CN112122808B - Workpiece clamp of laser cutting machine and blanking method - Google Patents

Workpiece clamp of laser cutting machine and blanking method Download PDF

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Publication number
CN112122808B
CN112122808B CN202011128787.1A CN202011128787A CN112122808B CN 112122808 B CN112122808 B CN 112122808B CN 202011128787 A CN202011128787 A CN 202011128787A CN 112122808 B CN112122808 B CN 112122808B
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workpiece
sucker
chuck
vacuum
electromagnetic
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CN112122808A (en
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陈月圆
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Dongguan Chuangyuan Laser Technology Co ltd
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Dongguan Chuangyuan Laser Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70—Auxiliary operations or equipment
    • B23K26/702—Auxiliary equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/36—Removing material
    • B23K26/38—Removing material by boring or cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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

Abstract

The invention provides a workpiece clamp of a laser cutting machine, which comprises a sucker bracket, M sucker beams, M groups of sucker groups and a control device, wherein the sucker beams are arranged on the sucker bracket; the M sucker beams are uniformly and horizontally arranged on the lower surface of the sucker support along the circumferential direction; the sucker beam comprises a first rotating arm, a second rotating arm, a first rotating shaft, a second rotating shaft and a hinge mechanism. The electromagnetic chuck and/or the vacuum chuck can be used for grabbing the workpiece in a self-adaptive manner by combining the material characteristics and the surface appearance characteristics of the workpiece, so that the workpiece clamp is applicable to workpieces in different forms as far as possible, the influence of a cutting gap on the grabbing effect is reduced, the dependence on the vacuum degree and the magnetic attraction is reduced, and the energy consumption is saved; meanwhile, by optimizing the structural design of the workpiece clamp, the electromagnetic chuck and the vacuum chuck can realize large-scale position adjustment, and the suction scheme is effectively matched.

Description

Workpiece clamp of laser cutting machine and blanking method
Technical Field
The invention relates to the field of laser cutting machines, in particular to a workpiece clamp and a blanking method of a laser cutting machine.
Background
In order to realize automatic blanking, the existing laser cutting machine sometimes adopts a blanking assembly with a sucker assembly to assist blanking, for example, the sucker assembly is adopted to suck a workpiece, and then the sucker assembly is moved to enable the workpiece to leave a blanking table and be placed into a material conveying trolley.
However, since the surface of the workpiece cut by the laser is not flat and changes according to the change of the cutting process, the current vacuum chuck often has insufficient suction force due to the fact that the workpiece is adsorbed at the position of a slit after cutting, so that the workpiece is difficult to grab, and even falls from a half space, and accidents occur. Particularly, for a work fixture in which many suction cup assemblies are difficult to arrange, how to improve the suction effect of each suction cup as much as possible is a problem to be solved urgently.
Disclosure of Invention
The invention aims to provide a workpiece clamp and a blanking method of a laser cutting machine, which can be used for grabbing workpieces by adopting an electromagnetic chuck and/or a vacuum chuck in a self-adaptive manner by combining the material characteristics and the surface appearance characteristics of the workpieces, so that the workpiece clamp is applicable to workpieces in different forms as much as possible, the influence of a cutting gap on the grabbing effect is reduced, the dependence on the vacuum degree and the magnetic attraction is reduced, and the energy consumption is saved; meanwhile, by optimizing the structural design of the workpiece clamp, the electromagnetic chuck and the vacuum chuck can realize large-scale position adjustment, and the suction scheme is effectively matched.
In order to achieve the purpose, the invention provides a workpiece clamp of a laser cutting machine, which comprises a sucker bracket, M sucker beams, M groups of sucker groups and a control device;
the cross section of the sucker support is circular, and the M sucker beams are uniformly and horizontally arranged on the lower surface of the sucker support along the circumferential direction;
the sucker beam comprises a first rotating arm, a second rotating arm, a first rotating shaft, a second rotating shaft and a hinge mechanism; the first rotating shaft and the second rotating shaft are vertically arranged on the lower surface of the sucker support, the first rotating arm is arranged on the outer side of the first rotating shaft and horizontally rotates around the first rotating shaft, the second rotating arm is arranged on the outer side of the second rotating shaft and horizontally rotates along the second rotating shaft, and the first rotating shaft and the second rotating shaft are hinged through a hinge mechanism so that the first rotating arm and the second rotating arm are combined together or unfolded to form an included angle, and the maximum value of the included angle is limited;
the M sucker groups are correspondingly arranged below the M sucker beams one by one; each sucker group comprises at least one electromagnetic sucker and at least one vacuum sucker, each vacuum sucker is mounted on the first rotating arm through a vacuum sucker mounting mechanism and moves horizontally along the first rotating arm, and each electromagnetic sucker is mounted on the second rotating arm through an electromagnetic sucker mounting mechanism and moves horizontally and vertically along the second rotating arm; the initial position of the vacuum chuck is lower than the highest no-load position of the electromagnetic chuck and higher than the lowest no-load position of the electromagnetic chuck;
the control device is combined with the material characteristics and the surface appearance characteristics of the workpiece, the positions of the electromagnetic chuck and the vacuum chuck are adaptively adjusted according to a preset adjusting strategy, and the electromagnetic chuck and/or the vacuum chuck are adopted to grab the workpiece under the constraint conditions of minimum required vacuum degree and shortest moving path.
Further, the vacuum chuck mounting mechanism comprises a first motor, a first sliding block, a linear bearing, a hollow floating rod and a first horizontal guide rail;
the middle part of the first rotating arm is provided with a first long vertical through hole, and the first horizontal guide rail is arranged on the upper surface of the first rotating arm; the linear bearing is positioned above the first long vertical through hole and is arranged on the first horizontal guide rail through a first sliding block, and the first sliding block is connected with the control device through a first motor; the first motor adjusts the rotating speed of the output shaft according to a control instruction sent by the control device so as to drive the first sliding block to carry the linear bearing to move along the first horizontal guide rail;
one end of the hollow floating rod sequentially penetrates through the first strip-shaped vertical through hole and the linear bearing to vertically extend to the position above the first rotating arm and is connected with the vacuum generator, and the other end of the hollow floating rod is connected with the vacuum sucker.
Furthermore, the vacuum chuck mounting mechanism also comprises a limiting block arranged above the linear bearing, a cylindrical vertical through hole is formed in the middle of the limiting block, and the hollow floating rod penetrates through the limiting block;
the cylindrical vertical through hole inboard is provided with movable recess and activity card, and the activity card has two kinds of working form: (1) the movable clamping piece is fixedly and completely accommodated in the movable groove, (2) the movable clamping piece freely rotates along a rotating point positioned below the movable groove, moves into the movable groove when rotating upwards, and moves out of the movable groove when rotating downwards;
when the movable clamping piece is fixedly accommodated in the movable groove, the hollow floating rod moves up and down in the linear bearing, and when the movable clamping piece is ejected out, the hollow floating rod is limited by the matching groove on the outer side surface of the hollow floating rod and only allows the hollow floating rod to move upwards in the linear bearing.
Further, the electromagnetic chuck mounting mechanism comprises a second motor, a sliding support, a second sliding block, a third motor, a spring assembly, a guide rod, a connecting chain, a second horizontal guide rail and a vertical guide rail;
the middle part of the second rotating arm is provided with a second long vertical through hole, the second horizontal guide rail is arranged at the top of the second rotating arm, the sliding support is arranged on the second horizontal guide rail and is connected with the control device through a second motor, and the second motor adjusts the rotating speed of the output shaft according to a control command sent by the control device so as to drive the sliding support to move along the second horizontal guide rail; the vertical guide rail is arranged on the sliding support, the second sliding block is arranged on the vertical guide rail and is connected with the control device through a third motor, and the third motor adjusts the rotating speed of the output shaft according to a control command sent by the control device so as to drive the second sliding block to move along the vertical guide rail;
the second sliding block is in a square shape, a cylindrical groove is formed in the second sliding block, and the opening of the groove faces downwards; the spring assembly is vertically arranged in the cylindrical groove and is connected with the electromagnetic chuck sequentially through the guide rod and the connecting chain, the electromagnetic chuck and the connecting chain are positioned below the second strip-shaped vertical through hole, and the guide rod penetrates through the second strip-shaped vertical through hole and is connected with the connecting chain; the size of the opening of the groove and the size of the second strip-shaped vertical through hole are matched with the size of the guide rod and are smaller than the sizes of the spring assembly and the connecting chain.
Further, the control device adaptively adjusts the positions of the electromagnetic chuck and the vacuum chuck according to a preset adjustment strategy by combining the material characteristics and the surface topography characteristics of the workpiece, which means that:
taking the nonmagnetic blanking groups as separation points, acquiring continuous N processing procedures of workpieces to be blanked, dividing the workpieces into L blanking groups according to the time of the workpieces to reach a blanking table, and allowing the blanking sequence of the workpieces in the same blanking group to be exchanged;
combine N to wait the material characteristics and the surface topography characteristic of unloading work piece, adjust electromagnet and vacuum chuck's position for:
when the workpiece is made of a magnetic material and the weight is not more than a preset weight threshold value, only using an electromagnetic chuck to grab the workpiece; when the workpiece is made of a magnetic material and the weight is larger than a preset weight threshold value, an electromagnetic chuck and a vacuum chuck are adopted to grab the workpiece; when the workpiece is made of nonmagnetic materials, the workpiece is grabbed by the vacuum chuck.
Based on the workpiece clamp, the invention also provides a blanking method, which comprises the following steps:
s1, taking the nonmagnetic blanking groups as separation points, obtaining the processing procedures of N continuous workpieces to be blanked, dividing the workpieces into L blanking groups according to the time of the workpieces to reach the blanking table, and allowing the blanking sequence of the workpieces in the same blanking group to be exchanged;
s2, judging whether magnetic workpieces with the weight exceeding a set weight threshold exist in the N workpieces to be blanked, if so, turning to S3, otherwise, turning to S4;
s3, setting the sucking position and the moving track of the electromagnetic chuck according to the magnetic workpiece, enabling the electromagnetic chuck to be located in the edge area of each workpiece to be blanked, and grabbing the magnetic workpiece by the electromagnetic chuck; the method comprises the following steps of calculating the suction position and the movement track of a vacuum chuck by combining surface form data of a screened magnetic workpiece with the weight exceeding a set weight threshold value, enabling the vacuum chuck to be located in the edge area as far as possible, and simultaneously adopting an electromagnetic chuck and the vacuum chuck for grabbing; proceed to step S5;
s4, setting the sucking position and the moving track of the electromagnetic chuck according to the magnetic workpiece, enabling the electromagnetic chuck to be located in the edge area of each workpiece to be blanked, and only adopting the electromagnetic chuck to grab the magnetic workpiece;
s5, calculating the suction position and the movement track of the vacuum chuck by combining the surface form data of the non-magnetic workpiece, and only adopting the vacuum chuck to grab the non-magnetic workpiece; proceed to step S1.
Further, when the work piece is the magnetism material and weight is not more than predetermineeing the weight threshold value, only adopt electromagnet to snatch the work piece, the process includes:
s201, lowering all the electromagnetic chucks to the lowest position, and lowering the chuck support to enable all the electromagnetic chucks to be adsorbed on the surface of a workpiece;
s202, the position of the second slider with the bent connecting chain is lifted, so that the corresponding connecting chain is vertically connected between the electromagnetic chuck and the second slider or the second slider is moved to the highest position;
and S203, lifting the sucker support, and grabbing the workpiece by using an electromagnetic sucker.
Further, when the work piece is for magnetism material and weight is greater than when predetermineeing the weight threshold value, adopt electromagnet and vacuum chuck to snatch the work piece simultaneously, the process includes:
s301, importing a cutting path and cutting parameters of a current workpiece, and calculating to obtain corresponding surface form data; adjusting the position of the vacuum chuck by combining the surface form data of the workpiece, so that as many vacuum chucks as possible correspond to the flat surface at the edge of the workpiece;
s302, lowering all the electromagnetic chucks to the lowest position, lowering the chuck support to enable all the vacuum chucks to be in contact with the surface of the workpiece, and enabling all the electromagnetic chucks to be adsorbed on the surface of the workpiece;
s303, moving the second sliding blocks corresponding to all the electromagnetic chucks to the highest position;
s304, starting a vacuum generator, lifting a sucker support, and grabbing a workpiece by using an electromagnetic sucker and a vacuum sucker;
further, when the work piece is the non-magnetic material, adopt vacuum chuck to snatch the work piece, the process includes:
s401, lifting all the electromagnetic chucks to the highest position;
s402, importing a cutting path and cutting parameters of a current workpiece, and calculating to obtain corresponding surface form data; adjusting the position of the vacuum chuck by combining the surface form data of the workpiece, so that as many vacuum chucks as possible correspond to the flat surface at the edge of the workpiece;
s403, lowering the sucker support to enable all vacuum suckers to be in contact with the surface of the workpiece, and starting a vacuum generator;
and S404, lifting the sucker support, and grabbing the workpiece by using a vacuum sucker.
Compared with the prior art, the technical scheme of the invention has the following remarkable beneficial effects:
(1) the material characteristics and the surface appearance characteristics of the workpiece can be combined, the electromagnetic chuck and/or the vacuum chuck are/is adopted to grab the workpiece in a self-adaptive mode, so that the workpiece clamp is applicable to workpieces in different forms as far as possible, the influence of cutting gaps on grabbing effects is reduced, the dependence on vacuum degree and magnetic attraction is reduced, and energy consumption is saved.
(2) Meanwhile, by optimizing the structural design of the workpiece clamp, the electromagnetic chuck and the vacuum chuck can realize large-scale position adjustment, and the suction scheme is effectively matched.
(3) The spring assembly is provided for two purposes: firstly, provide positive pulling force, secondly, further adjust the relative height between the electromagnetism magnetic disc, make all electromagnetism sucking discs all participate in the absorption process as far as possible, improve and absorb efficiency, especially to some unconventional work pieces. Thirdly, the spring assembly can adjust the relative position between the vacuum chuck and the electromagnetic chuck more flexibly, and the grabbing mode is switched rapidly, and when the two chucks work simultaneously, the electromagnetic chuck applies a positive pulling force on the workpiece, so that the workpiece and the vacuum chuck are in a more close contact state, and the vacuum chuck provides more stable suction on the workpiece.
(4) The guide rod is adopted to avoid the electromagnetic chuck from shaking greatly due to the spring.
(5) When the electromagnetic chuck and the vacuum chuck absorb workpieces with larger weight at the same time, the vacuum chuck adopts the design of the hollow floating rod and the linear bearing, so that the shaking amplitude of the electromagnetic chuck and the vacuum chuck can be reduced at the same time, and the safety and the stability of workpiece absorption are improved.
(6) The moving direction of the hollow floating rod is limited by the limiting block, and the hollow floating rod is prevented from falling back.
It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of this disclosure unless such concepts are mutually inconsistent. In addition, all combinations of claimed subject matter are considered a part of the presently disclosed subject matter.
The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
fig. 1 is a schematic structural view of a work holder of the laser cutting machine of the present invention.
FIG. 2 is a schematic cross-sectional view of the vacuum chuck mounting mechanism of the present invention.
Fig. 3 is a schematic sectional view of the stopper of the present invention.
Fig. 4 is a schematic cross-sectional structure view of the electromagnetic chuck mounting mechanism of the present invention.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.
In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily defined to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any one implementation. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.
The invention provides a workpiece clamp of a laser cutting machine, which comprises a sucker bracket 30, M sucker beams, M groups of sucker groups and a control device.
The cross section of the sucker support 30 is circular, and M sucker beams are uniformly and horizontally arranged on the lower surface of the sucker support 30 along the circumferential direction.
The sucker beam comprises a first rotating arm 21, a second rotating arm 22, a first rotating shaft 23, a second rotating shaft 24 and a hinge mechanism; first pivot 23 and second pivot 24 are installed perpendicularly on sucking disc support 30 lower surface, first rocking arm 21 is installed in first pivot 23 outside, and around first pivot 23 horizontal rotation, second rocking arm 22 is installed in second pivot 24 outside, along second pivot 24 horizontal rotation, and first pivot 23 and second pivot 24 are articulated through the hinge mechanism to make first rocking arm 21 and second rocking arm 22 merge together or expand and be an contained angle, and inject the biggest value of contained angle.
The M sucker groups are correspondingly arranged below the M sucker beams one by one; each sucker group comprises at least one electromagnetic sucker 51 and at least one vacuum sucker 41, each vacuum sucker 41 is installed on the first rotating arm 21 through a vacuum sucker installing mechanism 40 and moves horizontally along the first rotating arm 21, each electromagnetic sucker 51 is installed on the second rotating arm 22 through an electromagnetic sucker installing mechanism 50 and moves horizontally and vertically along the second rotating arm 22; the initial position of the vacuum chuck 41 is lower than the highest unloaded position of the electromagnetic chuck 51 and higher than the lowest unloaded position of the electromagnetic chuck 51.
The control device adaptively adjusts the positions of the electromagnetic chuck 51 and the vacuum chuck 41 according to a preset adjusting strategy by combining the material characteristics and the surface topography characteristics of the workpiece, and adopts the electromagnetic chuck 51 and/or the vacuum chuck 41 to grab the workpiece under the constraint conditions of minimum required vacuum degree and shortest moving path.
The vacuum chuck 41 has an advantage in that, for any material workpiece, sufficient suction force can be provided as long as the surface flatness of the workpiece meets the condition, and if a long gap exists on the surface of the workpiece, especially if the gap extends to the outside of the vacuum chuck 41, the suction force of the vacuum chuck 41 is suddenly reduced due to the communication with the outside air. The electromagnetic chuck 51 has the advantage that for a workpiece made of magnetic material, the amount of attraction force depends only on the contact surface area, and better attraction force can be provided for the surface or inclined surface with the gap than for the vacuum chuck 41. The invention combines the two suckers, so that the combined sucker device can provide better suction for workpieces, particularly irregular customized workpieces and the like.
Taking M ═ 4 as an example, assuming that a workpiece holder is provided with 4 suction cup beams and 4 suction cup groups, each suction cup group includes 1 electromagnetic suction cup 51 and 1 vacuum suction cup 41, then 8 available suction cups (4 vacuum suction cups 41 and 4 electromagnetic suction cups 51) are provided on the workpiece holder in total, which is enough to suck a thin flat workpiece with limited weight. For workpieces with larger thickness and larger weight or workpieces with irregular shapes, the method can be realized by additionally arranging the sucker beams or adjusting the number of the two suckers. As shown in fig. 1, the first rotating arm 21 rotates around the first rotating shaft 23, and the second rotating arm 22 rotates around the second rotating shaft 24, and each suction cup beam just controls one quarter of the sub-area, taking the maximum included angle between the two as 90 degrees as an example. It should be understood that the range of rotation angles of the first pivot arm 21 and the second pivot arm 22 can also be achieved by providing a limiting mechanism, such as a stop on the suction cup support 30, or by cooperating with a hinge mechanism, which can simultaneously control the position of the single pivot arm and the relative position between the pivot arms. On the basis of the free rotation of the rotating arm, the vacuum chuck 41 and the electromagnetic chuck 51 can also move horizontally on the rotating arm, so that the vacuum chuck 41 and the electromagnetic chuck 51 can theoretically reach any position of a workpiece clamp to suck a workpiece. In some examples, the chuck support 30 can also rotate around its axis, and the position relationship between the vacuum chuck 41 and the electromagnetic chuck 51 of the adjacent chuck beams is considered, so that the chuck position distribution is more flexible.
The vacuum chuck 41 and the electromagnetic chuck 51 occupy different spaces, and different from the vacuum chuck 41, the suction force can be enhanced by additionally arranging a high-performance vacuum generator, and for the electromagnetic chuck 51, the larger the contact surface is, the stronger the suction force is. Therefore, in some cases, the electromagnetic chuck 51 having a large contact surface can be used as much as possible. By adopting the mode, the sucker can be prevented from having a larger moving space, and structural interference between the suckers can be avoided, so that a user can conveniently and manually finely adjust the sucking position of the electromagnetic sucker 51.
Description of the structural principles
(1) Vacuum chuck mounting mode
Referring to fig. 2, as a preferred example, the vacuum chuck mounting mechanism 40 includes a first motor, a first slider 45, a linear bearing 43, a hollow floating rod 42, and a first horizontal rail 46.
A first long vertical through hole 25 is formed in the middle of the first rotating arm 21, and the first horizontal guide rail 46 is arranged on the upper surface of the first rotating arm 21; the linear bearing 43 is positioned above the first long vertical through hole 25 and is arranged on the first horizontal guide rail 46 through a first sliding block 45, and the first sliding block 45 is connected with the control device through a first motor; the first motor adjusts the rotation speed of the output shaft according to the control instruction sent by the control device to drive the first sliding block 45 to carry the linear bearing 43 to move along the first horizontal guide rail 46.
One end of the hollow floating rod 42 sequentially passes through the first strip-shaped vertical through hole 25 and the linear bearing 43 to vertically extend to the upper part of the first rotating arm 21 and is connected with a vacuum generator, and the other end of the hollow floating rod is connected with the vacuum sucker 41.
The working principle of the vacuum chuck 41 is as follows: the air pump provides the air supply and produces the negative pressure suction through vacuum generator, and vacuum generator is connected to vacuum chuck 41 through cavity floating lever 42, and when vacuum chuck 41 and work piece contact, the inside air of sucking disc is siphoned away by vacuum generator, produces the negative pressure chamber, firmly holds the work piece. When the workpiece needs to be loosened, the air source can be closed through the electromagnetic valve, external air enters the vacuum chuck 41 to balance negative pressure, and the vacuum chuck 41 loses suction force.
In the present invention, the position adjustment of the vacuum chuck 41 is realized in two ways, the first way is to push the first slider 45 to move on the horizontal guide rail to realize the horizontal position adjustment of the vacuum chuck 41; in the second way, the position of the vacuum chuck 41 in the vertical direction is adjusted by the hollow floating rod 42 and the linear bearing 43. Specifically, the hollow floating rod 42 slides up and down in the middle of the linear bearing 43 and falls to the bottom under the action of gravity, when the air cylinder presses the whole sucker support 30 downwards, and the vacuum sucker 41 touches the workpiece, the workpiece provides upward supporting force, so that the hollow floating rod 42 slides upwards on the linear bearing 43, the vacuum sucker 41 which does not touch the workpiece continues downwards along with the air cylinder until the workpiece provides supporting force, and the problem that part of the vacuum sucker 41 is difficult to adsorb to the surface of the workpiece due to the fact that the height of the workpiece is uneven is effectively solved. After the position of the vacuum chuck 41 is determined, the position of the hollow floating rod 42 is locked by the locking nut. Referring to fig. 3, it is more preferable that the vacuum chuck mounting mechanism 40 further includes a limiting block 44 disposed above the linear bearing 43, a cylindrical vertical through hole is disposed in the middle of the limiting block 44, and the hollow floating rod 42 penetrates through the limiting block 44. The inner side of the cylindrical vertical through hole is provided with a movable groove 441 and a movable clamping piece 442, and the movable clamping piece 442 has two working forms: (1) the movable clamping piece 442 moves into the movable groove 441 when rotating upwards, and moves out of the movable groove 441 when rotating downwards. Wherein when movable catch 442 is fixedly received in movable recess 441, hollow floating rod 42 moves up and down in linear bearing 43, and when movable catch 442 is ejected, hollow floating rod 42 is restricted by its outer side surface in a matching recess, allowing only upward movement in linear bearing 43.
(2) Electromagnetic chuck mounting mode
Referring to fig. 4, the electromagnetic chuck mounting mechanism 50 includes a second motor, a sliding bracket, a second slider 55, a third motor, a spring assembly 54, a guide rod 53, a connecting chain 52, a second horizontal guide rail 56, and a vertical guide rail 57.
The middle part of the second rotating arm 22 is provided with a second long vertical through hole 26, the second horizontal guide rail 56 is installed at the top of the second rotating arm 22, the sliding support is installed on the second horizontal guide rail 56 and is connected with a control device through a second motor, and the second motor adjusts the rotating speed of an output shaft according to a control command sent by the control device so as to drive the sliding support to move along the second horizontal guide rail 56; the vertical guide rail 57 is mounted on the sliding support, the second sliding block 55 is mounted on the vertical guide rail 57 and connected with the control device through a third motor, and the third motor adjusts the rotating speed of the output shaft according to a control command sent by the control device so as to drive the second sliding block 55 to move along the vertical guide rail 57.
The second sliding block 55 is in a square shape, a cylindrical groove is formed in the second sliding block, and the opening of the groove faces downwards; the spring assembly 54 is vertically arranged in the cylindrical groove and is connected with the electromagnetic chuck 51 sequentially through the guide rod 53 and the connecting chain 52, the electromagnetic chuck 51 and the connecting chain 52 are positioned below the second strip-shaped vertical through hole 26, and the guide rod 53 passes through the second strip-shaped vertical through hole 26 and is connected with the connecting chain 52; the size of the opening of the groove and the size of the second long vertical through hole 26 are matched with the size of the guide rod 53 and are smaller than the sizes of the spring assembly 54 and the connecting chain 52.
The use of the link chain 52 allows for better adjustment of the suction surface of the electromagnetic chuck 51. For example, since the electromagnetic chucks 51 are connected by the connecting chain 52, the electromagnetic chucks 51 have a certain angle adjustment capability. For a small inclined plane existing on the surface of the workpiece, if the workpiece is made of a magnetic material, the inclined plane can be sucked by the electromagnetic chuck 51. When the length of the connecting chain 52 allows, the suction position of the electromagnetic suction cup 51 can be finely adjusted.
The vertical guide rail 57, the second sliding block 55 and the spring assembly 54 are arranged, so that the height of the electromagnetic chucks 51 in the vertical direction can be adjusted as required, the relative heights between the electromagnetic chucks 51 and the vacuum chuck 41 are optimized, and the stress distribution of each chuck is more reasonable.
For example, assuming that the heights of the electromagnetic chucks 51 are the same in the initial state, taking the example that the part of the electromagnetic chucks 51 suck the inclined surface and the part of the electromagnetic chucks 5151 finely adjust the sucking position, after the part of the electromagnetic chucks 51 are adjusted, the relative heights between the electromagnetic chucks 51 are likely to be different, and there is a height difference, so that the workpiece is likely to be inclined even if the gravity of the workpiece is borne by only the part of the electromagnetic chucks at the time of sucking, and at this time, the heights of the electromagnetic chucks 51 can be made as uniform as possible by adjusting the second slider 55, so as to optimize the suction force distribution and maintain the horizontal movement of the workpiece as possible. This adjustment feature is also applicable to a scenario where the vacuum chuck 41 and the electromagnetic chuck 51 share the weight of the workpiece or the vacuum chuck 41 alone shares the weight of the workpiece.
The spring assembly 54 serves two purposes: firstly, providing positive pull force, secondly, further adjusting the relative height between the electromagnetic disks, enabling all the electromagnetic chucks 51 to participate in the suction process as much as possible, and improving the suction efficiency, in particular to a part of unconventional workpieces, such as a certain workpiece, the surface of which is provided with a higher step or inclined plane, limited by the height of a sucker beam, the second slider 55 has reached the highest point in the vertical direction, the connecting chain 52 of the part of the electromagnetic chuck 51 corresponding to the step or inclined plane still presents a certain bending state, due to the arrangement of the spring assembly 54, when the workpiece fixture is lifted, the other electromagnetic chucks 51 will be stressed first, the corresponding springs will be lifted, as the workpiece fixture continues to be lifted, the connecting chain 52 of the electromagnetic chuck 51 corresponding to the step or inclined plane gradually presents a vertical state and begins to be stressed, and finally, most or all the electromagnetic chucks 51 are enabled to jointly act to execute the suction process, that is, the spring assembly 54 can also adjust the relative position between the electromagnetic chucks 51 together with the second slider 55. Thirdly, considering that the work holder of the present invention also relates to the vacuum chuck 41, and the suction process is performed by selecting the electromagnetic chuck 51, the vacuum chuck 41 or the combination chuck according to the material property and the work property, respectively, in the present invention, the adjustment of the positional relationship between the vacuum chuck 41 and the electromagnetic chuck 51 is very important, and the spring assembly 54 can adjust the relative position therebetween more flexibly. For example, for a workpiece with a conventional shape and a weight greater than a predetermined weight threshold, the electromagnetic chuck 51 and the vacuum chuck 41 are used to grasp the workpiece, the electromagnetic chuck 51 is lowered to the lowest position, the position of the electromagnetic chuck 51 is lower than the position of the vacuum chuck 41, the chuck support 30 is lowered to contact the vacuum chuck 41 with the surface of the workpiece, theoretically, all the electromagnetic chucks 51 can contact the surface of the workpiece and generate an attraction force because the position of the electromagnetic chuck 51 is lower than the position of the vacuum chuck 41, the second slider 55 is moved to the highest position, because the highest initial position of the electromagnetic chuck 51 is higher than the position of the vacuum chuck 41, the spring assembly 54 is pulled up, a positive pulling force is applied to the workpiece, the vacuum generator is started at this time, a downward pressing force is applied to the workpiece by the gravity of the vacuum chuck 41 alone, and because the attraction force exists between the workpiece and the electromagnetic chuck 51, the workpiece exerts an upward force on the vacuum chuck 41, and the workpiece and the vacuum chuck 41 are in closer contact, which undoubtedly allows the vacuum chuck 41 to provide a more stable suction force on the workpiece. The flexibility of the position adjustment is more advantageous for non-conventional shaped workpieces (e.g., workpieces having curved surfaces or having relatively high protrusions or recesses). Take the surface of the workpiece to be provided with a small number of deep grooves as an example, if all the electromagnetic chucks 51 are to be in contact with the surface of the workpiece, undoubtedly, the chuck support 30 needs to be lowered to a very low position, at this time, the electromagnetic chucks 51 in the deep groove portions can be temporarily not considered, after the positions of other chucks are adjusted, the electromagnetic chucks 51 in the deep groove portions are manually pulled by a worker to be adsorbed on the workpiece, so that the problem that the chuck support 30 is lowered too much to bring structural interference, and even the chuck support 30 is lowered to the lowest point, any chuck cannot be in contact with the bottom of the groove.
As can be seen from the foregoing, the size of the opening of the groove and the size of the second elongated vertical through hole 26 match the size of the guide bar 53, and are smaller than the sizes of the spring assembly 54 and the connecting chain 52. Therefore, the bottom surface of the second slider 55 and the second pivot arm 22 simultaneously serve as a limiting function, and the spring assembly 54 is prevented from being excessively lifted or the connecting chain 52 is prevented from being excessively deflected due to work of a workpiece. The guide rod 53 can prevent the electromagnetic chuck 51 from shaking greatly due to the spring. It should be noted here that when the electromagnetic chuck 51 alone sucks the workpiece, the workpiece sucking process is not damaged by a small swing due to the limited weight of the workpiece; when the weight of the workpiece is heavy, the electromagnetic chuck 51 and the vacuum chuck 41 need to suck the workpiece at the same time, and because the vacuum chuck 41 adopts the design of the hollow floating rod 42 and the linear bearing 43, the shaking amplitude of the electromagnetic chuck 51 and the vacuum chuck 41 can be reduced at the same time, and the safety and the stability of workpiece suction are improved.
Second, workpiece grabbing method
Based on the workpiece clamp, the invention also provides a blanking method, which comprises the following steps:
and S1, taking the nonmagnetic blanking groups as separation points, acquiring the processing procedures of N continuous workpieces to be blanked, dividing the workpieces into L blanking groups according to the time of the workpieces to reach the blanking table, and allowing the blanking sequence of the workpieces in the same blanking group to be exchanged.
S2, judging whether magnetic workpieces with the weight exceeding a set weight threshold exist in the N workpieces to be blanked, if so, turning to S3, otherwise, turning to S4.
S3, setting the sucking position and the moving track of the electromagnetic chuck 51 according to the magnetic workpiece, enabling the electromagnetic chuck 51 to be located in the edge area of each workpiece to be blanked, and grabbing the magnetic workpiece by using the electromagnetic chuck 51; wherein, aiming at the magnetic workpiece with the weight exceeding the set weight threshold value, the suction position and the movement track of the vacuum chuck 41 are calculated by combining the surface form data of the magnetic workpiece, so that the vacuum chuck 41 is positioned in the edge area as much as possible, and the electromagnetic chuck 51 and the vacuum chuck 41 are adopted for grabbing; proceed to step S5.
And S4, setting the sucking position and the moving track of the electromagnetic chuck 51 according to the magnetic workpiece, enabling the electromagnetic chuck 51 to be positioned at the edge area of each workpiece to be blanked, and only using the electromagnetic chuck 51 to grab the magnetic workpiece.
S5, calculating the sucking position and the moving track of the vacuum chuck 41 by combining the surface form data of the non-magnetic workpiece, and only using the vacuum chuck 41 to grab; proceed to step S1.
On the actual production line, magnetic materials (such as iron plates) are more, but parts of non-magnetic plastic parts and light alloy parts are also involved, and it can be found that when the magnetic materials are adopted, the weight of the cut workpiece is larger, for the magnetic workpiece with lighter weight, only the electromagnetic chuck 51 needs to be adopted for grabbing, and for the magnetic workpiece with larger weight, the vacuum chuck 41 is needed for assisting grabbing. When the non-magnetic material is adopted, the quality of the workpiece is not too large due to the material characteristic, and the workpiece can be stably grabbed only by adopting the vacuum chuck 41. How to coordinate the relative position relationship between the electromagnetic chuck 51 and the vacuum chuck 41 is one of the key steps for switching the chuck grasping mode.
Further, when the workpiece is made of a magnetic material and the weight of the workpiece is not greater than a preset weight threshold value, the workpiece is grabbed only by the electromagnetic chuck 51, and the process comprises the following steps:
s201, lowering all the electromagnetic chucks 51 to the lowest position, and since the initial position of the electromagnetic chucks 51 in the no-load state is lower than the initial position of the vacuum chuck 41, after lowering the chuck support 30, all the electromagnetic chucks 51 can be attracted to the surface of the workpiece, and the vacuum chuck 41 does not contact with the workpiece. In actual operation, even if the partial vacuum chuck 41 contacts the workpiece due to the uneven surface of the workpiece, the negative effect is not caused for the following reasons: on the one hand, the pressing force of the workpiece on the vacuum chuck 41 will move the hollow floating rod 42 upwards along the linear bearing 43, and when the chuck support 30 is lifted, the vacuum chuck 41 will be located above the workpiece finally because the corresponding spring assembly 54 of the electromagnetic chuck 51 will be pulled up.
S202, the position of the second sliding block 55 with the curved connecting chain 52 is lifted, so that the corresponding connecting chain 52 is vertically connected between the electromagnetic chuck 51 and the second sliding block 55 or the second sliding block 55 moves to the highest position. This step is for adjusting the relative position between the electromagnetic chucks 51 as described above.
And S203, lifting the sucker support 30, and grabbing the workpiece by using the electromagnetic sucker 51.
Further, when the work piece is magnetic material and weight is greater than preset weight threshold, adopt electromagnet 51 and vacuum chuck 41 to snatch the work piece simultaneously, the process includes:
s301, importing a cutting path and cutting parameters of a current workpiece, and calculating to obtain corresponding surface form data; the position of the vacuum chuck 41 is adjusted in accordance with the surface shape data of the workpiece so that as many vacuum chucks 41 as possible correspond to the flat surface of the workpiece. Here, the adjustment of the position of the vacuum chuck 41 means the adjustment of the horizontal position of the vacuum chuck 41 by the first slider 45. It should be understood that in some extreme cases, the partial vacuum cups 41 may not avoid the gap even if they are adjusted horizontally, but only to ensure that most of the vacuum cups 41 avoid to provide sufficient suction with the lowest possible vacuum requirement. One of the purposes of the present invention is to reduce the dependence on the degree of vacuum, the more the vacuum chuck 41 can be brought into contact with the workpiece, the more the stress distribution of the workpiece as a whole is reasonable, and the smaller the degree of vacuum required.
S302, all the electromagnetic chucks 51 are lowered to the lowest position, the chuck support 30 is lowered to enable all the vacuum chucks 41 to be in contact with the surface of the workpiece, and at the moment, because the lowest no-load position of the electromagnetic chucks 51 is lower than the initial position of the vacuum chucks 41, all the electromagnetic chucks 51 can be adsorbed on the surface of the workpiece under the condition that the shape of the workpiece is not uneven to a large extent. On the other hand, for a workpiece having a large part shape, the electromagnetic chuck 51 may be manually adjusted to be adsorbed on the surface of the workpiece by the electromagnetic chuck 51, and the deep groove processing method for the surface of the workpiece may be performed as described above.
And S303, moving the second sliding blocks 55 corresponding to all the electromagnetic chucks 51 to the highest position, wherein the highest no-load position of the electromagnetic chucks 51 is higher than that of the vacuum chuck 41, so that the electromagnetic chucks 51 can provide the workpiece adsorption force.
S304, the vacuum generator is started to make the vacuum chuck 41 provide the suction force on the workpiece. The suction cup holder 30 is lifted while gripping the workpiece with the electromagnetic suction cup 51 and the vacuum suction cup 41.
Further, when the workpiece is made of a non-magnetic material, the vacuum chuck 41 is used for grabbing the workpiece, and the process includes:
s401, lifting all the electromagnetic chucks 51 to the highest position, and enabling the positions of the electromagnetic chucks 51 to be higher than the vacuum chuck 41.
S402, importing a cutting path and cutting parameters of a current workpiece, and calculating to obtain corresponding surface form data; the position of the vacuum chuck 41 is adjusted in accordance with the surface shape data of the workpiece so that as many vacuum chucks 41 as possible correspond to the flat surface of the workpiece.
S403, the suction cup holder 30 is lowered to make all the vacuum suction cups 41 contact with the surface of the workpiece, and the relative position between the vacuum suction cups 41 can be adjusted by the hollow floating rod 42 and the linear bearing 43. The vacuum generator is activated so that the vacuum chuck 41 provides suction on the workpiece.
S404, lifting the sucker support 30, and grabbing the workpiece by using the vacuum sucker 41.
In some examples, when N consecutive workpieces to be blanked from the current workpiece are all made of a non-magnetic material, the process of gripping the workpieces by using the vacuum chuck 4141 further includes:
and importing cutting paths and cutting parameters of N continuous workpieces to be blanked from the current workpiece, and calculating to obtain surface form data of each workpiece to be blanked. And calculating the arrangement data of all the vacuum chucks 41 corresponding to the N continuous workpieces to be blanked from the current workpiece by combining the surface shape data of the N continuous workpieces to be blanked from the current workpiece and taking the shortest total length of the adjustment path of the vacuum chucks 41 as a constraint condition, so that the number of the vacuum chucks 41 in contact with the flat surface of the workpieces to be blanked is greater than a required number threshold.
The calculation of the surface form data of each workpiece to be blanked means that the edge position information and the gap information of the workpiece to be blanked are obtained according to the cutting path and the cutting parameters, and the form data, the position information and the surface data of each workpiece to be blanked can be obtained by combining the surface form of the original workpiece. This part of the data is the basis for the subsequent adjustment of the position of the vacuum chuck 41.
As a preferred example, the process of calculating the arrangement data of all the vacuum chucks 41 corresponding to the N consecutive workpieces to be blanked from the current workpiece includes the following steps:
and S11, acquiring the machining processes of the continuous N workpieces to be blanked from the current workpiece, dividing the machining processes into L blanking groups according to the time of the workpieces to be blanked reaching the blanking table, and replacing the blanking sequence of the workpieces to be blanked in the same group.
And S12, mapping the workpiece clamp in the current state to the surface of each workpiece to be blanked, wherein the center position of the workpiece clamp coincides with the mass center of the workpiece to be blanked.
S13, analyzing the contact surface characteristics of the current position of each vacuum chuck 41 and the workpiece to be blanked, and counting the number L of effective chuck groups corresponding to each workpiece to be blanked and contacting with the flat surface n N is 1,2, …, N. The effective suction cup group is a vacuum suction cup 41 having a suction force satisfying a predetermined suction force requirement, and may be defined narrowly as a vacuum suction cup 41 having no gap extending to the outer side of the vacuum suction cup 41 on the contact surface.
S14, judging whether workpieces to be blanked with the number of effective sucker groups smaller than a preset number threshold exist, if not, maintaining all the vacuum suckers 41 in the current state, and executing a blanking program of N continuous workpieces to be blanked from the current workpiece; otherwise, adjusting the position information of the partial vacuum chuck 41 according to a preset adjustment strategy, and executing the blanking program in batches until the Nth workpiece to be blanked is executed.
S15, setting the (N + 1) th workpiece to be blanked as the current workpiece, and returning to the step S11.
For each workpiece to be blanked, the number of the corresponding least effective sucker groups is different, and in order to simplify the calculation process, a larger number threshold is set to comprehensively consider all the workpieces to be blanked, such as 80% M/2 and the like. Preferably, in order to obtain more accurate suction effect, the following design can be adopted: and taking N workpieces to be blanked as a group, and selecting the minimum effective sucker group number with the largest value to set the number threshold of the effective sucker groups. More preferably, in consideration of the distribution requirement of the effective sucker groups, the threshold of the number of the effective sucker groups can be set by regions or the threshold of the total number is multiplied by the distribution coefficient, so that the suction distribution caused by excessive concentration of the effective sucker groups is avoided from being too uneven.
In some examples, in step S14, the adjusting the position information of the partial vacuum chuck 41 according to the preset adjusting strategy, and the batch-wise performing the blanking process includes the following steps:
s141, workpieces to be blanked with the number of the first effective sucker groups smaller than a preset number threshold value 1 Dividing N workpieces to be blanked into a normal operation group and an adjustment operation group as separation points; setting a normal operation group to contain (N-K) workpieces to be blanked, and setting an adjustment operation group to contain K workpieces to be blanked, wherein N is k ，k＝1,2,…,K。
S142, screening out the numbers of the invalid sucker groups simultaneously corresponding to all the workpieces to be blanked in the adjustment operation group, and calculating the moving route of the invalid sucker groups in the self travel range so as to avoid the workpieces n to be blanked in the adjustment operation group as much as possible k An uneven surface of (2). The inactive suction cup group and the active suction cup group are two different states of the vacuum suction cup 41 facing each other.
S143, judging the workpiece n to be blanked k If so, maintaining the initial state of all the vacuum chucks 41, executing the blanking program of the continuous (N-K) workpieces to be blanked from the current workpiece, moving the screened invalid chuck groups according to the moving route calculated in the step S142, executing the remaining K workpieces to be blanked, and if not, entering the step S144.
S144, taking the center of the mapped workpiece clamp as an intersection point, and enabling each workpiece n to be blanked k Uniformly dividing the workpiece into a plurality of areas, and analyzing to obtain each workpiece n to be blanked k Zone of effective suction cup groupDomain distribution density map.
S145, sequentially selecting the invalid sucker groups contained in the area distribution density from high to low, and calculating the moving route of the invalid sucker groups in the self travel range to avoid adjusting the workpieces n to be blanked in the operation group as much as possible k Up to all workpieces n to be blanked k The number of the effective sucker groups meets the corresponding workpiece requirements, the initial state of all the vacuum suckers 41 is maintained, the blanking program of the continuous (N-K) workpieces to be blanked from the current workpiece is executed, the screened vacuum suckers 41 are moved according to the moving routes calculated in the step S142 and the step S145 in sequence, and the remaining K workpieces to be blanked are executed.
For example, the number of the first effective sucker groups is less than the preset number threshold value 1 Dividing N workpieces to be blanked into normal operation groups as separation points
Figure BDA0002734411260000111
And adjusting the job group n k I ═ 1,2, …, (N-K), K ═ 1,2, …, K. Due to normal operation group
Figure BDA0002734411260000112
Can be adapted to the layout of the current vacuum chuck 41, so that the arrangement of the current vacuum chuck 41 can be maintained for the blanking operation. For the adjustment operation group n k Firstly, all the corresponding invalid sucker groups are adjusted, wherein the invalid sucker groups correspond to the normal operation groups
Figure BDA0002734411260000113
Possibly a valid set of suction cups, so that the normal set of operations is performed first
Figure BDA0002734411260000114
The blanking process of (1) is to reduce the adjustment objects as much as possible, if the adjusted workpiece fixture can meet the blanking requirements, the blanking process is executed, and the arrangement state of the adjusted vacuum chucks 41 is taken as the current state to continue executing the next blanking process of the N workpieces to be blanked. If the adjusted floating suction is adoptedIn the invention, the vacuum chucks 41 with more densely distributed effective chuck groups for the other parts are preferably selected for adjustment, so as to avoid the change of stress distribution of the workpiece caused by the change of the suction state due to the movement of the vacuum chucks 41 as much as possible. Preferably, the surface morphology distribution of the workpiece can be introduced for screening, but the method is easy to cause the problem of unstable suction state caused by uncontrollable change of the stress distribution of the workpiece in the practical process.
Preferably, after the first adjustment, grouping can be continuously performed, the number of the adjustment objects is continuously reduced, then screening of the common invalid sucker group or calculation of the area distribution density is performed, and the number of the adjustment objects is gradually reduced through an iterative idea, so that the uncontrollable property in the blanking process is reduced as much as possible.
In other examples, an air valve is connected between the vacuum chuck 41 and the corresponding vacuum generator; on this basis, the material clamping method further comprises the following steps: during the blanking process, the air valve corresponding to the ineffective suction cup group is closed to enhance the suction force of the other vacuum suction cups 41 as much as possible.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.

Claims (6)

1. The workpiece clamp of the laser cutting machine is characterized by comprising a sucker support, M sucker beams, M groups of sucker groups and a control device;
the cross section of the sucker support is circular, and the M sucker beams are uniformly and horizontally arranged on the lower surface of the sucker support along the circumferential direction;
the sucker beam comprises a first rotating arm, a second rotating arm, a first rotating shaft, a second rotating shaft and a hinge mechanism; the first rotating shaft and the second rotating shaft are vertically arranged on the lower surface of the sucker support, the first rotating arm is arranged on the outer side of the first rotating shaft and horizontally rotates around the first rotating shaft, the second rotating arm is arranged on the outer side of the second rotating shaft and horizontally rotates along the second rotating shaft, and the first rotating shaft and the second rotating shaft are hinged through a hinge mechanism so that the first rotating arm and the second rotating arm are combined together or unfolded to form an included angle, and the maximum value of the included angle is limited;
the M sucker groups are correspondingly arranged below the M sucker beams one by one; each sucker group comprises at least one electromagnetic sucker and at least one vacuum sucker, each vacuum sucker is mounted on the first rotating arm through a vacuum sucker mounting mechanism and moves horizontally along the first rotating arm, and each electromagnetic sucker is mounted on the second rotating arm through an electromagnetic sucker mounting mechanism and moves horizontally and vertically along the second rotating arm; the initial position of the vacuum chuck is lower than the highest no-load position of the electromagnetic chuck and higher than the lowest no-load position of the electromagnetic chuck;
the control device is used for adaptively adjusting the positions of the electromagnetic chuck and the vacuum chuck according to a preset adjusting strategy by combining the material characteristics and the surface appearance characteristics of the workpiece, and grabbing the workpiece by using the electromagnetic chuck and/or the vacuum chuck under the constraint conditions of minimum required vacuum degree and shortest moving path;
the vacuum sucker mounting mechanism comprises a first motor, a first sliding block, a linear bearing, a hollow floating rod and a first horizontal guide rail;
the middle part of the first rotating arm is provided with a first long vertical through hole, and the first horizontal guide rail is arranged on the upper surface of the first rotating arm; the linear bearing is positioned above the first long vertical through hole and is arranged on the first horizontal guide rail through a first sliding block, and the first sliding block is connected with the control device through a first motor; the first motor adjusts the rotating speed of the output shaft according to a control instruction sent by the control device so as to drive the first sliding block to carry the linear bearing to move along the first horizontal guide rail;
one end of the hollow floating rod sequentially penetrates through the first strip-shaped vertical through hole and the linear bearing to vertically extend above the first rotating arm and is connected with the vacuum generator, and the other end of the hollow floating rod is connected with the vacuum chuck;
the electromagnetic chuck mounting mechanism comprises a second motor, a sliding support, a second sliding block, a third motor, a spring assembly, a guide rod, a connecting chain, a second horizontal guide rail and a vertical guide rail;
the middle part of the second rotating arm is provided with a second long vertical through hole, the second horizontal guide rail is arranged at the top of the second rotating arm, the sliding support is arranged on the second horizontal guide rail and is connected with the control device through a second motor, and the second motor adjusts the rotating speed of the output shaft according to a control command sent by the control device so as to drive the sliding support to move along the second horizontal guide rail; the vertical guide rail is arranged on the sliding support, the second sliding block is arranged on the vertical guide rail and is connected with the control device through a third motor, and the third motor adjusts the rotating speed of the output shaft according to a control command sent by the control device so as to drive the second sliding block to move along the vertical guide rail;
the second sliding block is in a square shape, a cylindrical groove is formed in the second sliding block, and the opening of the groove faces downwards; the spring assembly is vertically arranged in the cylindrical groove and is connected with the electromagnetic chuck sequentially through the guide rod and the connecting chain, the electromagnetic chuck and the connecting chain are positioned below the second strip-shaped vertical through hole, and the guide rod penetrates through the second strip-shaped vertical through hole and is connected with the connecting chain; the size of the opening of the groove and the size of the second strip-shaped vertical through hole are matched with the size of the guide rod and are smaller than the sizes of the spring assembly and the connecting chain;
the control device is combined with the material characteristics and the surface appearance characteristics of the workpiece, and the positions of the electromagnetic chuck and the vacuum chuck are adaptively adjusted according to a preset adjusting strategy, wherein the position comprises the following steps:
taking the nonmagnetic blanking groups as separation points, acquiring continuous N processing procedures of workpieces to be blanked, dividing the workpieces into L blanking groups according to the time of the workpieces to reach a blanking table, and allowing the blanking sequence of the workpieces in the same blanking group to be exchanged;
combine N to wait the material characteristics and the surface topography characteristic of unloading work piece, adjust electromagnet and vacuum chuck's position for:
when the workpiece is made of a magnetic material and the weight is not more than a preset weight threshold value, only using an electromagnetic chuck to grab the workpiece; when the workpiece is made of a magnetic material and the weight is larger than a preset weight threshold value, an electromagnetic chuck and a vacuum chuck are adopted to grab the workpiece; when the workpiece is made of nonmagnetic materials, the workpiece is grabbed by the vacuum chuck.
2. The workpiece clamp of the laser cutting machine according to claim 1, wherein the vacuum chuck mounting mechanism further comprises a limiting block arranged above the linear bearing, a cylindrical vertical through hole is formed in the middle of the limiting block, and the hollow floating rod penetrates through the limiting block;
the cylindrical vertical through hole inboard is provided with movable recess and activity card, and the activity card has two kinds of working form: (1) the movable clamping piece is fixedly and completely accommodated in the movable groove, (2) the movable clamping piece freely rotates along a rotating point positioned below the movable groove, moves into the movable groove when rotating upwards, and moves out of the movable groove when rotating downwards;
when the movable clamping piece is fixedly accommodated in the movable groove, the hollow floating rod moves up and down in the linear bearing, and when the movable clamping piece is ejected out, the hollow floating rod is limited by the matching groove on the outer side surface of the hollow floating rod and only allows the hollow floating rod to move upwards in the linear bearing.
3. The blanking method of the workpiece holder of the laser cutting machine according to claim 1, wherein the blanking method comprises:
s1, taking the nonmagnetic blanking groups as separation points, obtaining the processing procedures of N continuous workpieces to be blanked, dividing the workpieces into L blanking groups according to the time of the workpieces to reach the blanking table, and allowing the blanking sequence of the workpieces in the same blanking group to be exchanged;
s2, judging whether magnetic workpieces with the weight exceeding a set weight threshold exist in the N workpieces to be blanked, if so, turning to S3, otherwise, turning to S4;
s3, setting the sucking position and the moving track of the electromagnetic chuck according to the magnetic workpiece, enabling the electromagnetic chuck to be located in the edge area of each workpiece to be blanked, and grabbing the magnetic workpiece by the electromagnetic chuck; the method comprises the following steps of calculating the suction position and the movement track of a vacuum chuck by combining surface form data of a screened magnetic workpiece with the weight exceeding a set weight threshold value, enabling the vacuum chuck to be located in the edge area as far as possible, and simultaneously adopting an electromagnetic chuck and the vacuum chuck for grabbing; proceed to step S5;
s4, setting the sucking position and the moving track of the electromagnetic chuck according to the magnetic workpiece, enabling the electromagnetic chuck to be located in the edge area of each workpiece to be blanked, and only adopting the electromagnetic chuck to grab the magnetic workpiece;
s5, calculating the suction position and the movement track of the vacuum chuck by combining the surface form data of the non-magnetic workpiece, and only adopting the vacuum chuck to grab the non-magnetic workpiece; proceed to step S1.
4. The blanking method according to claim 3, wherein when the workpiece is made of magnetic material and the weight is not greater than the preset weight threshold, the workpiece is grabbed only by using the electromagnetic chuck, and the process comprises the following steps:
s201, lowering all the electromagnetic chucks to the lowest position, and lowering the chuck support to enable all the electromagnetic chucks to be adsorbed on the surface of a workpiece;
s202, raising the position of the second slider with the curved connecting chain to enable the corresponding connecting chain to be vertically connected between the electromagnetic chuck and the second slider or move the second slider to the highest position;
and S203, lifting the sucker support, and grabbing the workpiece by using an electromagnetic sucker.
5. The blanking method according to claim 3, wherein when the workpiece is made of magnetic material and the weight of the workpiece is greater than a preset weight threshold, the workpiece is grabbed by the electromagnetic chuck and the vacuum chuck at the same time, and the process comprises the following steps:
s301, importing a cutting path and cutting parameters of a current workpiece, and calculating to obtain corresponding surface form data; adjusting the position of the vacuum chuck by combining the surface form data of the workpiece, so that as many vacuum chucks as possible correspond to the flat surface at the edge of the workpiece;
s302, lowering all the electromagnetic chucks to the lowest position, lowering the chuck support to enable all the vacuum chucks to be in contact with the surface of the workpiece, and enabling all the electromagnetic chucks to be adsorbed on the surface of the workpiece;
s303, moving the second sliding blocks corresponding to all the electromagnetic chucks to the highest position;
s304, starting the vacuum generator, lifting the sucker support, and grabbing the workpiece by using the electromagnetic sucker and the vacuum sucker.
6. The blanking method according to claim 3, wherein when the workpiece is made of non-magnetic material, the workpiece is grabbed by using a vacuum chuck, and the process comprises:
s401, lifting all the electromagnetic chucks to the highest position;
s402, importing a cutting path and cutting parameters of a current workpiece, and calculating to obtain corresponding surface form data; adjusting the position of the vacuum chuck by combining the surface form data of the workpiece, so that as many vacuum chucks as possible correspond to the flat surface at the edge of the workpiece;
s403, lowering the sucker support to enable all vacuum suckers to be in contact with the surface of the workpiece, and starting a vacuum generator;
and S404, lifting the sucker support, and grabbing the workpiece by using a vacuum sucker.
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