CN216302613U - Shaping fixture and stacking device - Google Patents

Abstract

The utility model 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 utility model 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 shaping clamp and the stacking device have the advantages of good workpiece flatness, high stacking efficiency, good stacking quality and the like.

Description

Shaping fixture and stacking device

Technical Field

The utility model relates to the technical field of unit component stacking of fuel cells, in particular to a shaping clamp and a stacking device.

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.

SUMMERY OF THE UTILITY MODEL

In order to achieve the purpose, the utility model 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 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, the clearance is the annular gap, be equipped with first plastic in the annular gap for carry out the plastic to the first work piece of the corresponding position of first sucking disc. 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 by transferring once, and compared with the traditional mode that a manipulator grabs one workpiece at a time, after the workpiece is transferred to a stacking position, the manipulator returns to the position of the next workpiece to grab the next workpiece in the traditional sequential grabbing and stacking mode, the shaping clamp can synchronously transfer and stack different types of workpieces at different positions once, 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 after the workpiece is transferred to the stacking position, 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 on the outer portions of 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 on the outer portions of the front side and the rear side of the first suction disc to form the front shaping component and the rear shaping component, and the outer sides of the left shaping component, the right shaping component, the front shaping component and the rear shaping component are connected with a first shaping driving piece. 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, the two groups of the second supporting assemblies are symmetrically distributed on two sides of the second suckers and are a certain position away from the end part, and the second supporting assemblies and the first driving assembly are distributed in a staggered mode; 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 sucking disc supporting piece to grab the second workpiece.

Further, the shaping 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 shaping fixture is installed on the robot through the installation frame.

The utility model 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 and a second workpiece feeding 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 utility model 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.

Further, the bottom sucking discs are multiple, the bottom sucking discs are distributed at intervals in sequence, the whole body is formed into a square structure and distributed, and sucking disc mounting holes are formed in the positions, corresponding to the bottom sucking discs, on the workpiece shaping and positioning platform. The bottom suckers distributed at intervals can adsorb the workpiece frame more uniformly, prevent the workpiece from deforming and ensure the frame flatness of the workpiece.

Further, the stacking device further comprises a first workpiece material preparing position and a second workpiece material preparing position, wherein the first workpiece material preparing position is located on the same side of the first workpiece material loading position, and the second workpiece material preparing position is located on the same side of the second workpiece material loading position. The arrangement of the first workpiece material preparing position and the second workpiece material preparing position is standby, and workpiece feeding is facilitated.

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 the 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 reference numerals:

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 suction cup 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 and stacking apparatus of 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 shaping jig 100 includes a first suction cup 110, a first shaping member 130, and a second suction cup 120, 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 a height direction, a gap 150 is provided between the first suction cup 110 and the second suction cup 120, the gap 150 is an annular gap, and the first shaping member 130 is disposed in the annular gap and is used for shaping a first workpiece (not shown in the drawings) at a position corresponding to the first suction cup 110. The shaping clamp 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 clamp 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 returns to the position of the next workpiece to grab the next workpiece for stacking after the workpiece is transferred to the stacking position, the shaping clamp 100 provided by the utility model can be used for synchronously transferring and stacking different types of workpieces at different positions 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 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 shape and position or release the first workpiece, i.e., the carbon felt, 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 suction cup driving member 162, the first suction cup driving member 162 is mounted on the first fixing frame 161, a driving end of the first suction cup driving member 162 is connected to the first suction cup 110, and in this embodiment, an air cylinder or a linear motor is preferably used as the first suction cup 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 mounted on the 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 utility model 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 first workpiece and the second workpiece are grabbed and synchronously transferred to the stacking position through the shaping clamp 100 connected with the robot 200 and the grabbing end 210 thereof, specifically, the shaping clamp 100 is provided with the first sucker 110 and the second sucker 120 which are nested inside and outside and have a height difference, so that the shaping clamp 100 has the function of grabbing and stacking the workpieces with two different sizes and different positions at one time, compared with the traditional mechanical arm which grabs one workpiece at a time, after the workpieces are transferred to the stacking position, the manipulator returns to the position where the next workpiece is located to grab the next workpiece, and the workpieces are sequentially grabbed and stacked, so that synchronous transfer and stacking of different types of workpieces at different positions can be completed by using the shaping clamp 100, the grabbing and transferring efficiency of the workpieces is greatly improved, and the stacking efficiency of the unit components is further 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 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 perform photographing, positioning and calibration on 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 200 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.

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.

Referring to fig. 1 to 6, in a non-limiting embodiment of the present invention, the bottom suction cups are multiple, the multiple bottom suction cups are sequentially distributed at intervals to form a square structure, and suction cup mounting holes are formed in positions of the workpiece shaping and positioning platform 321 corresponding to the bottom suction cups. The bottom suckers distributed at intervals can adsorb the workpiece frame more uniformly, prevent the workpiece from deforming and ensure the frame flatness of the workpiece.

Referring to fig. 1 to 6, in a non-limiting embodiment of the present invention, the stacking apparatus further includes a first workpiece preparing location 330 and a second workpiece preparing location 340, the first workpiece preparing location 330 is located at the same side of the first workpiece loading location 310, and the second workpiece preparing location 340 is located at the same side of the second workpiece loading location 320. The first workpiece material preparing position 330 and the second workpiece material preparing position 340 are respectively used as material preparing positions of the first workpiece material loading position 310 and the second workpiece material loading position 320, and material loading is timely carried out on the first workpiece material preparing position 330 and the second workpiece material preparing position 340 for standby before and after the equipment is started. 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 stacking apparatus of the present invention is used to stack workpieces by a robot 200 having a shaping jig 100 with a first suction cup 110 and a second suction cup 120, and a housing 300 having a first workpiece loading position 310 and a second workpiece loading position 320, wherein the robot 200 controls the first suction cup 110 of the shaping jig 100 to grasp a first workpiece, then the robot transfers the first workpiece to a position above a second workpiece at the second workpiece loading position 320, then the robot drives the second suction cup 120 to move down to grasp the second workpiece, and synchronously moves the first workpiece and the second workpiece to the stacking position for workpiece stacking, and after the second workpiece and the first workpiece are placed, the first shaping member 130 is started to shape the first workpiece. In the shaping clamp 100 with the first suction cup 110 and the second suction cup 120, the first suction cup 110 and the second suction cup 120 are nested inside and outside 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 by transferring once when controlling the shaping fixture 100 to grab the workpieces, and grab one workpiece each time compared with 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 to grab the next workpiece in sequence for stacking, so that synchronous transferring and stacking of different types of workpieces at different positions are completed once by adopting the shaping fixture 100, 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, a stacking apparatus of the present invention, according to a non-limiting embodiment of the present invention, performs a process of stacking workpieces:

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 the second workpiece plate frame 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 first 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;

s5, shaping a first workpiece: after the first workpiece carbon felt and the second workpiece plate frame are moved to the stacking position and placed, the first shaping element 130 in the shaping fixture 100 is activated to shape and position the first workpiece, as above cycle, until the stacking of all the 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 implicitly indicating 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 utility model.

Claims (10)

1. An orthopedic clamp (100), characterized by: the novel suction cup 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 arranged between the first suction cup (110) and the second suction cup (120), the gap (150) is an annular gap, and the first shaping piece (130) of a plate-shaped structure is arranged in the annular gap.

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 a second support assembly (170), the second support assemblies (170) are divided into two groups, the two groups of second support assemblies (170) are symmetrically distributed on two sides of the second suction cup (120) and are spaced from the end portions, and the second support assemblies (170) are distributed in a staggered manner from the first driving assembly (160); 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) and a second workpiece feeding position (320) 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. The stacking device as claimed in claim 8, wherein the bottom suction cup is a plurality of bottom suction cups, the bottom suction cups are sequentially spaced apart from each other and integrally formed into a square structure, and the workpiece shaping and positioning platform (321) is provided with suction cup mounting holes at positions corresponding to the bottom suction cups.

10. The stacking apparatus of claim 9, further comprising a first workpiece ready location (330) and a second workpiece ready location (340), said first workpiece ready location (330) being located on a same side of said first workpiece loading location (310), said second workpiece ready location (340) being located on a same side of said second workpiece loading location (320).

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