the process includes:
s401, lifting all the electromagnetic chucks to the highest position;
s402, importing a cutting path and cutting parameters of a current workpiece, and calculating to obtain corresponding surface form data; adjusting the position of the vacuum chuck by combining the surface form data of the workpiece, so that as many vacuum chucks as possible correspond to the flat surface of the workpiece;
s403, lowering the sucker support to enable all vacuum suckers to be in contact with the surface of the workpiece, and starting a vacuum generator;
and S404, lifting the sucker support, and grabbing the workpiece by using a vacuum sucker.
6. The workpiece clamp based on workpiece characteristic adaptive adjustment of claim 5, wherein when the N workpieces to be blanked from the current workpiece are all made of non-magnetic materials, the process of grabbing the workpieces by using the vacuum chuck further comprises:
importing cutting paths and cutting parameters of N continuous workpieces to be blanked from a current workpiece, and calculating to obtain surface form data of each workpiece to be blanked;
and calculating the arrangement data of all the vacuum chucks corresponding to the N continuous workpieces to be blanked from the current workpiece by combining the surface shape data of the N continuous workpieces to be blanked from the current workpiece and taking the shortest total length of the adjustment path of the vacuum chucks as a constraint condition, so that the number of the vacuum chucks in contact with the flat surface of the workpieces to be blanked is greater than a required number threshold.
7. The workpiece clamp capable of self-adaptive adjustment based on workpiece characteristics as claimed in claim 3, wherein the vacuum chuck mounting mechanism further comprises a limiting block arranged above or below the linear bearing, a cylindrical vertical through hole is formed in the middle of the limiting block, and the hollow floating rod penetrates through the limiting block;
the cylindrical vertical through hole inboard is provided with movable recess and activity card, and the activity card has two kinds of working form: (1) the movable clamping piece is fixedly and completely accommodated in the movable groove, (2) the movable clamping piece freely rotates along a rotating point positioned below the movable groove, moves into the movable groove when rotating upwards, and moves out of the movable groove when rotating downwards;
when the movable clamping piece is fixedly accommodated in the movable groove, the hollow floating rod moves up and down in the linear bearing, and when the movable clamping piece is ejected out, the hollow floating rod is limited by the matching groove on the outer side surface of the hollow floating rod and only allows the hollow floating rod to move upwards in the linear bearing.
8. The workpiece clamp based on the workpiece characteristic self-adaptive adjustment clamping method of the workpiece clamp of claim 4, which is characterized by comprising the following steps:
s1, judging the material property and the weight property of the current workpiece, if the current workpiece is magnetic and the weight is not more than a preset weight threshold, turning to S2, if the current workpiece is magnetic and the weight is more than the preset weight threshold, turning to S3, and if the current workpiece is non-magnetic, turning to S4;
s2, adjusting the position of the electromagnetic chuck to grab the workpiece by the electromagnetic chuck, and the method comprises the following steps:
s201, lowering all the electromagnetic chucks to the lowest position, and lowering the chuck support to enable all the electromagnetic chucks to be adsorbed on the surface of a workpiece;
s202, raising the position of the second slider with the curved connecting chain to enable the corresponding connecting chain to be vertically connected between the electromagnetic chuck and the second slider or move the second slider to the highest position;
s203, lifting the sucker bracket, and grabbing a workpiece by using an electromagnetic sucker;
s3, adjusting the positions of the electromagnetic chuck and the vacuum chuck to simultaneously grab the workpiece by adopting the electromagnetic chuck and the vacuum chuck, and the method comprises the following steps:
s301, importing a cutting path and cutting parameters of a current workpiece, and calculating to obtain corresponding surface form data; adjusting the position of the vacuum chuck by combining the surface form data of the workpiece, so that as many vacuum chucks as possible correspond to the flat surface of the workpiece;
s302, lowering all the electromagnetic chucks to the lowest position, lowering the chuck support to enable all the vacuum chucks to be in contact with the surface of the workpiece, and enabling all the electromagnetic chucks to be adsorbed on the surface of the workpiece;
s303, moving the second sliding blocks corresponding to all the electromagnetic chucks to the highest position;
s304, starting a vacuum generator, lifting a sucker support, and grabbing a workpiece by using an electromagnetic sucker and a vacuum sucker;
s4, adjusting the positions of the electromagnetic chuck and the vacuum chuck to grab the workpiece by the vacuum chuck, and the method comprises the following steps:
s401, lifting all the electromagnetic chucks to the highest position;
s402, importing a cutting path and cutting parameters of a current workpiece, and calculating to obtain corresponding surface form data; adjusting the position of the vacuum chuck by combining the surface form data of the workpiece, so that as many vacuum chucks as possible correspond to the flat surface of the workpiece;
s403, lowering the sucker support to enable all vacuum suckers to be in contact with the surface of the workpiece, and starting a vacuum generator;
and S404, lifting the sucker support, and grabbing the workpiece by using a vacuum sucker.
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