WO2022007204A1

WO2022007204A1 - Material positioning and gripping device, and turning manipulator

Info

Publication number: WO2022007204A1
Application number: PCT/CN2020/118174
Authority: WO
Inventors: 郝瀚; 吕维迪; 杨森元
Original assignee: 北京京仪自动化装备技术有限公司
Priority date: 2020-07-07
Filing date: 2020-09-27
Publication date: 2022-01-13
Also published as: CN111531572A; JP7389262B2; JP2023509664A; CN111531572B

Abstract

The present application pertains to the technical field of manipulators, and particularly relates to a material positioning and gripping device and a turning manipulator. The material positioning and gripping device comprises a positioning assembly and a gripper assembly oppositely disposed. The positioning assembly comprises a positioning clamping jaw, a positioning driver member, a positioning sensor, and an adjustment member. The gripper assembly comprises a gripper clamping jaw, a gripper driver member, and a gripper sensor. The positioning clamping jaw is used to fix one side of a material. The positioning driver member is connected to the positioning clamping jaw. The positioning sensor is used to detect position displacement of the material and the positioning clamping jaw. The adjustment member is connected to the positioning clamping jaw, and is used to adjust a reference position of the positioning clamping jaw. The gripper clamping jaw is used to fix another side of the material. The gripper driver member is connected to the gripper clamping jaw. The gripper sensor is used to detect position displacement of the material and the gripper clamping jaw. The positioning assembly first fixes the material, so as to ensure that the center of the material and the center position for rotation are stable such that shifting does not occur, and then the gripper assembly grips the material, so as to prevent the material from loosening or releasing from the positioning clamping jaw.

Description

Material positioning and clamping device and turning manipulator

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the priority of the Chinese patent application with the application number 202010643060.0 filed on July 7, 2020 and the invention title is "Material Positioning and Clamping Device and Turnover Robot", which is fully incorporated herein by reference.

technical field

The present application relates to the technical field of manipulators, and in particular, to a material positioning and clamping device and a turning manipulator.

Background technique

At present, automatic handling systems using manipulators are widely used in the fields of semiconductors, solar energy, LCD panels and electronics. The main materials handled are wafers, silicon wafers, LCD panels, etc. During the production or transportation process, there are some product or process inspection needs. The material is turned over, but the existing turning device is generally clamped by an actuator, the clamping force cannot be controlled, and the central positioning of the material during the turning process cannot be guaranteed.

SUMMARY OF THE INVENTION

The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a material positioning and clamping device. The positioning sensing member and the clamping sensing member are respectively used to detect the moving positions of the positioning jaw and the clamping jaw in real time, so as to ensure the positioning and clamping jaws. The degree of contact and fixation with the material, as well as the clamping force of the device can be controlled without causing excessive extrusion damage or unstable clamping of the material. The positioning component first fixes the material to ensure that the center of the material and the center of rotation are stable and will not be offset. After clamping the component, the material is clamped to ensure that the material will not be loosened from the positioning jaws.

The present application also proposes a turning manipulator.

The material positioning and clamping device according to the embodiment of the first aspect of the present application includes a positioning component and a clamping component arranged oppositely, and the positioning component includes a positioning gripper, a positioning driving member, a positioning sensing member and an adjusting member. The clamping assembly includes a clamping jaw, a clamping driving member and a clamping sensing member; the positioning jaw is used to fix one side of the material, and the positioning driving member is connected with the positioning jaw for driving the The positioning jaws move toward the clamping jaws, the positioning sensing member is used to detect the moving position of the material and the positioning jaws, and the adjusting member is connected with the positioning jaws for adjusting the position of the positioning jaws. The reference position of the positioning jaws; the clamping jaws are used to fix the other side of the material, and the clamping driver is connected to the clamping jaws for driving the clamping jaws to the The positioning jaw moves, and the clamping sensor is used to detect the moving position of the material and the clamping jaw.

According to an embodiment of the present application, it further includes a base, and the positioning driving member, the clamping driving member and the adjusting member are all disposed on the base.

According to an embodiment of the present application, the positioning sensing member includes a first sensor and a first blocking piece, the first sensor is disposed on the base and located on the positioning jaw and the clamping clip Between the claws, the first blocking piece is arranged on the positioning clamping claw and extends toward the position where the first sensor is located.

According to an embodiment of the present application, the positioning sensing member further includes a second sensor, a first clamping block is provided on the positioning jaw, and the second sensor detects whether the first clamping block contacts the material .

According to an embodiment of the present application, the clamping sensing member includes a third sensor, a fourth sensor and a second blocking piece, the third sensor and the fourth sensor are disposed on the base and located at between the clamping jaws and the positioning jaws, and are arranged in sequence along the direction in which the clamping jaws are close to the positioning jaws, and the second blocking piece is arranged on the clamping jaws, and extends toward the location of the third sensor.

According to an embodiment of the present application, the clamping sensor further includes a fifth sensor, a second clamping block is provided on the clamping jaw, and the fifth sensor detects whether the second clamping block contacts the the material described.

According to an embodiment of the present application, the positioning assembly further includes an adjusting member, the adjusting member is connected with the positioning jaw, and is used for adjusting the reference position of the positioning jaw.

According to an embodiment of the present application, it further includes a guide rail, the guide rail is arranged on the base, the positioning jaws and the clamping jaw are both arranged on the guide rail, and can move along the guide rail .

According to an embodiment of the present application, a sixth sensor for detecting whether the material reaches the clamping position is further included.

A flipping manipulator according to an embodiment of the second aspect of the present application includes a flipping component and the above-mentioned material positioning and clamping device, the flipping component includes a flipping driving member, a limiting member and a flipping sensing member, and the flipping driving member is connected with the base through the base. The positioning assembly is connected to the clamping assembly, the two flip sensing members are arranged on both sides of the flip driving member, and the limiting member includes a first stopper and a second stopper, the two The first blocks are respectively disposed on the base corresponding to the two flip sensing pieces, and are respectively located on both sides of the flip driving piece, and the second blocks are rotated during the rotation of the first block. set on the track.

According to an embodiment of the present application, the pressure of the positioning driving member is greater than the pressure of the clamping driving member, and the positioning jaws are located below the clamping jaws during the material turning process.

The above-mentioned one or more technical solutions in the embodiments of the present application have at least the following technical effects: in the material positioning and clamping device of the embodiments of the present application, after the material enters the designated position, the positioning driver drives the positioning jaws to move, and the positioning jaws contact One side of the material fixes it, and moves it to the reference position set by the adjusting member to keep it fixed. Then, the clamping driving member drives the clamping jaw to move, and gradually moves to the positioning component until the clamping jaw touches and touches the clamping jaw. The other side of the material is clamped, so that the material is clamped through the positioning assembly and the clamping assembly. The positioning sensor and the clamping sensor are respectively used to detect the moving position of the positioning jaw and the clamping jaw in real time, to ensure that the positioning jaw and the clamping jaw are in contact and fixed with the material, and the clamping force of the device can be adjusted. Control it without causing excessive extrusion damage or unstable clamping of the material. The positioning component first fixes the material to ensure that the center of the material and the center of rotation are stable and will not be offset. After clamping the component, the material is clamped to ensure that the material will not be loosened from the positioning jaws.

In addition to the technical problems solved by the application described above, the technical features of the constituted technical solutions, and the advantages brought by the technical features of these technical solutions, other technical features of the application and the advantages brought by these technical features, Further description will be made in conjunction with the accompanying drawings, or learned through the practice of the present application.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

1 is a schematic structural diagram of a material positioning and clamping device of an overturning manipulator according to an embodiment of the present application;

2 is a schematic structural diagram of a flipping assembly of a flipping robot according to an embodiment of the present application;

FIG. 3 is a schematic three-dimensional structural diagram of a turning manipulator according to an embodiment of the present application.

Reference number:

1: Positioning assembly; 11: Positioning jaw; 12: Positioning driving part; 13: Positioning sensing part; 14: Adjusting part; 111: First clamping block; 131: First sensor; 132: First blocking piece; 133 : the second sensor;

2: clamping assembly; 21: clamping jaws; 22: clamping driving part; 23: clamping sensing part; 211: second clamping block; 231: third sensor; 232: fourth sensor; 233: first Second block; 234: fifth sensor;

3: guide rail;

4: the sixth sensor;

5: Turning assembly; 51: Turning driving part; 52: Limiting part; 53: Turning sensing part; 521: First stop; 522: Second stop; 511: Rotary motor; 512: Hollow shaft reducer;

6: material;

7: Pedestal.

detailed description

The embodiments of the present application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate the application, but not to limit the scope of the application.

In the description of the embodiments of the present application, it should be noted that the terms "center", "portrait", "horizontal", "top", "bottom", "front", "rear", "left" and "right" , "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, only for the convenience of describing this The application examples and simplified descriptions are not intended to indicate or imply that the indicated devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the embodiments of the present application. Furthermore, the terms "first", "second", and "third" are used for descriptive purposes only and should not be construed to indicate or imply relative importance.

In the description of the embodiments of the present application, it should be noted that, unless otherwise expressly specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection, Or integral connection; it can be mechanical connection or electrical connection; it can be directly connected or indirectly connected through an intermediate medium. Those of ordinary skill in the art can understand the specific meanings of the above terms in the embodiments of the present application in specific situations.

In the embodiments of the present application, unless otherwise expressly specified and limited, the first feature "on" or "under" the second feature may be in direct contact with the first and second features, or the first and second features pass through the middle indirect contact with the media. Also, the first feature being "above", "over" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structures, materials, or features are included in at least one example or example of the embodiments of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

As shown in FIG. 1 , the material positioning and clamping device provided in the embodiment of the present application includes a positioning assembly 1 and a clamping assembly 2 arranged oppositely. The positioning assembly 1 includes a positioning jaw 11 , a positioning driving member 12 , and a positioning sensing member 13 . and the adjusting member 14, the clamping assembly 2 includes a clamping jaw 21, a clamping driving member 22 and a clamping sensing member 23; the positioning jaw 11 is used to fix one side of the material 6, and the positioning driving member 12 and the positioning jaw 11 is connected to drive the positioning jaw 11 to move to the clamping jaw 21, the positioning sensor 13 is used to detect the moving position of the material 6 and the positioning jaw 11, and the adjusting member 14 is connected to the positioning jaw 11 for adjusting The reference position of the positioning jaw 11; the clamping jaw 21 is used to fix the other side of the material 6, and the clamping driver 22 is connected to the clamping jaw 21 to drive the clamping jaw 21 to move to the positioning jaw 11 , the clamping sensor 23 is used to detect the moving position of the material 6 and the clamping jaw 21 .

In the material positioning and clamping device of the embodiment of the present application, after the material 6 enters the designated position, the positioning driving member 12 drives the positioning jaw 11 to move, and the positioning jaw 11 contacts the side of the material 6 to fix it, and moves to the position of the adjusting member 14 The set reference position remains fixed, and then, the clamping driving member 22 drives the clamping jaws 21 to move, gradually moving toward the positioning assembly 1, until the clamping jaws 21 contact and clamp the other side of the material 6, by Therefore, the material 6 is clamped through the positioning assembly 1 and the clamping assembly 2 . The positioning sensor 13 and the clamping sensor 23 are respectively used to detect the moving positions of the positioning jaw 11 and the clamping jaw 21 in real time, to ensure the contact and fixation degree of the positioning jaw 11 and the clamping jaw 21 with the material 6 , And the clamping force of the device can be controlled, which will not cause the problem of excessive extrusion damage or unstable clamping of the material 6. The positioning component 1 first fixes the material 6 to ensure that the center of the material 6 and the center of the rotation are stable and will not shift. After clamping the component 2, the material 6 is clamped to ensure that the material 6 will not come loose from the positioning jaw 11.

In this embodiment, the material 6 is a circular silicon wafer. The positioning jaws 11 and the clamping jaws 21 are located symmetrically on both sides of the material 6, respectively. The positioning jaws 11 and the clamping jaws 21 are divided into two parts, one part is the jaw part that matches the shape of the silicon wafer and contacts the silicon wafer , and the other part is a fixed part that is connected with the fixed positioning driving member 12 and the clamping driving member 22 . In this embodiment, the positioning assembly 1 is located on the left side, and the clamping assembly 2 is located on the right side. During the positioning and clamping process, the positioning driving member 12 drives the positioning jaw 11 to move straight to the right, and the clamping driving member 22 drives the clamping clamp. The claw 21 moves to the left in a straight line, and the positioning driving member 12 and the clamping driving member 22 both use air cylinders. In other embodiments, the positioning driving member 12 and the clamping driving member 22 may also adopt other forms of linear driving devices.

Wherein, an adjusting member 14 is arranged on the fixed part of the positioning jaw 11, and the reference position of the positioning jaw 11 can be adjusted by the adjusting member 14, and the reference position of the positioning jaw 11 defined by the adjusting member 14 is the preset material 6 in the positioning After clamping, when its center is at the preset center of the operation position, locate the position of the clamping jaw 11, so that by adjusting the adjustment member 14, the center position of the material 6 can be adjusted to correspond to the preset center of the operation position, and can be adjusted according to different materials 6 size to adjust its desired position. In this embodiment, the adjusting member 14 adopts a positioning adjusting screw or a bolt. During the movement of the positioning jaw 11 , the adjusting member 14 presses against the fixed portion of the positioning jaw 11 to limit the movement of the positioning jaw 11 .

According to an embodiment of the present application, the material positioning and clamping device of the embodiment of the present application further includes a base 7 , and the positioning driving member 12 , the clamping driving member 22 and the adjusting member 14 are all disposed on the base 7 . In this embodiment, the base 7 is used as the installation platform of the positioning assembly 1 and the clamping assembly 2, and the movable range of the fixing part of the positioning jaw 11 and the fixing part of the clamping jaw 21 is within the range limited by the base 7, The adjusting member 14 is mounted on the base 7 to determine the final position to which the fixing portion of the positioning jaw 11 can move after the positioning driving member 12 drives the positioning jaw 11 to move.

According to an embodiment of the present application, the positioning sensing member 13 includes a first sensor 131 and a first blocking piece 132 . The first sensor 131 is disposed on the base 7 and is located between the positioning jaw 11 and the clamping jaw 21 , the first blocking piece 132 is disposed on the positioning jaw 11 and extends toward the position of the first sensor 131 . In this embodiment, when the positioning driving member 12 drives the positioning jaw 11 to move, the first blocking piece 132 moves synchronously. The first sensor 131 is disposed between the positioning jaw 11 and the clamping jaw 21, and the first blocking piece 132 extends toward the position where the first sensor 131 is located. After the first sensor 131 detects the first blocking piece 132, the first sensor 131 is triggered to determine that the positioning jaw 11 is in place. The relative positions of the first blocking piece 132 and the first sensor 131 are adapted to the reference position of the positioning jaw 11 adjusted by the adjusting member 14 .

In this embodiment, the first sensor 131 is arranged between the fixing part of the positioning jaw 11 and the fixing part of the clamping jaw 21 , the first blocking piece 132 is arranged on the fixing part of the positioning jaw 11 , the first blocking piece 132 is located above the first sensor 131 .

According to an embodiment of the present application, the positioning sensor 13 further includes a second sensor 133 , the positioning jaw 11 is provided with a first clamping block 111 , and the second sensor 133 detects whether the first clamping block 111 contacts the material 6 . In this embodiment, the first clamping block 111 is used as a component on the positioning jaw 11 that contacts the material 6 and fixes the material 6 , and the second sensor 133 can sense and detect whether the first clamping block 111 contacts the material 6 in real time. After the second sensor 133 detects that the first clamping block 111 has contacted the material 6 , the first blocking piece 132 triggers the first sensor 131 to determine that the positioning jaw 11 is in place.

In this embodiment, the first clamping block 111 is arranged on the clamping jaw portion of the positioning jaw 11 near the edge of the clamping jaw 21 , there are two first clamping blocks 111 , and the second sensor 133 is arranged on the clamping jaw 11 of the positioning jaw 11 . The claw portion is close to the first clamping block 111 and is connected with the first clamping block 111 . The first clamping block 111 has a groove, and the edge of the material 6 is embedded in the groove of the first clamping block 111. The second sensor 133 can choose a light sensor, and the second sensor 133 also has a groove, and the edge of the material 6 is embedded in the first clamping block 111. At the same time, the first clamping block 111 enters the groove of the second sensor 133 , and the light sensor detects the material 6 , so the second sensor 133 can determine that the first clamping block 111 clamps the material 6 .

According to an embodiment of the present application, the clamping sensing member 23 includes a third sensor 231 , a fourth sensor 232 and a second blocking piece 233 . The third sensor 231 and the fourth sensor 232 are disposed on the base 7 and located in the clamping Between the clamping jaws 21 and the positioning jaws 11, and are arranged in sequence along the direction that the clamping jaws 21 are close to the positioning jaws 11, the second blocking piece 233 is arranged on the clamping jaws 21 and faces the third sensor 231. position extension. In this embodiment, while the clamping driving member 22 drives the clamping jaw 21 to move, the second blocking piece 233 moves synchronously, and the third sensor 231 and the fourth sensor 232 are both arranged between the positioning jaw and the clamping jaw 21 The second block 233 extends to the position of the third sensor 231 and the fourth sensor 232. If the material 6 is successfully clamped, the third sensor After 231 detects the second block 233, the third sensor 231 is triggered to determine that the clamping jaws 21 are in place. If the material 6 fails to be clamped, the clamping driver 22 continues to drive the clamping jaws 21 to move until the fourth sensor 232 detects the second blocking piece 233, and the fourth sensor 232 is triggered to determine that the clamping jaw 21 fails to clamp beyond the moving range.

The clamping force of the device on the material 6 is detected by directly or indirectly detecting the sensing element. If the clamping force exceeds the protection, the first sensor 131 is used as the state sensor of the positioning driver 12, and the second sensor 133 is used as the material in position. The sensor, the third sensor 231 and the fourth sensor 232 are used as the state sensors of the clamping driver 22, and can detect whether the material 6 is normally clamped. Compared with the detection method of only the material presence sensor, the reliability is higher, and the It can reduce the false alarm of the sensor.

In this embodiment, the third sensor 231 and the fourth sensor 232 are both arranged between the fixing part of the positioning jaw 11 and the fixing part of the clamping jaw 21 , and the second blocking piece 233 is arranged on the fixing part of the clamping jaw 21 . On the top, the second blocking plate 233 is located above the third sensor 231 and the fourth sensor 232 .

According to an embodiment of the present application, the clamping sensor 23 further includes a fifth sensor 234 , the clamping jaw 21 is provided with a second clamping block 211 , and the fifth sensor 234 detects whether the second clamping block 211 contacts the material 6 . In this embodiment, the second clamping block 211 is used as a component on the clamping jaw 21 that contacts and fixes the material 6 , and the fifth sensor 234 can sense and detect whether the second clamping block 211 contacts the material 6 in real time. After the fifth sensor 234 detects that the second clamping block 211 has contacted the material 6 , the second blocking piece 233 triggers the third sensor 231 to determine that the clamping jaw 21 is in place.

In this embodiment, the second clamping block 211 is arranged on the edge of the clamping jaw portion of the clamping jaw 21 close to the positioning jaw 11 , there are two second clamping blocks 211 , and the fifth sensor 234 is arranged on the edge of the clamping jaw 21 . The clamping claw portion is close to the second clamping block 211 and is connected with the second clamping block 211 . The second clamping block 211 has a groove, the edge of the material 6 is embedded in the groove of the second clamping block 211, the fifth sensor 234 can be selected as a light sensor, and the fifth sensor 234 also has a groove, and the edge of the material 6 is embedded in the first clamping block 211. The groove of the second clamping block 211 also enters the groove of the fifth sensor 234 , and the light sensor detects the material 6 , so the fifth sensor 234 can determine that the second clamping block 211 clamps the material 6 . Since the groove width of the fifth sensor 234 is much larger than the groove width of the second clamping block 211 , the material 6 is sometimes inaccurate after the edge enters the groove of the fifth sensor 234 due to inclination, breakage, etc. Align with the groove of the second clamping block 211 and insert into the groove, so even when the second blocking piece 233 moves to the third sensor 231, if the material 6 is not embedded in the groove of the second clamping block 211, the clamping drive The component 22 will continue to drive the clamping jaws 21 to move, and the second blocking piece 233 will trigger the fourth sensor 232 to determine that the clamping jaws 21 move beyond the limit range.

According to an embodiment of the present application, the material positioning and clamping device of the embodiment of the present application further includes a guide rail 3, the guide rail 3 is arranged on the base 7, the positioning jaw 11 and the clamping jaw 21 are both arranged on the guide rail 3, and It can move along the guide rail 3 . In this embodiment, the guide rail 3 is one piece, which is arranged along the moving direction of the positioning jaw 11 and the clamping jaw 21 . The positioning driving member 12 drives the positioning jaw 11 to move to the right under the guidance of the guide rail 3 , and the clamping driving member 22 drives the clamping jaw 21 to move to the left under the guidance of the guide rail 3 . In other embodiments, there may be two guide rails 3 respectively, corresponding to the positioning jaws 11 and the clamping jaws 21 respectively.

According to an embodiment of the present application, the material positioning and clamping device of the embodiment of the present application further includes a sixth sensor 4 for detecting whether the material 6 reaches the clamping position. In this embodiment, the sixth sensor 4 can be used as a material in-position sensor. After the material 6 reaches between the positioning jaw 11 and the clamping jaw 21, the sixth sensor 4 is triggered to determine that it has reached the clamping position, which can prevent the material from positioning the clamping device. The deviation of the position of the device leads to the inability to clamp the material 6 normally, which makes the operation of the device more reliable.

In this embodiment, the sixth sensor 4 is two opposite-beam sensors, and the two opposite-beam sensors are respectively disposed on the jaw portion of the positioning jaw 11 and the jaw portion of the clamping jaw 21, and the positions are opposite. In other embodiments, the through-beam sensor may also be replaced with one or more reflective sensors.

As shown in FIG. 2 and FIG. 3 , the flipping manipulator provided in the embodiment of the present application includes a flipping assembly 5 and the material positioning and clamping device of the above-mentioned embodiment, and the flipping assembly 5 includes a flipping driving member 51 , a limiting member 52 and a flipping sensor 53, the turning driving member 51 is connected to the positioning assembly 1 and the clamping assembly 2 through the base 7, two turning sensing members 53 are arranged on both sides of the turning driving member 51, and the limiting member 52 includes a first stop 521 and a The second stopper 522, the two first stoppers 521 are respectively disposed on the base 7 corresponding to the two inversion sensing members 53, and are respectively located on both sides of the inversion driving member 51, and the second stopper 522 is located on the first stopper 521 is set on the rotation track. In this embodiment, a flipping component 5 is provided on the basis of the positioning component 1 and the clamping component 2. After the material 6 is successfully clamped, the flipping component 5 controls the positioning component 1 and the clamping component 2 to flip the material 6.

In the turning manipulator of the embodiment of the present application, the positioning assembly 1 and the clamping assembly 2 are both fixed on the base 7, and the turning driving member 51 is connected with the base 7, that is, the turning driving member 51 rotates by driving the base 7, thereby driving the positioning assembly 1 rotates synchronously with the clamping assembly 2, and the overturning action is a 180° reciprocating motion. The limiter 52 can prevent the overturning from exceeding a preset angle range. The first stopper 521 is disposed on the base 7 corresponding to the flip sensor 53 . The two flip sensors 53 are distributed on a horizontal line and are located on both sides of the flip drive member 51 , and the flip drive member 51 drives the base 7 to rotate. At the same time, the first stopper 521 is driven to rotate, and the second stopper 522 is arranged on the rotation path of the first stopper 521. When the material 6 is at 0° horizontally, the second stopper 522 faces a flip sensor 53. The sensor 53 determines that the material 6 is in a horizontal state of 0°. When the material 6 is rotated at a horizontal level of 180°, the second stopper 522 is facing the other flip sensor 53, and the flip sensor 53 determines this. When the material 6 is turned 180°, the two first blocks 521 will be in contact with the second block 522 at the 0° and 180° rotated positions, respectively. At this time, the second block 522 acts as two first blocks 521 position stop during the rotation process, so as to ensure that the flip will not move beyond the limit.

Wherein, the overturning driving member 51 includes a rotating motor 511 and a hollow shaft reducer. The rotating electrical machine 511 is connected to the base 7 through a reducer, and the cables of the positioning assembly 1 and the clamping assembly 2 are connected to the outside through the hollow shaft of the hollow shaft reducer 512 . When the state of the flip sensor 53 is abnormal, the device will alarm and stop running and keep the current positions of the positioning assembly 1 and the clamping assembly 2 to prevent the material 6 from falling.

According to an embodiment of the present application, the pressure of the positioning driving member 12 is greater than the pressure of the clamping driving member 22 , and the positioning jaws 11 are located below the clamping jaws 21 during the overturning process of the material 6 . In this embodiment, the purpose of controlling the clamping force is achieved by adjusting the pressure of the positioning cylinder and the clamping cylinder respectively. The pressure of the positioning cylinder is set to be greater than the pressure of the clamping cylinder, and the material 6 is used to position the clamping jaw 11 to fix its position. As a benchmark, since the clamping cylinder always keeps pushing the clamping jaws 21, the clamping jaws 21 always provide thrust to the material 6, and the fixed state of the positioning jaws 11 can maintain the clamping effect on the material. Therefore, when the material 6 is in a horizontal state, that is, in a non-reversing process, under the constant driving force of the clamping driving member 22, in order to ensure that the positioning jaw 11 is not affected and is not pushed away from the reference position, the material The central position of 6 remains unchanged, the thrust of the positioning jaws 11 on the material 6 must be greater than the thrust of the clamping jaws on the material 6, that is, the driving force of the positioning cylinder to the positioning jaw 11 is greater than that of the clamping cylinder to the clamping clamp Because of the driving force of the claw 21 , the pressure for positioning the driving member 12 is greater than the pressure for clamping the driving member 22 . When the material 6 is in the process of turning over, the positioning jaw 11 is always kept under the clamping jaw 21, and the force on the positioning jaw 11 is not only the thrust on the material 6 from the clamping jaw 21, but also the material The self-gravity of 6 and the self-gravity of the positioning assembly 1 can easily make the positioning jaws 11 deviate from the reference position. pressure. The positioning mechanism of the positioning jaws 11 is used to prevent the reduction of the clamping force caused by the centrifugal force generated during the overturning process, and to keep the central position of the material 6 before and after the overturning unchanged.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be The technical solutions described in the foregoing embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the present application.

Claims

A material positioning and clamping device is characterized in that it includes a positioning assembly and a clamping assembly arranged oppositely, the positioning assembly includes a positioning jaw, a positioning driving member, a positioning sensing member and an adjusting member, and the clamping assembly includes Clamping jaws, clamping driving parts and clamping sensing parts; the positioning jaws are used to fix one side of the material, and the positioning driving parts are connected with the positioning jaws for driving the positioning jaws Move to the clamping jaws, the positioning sensor is used to detect the moving position of the material and the positioning jaws, and the adjusting member is connected to the positioning jaws for adjusting the positioning jaws The reference position of the jaws; the clamping jaws are used to fix the other side of the material, and the clamping driver is connected to the clamping jaws for driving the clamping jaws to the positioning The clamping jaw moves, and the clamping sensor is used to detect the moving position of the material and the clamping jaw.
The material positioning and clamping device according to claim 1, further comprising a base, and the positioning driving member, the clamping driving member and the adjusting member are all arranged on the base.
The material positioning and clamping device according to claim 2, wherein the positioning sensing member comprises a first sensor and a first blocking piece, and the first sensor is arranged on the base and located on the Between the positioning jaws and the clamping jaws, the first blocking piece is arranged on the positioning jaws and extends toward the position where the first sensor is located.
The material positioning and clamping device according to claim 3, wherein the positioning sensing element further comprises a second sensor, a first clamping block is provided on the positioning jaw, and the second sensor detects the Whether the first clamping block is in contact with the material.
The material positioning and clamping device according to claim 2, wherein the clamping sensing element comprises a third sensor, a fourth sensor and a second blocking piece, and the third sensor and the fourth sensor are arranged on the base, between the clamping jaws and the positioning jaws, and are arranged in sequence along the direction of the clamping jaws approaching the positioning jaws, and the second blocking piece is provided on the clamping jaw and extending toward the position of the third sensor.
The material positioning and clamping device according to claim 5, wherein the clamping sensing element further comprises a fifth sensor, the clamping jaw is provided with a second clamping block, and the fifth sensor detects the Whether the second clamping block contacts the material.
The material positioning and clamping device according to claim 2, further comprising a guide rail, the guide rail is arranged on the base, and the positioning gripper and the clamping gripper are both arranged on the guide rail and can move along the guide rail.
The material positioning and clamping device according to any one of claims 1 to 7, further comprising a sixth sensor for detecting whether the material reaches the clamping position.
A flipping manipulator, characterized in that it comprises a flipping component and a material positioning and clamping device according to any one of claims 1 to 8, wherein the flipping component includes a flipping driving part, a limiting part and a flipping sensing part, so The inversion driving member is connected with the positioning assembly and the clamping assembly through a base, the two inversion sensing members are arranged on both sides of the inversion driving member, and the limiting member includes a first block and a The second stopper, the two first stoppers are respectively disposed on the base corresponding to the two inversion sensing elements, and are respectively located on both sides of the overturning driving element. The first stopper is set on the rotation track.
The turning manipulator according to claim 9, wherein the pressure of the positioning driving member is greater than the pressure of the clamping driving member, and during the material turning process, the positioning jaws are in the clamping clamp under the claws.