CN216871425U

CN216871425U - Robot training equipment

Info

Publication number: CN216871425U
Application number: CN202220326025.0U
Authority: CN
Inventors: 常锋; 李学哲; 刘迪; 金文一
Original assignee: Beijing Hyundai Motor Co Ltd
Current assignee: Beijing Hyundai Motor Co Ltd
Priority date: 2022-02-17
Filing date: 2022-02-17
Publication date: 2022-07-01
Anticipated expiration: 2032-02-17

Abstract

The utility model relates to a real standard equipment of robot, including the workstation with all set up the robot on the workstation, simulation feed mechanism, simulation feeding mechanism, simulation processing platform, simulation storage silo and computational equipment, the robot can press from both sides the work piece, simulation feed mechanism, simulation feeding mechanism, simulation processing platform, simulation storage silo all are located the working range of robot, computational equipment includes operating panel and processing unit, operating panel is used for the user to compile the program code that corresponds different tasks repeatedly, processing unit is used for the executive program to can control at least one execution task in robot, simulation feeding mechanism, the simulation feeding mechanism. The robot practical training equipment disclosed by the invention can be used for an operator to write program codes so as to simulate the automatic machining procedures involved in an actual production line, so that the programming result of the operator can be reflected to the actual operation conditions of the robot and other executing mechanisms through simulation, and the programming skill of the operator is improved.

Description

Robot training equipment

Technical Field

The utility model relates to an automatic control teaching cultivates technical field, specifically relates to real standard equipment of robot.

Background

The application of industrial robots in automatic production is more and more common, and no proper training teaching aid exists for robot automatic control programming and overall automatic control of a production line, so that the problem that theoretical knowledge is combined with actual production operation by fusing robot programming operation into the production line is always a difficult problem in automatic equipment talent cultivation at present.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a real standard equipment of robot, this equipment can promote training personnel automatic programming operation ability.

In order to achieve the above object, the present disclosure provides a practical training device for a robot, including a workbench, and a robot, a simulation feeding mechanism, a simulation machining table, a simulation storage warehouse and a computing device all disposed on the workbench, the robot is capable of clamping a workpiece, the simulation feeding mechanism, the simulation machining table and the simulation storage warehouse are all located within a working range of the robot, the computing device includes an operation panel and a processing unit, the operation panel is used for a user to repeatedly write program codes corresponding to different tasks, the processing unit is used for executing the program codes so as to control at least one of the robot, the simulation feeding mechanism and the simulation feeding mechanism to execute the tasks.

Optionally, the simulation feeding mechanism includes silo, blevile of push and feed platform, the inside chamber that holds that is formed with along its direction of height extension of silo, it is used for holding the work piece to hold the chamber, be formed with the discharge gate on the silo and push away the material mouth, the discharge gate with push away the material mouth all with hold the chamber intercommunication, the discharge gate with push away the material mouth along with direction of height vertically direction sets up relatively, feed platform sets up discharge gate department, blevile of push sets up push away material mouth department, blevile of push is used for passing push away material mouth and will hold the work piece of intracavity and release the discharge gate, so that the work piece can be pushed to on the feed platform.

Optionally, simulation feeding mechanism includes motor, a plurality of pivot and around establishing a plurality of epaxial conveyer, the motor with the pivot is connected and is used for the drive the pivot rotates, be used for placing the work piece on the conveyer belt.

Optionally, the simulation feeding mechanism further comprises a first sensor and a second sensor, the first sensor is used for detecting whether the workpiece is placed on the conveying belt, and the second sensor is used for detecting whether the workpiece on the conveying belt reaches a specified position.

Optionally, the simulation magazine has a plurality of storage areas for storing workpieces, at least two of the storage areas being for storing different workpieces.

Optionally, the practical training equipment of the robot further comprises a simulation material selecting mechanism arranged on the workbench, the simulation material selecting mechanism is located within the working range of the robot, the simulation material selecting mechanism is provided with a plurality of stations for placing workpieces, at least two stations are used for placing different workpieces, and the processing unit is used for executing the program codes so as to be capable of controlling at least one of the robot, the simulation feeding mechanism, the simulation material selecting mechanism and the simulation material selecting mechanism to execute the task.

Optionally, the simulation material selecting mechanism includes a rotary cylinder and a rotary material selecting table, the rotary cylinder is arranged on the workbench, an output shaft of the rotary cylinder is connected with the rotary material selecting table and used for driving the rotary material selecting table to rotate, and the stations are arranged on the rotary material selecting table.

Optionally, the robot practical training device further comprises a robot controller, and the robot controller is used for a user to manually control the robot.

Optionally, the real standard equipment of robot still includes the drawing platform of setting on the workstation, robot manual control ware is used for supplying the user manual control the robot is in drawing on the drawing platform.

Optionally, the robot is provided with a pneumatic clamp, the pneumatic clamp is used for clamping a workpiece, and a third sensor is arranged on the pneumatic clamp and used for detecting the material and/or shape of the workpiece clamped by the pneumatic clamp.

The robot practical training equipment disclosed by the invention can be used for an operator to write program codes so as to simulate the automatic machining procedures involved in an actual production line, so that the programming skills of the operator can be trained through the robot practical training equipment disclosed by the invention, and the program codes written by the operator are reflected to the actual operation conditions of the robot and other mechanisms, so that the operator can quickly find and correct the problems existing in programming, the combination of theory and practice is tighter, and the programming skills of the operator are improved. In addition, the robot practical training equipment can be used as a simulation examination platform, a competition platform and the like, the automatic control programming capability of an operator is examined, and the robot practical training equipment is wide in application.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

fig. 1 is a schematic perspective view of a robot practical training device provided in an embodiment of the present disclosure;

fig. 2 is a schematic perspective view of a simulated feeding mechanism of a robot practical training device according to an embodiment of the disclosure;

fig. 3 is a schematic perspective view of a simulated feeding mechanism of a robot practical training device according to an embodiment of the disclosure;

fig. 4 is a schematic perspective view of a simulation storage warehouse of the robot practical training device provided in an embodiment of the present disclosure;

fig. 5 is a schematic perspective view of a simulated material selecting mechanism of a robot practical training device according to an embodiment of the disclosure;

fig. 6 is a schematic perspective view of a robot practical training device according to an embodiment of the disclosure.

Description of the reference numerals

100-robot training equipment; 1-a workbench; 2-a robot; 21-a pneumatic clamp; 3-simulating a feeding mechanism; 31-a trough; 32-a pusher device; 33-a feeding platform; 34-a discharge hole; 4-simulating a feeding mechanism; 41-a rotating shaft; 42-a conveyor belt; 5-simulating a processing table; 6-simulating a storage warehouse; 61-a storage area; 7-an operating panel; 8-simulating a material selecting mechanism; 81-rotating the sorting table; 82-a rotary cylinder; 9-robotic hand controller; 10-a drawing platform; 11-a lighting lamp; 12-alarm lamp.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

In the present disclosure, unless otherwise specified, directional terms such as "upper, lower, left and right" are generally defined with reference to the drawing plane directions of the corresponding drawings. "inner and outer" refer to the inner and outer of the profile of the respective component.

Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

As shown in fig. 1 to 6, the present disclosure provides a robot practical training device 100, which includes a workbench 1, and a robot 2, a simulation feeding mechanism 3, a simulation feeding mechanism 4, a simulation machining table 5, a simulation storage warehouse 6 and a computing device, all of which are disposed on the workbench 1, wherein the robot 2 can clamp a workpiece, the simulation feeding mechanism 3, the simulation feeding mechanism 4, the simulation machining table 5 and the simulation storage warehouse 6 are all located within a working range of the robot 2, the computing device includes an operation panel 7 and a processing unit, the operation panel 7 is used for a user to repeatedly write program codes corresponding to different tasks, and the processing unit is used for executing a program so as to control at least one of the robot 2, the simulation feeding mechanism 3 and the simulation feeding mechanism 4 to execute the task.

According to the practical training equipment 100 for the robot of the present disclosure, an operator may write a program code corresponding to a work task of an actual production line through the operation panel 7, so as to simulate the work task of the actual production line, for example, a task of clamping a workpiece on the simulated feeding mechanism 3 to the simulated feeding mechanism 4 by the simulated robot 2, a task of conveying the workpiece by the simulated feeding mechanism 4, a task of clamping the workpiece from the simulated feeding mechanism 4 and placing the workpiece on the simulated machining table 5 by the simulated robot 2, a task of placing the clamped workpiece in the simulated storage 6 by the simulated robot 2, or a combination of the above tasks, etc., which are not limited by the present disclosure.

Because the robot practical training device 100 disclosed by the invention can be used for an operator to write program codes so as to simulate the automatic processing procedures involved in an actual production line, the programming skills of the operator can be trained through the robot practical training device 100 disclosed by the invention, and the program codes written by the operator are reflected to the actual operation conditions of the robot 2 and other mechanisms, so that the operator can quickly find and correct the problems existing in programming, the theory and practice are combined more tightly, and the programming skills of the operator are improved. In addition, the robot training device 100 disclosed by the invention can be used as a simulation test platform, a competition platform and the like, so that the automatic control programming capability of an operator can be checked, and the robot training device is wide in application.

It should be noted that the working range of the robot 2 refers to a gripping range in which the robot 2 can grip a workpiece, the number of the robots 2 and the specific type of the robot 2 are not limited in the present disclosure, the number of the robots 2 may be one or more, and in the case where a plurality of robots 2 cooperate, it is understood that the working range refers to a gripping range formed by a plurality of robots 2.

For example, in an embodiment provided by the present disclosure, as shown in fig. 2, the analog feeding mechanism 3 includes a trough 31, a material pushing device 32, and a feeding platform 33, an accommodating cavity extending along a height direction of the trough 31 is formed inside the trough 31, the accommodating cavity is used for accommodating a workpiece, a material outlet 34 and a material pushing opening are formed on the trough 31, the material outlet 34 and the material pushing opening are both communicated with the accommodating cavity, the material outlet 34 and the material pushing opening are oppositely arranged along a direction perpendicular to the height direction, the feeding platform 33 is arranged at the material outlet 34, the material pushing device 32 is arranged at the material pushing opening, and the material pushing end of the material pushing device 32 is used for passing through the material pushing opening and pushing the workpiece in the accommodating cavity out of the material outlet 34, so that the workpiece can be pushed onto the feeding platform 33. The vertical material groove 31 is used for storing workpieces, the workpieces are conveyed to the feeding platform 33 through the material pushing device 32 through the material outlet 34, the automatic feeding function can be achieved, the workpieces are stored in the vertically arranged material groove 31, the workpieces on the upper layer can automatically fall down under the action of gravity after one workpiece on the bottom layer is pushed out of the material outlet 34, and the automatic feeding effect can be achieved only by controlling the material pushing device 32.

Here, it should be noted that the present disclosure does not limit the specific structure of the material pushing device 32, and the material pushing device 32 may be a cylinder, a piston rod, a linear motor, or the like.

In other embodiments, the analog feeding mechanism 3 may also be a feeding box with a material storing function, and the robot 2 may directly clamp the workpiece from the feeding box.

In addition, the feeding simulation mechanism 4 may have various embodiments, for example, in an embodiment provided by the present disclosure, as shown in fig. 3, the feeding simulation mechanism 4 may include a motor, a plurality of rotating shafts 41, and a conveying belt 42 wound around the plurality of rotating shafts 41, the motor is connected to the rotating shafts 41 and is used for driving the rotating shafts 41 to rotate, and the conveying belt 42 is used for placing a workpiece thereon. The robot 2 can clamp the workpiece on the feeding platform 33 of the simulation feeding mechanism 3 to the placing end of the simulation feeding mechanism 4, and then drives the rotating shaft 41 through the motor to drive the conveying belt 42 to move, so that the workpiece is conveyed to the taking end from the placing end, and the feeding and feeding processes in actual production are simulated.

In other embodiments of the present disclosure, the analog feeding mechanism 4 may also include a motor and a plurality of conveying rollers, the conveying rollers are used for placing the workpiece, and the motor is connected with the conveying rollers and is used for driving the conveying rollers to rotate, so as to realize the transmission of the workpiece. The present disclosure does not limit the specific structure of the analog feeding mechanism 4 as long as the conveyance of the workpiece can be achieved.

Alternatively, the motor may be a variable speed motor with adjustable rotation speed, and the rotation speed of the motor is adjusted to adjust the conveying speed of the workpiece, so as to simulate different feeding speeds, and thus adjust the working state of the robot 2 at the speed, and improve the operation level and the capability of an operator facing different conditions.

In order to train the operator to perform the task of gripping the workpiece on the simulated feeding mechanism 4 by the robot 2, the simulated feeding mechanism 4 may further include a first sensor for detecting whether the workpiece is placed on the conveyor belt 42 and a second sensor for detecting whether the workpiece on the conveyor belt 42 reaches a specified position. An operator can consider the detection results of the first sensor and the second sensor during programming and program according to the detection results of the first sensor and the second sensor, so that the aim that the robot 2 can clamp the workpiece on the simulated feeding mechanism 4 according to the detection results is fulfilled.

Here, it should be noted that the present disclosure does not limit the type of the sensor, for example, the first sensor may be an optical fiber sensor, and the second sensor may be a photoelectric sensor.

In order to improve the training effect of the practical training equipment, optionally, as shown in fig. 1, the practical training equipment 100 for the robot further includes a simulation processing table 5 disposed on the workbench 1, the robot 2 can clamp the workpiece on the simulation feeding mechanism 4 onto the simulation processing table 5, and the workpiece with different shapes is obtained by simulating the processing of the processing table 5, so as to improve the control and operation capability of the operator on the automation of the processing flow.

In order to improve the approximation degree of the practical training equipment and the practical production line and improve the training difficulty, optionally, as shown in fig. 4, the simulation storage warehouse 6 has a plurality of storage areas 61 for storing workpieces, and at least two storage areas 61 are used for storing different workpieces. In actual production, there are many more than one workpieces processed by the production line, so after the processing is completed, the processed different workpieces need to be stored in different areas for distinction. A plurality of different storage areas 61 are divided to simulation storage silo 6 in this disclosure, simulate actual storage condition to training operator is to the letter sorting operation programming ability of different work pieces, the realistic condition of laminating.

For different workpieces, sorting and classifying are required, and in order to sort different workpieces, optionally, as shown in fig. 5, the robot practical training device 100 further includes a simulated material selecting mechanism 8 disposed on the workbench 1, the simulated material selecting mechanism 8 is located within a working range of the robot 2, the simulated material selecting mechanism 8 has a plurality of stations for placing the workpieces, at least two stations are used for placing different workpieces, and the processing unit is used for executing program codes so as to be able to control at least one of the robot 2, the simulated material feeding mechanism 3, the simulated material feeding mechanism 4, and the simulated material selecting mechanism 8 to execute tasks. In order to be close to the real situation as much as possible, the robot practical training equipment 100 provided by the present disclosure also provides different workpieces, and an operator can control the robot 2 to clamp a designated workpiece on the simulated material selecting mechanism 8 by programming, so as to improve the programming capability of the operator for the material selecting and sorting work.

As an application scenario, the operator may clamp the workpiece on the simulated feeding mechanism 4 to the simulated material selecting mechanism 8 by the simulated robot 2, or clamp the workpiece on the simulated material selecting mechanism 8 to the simulated storage warehouse 6 or the simulated processing table 5.

Here, the different workpieces mentioned above may be different workpieces in shape, different materials, different sizes, and the like, and the present disclosure does not limit this.

Alternatively, as shown in fig. 5, the simulated material selecting mechanism 8 may include a rotary cylinder 82 and a rotary material selecting table 81, the rotary cylinder 82 is disposed on the workbench 1, an output shaft of the rotary cylinder 82 is connected to the rotary material selecting table 81 and is used for driving the rotary material selecting table 81 to rotate, and a plurality of stations are disposed on the rotary material selecting table 81. By controlling the rotation angle of the rotary cylinder 82, the rotary sorting table 81 is controlled, and different stations of the rotary sorting table 81 are turned to the grabbing position of the robot 2 as required. Meanwhile, as the rotary cylinder 82 is electrically connected with the processing unit, the programming control capability of an operator on the rotary sorting table 81 can be improved by programming to control different rotation angles of the rotary cylinder 82 under different conditions.

Alternatively, the rotary cylinder 82 may be replaced with a rotary electric machine.

In order to improve the operation capability of the operator on the servo electric cylinder, optionally, the robot practical training device 100 may further include a simulation lifting mechanism (not shown), the simulation lifting mechanism is disposed on the workbench 1, a carrying table is disposed on the simulation lifting mechanism, and the carrying table may be used for carrying a workpiece, or other to-be-processed products or processed products, so as to simulate a lifting system in the production line, the lifting mechanism generally employs the servo electric cylinder, and the operator may control the extension speed and the stepping amount of the servo electric cylinder through programming, so as to improve the operation capability on the servo electric cylinder.

In order to improve the manual operation capability of the operator on the robot 2, optionally, as shown in fig. 1, the robot practical training device 100 further includes a robot controller 9, and the robot controller 9 is used for the operator to manually control the robot 2. In the actual production process, in the face of complex machining requirements, the situation that machining requirements cannot be completed through automatic control occurs, and machining needs to be completed in a mode that an operator manually controls the robot 2. The robot manual controller 9 is added to the robot practical training equipment 100, so that the manual control capability of an operator can be improved to deal with different situations.

In order to improve the training effect of the manually operated robot 2, optionally, as shown in fig. 1, the robot training device 100 further includes a drawing platform 10 disposed on the working platform 1, and the robot hand controller 9 is used for a user to manually control the robot 2 to draw on the drawing platform 10. Besides the capability of manually controlling the robot 2 to grab the workpiece, the drawing platform 10 is additionally arranged, the operation difficulty is increased, the manual operation capability of an operator can be further improved through drawing training, and more complex conditions are processed.

In order to enable the robot 2 to grip/identify different workpieces, as shown in fig. 6, the robot 2 may optionally have a pneumatic clamp 21 thereon, the pneumatic clamp 21 is used for gripping the workpieces, and a third sensor is disposed on the pneumatic clamp 21 and is used for detecting the material and/or shape of the workpieces gripped by the pneumatic clamp 21. Since the robot 2 needs to transfer the workpiece between different actuators, a pneumatic clamp 21 is provided on the robot 2, and the workpiece can be gripped and placed by controlling the pneumatic clamp 21 to clamp or unclamp. Meanwhile, since the workpieces have different materials and shapes, such as cylinders or cubes, when the robot 2 sorts and stores the workpieces in storage, the workpieces with different shapes and materials need to be identified so as to store the different workpieces in the different storage areas 61, and therefore, the shape and material of the workpiece are identified through the third sensor so as to identify and classify the different workpieces, so that the workpieces are stored in storage in different areas.

As an embodiment provided by the present disclosure, the third sensor may be a photoelectric sensor. The photoelectric sensor can distinguish the material and the shape of the object according to the characteristics that the reflection wavelength of light to the object made of different materials is different, the reflection area of the object made of different shapes is different, and the like.

In order to display the running state of the device, optionally, as shown in fig. 1, the robot practical training device 100 further includes an alarm lamp 12, the alarm lamp 12 is disposed on the workbench 1 and is used for indicating the device state, including the states of standby, emergency stop, running, material shortage, alarm and the like, and an operator can adjust the running state of the device according to the indication.

Optionally, as shown in fig. 1, the robot practical training device 100 further includes an illumination lamp 11 disposed on the workbench 1, and the illumination lamp 11 can improve the working brightness of the workbench 1, so that an operator can operate the robot 2 conveniently.

Optionally, the practical training device 100 for the robot further includes an operation button box (not shown), where the operation button box includes an automatic start button, a manual/automatic switching button and an emergency stop button, and by operating different buttons, an operator may control the practical training device 100 for the robot to switch between an automatic mode and a manual mode to meet different training requirements. And when the mechanism fails to operate, the operation can be stopped emergently, so that the safety of operators and equipment is ensured.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims

1. The utility model provides a real standard equipment of robot, its characterized in that includes workstation (1) and all sets up robot (2), simulation feeding mechanism (3), simulation feeding mechanism (4), simulation processing platform (5), simulation storage warehouse (6) and computational equipment on workstation (1), work piece can be got to robot (2) clamp, simulation feeding mechanism (3), simulation feeding mechanism (4), simulation processing platform (5), simulation storage warehouse (6) all are located the working range of robot (2), computational equipment includes operating panel (7) and processing unit, operating panel (7) are used for the user to compile the program code that corresponds different tasks repeatedly, processing unit is used for carrying out the program code to can control robot (2), simulation feeding mechanism (3), At least one of the simulated feed mechanisms (4) performs the task.

2. The practical training equipment for the robot according to claim 1, wherein the simulation feeding mechanism (3) comprises a trough (31), a pushing device (32) and a feeding platform (33), a containing cavity extending along the height direction of the trough (31) is formed inside the trough (31), the containing cavity is used for containing workpieces, a discharge port (34) and a pushing port are formed on the trough (31), the discharge port (34) and the pushing port are communicated with the containing cavity, the discharge port (34) and the pushing port are arranged oppositely along the direction vertical to the height direction, the feeding platform (33) is arranged at the discharge port (34), the pushing device (32) is arranged at the pushing port, the pushing end of the pushing device (32) is used for penetrating through the pushing port and pushing out the workpieces in the containing cavity from the discharge port (34), so that the work pieces can be pushed onto the feed platform (33).

3. The robot practical training device according to claim 1, wherein the simulation feeding mechanism (4) comprises a motor, a plurality of rotating shafts (41) and a conveying belt (42) wound on the plurality of rotating shafts (41), the motor is connected with the rotating shafts (41) and used for driving the rotating shafts (41) to rotate, and workpieces are placed on the conveying belt (42).

4. The robotic practical training device according to claim 3, wherein the simulated feeding mechanism (4) further comprises a first sensor and a second sensor, the first sensor is used for detecting whether a workpiece is placed on the conveying belt (42), and the second sensor is used for detecting whether the workpiece on the conveying belt (42) reaches a specified position.

5. The robotic training device of claim 1, wherein the simulation magazine (6) has a plurality of storage areas (61) for storing workpieces, at least two of the storage areas (61) being for storing different workpieces.

6. The robot practical training device according to claim 1, wherein the robot practical training device (100) further comprises a simulation material selecting mechanism (8) arranged on the workbench (1), the simulation material selecting mechanism (8) is located within a working range of the robot (2), the simulation material selecting mechanism (8) is provided with a plurality of stations for placing workpieces, at least two stations are used for placing different workpieces, and the processing unit is used for executing the program codes so as to be capable of controlling at least one of the robot (2), the simulation feeding mechanism (3), the simulation feeding mechanism (4) and the simulation material selecting mechanism (8) to execute the task.

7. The robot practical training device according to claim 6, wherein the simulation material selecting mechanism (8) comprises a rotary cylinder (82) and a rotary material selecting table (81), the rotary cylinder (82) is arranged on the workbench (1), an output shaft of the rotary cylinder (82) is connected with the rotary material selecting table (81) and used for driving the rotary material selecting table (81) to rotate, and the stations are arranged on the rotary material selecting table (81).

8. The robotic practical training device according to claim 1, wherein the robotic practical training device (100) further comprises a robotic controller (9), the robotic controller (9) being for a user to manually control the robot (2).

9. The practical training equipment for robots according to claim 8, wherein the practical training equipment for robots (100) further comprises a drawing platform (10) arranged on the workbench (1), and the robot hand controller (9) is used for a user to manually control the robot (2) to draw on the drawing platform (10).

10. The robot practical training device according to any one of claims 1 to 9, wherein the robot (2) is provided with a pneumatic clamp (21), the pneumatic clamp (21) is used for clamping a workpiece, and a third sensor is arranged on the pneumatic clamp (21) and used for detecting the material and/or shape of the workpiece clamped by the pneumatic clamp (21).