CN113636341B - Shaping clamp, stacking device and stacking method - Google Patents
Shaping clamp, stacking device and stacking method Download PDFInfo
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- CN113636341B CN113636341B CN202111012402.XA CN202111012402A CN113636341B CN 113636341 B CN113636341 B CN 113636341B CN 202111012402 A CN202111012402 A CN 202111012402A CN 113636341 B CN113636341 B CN 113636341B
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- 238000007493 shaping process Methods 0.000 title claims abstract description 237
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000000429 assembly Methods 0.000 claims description 16
- 230000000712 assembly Effects 0.000 claims description 16
- 230000000399 orthopedic effect Effects 0.000 claims 5
- 239000000463 material Substances 0.000 abstract description 8
- 241000252254 Catostomidae Species 0.000 description 12
- 238000002407 reforming Methods 0.000 description 9
- 238000009434 installation Methods 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 5
- 238000002360 preparation method Methods 0.000 description 4
- 239000000446 fuel Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013072 incoming material Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0233—Position of the article
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
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- 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
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a shaping clamp which comprises a first sucker, a first shaping piece and a second sucker, wherein the second sucker is hollow, the first sucker is positioned in the hollow part of the second sucker, the first sucker and the second sucker have a height difference in the height direction, a gap is formed between the first sucker and the second sucker, and the first shaping piece is positioned in the gap. The invention also relates to a stacking device which comprises a case and a robot which are independently arranged, wherein the case is provided with a first workpiece feeding position, a second workpiece feeding position, a first workpiece material preparing position and a second workpiece material preparing position, and the second workpiece feeding position is provided with a workpiece shaping positioning platform for shaping a second workpiece; the grabbing end of the robot is connected with a shaping clamp. The invention also relates to a method for stacking workpieces by using the stacking device. The shaping clamp, the stacking device and the stacking method have the advantages of good flatness of workpieces, high stacking efficiency, good stacking quality and the like.
Description
Technical Field
The invention relates to the technical field of unit component stacking of fuel cells, in particular to a shaping clamp, a stacking device and a stacking method.
Background
The unit components of the traditional fuel cell generally comprise pole pieces, plate frames and the like, when the unit components are prepared and stacked, the pole pieces and the plate frames need to be sequentially grabbed by a mechanical arm to be stacked, each workpiece needs to be grabbed and transferred once in the stacking process, so that stacking can be completed, namely the workpieces such as the pole pieces and the plate frames are grabbed and transferred alternately, specifically, if the mechanical arm grabs the plate frame first, the plate frame is transferred to the stacking position, then the mechanical arm grabs the pole pieces again, and the pole pieces are transferred to the stacking position … …. This kind of unit subassembly snatchs the work piece in proper order and piles up the mode among this fuel cell, and the roughness of its sheet frame can't be guaranteed, leads to piling up moreover that the chronogenesis is long, production efficiency is low, and piles up the quality low.
Disclosure of Invention
In order to achieve the purpose, the invention provides a shaping clamp which has a function of grabbing workpieces at different positions and sizes by one-time transfer, and the shaping clamp is realized by the following technical scheme.
The utility model provides a shaping clamp, includes first sucking disc, first plastic piece and second sucking disc, the inside cavity of second sucking disc, first sucking disc is located the well kenozooecium of second sucking disc, first sucking disc and second sucking disc have the difference in height in the direction of height, be equipped with the clearance between first sucking disc and the second sucking disc, first plastic piece is located the clearance for carry out the plastic to the first work piece of first sucking disc corresponding position. The shaping clamp is internally and externally nested and provided with the first sucker and the second sucker which have height difference, so that the shaping clamp has the function of grabbing and stacking two workpieces with different sizes and different positions at one time, and compared with the traditional mode that a manipulator grabs one workpiece each time and returns to the position of the next workpiece to grab and take off the next workpiece for stacking, the manipulator returns to the position of the next workpiece to grab and take off the next workpiece in the traditional sequential grabbing and stacking mode after the workpiece is transferred to the stacking position, the shaping clamp can synchronously transfer and stack different types of workpieces at different positions at one time, the grabbing and transferring efficiency of the workpieces is greatly improved, and the stacking efficiency of unit components is effectively improved; the arrangement of the first shaping piece in the shaping clamp can be used for shaping the first workpiece after the workpiece is transferred to the stacking position and placed, so that the stacking quality of the unit assembly is effectively improved.
Further, the first shaping pieces are distributed outside the periphery of the first suction disc, and the first shaping driving piece drives the first shaping driving piece to move in the gap along the horizontal direction so as to carry out shaping positioning or loosening on the first workpiece on the first suction disc. The first shaping piece is located outside the periphery of the first sucker, so that when the first sucker sucks a first workpiece and transfers the first workpiece to the stacking position, the first shaping piece shapes the first workpiece, and the stacking quality of the workpieces is ensured.
Furthermore, the first shaping piece comprises a left shaping component, a right shaping component, a front shaping component and a rear shaping component, the left shaping component and the right shaping component are oppositely distributed outside the left side and the right side of the first suction disc to form the left shaping component and the right shaping component, the front shaping component and the rear shaping component are oppositely distributed outside the front side and the rear side of the first suction disc to form the front shaping component and the rear shaping component, and first shaping driving parts are connected to the outer sides of the left shaping component, the right shaping component, the front shaping component and the rear shaping component. When the first workpiece is shaped, the left shaping component and the right shaping component are used for shaping the first workpiece from the left side and the right side of the first workpiece and the front shaping component and the rear shaping component are used for synchronously shaping the first workpiece from the front side and the rear side of the first workpiece to the central direction, so that the first workpiece is shaped from the periphery to the central direction, and the shaping quality is effectively ensured.
Furthermore, the first suckers are connected with two groups of first driving assemblies, and the two groups of first driving assemblies are symmetrically distributed on two sides of the first suckers and are away from certain positions of the end parts; the first driving assembly comprises a first fixing frame and a first sucking disc driving piece, the first sucking disc driving piece is installed on the first fixing frame, and the driving end of the first sucking disc driving piece is connected with the first sucking disc. The first sucker is connected with a first sucker driving piece in the first driving assembly, and after the shaping clamp is positioned above the first workpiece, the first sucker driving piece drives the first sucker to move towards the first workpiece to grab the first workpiece.
Furthermore, the second suckers are connected with second supporting assemblies, the number of the second supporting assemblies is two, and the two groups of the second supporting assemblies are symmetrically distributed on two sides of the second suckers and are away from certain positions of the end parts; the second supporting assembly comprises a second fixing frame and two second sucker supporting pieces, the two second sucker supporting pieces are symmetrically distributed at two ends of the second fixing frame, and the driving ends of the second sucker supporting pieces are connected with the second suckers. The second sucking disc is connected with a second sucking disc supporting piece in the second supporting assembly, and after the shaping clamp is located above the second workpiece, the robot drives the second sucking disc to move towards the second workpiece through the second supporting assembly to grab the second workpiece.
Furthermore, the plastic fixture further comprises an installation frame, the installation frame comprises two fixing plates which are distributed in parallel, a connecting seat connected with the two fixing plates is arranged in the middle of each fixing plate, and the plastic fixture is installed on the robot through the installation frame.
The invention also provides a stacking device with good workpiece flatness, high stacking efficiency and good stacking quality, which is realized by the following technical scheme.
A stacking device comprises a case and a robot which are independently arranged, wherein a first workpiece feeding position, a second workpiece feeding position, a first workpiece material preparing position and a second workpiece material preparing position are arranged on the case, a workpiece shaping and positioning platform for shaping a second workpiece is arranged at the second workpiece feeding position, and a bottom positioning camera is arranged at one pair of angular positions of the workpiece shaping and positioning platform; the grabbing end of the robot is connected with a shaping clamp. The stacking device disclosed by the invention is used for loading a first workpiece and a second workpiece through a first workpiece loading position and a second workpiece loading position on a case, and shaping and positioning the second workpiece through a workpiece shaping and positioning platform; the shaping clamp is connected with a robot and a grabbing end of the robot, and is used for grabbing a first workpiece and a second workpiece to realize one-time transfer so as to realize synchronous transfer of the first workpiece and the second workpiece, specifically, the arrangement of a first sucker and a second sucker which are nested inside and outside and have a height difference in the shaping clamp enables the shaping clamp to have a mode that one-time transfer can complete grabbing and stacking of workpieces with different sizes and different positions, compared with a mode that a traditional manipulator grabs one workpiece each time, and after the workpiece is transferred to a stacking position, the manipulator returns to the position of the next workpiece to grab the next workpiece to sequentially grab the next workpiece for stacking, the shaping clamp can complete synchronous transfer and stacking of different types of workpieces with different positions at one time, so that the grabbing and transferring efficiency of the workpieces is greatly improved, and further the stacking efficiency of unit assemblies is effectively improved; the first shaping piece is arranged in the shaping clamp, and after the workpieces are transferred to the stacking position, the first workpieces at the corresponding positions of the first suction disc are shaped through the first shaping piece, so that the stacking quality of the unit assembly is effectively improved; the workpiece shaping and positioning platform comprises two bottom positioning cameras at a pair of angular positions, when the robot drives the shaping clamp to drive the grabbed first workpiece to move to the position above the feeding area of the second workpiece position, the bottom positioning cameras shoot, position and calibrate the first workpiece, the first workpiece is ensured to correspond to the second workpiece in the feeding area of the second workpiece position, the robot drives the second sucker to move towards the second workpiece through the second sucker support piece, the second workpiece is firstly flattened, then the second workpiece is adsorbed, the flatness of the second workpiece is ensured, and meanwhile the stacking quality is further ensured.
Furthermore, a second shaping piece and bottom suckers are arranged on the workpiece shaping and positioning platform, the bottom suckers are distributed in the position, corresponding to the second workpiece frame, of the second workpiece feeding area, and the second shaping piece is located on the outer side of the bottom suckers. The second shaping piece is arranged on the workpiece shaping and positioning platform and used for shaping and positioning a second workpiece; the bottom sucker is arranged for sucking the second workpiece from the bottom of the workpiece after the second workpiece is in place, so that the second workpiece is prevented from being deformed, and the flatness of the second workpiece is ensured.
The invention provides a stacking method with good workpiece flatness, high stacking efficiency and good stacking quality, which is realized by the following technical scheme.
A stacking method is characterized in that a robot provided with a shaping clamp with a first sucker and a second sucker and a case provided with a first workpiece loading position and a second workpiece loading position are used for controlling the shaping clamp to transfer once by the robot to complete grabbing of a first workpiece, stacking the first workpiece on a second workpiece, and synchronously moving the first workpiece and the second workpiece to a stacking position to stack the workpieces. The shaping clamp is provided with a first sucker and a second sucker, wherein the first sucker and the second sucker are nested inside and outside and have a height difference; the robot can grab and stack two workpieces with different sizes on a first workpiece feeding position and a second workpiece feeding position by transferring once when controlling the shaping clamp to grab the workpieces, and compared with the traditional mode that the manipulator grabs one workpiece at a time, and after the workpieces are transferred to the stacking position, the manipulator returns to the position of the next workpiece to grab the traditional mode of sequentially grabbing and stacking the workpieces of the next workpiece, the shaping clamp can transfer once to synchronously transfer and stack the workpieces at different positions, so that the grabbing and transferring efficiency of the workpieces is greatly improved, and the stacking efficiency of unit components is effectively improved; the arrangement of the first shaping piece in the shaping clamp can be used for shaping the first workpiece at the corresponding position of the first suction disc through the first shaping piece after the workpiece is transferred to the stacking position and placed, so that the stacking quality of the unit assembly is effectively improved.
Further, the stacking method specifically comprises the following steps,
workpiece feeding: an operator or a feeding mechanism respectively feeds the first workpiece and the second workpiece to corresponding feeding areas on a first workpiece feeding level and a second workpiece feeding level to complete feeding of the first workpiece and the second workpiece;
shaping and positioning a second workpiece: after a second workpiece is fed onto the shaping positioning platform on the feeding position of the second workpiece, the control system controls the second shaping piece to start to carry out shaping positioning and calibration on the second workpiece;
leveling treatment: after the second workpiece is positioned and the position of the second workpiece is calibrated through the second shaping piece, the control system controls the bottom sucker on the shaping positioning platform to start, and the bottom sucker sucks the second workpiece from the bottom to ensure the flatness of the second workpiece;
transferring and stacking the workpieces: the robot is started, the shaping clamp is controlled to move to a position above a first workpiece on a feeding area in a first workpiece position, and a first sucker driving piece is started to drive a first sucker to move towards the first workpiece and suck the first workpiece; after the first workpiece is adsorbed by the first sucking disc, the robot controls the shaping clamp to drive the first workpiece to move to the position above a second workpiece on a loading area in a second workpiece position, a bottom camera on the second workpiece position takes a picture to determine whether the position and the size of four corners of the first workpiece correspond to those of the second workpiece, after the position of the first workpiece of the incoming material is determined to be qualified, the robot drives the second sucking disc to move to the second workpiece through a second sucking disc support part to adsorb the second workpiece, at the moment, the bottom sucking disc on the second workpiece position is subjected to vacuum breaking, and the robot drives the shaping clamp to drive the first workpiece and the second workpiece to move to a stacking position together;
shaping a first workpiece: when the first workpiece and the second workpiece are moved to the stacking position, the first shaping piece in the shaping clamp is started to shape and position the first workpiece, and the stacking of the workpieces is completed.
Compared with the prior art, the shaping clamp, the stacking device and the stacking method have the following beneficial effects:
the shaping fixture has the advantages that the first and second suckers are arranged, the two suckers are nested inside and outside the shaping fixture and have height difference, so that the shaping fixture can complete grabbing and stacking of workpieces with different sizes and different positions by once transferring, compared with the traditional manipulator which grabs one workpiece each time, after the workpiece is transferred to the stacking position, the manipulator returns to the position of the next workpiece to grab the next workpiece and sequentially grab the next workpiece for stacking, and synchronous transferring and stacking of different types of workpieces at different positions can be completed by adopting the shaping fixture, the grabbing and transferring efficiency of the workpieces is greatly improved, and the stacking efficiency of unit components is effectively improved;
secondly, the stacking quality is good, and after the workpieces are transferred to the stacking position, the first workpieces at the corresponding positions of the first suction disc are shaped through the first shaping piece; the second shaping piece is arranged in the workpiece shaping and positioning platform, and when the second workpiece is fed to the feeding area, the second shaping piece shapes and positions the second workpiece; the technical scheme includes that the first workpiece and the second workpiece are shaped through a first shaping piece and a second shaping piece respectively, the first workpiece is photographed and calibrated relative to the second workpiece through the bottom cameras, and the stacking quality is ensured from multiple aspects;
thirdly, the flatness of the workpiece is good, and the arrangement of the bottom sucker on the workpiece reshaping platform is used for adsorbing the second workpiece from the bottom of the workpiece after the second workpiece is in place, so that the second workpiece is prevented from being deformed, and the flatness of the second workpiece is ensured.
Drawings
FIG. 1 is a first perspective view of the reforming fixture of the present invention;
FIG. 2 is a second perspective view of the reforming fixture of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 2;
FIG. 4 is a perspective view of a stacking apparatus of the present invention;
FIG. 5 is a first enlarged view of a portion of FIG. 4;
fig. 6 is a second partial enlarged view of fig. 4.
Description of the drawings:
100. shaping the clamp; 110. a first suction cup; 120 a second suction cup; 130. a first shaping member; 131. a left and right shaping component; 132. a front and rear shaping component; 140. a first shaping driver; 150. a gap; 160. a first drive assembly; 161. a first fixing frame; 162. a first chuck drive member; 170. a second support assembly; 171. a second fixing frame; 172. a second chuck support; 180. a mounting frame; 181. a fixing plate; 182. a connecting seat; 200. a robot; 210. a grabbing end; 300. a chassis; 310. a first workpiece loading position; 320. a second workpiece loading position; 321 workpiece shaping and positioning platform; 322. a bottom positioning camera; 323. a second shaping member; 3231. shaping plates; 3232. a shaping plate drive; 330. a first workpiece stock level; 340. and a second workpiece stock level.
Detailed Description
The reforming jig, the stacking apparatus, and the stacking method according to the present invention will be described in further detail with reference to the following embodiments and the accompanying drawings.
Example 1
Referring to fig. 1 and 2, in a non-limiting embodiment of the present invention, a reforming fixture 100 includes a first suction cup 110, a first reforming part 130, and a second suction cup 120, the second suction cup 120 is hollow, the first suction cup 110 is located in the hollow of the second suction cup 120, the first suction cup 110 and the second suction cup 120 have a height difference in a height direction, a gap 150 is provided between the first suction cup 110 and the second suction cup 120, and the first reforming part 130 is located in the gap 150 and is configured to reform a first workpiece (not shown) at a corresponding position of the first suction cup 110. The shaping fixture 100 of the present invention is provided with two first suction cups 110 and second suction cups 120 which are nested inside and outside and have a height difference, so that the shaping fixture 100 has a function of grabbing and stacking two workpieces with different sizes and different positions at a time, specifically, in this embodiment, the first workpiece is a carbon felt, and the second workpiece is a large-sized hollow plate frame. Compared with the traditional mode that the manipulator grabs one workpiece each time, and after the workpiece is transferred to the stacking position, the manipulator returns to the position of the next workpiece to grab the next workpiece in sequence for stacking, the shaping clamp 100 provided by the invention is adopted to realize synchronous transfer and stacking of workpieces at different positions at one time, so that the grabbing and transferring efficiency of the workpiece is greatly improved, and the stacking efficiency of unit components is effectively improved; the arrangement of the first shaping member 130 in the shaping jig 100 can effectively improve the stacking quality of the unit components by shaping the first workpiece at the position corresponding to the first suction cup 110 through the first shaping member 130 after the workpiece is transferred to the stacking position.
Referring to fig. 1 and 2, in a non-limiting embodiment of the present invention, the first shaping member 130 is disposed outside the periphery of the first suction cup 110, and is driven by the first shaping driving member 140 to move in the horizontal direction in the gap 150 to perform shaping positioning or releasing on the first workpiece on the first suction cup 110. In this embodiment, the first shaping member 130 is mounted on the second suction cup 120 by the first shaping driving member 140, but the first shaping member 130 may be mounted on the first suction cup 110 by the first shaping driving member 140 instead of the second suction cup 120. In this embodiment, the first shaping member 130 is located outside the periphery of the first suction cup 110, so that when the first suction cup 110 sucks the first workpiece and transfers the first workpiece to the stacking position, the first shaping member 130 shapes the first workpiece, thereby ensuring the stacking quality of the workpieces.
Referring to fig. 1, 2 and 3, in one non-limiting embodiment of the present invention, the gap 150 is an annular gap defined by four linear gaps around the circumference of the first suction cup 110, each linear gap having a shaping member disposed therein. In this embodiment, the end surface of the shaping member near the end of the second suction cup 120 and the contact surface of the second suction cup 120 are on the same plane. Specifically, the first shaping member 130 includes a left and right shaping member 131 and a front and rear shaping member 132, the left and right shaping member 131 is formed by a left shaping member and a right shaping member which are oppositely disposed on the outer portions of the left and right sides of the first suction cup 110, the front and rear shaping member 132 is formed by a front shaping member and a rear shaping member which are oppositely disposed on the outer portions of the front and rear sides of the first suction cup 110, and a first shaping driving member 140 is connected to the outer sides of the left, right, front and rear shaping members, and in this embodiment, a cylinder or a linear motor is preferably used as the first shaping driving member 140. When the first shaping member 130 composed of the left and right shaping members 131 and the front and rear shaping members 132 shapes the first workpiece, the left and right shaping members 131 shape the first workpiece from the left and right sides thereof, and the front and rear shaping members 132 shape the first workpiece from the front and rear sides thereof in the center direction, so that the first workpiece is shaped from the periphery thereof to the center direction, and the shaping quality of the first workpiece is effectively ensured.
Referring to fig. 1, 2 and 3, in a non-limiting embodiment of the present invention, the first suction cup 110 is connected to the first driving assemblies 160, the first driving assemblies 160 are divided into two groups, and the two groups of the first driving assemblies 160 are symmetrically distributed on two sides of the first suction cup 110 and are spaced from certain positions of the end; the first driving assembly 160 includes a first fixing frame 161 and a first chuck driving member 162, the first chuck driving member 162 is mounted on the first fixing frame 161, a driving end of the first chuck driving member 162 is connected to the first chuck 110, and in this embodiment, a cylinder or a linear motor is preferably used as the first chuck driving member 162. The second suction cup 120 is connected with the second support assemblies 170, the second support assemblies 170 are two groups, and the two groups of the second support assemblies 170 are symmetrically distributed on two sides of the second suction cup 120 and are away from certain positions of the end parts; the second supporting assembly 170 includes a second fixing frame 171 and two second suction cup supporting members 172, the two second suction cup supporting members 172 are symmetrically distributed at two ends of the second fixing frame 171, and two ends of the second suction cup supporting members 172 are respectively connected to the second fixing frame 171 and the second suction cup 120. The shaping clamp 100 further comprises an installation frame 180, the installation frame 180 comprises two fixing plates 181 which are distributed in parallel, a connecting seat 182 which is respectively connected with the two fixing plates 181 is arranged in the middle of each fixing plate 181, and the connecting seat 182 is used for being connected with the robot 200; both ends of the first and second holders 161 and 161 are respectively mounted on the two fixing plates 181, so that the first and second suction cups 110 and 120 are respectively connected to the mounting frame 180 through the first and second driving assemblies 160 and 170, and the shaping jig 100 is mounted on the robot 200 through the mounting frame 180. In this embodiment, a flange is disposed on the connection seat 182, and the connection seat 182 is connected to the driving end of the robot 200 through a fastener and the flange, so that the connection is stable. In this embodiment, the robot 200 is a six-axis robot, and the six-axis robot is arranged so that the robot can flexibly move in multiple axes and multiple directions to drive the shaping jig 100 to grab and transfer a workpiece. Specifically, the first suction cup 110 is connected to a first suction cup driving unit 162 of the first driving unit 160, and after the shaping jig 100 is positioned above the first workpiece, the first suction cup driving unit 162 drives the first suction cup 110 to move toward the first workpiece to grasp the first workpiece. The second suction cup 120 is connected to the second suction cup support 172 of the second support assembly 170, and after the reforming fixture 100 is located above the second workpiece, the robot 200 drives the second suction cup 120 to move towards the second workpiece through the second suction cup support 172 to grab the second workpiece, and due to the height difference between the first suction cup 110 and the second suction cup 120, the first workpiece and the second workpiece form an up-and-down stacking effect after being sucked by the first suction cup 110 and the second suction cup 120.
Example 2
Referring to fig. 1 to 6, in a non-limiting embodiment of the present invention, the present invention discloses a stacking apparatus, including a chassis 300 and a robot 200, which are independently arranged, wherein the chassis 300 is provided with a first workpiece loading position 310, a second workpiece loading position 320, a first workpiece preparation position 330 and a second workpiece preparation position 340, the second workpiece loading position 320 is provided with a workpiece shaping positioning platform 321 for shaping a second workpiece, and a pair of angular positions of the workpiece shaping positioning platform 321 are provided with bottom positioning cameras 322; the gripping end 210 of the robot 200 is connected with the reforming jig 100. The stacking device of the invention loads the first workpiece and the second workpiece through the first workpiece loading position 310 and the second workpiece loading position 320 on the case 300, and shapes and positions the second workpiece through the workpiece shaping and positioning platform 321; the robot 200 and the shaping clamp 100 connected with the grabbing end 210 of the robot are used for grabbing a first workpiece and a second workpiece and synchronously transferring the first workpiece and the second workpiece to a stacking position, specifically, two first suckers 110 and second suckers 120 which are nested inside and outside and have height difference are arranged in the shaping clamp 100, so that the shaping clamp 100 has the function of grabbing and stacking two workpieces with different sizes and different positions at one time, compared with the conventional manipulator which grabs one workpiece at a time, after the workpiece is transferred to the stacking position, the manipulator returns to the position of the next workpiece to grab the next workpiece in sequence to grab the next workpiece for stacking, the shaping clamp 100 can synchronously transfer and stack the workpieces at different positions, the grabbing and transferring efficiency of the workpieces is greatly improved, and the stacking efficiency of unit components is effectively improved; the arrangement of the first shaping piece 130 in the shaping clamp 100 is that after the workpieces are transferred to the stacking position, the first workpiece at the position corresponding to the first suction cup 110 is shaped by the first shaping piece 130, so that the stacking quality of the unit components is effectively improved; the workpiece shaping and positioning platform 321 comprises two bottom positioning cameras 322 at a pair of angular positions, when the robot 200 drives the shaping fixture 100 to drive the grabbed first workpiece to move to the position above the feeding area of the second workpiece position, the bottom positioning cameras 322 take pictures, position and calibrate the first workpiece, after the first workpiece is ensured to correspond to the second workpiece in the feeding area of the second workpiece position, the robot drives the second suction cup 120 to move towards the second workpiece through the second suction cup support 172, the second workpiece is firstly flattened, then the second suction cup 120 adsorbs the second workpiece, the flatness of the second workpiece is ensured, and meanwhile, the stacking quality is further ensured; the first workpiece stock level 330 and the second workpiece stock level 340 are used as stock levels, and before and after the equipment is started, the first workpiece stock level 330 and the second workpiece stock level 340 are loaded for standby. Specifically, before the equipment is started, the first workpiece preparation position 330 and the second workpiece preparation position 340 are loaded for standby; after the equipment is started, a manipulator respectively takes materials from a first workpiece stock preparing position 330 and a second workpiece stock preparing position 340 and transfers the materials to a first workpiece stock feeding position 310 and a second workpiece stock feeding position 320, in the process, workpieces on the first workpiece stock preparing position 330 and the second workpiece stock preparing position 340 are continuously transferred to the first workpiece stock feeding position 310 or the second workpiece stock feeding position 320 for production and processing, the stock materials of the first workpiece stock preparing position 330 and the second workpiece stock preparing position 340 are gradually reduced, and when the first workpiece stock feeding position 310 or the second workpiece stock feeding position 320 is used for production and processing, the material is continuously supplied to the first workpiece stock preparing position 330 and the second workpiece stock preparing position 340, so that the stacking device can continuously run without stopping, the stacking device can continuously stack the workpieces, and the workpiece stacking efficiency is improved.
Referring to fig. 1 to 6, in a non-limiting embodiment of the present invention, the workpiece reshaping and positioning platform 321 is provided with a second reshaping element 323 and bottom suction cups (not shown), the bottom suction cups are distributed at positions corresponding to the second workpiece frame in the second workpiece loading area, and the second reshaping element 323 is located at the outer side of the bottom suction cups. The workpiece shaping and positioning platform 321 is provided with a second shaping element 323 for shaping and positioning the second workpiece, in this embodiment, the second shaping element 323 is an assembly including a shaping plate 3231 and a shaping plate driving element 3232, and the shaping plate 3231 is driven by the shaping plate driving element 3232 to move toward the second workpiece to flatten and position the second workpiece. In this embodiment, it is preferable that the cylinders or linear motors are the shaping driving members 3232, and in this embodiment, the second shaping members 323 are four groups, which are respectively distributed on the outer side of the periphery of the second workpiece; because the size of the second workpiece is large, the bottom suction cups are arranged at the positions, corresponding to the plate frames, on the workpiece shaping and positioning platform 321, and are used for adsorbing the second workpiece from the bottom of the second workpiece after the second workpiece is in place, so that the second workpiece is prevented from deforming, and when the shaping clamp 100 is in place and flattens the second workpiece, the flatness of the second workpiece is ensured.
Example 3
Referring to fig. 1 to 6, in a non-limiting embodiment of the present invention, the present invention further provides a stacking method having good flatness of workpieces, high stacking efficiency and good stacking quality, the stacking method is realized by the following technical scheme, the method is realized by a robot 200 provided with a shaping clamp 100 with a first suction cup 110 and a second suction cup 120, and a machine box 300 provided with a first workpiece loading level 310 and a second workpiece loading level 320, after the robot 200 controls the first suction cup 110 in the reforming fixture 100 to grasp the first workpiece, the robot then moves the first workpiece to a position above the second workpiece at a second workpiece loading position 320, then the robot drives the second suction cup 120 to move down to grab the second workpiece, the first workpiece and the second workpiece are synchronously moved to the stacking position, and after the second workpiece and the first workpiece are placed, the first shaping piece 130 starts a workpiece stacking method for shaping the first workpiece. The shaping clamp 100 is provided with a first suction cup 110 and a second suction cup 120, wherein the first suction cup 110 and the second suction cup 120 are nested in and out and have a height difference; the robot 200 can grab and stack two workpieces with different sizes on the first workpiece feeding position 310 and the second workpiece feeding position 320 at one time when controlling the shaping fixture 100 to grab the workpieces, and grab one workpiece at each time relative to the traditional manipulator, and after the workpiece is transferred to the stacking position, the manipulator returns to the position of the next workpiece to grab the next workpiece and grab the next workpiece, and grab and stack the workpieces in sequence, and by adopting the shaping fixture 100, the synchronous transfer and stacking of different types of workpieces at different positions can be completed at one time, so that the grabbing and transferring efficiency of the workpieces is greatly improved, and the stacking efficiency of unit components is effectively improved; the arrangement of the first shaping member 130 in the shaping jig 100 effectively improves the stacking quality of the unit components by shaping the first shaping member 130 after the workpieces are transferred to the stacking position and the second and first workpieces are placed.
Referring to fig. 1-6, in accordance with one non-limiting embodiment of the present invention, the stacking method, in particular includes the steps of,
s1, workpiece feeding: an operator or a feeding mechanism respectively feeds the first workpiece and the second workpiece to corresponding feeding areas on a first workpiece feeding position 310 and a second workpiece feeding position 320, so that the first workpiece and the second workpiece are fed;
s2, shaping and positioning a second workpiece: after a second workpiece is fed onto the shaping positioning platform 321 on the second workpiece feeding position 320, the control system controls the second shaping piece 323 to start to carry out shaping positioning and calibration on the second workpiece;
s3, leveling: after the second workpiece is positioned and position-calibrated through the second shaping piece 323, the control system controls the bottom suction cup on the shaping positioning platform 321 to start, and the bottom suction cup sucks the second workpiece from the bottom to ensure the flatness of the second workpiece;
s4, workpiece transfer stacking: the robot 200 is started, the shaping clamp 100 is controlled to move to the position above the first workpiece on the feeding area in the first workpiece feeding position 310, and the first sucker driving piece 162 is started to drive the first sucker 110 to move towards the first workpiece and suck the first workpiece; after the first suction cup 110 adsorbs a first workpiece, the robot 200 controls the shaping clamp 100 to drive the first workpiece to move to the upper part of a second workpiece on a feeding area in a second workpiece feeding position 320, a bottom positioning camera 322 on the second workpiece feeding position 320 takes a picture to determine whether the position size of the opposite angle of the first workpiece corresponds to the relative position of the front visual calibration of the second workpiece, after the position of the second workpiece is determined to be qualified, the robot 200 drives the second suction cup 120 to move to adsorb the second workpiece, at the moment, the bottom suction cup on the second workpiece feeding position 320 is subjected to vacuum breaking, and the robot 200 drives the shaping clamp 100 to drive the adsorbed first workpiece and the adsorbed second workpiece to move to a stacking position together;
shaping a first workpiece: after the first and second workpieces are moved to the stacked position and placed, the first shaping member 130 in the shaping jig 100 is actuated to shape and position the first workpiece, as described above, until the stack of all workpieces is completed.
In the description of the present invention, it is to be understood that terms such as "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, which indicate orientations or positional relationships, are used based on the orientations or positional relationships shown in the drawings only for the convenience of describing the present invention and for the simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The above embodiments are only specific embodiments of the present invention, and the description thereof is specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications are possible without departing from the inventive concept, and such obvious alternatives fall within the scope of the invention.
Claims (10)
1. An orthopedic clamp (100), characterized by: the novel automatic shaping fixture comprises a first suction cup (110), a first shaping piece (130) and a second suction cup (120), wherein the second suction cup (120) is hollow, the first suction cup (110) is located in the hollow portion of the second suction cup (120), the first suction cup (110) and the second suction cup (120) have a height difference in the height direction, a gap (150) is formed between the first suction cup (110) and the second suction cup (120), the first shaping piece (130) is located in the gap (150), the first suction cup (110) is used for sucking a first workpiece, the first shaping piece (130) is used for shaping, positioning or loosening the first workpiece, the second suction cup (120) is used for sucking a second workpiece, and the shaping fixture (100) can synchronously transfer and stack different types of workpieces at different positions at one time.
2. The truing fixture (100) of claim 1, wherein the first truing members (130) are distributed around the outer periphery of the first suction cup (110) and are moved horizontally within the gap (150) by a first truing drive (140) to true or release the first workpiece on the first suction cup (110).
3. The orthopedic jig (100) of claim 2, characterized in that the first shaping member (130) comprises a left and right shaping assembly (131) and a front and rear shaping assembly (132), the left and right shaping assembly (131) is composed of a left shaping member and a right shaping member which are relatively distributed on the outer portions of the left and right sides of the first suction cup (110), the front and rear shaping assembly (132) is composed of a front shaping member and a rear shaping member which are relatively distributed on the outer portions of the front and rear sides of the first suction cup (110), and the first orthopedic driving member (140) is connected to the outer sides of the left shaping member, the right shaping member, the front shaping member and the rear shaping member.
4. The orthopedic jig (100) of any of claims 1 to 3, characterized in that the first suction cup (110) is connected to first driving assemblies (160), the first driving assemblies (160) are divided into two groups, and the two groups of first driving assemblies (160) are symmetrically distributed on two sides of the first suction cup (110) at a certain distance from the ends; the first driving assembly (160) comprises a first fixing frame (161) and a first sucking disc driving part (162), the first sucking disc driving part (162) is installed on the first fixing frame (161), and the driving end of the first sucking disc driving part (162) is connected with the first sucking disc (110).
5. The orthopedic jig (100) of claim 4, characterized in that the second suction cup (120) is connected to second support members (170), the second support members (170) are in two groups, and the two groups of second support members (170) are symmetrically distributed on two sides of the second suction cup (120) at a position away from the end; the second supporting assembly (170) comprises a second fixing frame (171) and two second sucker supporting pieces (172), the two second sucker supporting pieces (172) are symmetrically distributed at two ends of the second fixing frame (171), and two ends of each second sucker supporting piece (172) are respectively connected with the second fixing frame (171) and the second sucker (120).
6. The plastic jig (100) of claim 5, further comprising a mounting frame (180), wherein the mounting frame (180) comprises two fixing plates (181) arranged in parallel, and a connecting seat (182) connected to each of the two fixing plates (181) is provided at a middle portion of each of the two fixing plates (181).
7. The stacking device is characterized by comprising a case (300) and a robot (200) which are independently arranged, wherein a first workpiece feeding position (310), a second workpiece feeding position (320), a first workpiece preparing position (330) and a second workpiece preparing position (340) are arranged on the case (300), a workpiece shaping and positioning platform (321) for shaping a second workpiece is arranged at the second workpiece feeding position (320), and a bottom positioning camera (322) is arranged at one pair of angular positions of the workpiece shaping and positioning platform (321); the plastic clamp (100) of any one of claims 1 to 6 is attached to the gripping end of the robot (200).
8. The stacking device according to claim 7, wherein the workpiece truing and positioning platform (321) is provided with a second shaping member (323) and a bottom suction cup, the bottom suction cup is distributed at a position corresponding to a second workpiece frame in the second workpiece loading area, and the second shaping member (323) is positioned at the outer side of the bottom suction cup.
9. A method for stacking workpieces, characterized in that the method for the robot (200) to control the truing jig (100) to grasp a first workpiece and stack the first workpiece on a second workpiece and synchronously move the first workpiece and the second workpiece to a stacking position for workpiece stacking is realized by providing the robot (200) with the truing jig (100) having the first suction cup (110) and the second suction cup (120) of any one of claims 1 to 6 and the cabinet (300) having the first workpiece loading position (310) and the second workpiece loading position (320) of claim 7 or 8.
10. The stacking method according to claim 9, comprising the steps of,
workpiece feeding: an operator or a feeding mechanism respectively feeds the first workpiece and the second workpiece to corresponding feeding areas on a first workpiece feeding level (310) and a second workpiece feeding level (320);
shaping and positioning a second workpiece: after a second workpiece is fed onto the workpiece shaping and positioning platform (321) on the second workpiece feeding position (320), the control system controls the second shaping piece (323) to start to carry out shaping, positioning and calibration on the second workpiece;
leveling treatment: after the second workpiece is positioned and the position of the second workpiece is calibrated through the second shaping piece (323), the control system controls a bottom sucker on the workpiece shaping and positioning platform (321) to start, and the bottom sucker sucks the second workpiece from the bottom to ensure the flatness of the second workpiece;
transferring and stacking the workpieces: the robot (200) is started, the shaping clamp (100) is controlled to move to a position above a first workpiece on a feeding area in a first workpiece feeding position (310), and a first sucker driving piece (162) is started to drive a first sucker (110) to move towards the first workpiece and suck the first workpiece; after the first workpiece is adsorbed by the first sucker (110), the robot (200) controls the shaping clamp (100) to drive the first workpiece to move to the position above a second workpiece on a feeding area in a second workpiece feeding position (320), a bottom positioning camera (322) on the second workpiece feeding position (320) shoots to determine whether the position sizes of four corners of the first workpiece correspond to the position sizes of the second workpiece, after the first workpiece is determined to be qualified, the robot (200) drives the second sucker (120) to move to adsorb the second workpiece, at the moment, the bottom sucker on the second workpiece position is broken in vacuum, and the robot (200) drives the shaping clamp (100) to drive the first workpiece and the second workpiece to move to a stacking position;
shaping a first workpiece: when the first workpiece and the second workpiece are moved to the stacking position, a first shaping piece (130) in the shaping clamp (100) is started to shape and position the first workpiece, and stacking of different workpieces is completed.
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