CN110842345A

CN110842345A - Support rod seat structure of automatic workpiece transferring manipulator

Info

Publication number: CN110842345A
Application number: CN201911300278.XA
Authority: CN
Inventors: 王国成
Original assignee: Changshu Dazhong Robot Research Institute Co Ltd
Current assignee: Changshu Dazhong Robot Research Institute Co Ltd
Priority date: 2019-12-17
Filing date: 2019-12-17
Publication date: 2020-02-28
Anticipated expiration: 2039-12-17
Also published as: CN110842345B

Abstract

The utility model provides an automatic mechanical hand is transported to chemical industry piece supports pole socket structure, includes that gyration frame, support pole socket oscilaltion mechanism, work piece clamping jaw open and shut actuating mechanism, work piece clamping jaw support, work piece clamping jaw open and shut actuating mechanism, work piece front clamping jaw and work piece back clamping jaw, the gyration frame includes gyration frame body, this body cavity top cap of rotation frame, gyration frame body base and support pole socket lift guide rail seat, characteristics: the support rod seat is provided with a pair of support rods which are parallel to each other in the front-back direction; a group of supporting rod seat lifting guide rods are arranged on the cavity top cover of the rotary machine frame body, and a group of supporting rod seat lifting guide rod guide sleeves are arranged on the supporting rod seat; the front side of the support rod seat is fixedly provided with a support rod seat guide rail slide block fixing seat; a supporting rod seat lifting guide rail cavity is arranged on the front side of the supporting rod seat lifting guide rail seat, and a cavity cover plate is fixed at the opening of the guide rail cavity; the guide rail slide block is matched with the upper end of the lifting guide rail of the support rod seat, and the lower end of the guide rail slide block is inserted into and fixed in the lifting guide rail cavity of the support rod seat. The stability of the up-down lifting and the accuracy of the position are guaranteed.

Description

Support rod seat structure of automatic workpiece transferring manipulator

Technical Field

The invention belongs to the technical field of automatic machinery, and particularly relates to a support rod seat structure of an automatic workpiece transferring manipulator.

Background

The automatic chemical part transferring manipulator mentioned above is mainly but not absolutely limited to be applied to a complete set of automatic ultrasonic welding system or automatic ultrasonic welding system, and the automatic ultrasonic welding system is widely applied to the new energy lithium battery production industry, the electronic and electrical product production industry, the production industries of stationery, toys and the like, the automobile part production industry, the medical supplies production industry and the like, and the principle of the automatic ultrasonic welding system is that high-frequency vibration waves are transmitted to two objects needing to be welded into a whole, namely the surfaces of the objects, so that the two objects needing to be welded are combined together. Taking thermoplastic plastic welding as an example, when ultrasonic wave acts on a thermoplastic plastic contact surface, high-frequency vibration of tens of thousands or even tens of thousands of times per second can be generated, the high-frequency vibration reaching a certain amplitude transmits ultrasonic energy to a welding area through a weldment, and the welding area, namely the sound resistance of the interface of two welding areas is large, so that local high temperature can be generated, and the high temperature cannot be diffused in time due to poor thermal conductivity of the plastic, so that the high temperature is gathered on the welding area, the contact surfaces of the two plastics are rapidly melted, and the two plastics are fused into a whole after a certain pressure is applied.

Technical information related to an ultrasonic welding apparatus, such as CN208496057U (cell ultrasonic welder), CN110238506A (an ultrasonic welder), and CN110370654A (an ultrasonic automatic welder), etc., is not known in the published chinese patent documents.

Taking the processing of lithium battery components as an example, if a first workpiece conveying line, a second workpiece conveying line, a third workpiece conveying line, an ultrasonic pre-welding device, an ultrasonic final-welding device, an automatic workpiece transferring mechanical arm, a workpiece feeding mechanical arm at a pre-welding station, a workpiece conveying mechanical arm at a final-welding station and a target workpiece picking and conveying mechanical arm are reasonably arranged on a workbench, the position of the first workpiece conveying line on the workbench corresponds to the left ends of the second workpiece conveying line and the third workpiece conveying line, namely the second workpiece conveying line and the third workpiece conveying line are in a vertical relation with the first workpiece conveying line, the second workpiece conveying line and the third workpiece conveying line are kept in a front-back parallel manner in the length direction, the ultrasonic pre-welding device and the ultrasonic final-welding device correspond to each other in the left-right direction and are positioned in the front middle area of the second workpiece conveying, the automatic workpiece transferring manipulator, the pre-welding station workpiece supplying manipulator, the final welding station workpiece carrying manipulator and the target workpiece picking and carrying manipulator are arranged between the second workpiece conveying line and the third workpiece conveying line from left to right. The first workpiece conveying line, the second workpiece conveying line and the third workpiece conveying line are conveying lines in the form of conveying belts, so that the arrangement mode can exert the effects of reasonability and compactness of the configuration of each mechanism of a structural system of the set of automatic ultrasonic welding system, space occupation saving and the like to the utmost extent.

As an automatic workpiece transferring mechanical arm, a workpiece clamping jaw opening and closing actuating mechanism for driving a front clamping jaw and a rear clamping jaw of a workpiece to move needs to be driven by a workpiece clamping jaw opening and closing driving mechanism, and the workpiece clamping jaw opening and closing driving mechanism needs to meet the requirement of vertical up-and-down lifting, so that a lifting seat needs to be equipped for the workpiece clamping jaw opening and closing driving mechanism, the lifting seat is essentially the support rod seat, and the workpiece clamping jaw opening and closing driving mechanism and the workpiece clamping jaw opening and closing actuating mechanism are lifted as required by the support rod seat. However, since the workpiece clamping jaw opening and closing actuator needs to move alternately between two adjacent stations and needs to lift frequently, the lifting stability and the lifting position accuracy of the support rod seat as the carrier for the workpiece clamping jaw opening and closing driving mechanism have a corresponding influence on the working position of the workpiece clamping jaw opening and closing actuator, and the technical solutions to be described below are generated in this context.

Disclosure of Invention

The invention aims to provide a support rod seat structure of an automatic workpiece transferring manipulator, which is beneficial to fully ensuring the up-and-down lifting stability and the up-and-down lifting position accuracy of a workpiece clamping jaw opening and closing driving mechanism and a workpiece clamping jaw opening and closing actuating mechanism so as to enable the workpiece clamping jaw opening and closing actuating mechanism to correspond to a workpiece to be transferred.

The invention aims to accomplish the task by the following steps that the supporting rod seat structure of the automatic chemical part transferring mechanical arm comprises a rotary frame, a supporting rod seat up-and-down lifting mechanism, a workpiece clamping jaw opening-closing driving mechanism, a workpiece clamping jaw support, a workpiece clamping jaw opening-closing executing mechanism, a workpiece front clamping jaw and a workpiece rear clamping jaw, wherein the rotary frame comprises a rotary frame body, a rotary frame body cavity top cover, a rotary frame body base and a supporting rod seat lifting guide rail seat, the rotary frame body base is fixedly connected with the rotary frame driving mechanism in a use state, a rotary frame body base abdicating cavity is arranged at the central position of the rotary frame body base, the rotary frame body and one side of the rotary frame body base facing upwards are fixed, the rotary frame body is provided with a lifting cylinder shielding cavity corresponding to and communicated with the rotary frame body base abdicating cavity, the top cover of the cavity of the rotary frame body is fixed with the top of the rotary frame body at a position corresponding to the lifting cylinder shielding cavity, a lifting cylinder column abdicating hole is arranged in the middle of the top cover of the cavity of the rotary frame body, the support rod seat lifting guide rail seat is fixed on the front side wall body of the rotary frame body, the support rod seat up-down lifting mechanism is arranged in the lifting cylinder shielding cavity and supported on the rotary frame driving mechanism, and the upper part of the support rod seat extends to the upper part of the top cover of the cavity of the rotary frame body through the lifting cylinder column abdicating hole; the supporting rod seat structure comprises a supporting rod seat, the supporting rod seat is connected with the supporting rod seat up-and-down lifting mechanism at a position corresponding to the upper part of the supporting rod seat up-and-down lifting mechanism and is also in sliding fit with the rotary frame, the workpiece clamping jaw opening-closing driving mechanism is arranged between the supporting rod seat and the workpiece clamping jaw support and also extends into a workpiece clamping jaw support cavity of the workpiece clamping jaw support, the workpiece clamping jaw opening-closing executing mechanism is arranged in the workpiece clamping jaw support cavity of the workpiece clamping jaw support and is connected with the workpiece clamping jaw opening-closing driving mechanism, a workpiece front clamping jaw and a workpiece rear clamping jaw are hinged with the workpiece clamping jaw opening-closing executing mechanism in a mutually opposite displacement or mutual repulsion state, the supporting rod seat structure is characterized in that a pair of supporting rods are fixed on the supporting rod seat, the pair of supporting rods are mutually parallel in the front and back directions, and the left ends of the pair of, the right end extends towards the direction far away from the support rod seat to form a horizontal cantilever end of the support rod, a workpiece clamping jaw bracket fixing seat is fixed at the position of the horizontal cantilever end of the support rod, and the workpiece clamping jaw bracket and one side of the workpiece clamping jaw bracket fixing seat, which is back to the pair of support rods, are fixed; a group of supporting rod seat lifting guide rods are fixed on the top cover of the cavity of the rotary machine frame body in a distributed mode in a groined shape, a group of supporting rod seat lifting guide rod guide sleeves are arranged on the supporting rod seats and in positions corresponding to the group of supporting rod seat lifting guide rods, and the group of supporting rod seat lifting guide rods are in sliding fit with the group of supporting rod seat lifting guide rod guide sleeves; a supporting rod seat guide rail sliding block fixing seat is fixed on the front side of the supporting rod seat and at a position corresponding to the upper part of the supporting rod seat lifting guide rail seat, a space between the rear side of the supporting rod seat guide rail sliding block fixing seat and the front side of the supporting rod seat is a guide rail sliding block cavity, a guide rail sliding block is arranged in the guide rail sliding block cavity, the guide rail sliding block is fixed with the rear side of the supporting rod seat guide rail sliding block fixing seat, and a supporting rod seat lifting guide rail is arranged between the rear side of the guide rail sliding block and the front side of the supporting rod seat; a supporting rod seat lifting guide rail cavity is formed in the front side of the supporting rod seat lifting guide rail seat along the height direction of the supporting rod seat lifting guide rail seat, and a cavity cover plate is fixed at a position corresponding to a cavity opening of the supporting rod seat lifting guide rail cavity; the guide rail sliding block is in sliding fit with the upper end of the supporting rod seat lifting guide rail, and the lower end of the supporting rod seat lifting guide rail is inserted into and fixed in the supporting rod seat lifting guide rail cavity.

In a specific embodiment of the invention, a clamping jaw acting cylinder abdicating hole is arranged on the supporting rod seat and at a position corresponding to the workpiece clamping jaw opening and closing driving mechanism, a pair of supporting rod penetrating holes are arranged at positions corresponding to the pair of supporting rods, and the left ends of the pair of supporting rods extend to the left side of the supporting rod seat through the pair of supporting rod penetrating holes; a workpiece clamping jaw support abdicating hole is formed in the left cavity wall of a workpiece clamping jaw support cavity of the workpiece clamping jaw support, and the workpiece clamping jaw opening and closing driving mechanism extends into the workpiece clamping jaw support cavity through the workpiece clamping jaw support abdicating hole to connect the workpiece clamping jaw opening and closing actuating mechanism with the workpiece clamping jaw opening and closing actuating mechanism; a position signal collector is arranged on the upward side of the cavity top cover of the revolving rack body.

In another specific embodiment of the present invention, the workpiece clamping jaw opening and closing driving mechanism includes a workpiece clamping jaw opening and closing cylinder, a workpiece clamping jaw opening and closing cylinder column guide tube and a pair of connector fitting tubes, the workpiece clamping jaw opening and closing cylinder is fixed on the support rod base in a horizontal state at a position corresponding to the jaw action cylinder abdicating hole, and the left end of the workpiece clamping jaw opening and closing cylinder extends from the clamping jaw action cylinder abdicating hole to the left side of the support rod base, while the right end of the workpiece clamping jaw opening and closing cylinder extends from the clamping jaw action cylinder abdicating hole to the right side of the support rod base, and the workpiece clamping jaw opening and closing cylinder column guide tube is fixed between the right end face of the workpiece clamping jaw opening and closing cylinder and the left side of the workpiece clamping jaw support fixing base, wherein the workpiece clamping jaw opening and closing cylinder column of the workpiece clamping jaw opening and closing cylinder is located in the guide tube cavity of the workpiece clamping jaw opening and closing cylinder column guide tube, and the tail end of the workpiece clamping jaw opening and closing cylinder The workpiece clamping jaw support abdication holes extend into the workpiece clamping jaw support cavity, the upper ends of a pair of connector matching pipes are matched and connected with the workpiece clamping jaw opening and closing action cylinder, the lower ends of the connector matching pipes are connected with the workpiece clamping jaw opening and closing drive action cylinder pipeline connectors, and the workpiece clamping jaw opening and closing drive action cylinder pipeline connectors are connected with an external gas production device through pipelines; the workpiece clamping jaw opening and closing actuating mechanism is used for enabling the workpiece front clamping jaw and the workpiece rear clamping jaw to displace towards each other or repel away from each other and is connected with the tail end of the workpiece clamping jaw opening and closing cylinder column; and the position signal collector corresponds to the lower part of the left end of the cylinder column guide pipe for opening and closing the workpiece clamping jaw.

In yet another embodiment of the present invention, the support rod base up-down lifting mechanism includes a support rod base up-down lifting cylinder disposed in the lifting cylinder shielding chamber in a longitudinal state and supported on the rotating frame driving mechanism, and a support rod base up-down lifting cylinder column connecting base fixed at a central position of the bottom of the support rod base, the support rod base up-down lifting cylinder column of the support rod base up-down lifting cylinder facing upward and being fixed with the support rod base up-down lifting cylinder column connecting base.

In a further specific embodiment of the invention, the workpiece clamping jaw opening and closing actuator comprises a sliding seat guide rod, a sliding seat, a front curved arm hinge seat, a front curved arm, a rear curved arm hinge seat, a rear curved arm, a pair of workpiece clamping jaw upper guide slide rods and a pair of workpiece clamping jaw lower guide slide rods, wherein the sliding seat guide rod is provided with a pair of front and rear parallel sliding seat guide rods, the left end of the sliding seat guide rod is fixed with the left cavity wall of the workpiece clamping jaw support cavity, the right end of the sliding seat guide rod is formed into a horizontal cantilever end, the sliding seat is sleeved on the sliding seat guide rod in a left and right sliding mode, the middle part of the sliding seat is fixedly connected with the tail end of the workpiece clamping jaw opening and closing cylinder column, a sliding seat front hinge lug extends from the front end of the sliding seat, a sliding seat rear hinge lug extends from the rear end of the sliding seat, the front curved arm hinge seat is fixed at the front end of the left cavity wall of the workpiece clamping jaw support cavity, and the curved arm rear hinge seat is, one end and the other end of the front crank arm are respectively provided with a front crank arm pin shaft sliding groove, one end of the front crank arm is hinged with the upper part of the workpiece front clamping jaw at a position corresponding to the front crank arm pin shaft sliding groove, the middle part of the front crank arm is hinged with a front crank arm hinged seat, the other end of the front crank arm is hinged with a front hinged lug of the sliding seat at a position corresponding to the front crank arm pin shaft sliding groove, one end and the other end of the rear crank arm are respectively provided with a rear crank arm pin shaft sliding groove, one end of the rear crank arm is hinged with the upper part of the workpiece rear clamping jaw at a position corresponding to the rear crank arm pin shaft sliding groove, the middle part of the rear crank arm is hinged with a rear crank arm hinged seat, the other end of the buckling arm is hinged with a rear hinged lug of the sliding seat at a position corresponding to the rear crank arm pin shaft sliding groove, the pair of workpiece clamping jaw upper guide sliding rods are fixed between the front cavity wall and the rear cavity wall of the workpiece clamping jaw support cavity, and the pair The right end of the sliding seat guide rod extends to a position between the pair of workpiece clamping jaw upper guide sliding rods and the pair of workpiece clamping jaw lower guide sliding rods; the upper parts of the workpiece front clamping jaw and the workpiece rear clamping jaw are respectively in sliding fit with the pair of workpiece clamping jaw upper guide sliding rods and the pair of workpiece clamping jaw lower guide sliding rods; the workpiece pressing and holding mechanism corresponds to the position below the pair of workpiece clamping jaw lower guide sliding rods.

In yet another embodiment of the present invention, a workpiece front jaw slot is formed in the upper portion of the workpiece front jaw, a workpiece rear jaw slot is formed in the upper portion of the workpiece rear jaw, the workpiece front jaw slot and the workpiece rear jaw slot correspond to each other, one end of the front crank arm extends into the workpiece front jaw slot and is hinged to the upper portion of the workpiece front jaw at the position of the workpiece front jaw slot, and one end of the rear crank arm extends into the workpiece rear jaw slot and is hinged to the upper portion of the workpiece rear jaw at the position of the workpiece rear jaw slot.

In a more specific embodiment of the present invention, a workpiece front clamping jaw sliding sleeve is respectively arranged at the upper part of the workpiece front clamping jaw and at the positions corresponding to the pair of workpiece clamping jaw upper guide sliding rods and the pair of workpiece clamping jaw lower guide sliding rods, a workpiece rear clamping jaw sliding sleeve is respectively arranged at the upper part of the workpiece rear clamping jaw and also at the positions corresponding to the pair of workpiece clamping jaw upper guide sliding rods and the pair of workpiece clamping jaw lower guide sliding rods, and the workpiece front clamping jaw sliding sleeve and the workpiece rear clamping jaw sliding sleeve are in sliding fit with the pair of workpiece clamping jaw upper guide sliding rods and the pair of workpiece clamping jaw lower guide sliding rods.

In a further specific embodiment of the present invention, a support rod end supporting base is provided on the left side corresponding to the support rod base, a pair of support rod end inserting holes are provided on the support rod end supporting base and at positions corresponding to the left ends of the pair of support rods, the left ends of the pair of support rods are inserted into the pair of support rod end inserting holes and locked by support rod end locking screws screwed to the support rod end supporting base and communicating with the support rod end inserting holes, a workpiece clamping jaw opening and closing cylinder penetrating hole is provided in the middle of the support rod end supporting base and at a position corresponding to between the pair of support rod end inserting holes, and the left end of the workpiece clamping jaw opening and closing cylinder penetrates and is supported in the workpiece clamping jaw opening and closing cylinder penetrating hole.

In yet a more particular embodiment of the invention, the workpiece clamping jaw opening and closing cylinder is a cylinder.

In yet another embodiment of the present invention, the support rod base up-down lifting cylinder is a cylinder and is connected to a pair of support rod base lifting cylinder pipeline connecting columns through a pair of lifting cylinder vent pipes, and the pair of support rod base lifting cylinder pipeline connecting columns are connected to an external gas generating device through a connecting seat pipeline.

The technical scheme provided by the invention has the technical effects that: the left ends of a pair of supporting rods are fixed on the supporting rods in a front-back parallel state, the right ends of the pair of supporting rods extend towards a direction far away from the supporting rod seat to form a horizontal cantilever end, a workpiece clamping jaw support, a workpiece clamping jaw opening and closing actuating mechanism, a workpiece front clamping jaw and a workpiece rear clamping jaw are fixed with a workpiece clamping jaw support fixing seat at the right ends of the pair of supporting rods, the supporting rod seat is connected with a supporting rod seat up-and-down lifting mechanism at a position above a supporting rod seat up-and-down lifting mechanism in a lifting action cylinder shielding cavity of a rotary frame, a supporting rod seat guide rail sliding block fixing seat is arranged at the front side of the supporting rod seat, a guide rail sliding block matched with the upper end of a supporting rod seat lifting guide rail is fixed at the rear side of the supporting rod seat guide rail fixing seat, and the lower end of the supporting rod seat lifting guide rail is inserted into and fixed on the supporting rod seat lifting guide rail seat arranged at the front side of the rotary frame And in the rail cavity, the support rod seat is favorable for fully ensuring the up-and-down lifting stability and the up-and-down lifting position accuracy of the workpiece clamping jaw opening and closing driving mechanism and the workpiece clamping jaw opening and closing actuating mechanism, so that the workpiece clamping jaw opening and closing actuating mechanism corresponds to the transferred workpiece.

Drawings

FIG. 1 is a block diagram of an embodiment of the present invention.

Fig. 2 is a detailed configuration diagram of the revolving frame driving mechanism shown in fig. 1.

Fig. 3 is a detailed structural view of the workpiece jaw opening and closing actuator provided on the workpiece jaw holder shown in fig. 1.

Fig. 4 is a schematic view illustrating an application of the automated part transfer robot of the present invention.

Detailed Description

In order to clearly understand the technical spirit and the advantages of the present invention, the applicant below describes in detail by way of example, but the description of the example is not intended to limit the technical scope of the present invention, and any equivalent changes made according to the present inventive concept, which are merely in form and not in material, should be considered as the technical scope of the present invention.

In the following description, all the concepts related to the directions or orientations of up, down, left, right, front and rear are based on the position state of fig. 1, and thus, it should not be understood as a particular limitation to the technical solution provided by the present invention.

Referring to fig. 1 and fig. 4, a revolving rack 2, a support rod seat up-down lifting mechanism 3, a workpiece clamping jaw opening-closing driving mechanism 5, a workpiece clamping jaw support 6, a workpiece clamping jaw opening-closing executing mechanism 7, a workpiece front clamping jaw 8 and a workpiece rear clamping jaw 9 of the structural system of the automatic workpiece transferring manipulator are shown, and a revolving rack driving mechanism 1 also belonging to the structural system of the workpiece transferring manipulator is also shown, the revolving rack driving mechanism 1 is arranged on one side of a working table 10 facing downwards in a use state, and the working table 10 is arranged on an electric control box 30 positioned on the lower portion of the working table, so that the revolving rack driving mechanism 1 is substantially positioned in the electric control box. The rotary frame 2 is fixed with the rotary frame driving mechanism 1 at a position above the worktable 10, namely, is fixedly connected with the rotary frame driving mechanism 1; the support rod seat up-down lifting mechanism 3 is arranged on the revolving frame 2.

Referring to fig. 2 in combination with fig. 1, the aforementioned revolving frame driving mechanism 1 includes a revolving action cylinder 11, a revolving action cylinder driving wheel 12, a revolving drum driving wheel 13, a transmission belt 14, a revolving drum 15, a revolving disc 16, an outer drum ring 17 and a connection disc 18, the revolving action cylinder 11 is fixed to the downward side of the aforementioned table 10 by a revolving action cylinder fixing screw, a revolving action cylinder 111 of the revolving action cylinder 11 faces downward and is fixed to a revolving action cylinder driving wheel striking block screw base 112 by a striking block screw base fixing screw 1123 at the downward side of the revolving action cylinder 11, a revolving action cylinder driving wheel first striking block screw i 1121 is fixed to one end (i.e. left end) of the revolving action cylinder driving wheel striking block screw base 112, and a revolving action cylinder driving wheel second striking block screw ii is fixed to the other end (i.e. right end) of the revolving action cylinder driving wheel striking block screw base 112, the rotary action cylinder driving wheel 12 is fixed with the rotary action cylinder 111 at a position corresponding to the downward side of the rotary action cylinder 111 through a group of rotary action cylinder driving wheel fixing screws 123 distributed at intervals, and a first rotary action cylinder driving wheel collision block I121 and a second rotary action cylinder driving wheel collision block II 122 are fixed at the upward side of the rotary action cylinder driving wheel 12, the first rotary action cylinder driving wheel collision block I121 corresponds to the first collision block screw I1121 of the rotary action cylinder driving wheel, the second rotary action cylinder driving wheel collision block II 122 corresponds to the second collision block screw II 1122 of the rotary action cylinder driving wheel, the rotary cylinder driving wheel 13 is fixed with the downward end face of the rotary cylinder 15 through the rotary cylinder driving wheel screw, according to the common sense of the art, the rotary cylinder driving wheel 13 and the rotary action cylinder driving wheel 12 are on the same horizontal plane, one end of a transmission belt 14 is sleeved on a cylinder driving wheel 12 for rotary action, the other end is sleeved on a rotary drum driving wheel 13, an outer cylinder ring 17 is fixed with one side of the workbench 10 facing downwards in a longitudinal cantilever state, a first limit pin I171 is fixed on the lower end face of the outer cylinder ring 17 through a first limit pin screw I1712, a second limit pin II 172 is fixed on the lower end face of the outer cylinder ring 17 through a second limit pin screw II 1722, the first limit pin I171 and the second limit pin II 172 form a face-to-face position relation around the circumferential direction of the outer cylinder ring 17, wherein a first limit pin adjusting screw 171I 1 is arranged on the first limit pin I171, a second limit pin adjusting screw II 1721 is arranged on the second limit pin II 172, the rotary drum 15 is arranged in an outer cylinder ring cavity 173 of the outer cylinder ring 17, and rotary drum rotary bearings 151 are respectively arranged at the upper part and the lower part between the outer wall of the rotary drum 15 and the inner wall of the outer cylinder ring 17, the upper end of the rotary drum 15 extends upwards out of the upward side surface of the workbench 10, the rotary disc 16 and the upper end of the rotary drum 15 form an integral structure at the position corresponding to the upper part of the workbench 10, and the connecting disc 18 is fixed with the rotary drum 15 through a connecting disc bolt 181 at the position corresponding to the lower part of the rotary drum driving wheel 13, specifically: the connecting disc bolt 181 passes through a connecting disc bolt hole 185 formed in the connecting disc 18 from the lower part of the connecting disc 18 upwards, then passes through a rotary drum driving wheel bolt hole 131 formed in the rotary drum driving wheel 13 upwards, passes through a rotary drum bolt hole 152 formed in the rotary drum 15, is screwed into the rotary disc 16 and is limited by a nut, a limiting pin adjusting screw collision head 182 extends from one side of the connecting disc 18, and the limiting pin adjusting screw collision head 182 corresponds to a position between a first limiting pin adjusting screw I1711 and a second limiting pin adjusting screw II 1721.

In the present embodiment, the rotation cylinder 11 is a rotation cylinder and a rotation cylinder having a forward and reverse rotation function, and whether the rotation cylinder 11 is operated or not is controlled by a PLC (programmable logic controller) provided in the electric control box 30. When the rotation acting cylinder 11 works to enable the rotation acting cylinder column 111 to drive the rotation acting cylinder column driving wheel 12 to rotate until the first rotation acting cylinder column driving wheel collision block I121 collides with the first collision block screw I1121 of the rotation acting cylinder column driving wheel, the rotation acting cylinder column 111 does not rotate clockwise any more; conversely, when the rotation cylinder 11 rotates the rotation cylinder 111 counterclockwise and drives the rotation cylinder transmission wheel 12 to rotate until the second rotation cylinder transmission wheel collision block ii 122 collides with the second collision block screw ii 1122 of the rotation cylinder transmission wheel, the rotation cylinder 111 does not rotate counterclockwise any more, so as to limit the clockwise or counterclockwise rotation angle of the rotation cylinder 111, in this embodiment, the rotation cylinder rotates clockwise and counterclockwise by 90 °, so that the rotation frame 2 also rotates clockwise and counterclockwise by 90 °, i.e., rotates clockwise and counterclockwise within a range of 90 °.

In the present embodiment, the rotation cylinder transmission wheel 12 and the rotary drum transmission wheel 13 are both synchronous pulleys, and the transmission belt 14 is a synchronous belt. The rotary disk 16 and the rotary drum 15 are integrally structured, and the rotary disk 16 is a flange-like rotary disk of the rotary drum 15.

Already mentioned above are: the rotation action cylinder 111 drives the rotation action cylinder driving wheel 12 to rotate 90 degrees clockwise or counterclockwise, and then the rotation action cylinder driving wheel 12 drives the rotary drum driving wheel 13 to rotate 90 degrees clockwise or counterclockwise correspondingly through the driving belt 14, so that the rotary drum driving wheel 13 drives the rotary drum 15 to rotate back to the rotary table 16 and also rotates 90 degrees clockwise or counterclockwise correspondingly. When the striking head 182 of the position-limiting pin adjusting screw strikes the first adjusting screw i 1711 of the position-limiting pin, the driving wheel 13 of the rotary drum does not rotate clockwise any more, and when the striking head 182 of the position-limiting pin adjusting screw strikes the second adjusting screw ii 1721 of the position-limiting pin, the driving wheel 13 of the rotary drum does not rotate counterclockwise any more.

As shown in fig. 1, the revolving frame 2 is fixed to the upward side of the revolving plate 16; the support rod base up-down lifting mechanism 3 is provided on the revolving frame 2 in a state of being shielded by the revolving frame 2.

Continuing with fig. 1 and 2, the aforementioned revolving frame 2 includes a revolving frame body 21, a revolving frame body cavity cover 22, a revolving frame body base 23 and a support rod seat lifting guide rail seat 24, the revolving frame body base 23 is connected with the aforementioned revolving frame driving mechanism 1 by a revolving frame body base fixing screw 232 in a use state, specifically, fixed with one side of the aforementioned revolving disc 16 facing upward, and a revolving frame body base abdicating cavity 231 is opened at the central position of the revolving frame body base 23, the revolving frame body 21 is fixed with one side of the revolving frame body base 23 facing upward by a revolving frame body fixing screw 212, the revolving frame body 21 is formed with a lifting cylinder shielding cavity 211 corresponding to and communicating with the aforementioned revolving frame body base abdicating cavity 231, the revolving frame body cavity cover 22 is fixed with the top of the revolving frame body 21 by a screw at a position corresponding to the lifting cylinder shielding cavity 211, and a lifting cylinder abdicating hole 221 is opened on the middle part of the top cover 22 of the cavity of the revolving frame body, a supporting rod seat lifting guide rail seat 24 is fixed on the front side wall body of the revolving frame body 21 preferably by a fastener, a pair of supporting rod seat lifting cylinder pipeline connecting poles 183 is fixed on the connecting plate 18 and a pair of workpiece clamping jaw opening and closing driving cylinder pipeline connecting heads 184 is also matched on the lower part of the connecting plate 18, and a supporting rod seat lifting cylinder supporting device 161 is arranged on one side of the revolving plate 16 facing upwards and at the position corresponding to the revolving frame body base abdicating cavity 231.

The support rod base up-down lifting mechanism 3 is disposed in the lifting cylinder shielding chamber 211, and the lower part thereof is supported by the revolving frame driving mechanism 1, specifically, by the support rod base up-down lifting cylinder supporting device 161, and the upper part thereof extends to the upper part of the revolving frame body cavity top cover 22 through the up-down lifting cylinder column receding hole 221, and the support rod base up-down lifting mechanism 3 is further connected to the pair of support rod base up-down lifting cylinder line connecting columns 183 through a line.

A support rod 4 of the structural system of the support rod seat structure is shown, the support rod seat 4 is connected with the support rod seat up-down lifting mechanism 3 at a position corresponding to the upper part of the support rod seat up-down lifting mechanism 3 and is also in sliding fit with the rotary frame 2, the workpiece clamping jaw opening-closing driving mechanism 5 is arranged between the support rod seat 4 and the workpiece clamping jaw support 6 and also extends into a workpiece clamping jaw support cavity 61 of the workpiece clamping jaw support 6, the workpiece clamping jaw opening-closing actuating mechanism 7 is arranged in the workpiece clamping jaw support cavity 61 of the workpiece clamping jaw support 6 and is connected with the workpiece clamping jaw opening-closing driving mechanism 5, and the workpiece front clamping jaw 8 and the workpiece rear clamping jaw 9 are hinged with the workpiece clamping jaw opening-closing actuating mechanism 7 in a state of mutual displacement or mutual repulsion.

The technical key points of the technical scheme provided by the invention are as follows: a pair of support rods 41 are fixed on the support rod seat 4, the support rods 41 are parallel to each other, the left ends of the support rods 41 extend to the left side of the support rod seat 4, the right ends extend in the direction away from the support rod seat 4 to form support rod horizontal cantilever ends, a workpiece clamping jaw bracket fixing seat 411 is fixed at the positions of the support rod horizontal cantilever ends, and the workpiece clamping jaw bracket 6 is fixed with one side of the workpiece clamping jaw bracket fixing seat 411, which is opposite to the pair of support rods 41, through a workpiece clamping jaw bracket fixing screw 62, namely, is fixed with the right side of the workpiece clamping jaw bracket fixing seat 411 through the workpiece clamping jaw bracket fixing screw 62; a group of support rod seat lifting guide rods 222, namely four support rod seat lifting guide rods 222, are fixed on the top cover 22 of the cavity of the main body of the slewing rack in a distributed manner in a # -shaped manner, a group of support rod seat lifting guide rod guide sleeves 44 are arranged on the support rod seat 4 and at positions corresponding to the group of support rod seat lifting guide rods 222, and the group of support rod seat lifting guide rods 222 are in sliding fit with the group of support rod seat lifting guide rod guide sleeves 44; a support rod base guide rail slider fixing base 45 is fixed to the front side of the support rod base 4 and at a position corresponding to the upper side of the support rod base elevation guide rail base 24 by a guide rail slider fixing base screw 452, a space between the rear side of the support rod base guide rail slider fixing base 45 and the front side of the support rod base 4 is formed as a guide rail slider chamber 451, a guide rail slider 4511 is provided in the guide rail slider chamber 451, the guide rail slider 4511 is fixed to the rear side of the support rod base guide rail slider fixing base 45 by a guide rail slider fixing screw 45111, a support rod base elevation guide rail 46 is provided between the rear side of the guide rail slider 4511 and the front side of the support rod base 4, a support rod base elevation guide rail chamber 241 having a U-shaped cross-sectional shape is formed to the front side of the support rod base elevation guide rail base 24 and along the height direction of the support rod base elevation guide rail base 24, and a cover plate 2411 is fixed to a position corresponding to the opening of the support rod base elevation guide rail chamber 241 by a cover plate screw 24111 (ii) a The lower end of the support rod base lifting guide rail 46 is inserted into and fixed to the support rod base lifting guide rail cavity 241 by sliding fit with the upper end of the support rod base lifting guide rail 46 of the guide rail slide 4511.

A jaw action cylinder abdicating hole 42 is arranged on the support rod seat 4 and at a position corresponding to the workpiece jaw opening and closing driving mechanism 5, a pair of support rod through holes 43 is arranged at a position corresponding to the pair of support rods 41, and the left ends of the pair of support rods 41 extend to the left side of the support rod seat 4 through the pair of support rod through holes 43; a workpiece clamping jaw support abdicating hole 611 is formed in the left cavity wall of the workpiece clamping jaw support cavity 61 of the workpiece clamping jaw support 6, and the workpiece clamping jaw opening and closing driving mechanism 5 extends into the workpiece clamping jaw support cavity 61 through the workpiece clamping jaw support abdicating hole 611 to connect with the workpiece clamping jaw opening and closing actuating mechanism 7.

Fig. 1 also shows a workpiece pressing mechanism 20, which still belongs to the structural system of the automated workpiece transfer robot, and the workpiece pressing mechanism 20 is disposed on the workpiece holding jaw support 6 at a position corresponding to a position between the workpiece front holding jaw 8 and the workpiece rear holding jaw 9, and the workpiece pressing mechanism 20 is vertically floatable.

Referring to fig. 2, the workpiece clamping jaw opening/closing driving mechanism 5, which is fixed between the support rod seat 4 and the workpiece clamping jaw support fixing seat 411 at a position corresponding to the jaw action cylinder relief hole 42, is connected to the pipeline connecting head 184 of the pair of workpiece clamping jaw opening/closing driving cylinders.

As shown in fig. 1, a workpiece clamping jaw support cavity upper cover plate 612 is fixed to the upper portion of the workpiece clamping jaw support 6 by using a workpiece clamping jaw support cavity upper cover plate screw 6121 at a position corresponding to the cover plate screw hole 63 spaced apart from the upper surface of the workpiece clamping jaw support 6, and the workpiece clamping jaw opening and closing actuator 7 for driving the workpiece front clamping jaw 8 and the workpiece rear clamping jaw 9 to move toward or repel each other and arranged in the workpiece clamping jaw support cavity 61 is shielded from above the workpiece pressing mechanism 20 arranged between the workpiece front clamping jaw 8 and the workpiece rear clamping jaw 9 by the workpiece clamping jaw support cavity upper cover plate 612.

Continuing with fig. 1 and 2, the above-mentioned support rod base up-down lifting mechanism 3 comprises a support rod base up-down lifting cylinder 31 and a support rod base up-down lifting cylinder connecting base 32, the support rod base up-down lifting cylinder 31 is disposed in the above-mentioned lifting cylinder shielding cavity 211 in a longitudinal state and is supported on the above-mentioned support rod base up-down lifting cylinder supporting device 161 of the structural system of the above-mentioned revolving frame driving mechanism 1, the support rod base up-down lifting cylinder 311 of the support rod base up-down lifting cylinder 31 faces upward and is fixed with the support rod base up-down lifting cylinder connecting base 32, and the support rod base up-down lifting cylinder connecting base 32 is fixed at a central position of the bottom of the above-mentioned support rod base 4, wherein the support rod base up-down lifting cylinder 31 is a cylinder and is connected with a pair of support rod base up-down lifting cylinder pipe connecting bases 183 by a pair of lifting cylinder 312 (shown in fig. 2), the pair of pipe connecting posts 183 of the cylinder for lifting the support rod base are connected to an external gas generating device through a connecting seat pipe, and the external gas generating device is an air compressor or an air pump disposed in the electrical control box 30.

The supporting rod base lifting cylinder supporting device 161 includes a set of cylinder fixing plate supporting columns 1611 and a cylinder fixing plate 1612, the set of cylinder fixing plate supporting columns 1611 is fixed on the upward side of the rotary disk 16 in a distributed manner and is lifted upwards into the lifting cylinder shielding cavity 211 at a position corresponding to the revolving frame body base abdicating cavity 231, the cylinder fixing plate 1612 is fixed on the top of the set of cylinder fixing plate supporting columns 1611, and the supporting rod base lifting cylinder 31 is fixed with the cylinder fixing plate 1612 in a longitudinal state.

When the support rod base up-down movement cylinder 31 (i.e., the air cylinder) operates and the support rod base up-down movement cylinder column 311 extends outward, i.e., upward, the upper end of the support rod base up-down movement cylinder column 311 is connected to the support rod base up-down movement cylinder column connection base 32, so that when the support rod base up-down movement cylinder 31 lifts the support rod base up-down movement cylinder column connection base 32 upward, the support rod base 4 also rises upward, and otherwise falls, and the degree of the fall is set by the PLC, based on the falling position signal of the workpiece clamping jaw opening and closing driving mechanism 5, which will be described in detail below, collected by the position signal collector 223 provided on the cavity top cover 22 of the revolving frame body, because whether the support rod base up-down movement cylinder 31 operates or not is controlled by the PLC. The aforementioned position signal collector 223 employs a position proximity switch, but may employ a travel switch, a micro switch, a reed switch, or a hall sensor.

As shown in fig. 1, a pair of wire conduits 47 may be fixed to a lower portion of the support rod base 4, and a pair of wire conduit holes 224 may be opened in the revolving gantry body cavity cover 22 at positions corresponding to the pair of wire conduits 47, and the pair of wire conduits 47 may be slidably engaged with the pair of wire conduit holes 224. From the above description, it can be seen that: due to the cooperation of the set of support rod seat lifting guide rods 222 and the support rod seat guide rail slider fixing seat 45 and the like, the stability and reliability of the lifting of the support rod seat 4 can be guaranteed, and the action is accurate.

Continuing with fig. 1, when the support rod base up-down lifting cylinder post 311 drives the support rod base 4 to move up or down through the support rod base up-down lifting cylinder post connecting base 32, i.e. drives the support rod base 4 to lift, the guide rail slide block 4511 is in up-down sliding fit with the upper end of the support rod base lifting guide rail 46, so as to fully ensure the lifting stability and reliability of the support rod base 4.

Continuing to refer to fig. 1, the workpiece clamping jaw opening and closing driving mechanism 5 includes a workpiece clamping jaw opening and closing cylinder 51, a workpiece clamping jaw opening and closing cylinder column conduit 52 and a pair of connecting head fitting pipes 53, the workpiece clamping jaw opening and closing cylinder 51 is fixed on the support rod base 4 in a horizontal state at a position corresponding to the clamping jaw opening and closing hole 42, the left end of the workpiece clamping jaw opening and closing cylinder 51 extends from the clamping jaw opening and closing cylinder opening and closing hole 42 to the left side of the support rod base 4, the right end of the workpiece clamping jaw opening and closing cylinder 51 extends from the clamping jaw opening and closing cylinder opening and closing hole 42 to the right side of the support rod base 4, the workpiece clamping jaw opening and closing cylinder column conduit 52 is fixed between the right end face of the workpiece clamping jaw opening and closing cylinder 51 and the left side of the workpiece clamping jaw support fixing base 411, wherein the workpiece clamping jaw opening and closing cylinder column 511 of the workpiece clamping jaw opening and closing cylinder 51 is located in the conduit cavity 521 of the clamping jaw opening and closing cylinder column conduit 52 and the tail end The right end of the conduit cavity 521 extends into the workpiece clamping jaw support cavity 61 through the workpiece clamping jaw support abdicating hole 611, the upper ends of a pair of connector matching pipes 53 are matched with the workpiece clamping jaw opening and closing acting cylinder 51, the lower ends of the pair of connector matching pipes are connected with the workpiece clamping jaw opening and closing driving acting cylinder pipeline connector 184, the workpiece clamping jaw opening and closing driving acting cylinder pipeline connector 184 is connected with an external gas generating device through a pipeline, and the gas generating device is an air compressor or an air pump arranged in the electric control box 30; the workpiece clamping jaw opening/closing actuator 7 for closing or repelling the workpiece front clamping jaw 8 and the workpiece rear clamping jaw 9 to each other is connected to the end of the workpiece clamping jaw opening/closing cylinder 511, and the position signal acquiring unit 222 is located below the left end of the workpiece clamping jaw opening/closing cylinder pipe 52. The workpiece pressing mechanism 20 is fixed to the left chamber wall of the workpiece jaw support chamber 61.

From the above description, it is needless to say that the workpiece chuck jaw opening/closing cylinder 51 is a cylinder controlled by the PLC in the electric control box 30. When the workpiece-holding-jaw opening/closing cylinder 51 is operated, the workpiece-holding-jaw opening/closing actuator 7 described in detail later is driven by the left-right displacement of the workpiece-holding-jaw opening/closing cylinder column 511.

Referring to fig. 3 in combination with fig. 1, the workpiece clamping jaw opening/closing actuator 7 includes a sliding base guide rod 71, a sliding base 72, a front curved arm hinge base 73, a front curved arm 74, a rear curved arm hinge base 75, a rear curved arm 76, a pair of workpiece clamping jaw upper guide slide rods 77 and a pair of workpiece clamping jaw lower guide slide rods 78, the sliding base guide rod 71 has a pair parallel to each other in front and rear, and the left end of the sliding base guide rod 71 is fixed to the left chamber wall of the workpiece clamping jaw support chamber 61, while the right end of the sliding base guide rod 71 is configured as a horizontal cantilever end, the middle of the sliding base 72 is slidably fitted over the sliding base guide rod 71 in left and right directions via a sliding base sliding sleeve 723, and the middle of the sliding base 72 is fixedly connected to the end of the workpiece clamping jaw opening/closing cylinder column 511, i.e., the right end shown in the figure, a sliding base front hinge lug 721 extends from the front end of the sliding base 72, and a sliding base rear lug hinge, the front crank arm hinge seat 73 is fixed at the front end of the left cavity wall of the workpiece clamping jaw support cavity 61 through a front crank arm hinge seat fixing screw 731, the rear crank arm hinge seat 75 is fixed at the rear end of the left cavity wall of the workpiece clamping jaw support cavity 61 through a rear crank arm hinge seat fixing screw 751, a front crank arm pin shaft sliding groove 744 is respectively arranged at one end and the other end of the front crank arm 74, one end of the front crank arm 74 is hinged with the upper part of the workpiece front clamping jaw 8 at the position corresponding to the front crank arm pin shaft sliding groove 744 at one end through a front crank arm first pin shaft I741, the middle part of the front crank arm 74 is hinged with the front crank arm hinge seat 73 through a front crank arm second pin shaft II 742, the other end of the front crank arm 74 is hinged with the sliding seat front lug 721 at the position corresponding to the front crank arm pin shaft sliding groove 744 at the other end through a front crank arm third pin shaft III 743, a rear crank arm pin shaft sliding groove 764 is respectively arranged at one end and the other end of the rear crank arm 76, one end of a rear crank arm 76 is hinged with the upper part of the workpiece rear clamping jaw 9 at a position corresponding to a rear crank arm pin shaft sliding groove 764 through a rear crank arm first pin shaft I761, the middle part of the rear crank arm 76 is hinged with a rear crank arm hinging seat 75 through a rear crank arm second pin shaft II 762, the other end of the rear crank arm 76 is hinged with a sliding seat rear hinging lug 722 at a position corresponding to the rear crank arm pin shaft sliding groove 764 through a rear crank arm third pin shaft III 763, a pair of workpiece clamping jaw upper guide sliding rods 77 are fixed between the front cavity wall and the rear cavity wall of the workpiece clamping jaw support cavity 61 at positions corresponding to the clamping jaw upper guide sliding rod fixing holes 64 formed on the front wall and the rear wall of the workpiece clamping jaw support 6, and a pair of workpiece clamping jaw lower guide sliding rods 78 are also fixed between the front cavity wall and the rear cavity wall of the workpiece clamping jaw support cavity 61 at positions corresponding to the lower guide sliding rod fixing holes 65 formed on the front wall and the rear wall of the workpiece clamping jaw support 6 Between the front and rear walls of the rack chamber 61.

As shown in fig. 1 and 3, the right end of the slide shoe guide rod 71 extends between a pair of workpiece-chuck upper slide guide rods 77 and a pair of workpiece-chuck lower slide guide rods 78; the upper parts of the workpiece front clamping jaw 8 and the workpiece rear clamping jaw 9 are respectively matched with a pair of workpiece clamping jaw upper guide sliding rods 77 and a pair of workpiece clamping jaw lower guide sliding rods 78 in a sliding manner; the workpiece pressing mechanism 20 is disposed below the pair of workpiece holding jaw lower guide rods 78.

When the workpiece-gripper opening/closing cylinder column 511 retracts into the cylinder body of the workpiece-gripper opening/closing cylinder 51, i.e., moves leftward, the slide holder 72 is driven to move leftward along the pair of slide-holder guide rods 71, so that the front crank arm 74 rotates counterclockwise by an angle, and the rear crank arm 76 rotates clockwise by an angle, so that the workpiece front gripper 8 and the workpiece rear gripper 9 are driven to move toward each other along the pair of workpiece-gripper upper guide rods 77 and the pair of workpiece-gripper lower guide rods 78, respectively, via the front crank arm first pin i 741 and the rear crank arm first pin i 761, and, conversely, are repelled from each other.

As shown in fig. 1 and 3, a workpiece front jaw slot 81 is formed in the upper portion of the workpiece front jaw 8, a workpiece rear jaw slot 91 is formed in the upper portion of the workpiece rear jaw 9, the workpiece front jaw slot 81 and the workpiece rear jaw slot 91 correspond to each other, one end of the front crank arm 74 extends into the workpiece front jaw slot 81 and is hinged to the upper portion of the workpiece front jaw 8 by the front crank arm first pin i 741 at the position of the workpiece front jaw slot 81, one end of the rear crank arm 76 extends into the workpiece rear jaw slot 91 and is hinged to the upper portion of the workpiece rear jaw 9 by the rear crank arm first pin i 761 at the position of the workpiece rear jaw slot 91.

A workpiece front-jaw sliding sleeve 82 is provided on the top of the workpiece front jaw 8 at a position corresponding to the pair of workpiece-jaw upper guide slide bars 77 and the pair of workpiece-jaw lower guide slide bars 78, a workpiece rear-jaw sliding sleeve 92 is provided on the top of the workpiece rear jaw 9 at a position corresponding to the pair of workpiece-jaw upper guide slide bars 77 and the pair of workpiece-jaw lower guide slide bars 78, and the workpiece front-jaw sliding sleeve 82 and the workpiece rear-jaw sliding sleeve 92 are slidably engaged with the pair of workpiece-jaw upper guide slide bars 77 and the pair of workpiece-jaw lower guide slide bars 78.

Preferably, since the left ends of the pair of support rods 41 extend to the left side of the support rod base 4, a support rod end supporting base 412, which is like a counterweight or a counterweight effect, is disposed at the left side corresponding to the support rod base 4, a pair of support rod end inserting holes 4121 are formed at the support rod end supporting base 412 and at positions corresponding to the left ends of the pair of support rods 41, and the left ends of the pair of support rods 41 are inserted into the pair of support rod end inserting holes 4121 and are preferably locked by a support rod end locking screw 4122 screwed to the support rod end supporting base 412 and communicating with the support rod end inserting holes 4121. Further, a workpiece chuck jaw opening/closing cylinder insertion support hole 4123 is provided in the middle of the support rod end portion support base 412, i.e., at a position corresponding to between the pair of support rod end portion insertion holes 4121, and the left end of the workpiece chuck jaw operating cylinder 51 is inserted into and supported by the workpiece chuck jaw opening/closing cylinder insertion support hole 4123.

Continuing to refer to fig. 1 and 3, the workpiece pressing mechanism 20 includes a workpiece pressing floating plate holder 201, a workpiece pressing floating plate 202, and a set of floating plate guide rods 203, the workpiece pressing floating plate holder 201 is disposed in the workpiece clamping jaw holder cavity 61 at a position corresponding to the lower portion of the pair of workpiece clamping jaw lower guide rods 78, the left end of the workpiece pressing floating plate holder 201 is fixed to the left cavity wall of the workpiece clamping jaw holder cavity 61, the right end is configured as a horizontal cantilever end, floating plate guide rod sliding holes equal in number to the set of floating plate guide rods 203 (four floating plate guide rods 203 in this embodiment) are disposed on the workpiece pressing floating plate holder 201 and at positions corresponding to the set of floating plate guide rods 203, a floating plate guide rod sliding guide sleeve is disposed in each floating plate guide rod sliding hole, and the set of floating plate guide rods 203 is slidably fitted with the floating plate guide rod sliding guide sleeve 2011 up and down, the workpiece pressing floating plate 202 is fixed to the lower ends of a plurality of floating plate guide rods 203 at a position corresponding to the lower side of the workpiece pressing floating plate holder 201, wherein a floating plate pressing spring 2031 is respectively sleeved on the plurality of floating plate guide rods 203, the upper end of the floating plate pressing spring 2031 is supported on the downward side of the workpiece pressing floating plate holder 201, the lower end is supported on the upward side of the workpiece pressing floating plate 202, and the workpiece pressing floating plate 202 corresponds to the position between the lower parts of the workpiece front clamping jaw 8 and the workpiece rear clamping jaw 9.

When the workpiece clamping jaw opening and closing actuating mechanism 7, the workpiece front clamping jaw 8, the workpiece rear clamping jaw 9 and the workpiece pressing and holding mechanism 20 which are arranged by taking the workpiece clamping jaw support 6 as a carrier correspond to the upper part of the workpiece and the workpiece clamping jaw support 6 moves downwards under the work of the supporting rod seat up-down lifting acting cylinder 31 to the extent that the workpiece pressing and holding floating plate 202 is contacted with the workpiece, the workpiece pressing and holding floating plate 202 can play a role of pressing and holding the workpiece to avoid the displacement of the workpiece under the spring force action of the floating plate pressing spring 2031, so that the workpiece is clamped by the common matching of the workpiece front clamping jaw 8 and the workpiece rear clamping jaw 9.

Referring to fig. 4, the electrical control box 30 mentioned above for many times is shown in fig. 4, and further, a first workpiece conveying line i 101, a second workpiece conveying line ii 102, a third workpiece conveying line iii 103, an ultrasonic pre-welding device 104, an ultrasonic final-welding device 105, a pre-welding station workpiece supply manipulator 106, a final-welding station workpiece conveying manipulator 107 and a target workpiece picking and conveying manipulator 108 are arranged on the aforementioned work table 10, the position of the first workpiece conveying line i 101 on the work table 10 corresponds to the left ends of the second workpiece conveying line ii 102 and the third workpiece conveying line iii 103, that is, the second workpiece conveying line ii 102 and the third workpiece conveying line iii 103 are in a perpendicular relationship with the first workpiece conveying line i 101, while the second workpiece conveying line ii 102 and the third workpiece conveying line iii 103 are parallel to each other in the longitudinal direction, and the ultrasonic pre-welding device 104 and the ultrasonic final-welding device 105 correspond to each other left and right and are located on the second workpiece conveying line i 101 In the middle area in front of ii 102, the workpiece transfer robot for automatic ultrasonic welding of the present invention, the above-described pre-welding station workpiece supply robot 106, the final welding station workpiece transfer robot 107, and the target workpiece pickup and transfer robot 108 are disposed between the second workpiece conveying line ii 102 and the third workpiece conveying line iii 103 from left to right. The first workpiece conveying line i 101, the second workpiece conveying line ii 102 and the third workpiece conveying line iii 103 are conveying lines in the form of conveying belts.

The applicant took the example of the ultrasonic welding of the new energy lithium battery component 40, and transported the lithium battery component 40 to be subjected to the ultrasonic welding to a position corresponding to the left side of the present invention by the workpiece first transport line i 101, and picked up and transferred the lithium battery component 40 from the workpiece first transport line i 101 to the workpiece second transport line ii 102 by the aforementioned workpiece transfer robot of the present invention.

The working principles of the invention, in which the rotary frame driving mechanism 1 drives the rotary frame 2 to rotate, the support rod seat up-down lifting mechanism 3 lifts the support rod seat 4, the workpiece clamping jaw opening-closing driving mechanism 5 drives the workpiece clamping jaw opening-closing actuating mechanism 7 to act, and the workpiece clamping jaw opening-closing actuating mechanism 7 drives the workpiece front clamping jaw 8 and the workpiece rear clamping jaw 9 to open and close, are explained in more detail above, so that the applicant does not repeat explanation in detail.

When the rotary frame 2 rotates 90 degrees towards the direction of the first workpiece conveying line I101 under the operation of the rotary frame driving mechanism 1, the lithium battery component 40 still positioned on the first workpiece conveying line I101 corresponds to the position below the workpiece pressing floating plate 202, at this time, the support rod seat up-down lifting action cylinder 31 of the support rod seat up-down lifting mechanism 3 works, the support rod seat up-down lifting action cylinder column 311 descends, the descending degree is subjected to signal acquisition by the position signal acquisition device 223 and is fed back to the electric control box 30, the electric control box 30 sends an instruction to stop the work of the support rod seat up-down lifting action cylinder 31, at this time, the workpiece clamping jaw opening-closing driving mechanism 5 works, the workpiece clamping jaw opening-closing executing mechanism 7 acts, and the front clamping jaw 8 and the rear clamping jaw 9 of the workpiece are displaced towards each other according to the above of the applicant, so as to clamp the lithium battery component 40. Then the up-down lifting cylinder 31 of the support rod base works reversely to make the support rod base 4 move upwards, meanwhile, the rotary frame driving mechanism 1 drives the rotary frame 2 to move in a reverse direction by 90 degrees, so that the lithium battery component 40 clamped by the front clamping jaw 8 and the rear clamping jaw 9 of the workpiece corresponds to the second workpiece conveying line II 102, then the up-down lifting acting cylinder 31 of the support rod seat works in a reverse direction, namely, the up-down lifting action cylinder column 311 of the support rod base moves downwards to drive the support rod base 4 to move downwards, the lithium battery component 40 clamped between the front clamping jaw 8 and the rear clamping jaw 9 of the workpiece is in a state of tending to contact with the second workpiece conveying line II 102, and then the workpiece clamping jaw opening and closing driving mechanism 5 works reversely to enable the workpiece clamping jaw opening and closing action cylinder column 511 to move rightwards, so that the front clamping jaw 8 and the rear clamping jaw 9 of the workpiece are mutually repelled, and the lithium battery component 40 is released on the second workpiece conveying line II 102. The foregoing operations are repeated to pick up and release the lithium battery parts 40 to be ultrasonically welded on the first transfer line i 101 of the workpieces one by one on the second transfer line ii 102 of the workpieces by the present invention. The lithium battery component 40 transferred to the second workpiece conveying line ii 102 is picked up by the pre-welding station workpiece feeding robot 106 and placed on, i.e., fed to, the ultrasonic pre-welding device 104, the pre-welded lithium battery component 40 is transferred from the ultrasonic pre-welding device 104 to the ultrasonic final-welding device 105 by the final-welding station workpiece feeding robot 107, the final-welded lithium battery component 40 is removed from the ultrasonic final-welding device 105 and placed on the second workpiece conveying line ii 102, and the final-welded lithium battery component 40 conveyed by the second workpiece conveying line ii 102 is transferred from the second workpiece conveying line ii 102 to the third workpiece conveying line iii 103 and output by the target workpiece picking and conveying robot 108. Thereby realizing ideal relay type processing effect.

In conclusion, the technical scheme provided by the invention overcomes the defects in the prior art, successfully completes the invention task and truly realizes the technical effects of the applicant in the technical effect column.

Claims

1. A supporting rod seat structure of an automatic chemical part transferring manipulator comprises a rotary rack (2), a supporting rod seat up-down lifting mechanism (3), a workpiece clamping jaw opening-closing driving mechanism (5), a workpiece clamping jaw support (6), a workpiece clamping jaw opening-closing executing mechanism (7), a workpiece front clamping jaw (8) and a workpiece rear clamping jaw (9), wherein the rotary rack (2) comprises a rotary rack body (21), a rotary rack body cavity top cover (22), a rotary rack body base (23) and a supporting rod seat lifting guide rail seat (24), the rotary rack body base (23) is fixedly connected with the rotary rack driving mechanism (1) in a use state, a rotary rack body base abdicating cavity (231) is arranged at the central position of the rotary rack body base (23), and the rotary rack body (21) is fixed with one side of the rotary rack body base (23) facing upwards, the rotary rack body (21) is provided with a lifting action cylinder shielding cavity (211) which corresponds to and is communicated with the rotary rack body base abdicating cavity (231), the rotary rack body cavity top cover (22) is fixed with the top of the rotary rack body (21) at the position corresponding to the lifting action cylinder shielding cavity (211), the middle part of the rotary rack body cavity top cover (22) is provided with a lifting action cylinder abdicating hole (221), a support rod seat lifting guide rail seat (24) is fixed on the front side wall body of the rotary rack body (21), a support rod seat up-and-down lifting mechanism (3) is arranged in the lifting action cylinder shielding cavity (211) and is supported on the rotary rack driving mechanism (1), and the upper part of the support rod seat up-and-down lifting mechanism extends to the upper part of the rotary rack body cavity top cover (22) through the lifting action cylinder abdicating hole (221); the supporting rod seat structure comprises a supporting rod seat (4), the supporting rod seat (4) is connected with the supporting rod seat up-down lifting mechanism (3) at a position corresponding to the upper part of the supporting rod seat up-down lifting mechanism (3) and is also in sliding fit with the rotary rack (2), a workpiece clamping jaw opening-closing driving mechanism (5) is arranged between the supporting rod seat (4) and the workpiece clamping jaw support (6) and also extends into a workpiece clamping jaw support cavity (61) of the workpiece clamping jaw support (6), a workpiece clamping jaw opening-closing executing mechanism (7) is arranged in the workpiece clamping jaw support cavity (61) of the workpiece clamping jaw support (6) and is connected with the workpiece clamping jaw opening-closing driving mechanism (5), a workpiece front clamping jaw (8) and a workpiece rear clamping jaw (9) are hinged with the workpiece clamping jaw opening-closing executing mechanism (7) in a state of mutual opposite displacement or mutual opening, the workpiece clamping jaw support is characterized in that a pair of supporting rods (41) are fixed on the supporting rod seat (4), the supporting rods (41) are parallel to each other in a front-back mode, the left ends of the supporting rods (41) extend to the left side of the supporting rod seat (4), the right ends of the supporting rods extend towards the direction far away from the supporting rod seat (4) to form horizontal cantilever ends of the supporting rods, a workpiece clamping jaw support fixing seat (411) is fixed at the position of the horizontal cantilever ends of the supporting rods, and the workpiece clamping jaw support (6) and one side, back to the pair of supporting rods (41), of the workpiece clamping jaw support fixing seat (411) are fixed; a group of supporting rod seat lifting guide rods (222) are fixed on the cavity top cover (22) of the revolving rack body in a distributed mode in a shape of a Chinese character 'jing', a group of supporting rod seat lifting guide rod guide sleeves (44) are arranged on the supporting rod seats (4) and at positions corresponding to the group of supporting rod seat lifting guide rods (222), and the group of supporting rod seat lifting guide rods (222) are in sliding fit with the group of supporting rod seat lifting guide rod guide sleeves (44); a support rod seat guide rail slide block fixing seat (45) is fixed at the front side of the support rod seat (4) and at a position corresponding to the upper part of the support rod seat lifting guide rail seat (24), a space between the rear side of the support rod seat guide rail slide block fixing seat (45) and the front side of the support rod seat (4) is formed into a guide rail slide block cavity (451), a guide rail slide block (4511) is arranged in the guide rail slide block cavity (451), the guide rail slide block (4511) is fixed with the rear side of the support rod seat guide rail slide block fixing seat (45), and a support rod seat lifting guide rail (46) is arranged between the rear side of the guide rail slide block (4511) and the front side of the support rod seat (4); a supporting rod seat lifting guide rail cavity (241) is formed in the front side of the supporting rod seat lifting guide rail seat (24) along the height direction of the supporting rod seat lifting guide rail seat (24), and a cavity cover plate (2411) is fixed at a position corresponding to the cavity opening of the supporting rod seat lifting guide rail cavity (241); the guide rail sliding block (4511) is in sliding fit with the upper end of the support rod seat lifting guide rail (46), and the lower end of the support rod seat lifting guide rail (46) is inserted into and fixed in the support rod seat lifting guide rail cavity (241).

2. The support rod seat structure of the automatic workpiece transfer manipulator according to claim 1, wherein a jaw action cylinder abdicating hole (42) is formed on the support rod seat (4) at a position corresponding to the workpiece jaw opening and closing driving mechanism (5), and a pair of support rod through holes (43) is formed at a position corresponding to the pair of support rods (41), and the left ends of the pair of support rods (41) extend to the left side of the support rod seat (4) through the pair of support rod through holes (43); a workpiece clamping jaw support abdicating hole (611) is formed in the left cavity wall of a workpiece clamping jaw support cavity (61) of the workpiece clamping jaw support (6), and the workpiece clamping jaw opening and closing driving mechanism (5) extends into the workpiece clamping jaw support cavity (61) through the workpiece clamping jaw support abdicating hole (611) to connect with the workpiece clamping jaw opening and closing executing mechanism (7); a position signal collector (223) is arranged on the upward side of the cavity top cover (22) of the revolving rack body.

3. The support rod base structure of the automated part transfer robot according to claim 2, wherein the workpiece clamping jaw opening/closing driving mechanism (5) comprises a workpiece clamping jaw opening/closing cylinder (51), a workpiece clamping jaw opening/closing cylinder column guide (52) and a pair of connector fitting pipes (53), the workpiece clamping jaw opening/closing cylinder (51) is fixed on the support rod base (4) in a horizontal state at a position corresponding to the jaw opening/closing cylinder abdicating hole (42), and the left end of the workpiece clamping jaw opening/closing cylinder (51) extends to the left side of the support rod base (4) from the jaw opening/closing cylinder abdicating hole (42), and the right end of the workpiece clamping jaw opening/closing cylinder (51) extends to the right side of the support rod base (4) from the jaw opening/closing cylinder abdicating hole (42), and the workpiece clamping jaw opening/closing cylinder column guide (52) is fixed between the right end face of the workpiece clamping jaw opening/closing cylinder (51) and the left side of the workpiece clamping jaw holder (411), the workpiece clamping jaw opening and closing cylinder column (511) of the workpiece clamping jaw opening and closing cylinder (51) is positioned in a guide pipe cavity (521) of a workpiece clamping jaw opening and closing cylinder column guide pipe (52), the tail end of the workpiece clamping jaw opening and closing cylinder column (511) extends out of the right end of the guide pipe cavity (521) and then extends into a workpiece clamping jaw support cavity (61) through a workpiece clamping jaw support abdicating hole (611), the upper ends of a pair of connecting head adapting pipes (53) are adapted to the workpiece clamping jaw opening and closing cylinder (51), the lower ends of the pair of connecting head adapting pipes are connected with a pair of workpiece clamping jaw opening and closing driving cylinder pipeline connecting heads (184), and the pair of workpiece clamping jaw opening and closing driving cylinder pipeline connecting heads (184) are connected with an external gas generating device through pipelines; the workpiece clamping jaw opening and closing actuating mechanism (7) used for enabling the workpiece front clamping jaw (8) and the workpiece rear clamping jaw (9) to move towards or repel each other is connected with the tail end of the workpiece clamping jaw opening and closing cylinder column (511); the position signal collector (223) corresponds to the lower part of the left end of the workpiece clamping jaw opening and closing cylinder column guide pipe (52).

4. The support rod base structure of the automatic workpiece transfer robot according to claim 1, wherein the support rod base up-down elevating mechanism (3) comprises a support rod base up-down elevating cylinder (31) and a support rod base up-down elevating cylinder connecting base (32), the support rod base up-down elevating cylinder (31) is disposed in the elevating cylinder shielding chamber (211) in a longitudinal state and supported on the rotating frame driving mechanism (1), the support rod base up-down elevating cylinder (311) of the support rod base up-down elevating cylinder (31) faces upward and is fixed with the support rod base up-down elevating cylinder connecting base (32), and the support rod base up-down elevating cylinder connecting base (32) is fixed at a central position of the bottom of the support rod base (4).

5. The support rod seat structure of the automated part transfer robot according to claim 3, wherein the workpiece jaw opening and closing actuator (7) comprises a sliding seat guide rod (71), a sliding seat (72), a front curved arm hinge seat (73), a front curved arm (74), a rear curved arm hinge seat (75), a rear curved arm (76), a pair of workpiece jaw upper guide slide rods (77) and a pair of workpiece jaw lower guide slide rods (78), the sliding seat guide rod (71) has a pair parallel to each other in front and rear, and the left end of the sliding seat guide rod (71) is fixed to the left cavity wall of the workpiece jaw support cavity (61), while the right end of the sliding seat guide rod (71) is configured as a horizontal cantilever end, the sliding seat (72) is slidably fitted over the sliding seat guide rod (71) in left and right directions, and the middle of the sliding seat (72) is fixedly connected to the end of the workpiece jaw opening and closing cylinder column (511), a sliding seat front hinge lug (721) extends from the front end of the sliding seat (72), a sliding seat rear hinge lug (722) extends from the rear end of the sliding seat (72), a front crank arm hinge seat (73) is fixed at the front end of the left cavity wall of the workpiece clamping jaw support cavity (61), a rear crank arm hinge seat (75) is fixed at the rear end of the left cavity wall of the workpiece clamping jaw support cavity (61), a front crank arm pin shaft sliding groove (744) is respectively arranged at one end and the other end of a front crank arm (74), one end of the front crank arm (74) is hinged with the upper part of the workpiece front clamping jaw (8) at a position corresponding to the front crank arm pin shaft sliding groove (744), the middle part of the front crank arm (74) is hinged with the front crank arm hinge seat (73), and the other end of the front crank arm (74) is hinged with the sliding seat front hinge lug (721) at a position corresponding to the front crank arm pin shaft sliding groove (744), one end and the other end of the rear crank arm (76) are respectively provided with a rear crank arm pin shaft sliding groove (764), one end of the rear crank arm (76) is hinged with the upper part of the workpiece rear clamping jaw (9) at a position corresponding to the rear crank arm pin shaft sliding groove (764), the middle part of the rear crank arm (76) is hinged with the rear crank arm hinge seat (75), the other end of the buckling crank arm (76) is hinged with a rear hinge lug (722) of the sliding seat at a position corresponding to a rear crank arm pin shaft sliding groove (764), a pair of workpiece clamping jaw upper guide sliding rods (77) are fixed between the front cavity wall and the rear cavity wall of the workpiece clamping jaw support cavity (61), and a pair of workpiece clamping jaw lower guide sliding rods (78) are also fixed between the front cavity wall and the rear cavity wall of the workpiece clamping jaw support cavity (61) at the positions corresponding to the lower parts of the pair of workpiece clamping jaw upper guide sliding rods (77), the right end of the sliding seat guide rod (71) extends to a position between a pair of workpiece clamping jaw upper guide sliding rods (77) and a pair of workpiece clamping jaw lower guide sliding rods (78); the upper parts of the workpiece front clamping jaw (8) and the workpiece rear clamping jaw (9) are respectively in sliding fit with a pair of workpiece clamping jaw upper guide sliding rods (77) and a pair of workpiece clamping jaw lower guide sliding rods (78); the workpiece pressing mechanism (20) is arranged below the pair of workpiece clamping jaw lower guide sliding rods (78).

6. The support bar seat structure of an automated workpiece transfer robot according to claim 5, wherein a workpiece front jaw slot (81) is formed in an upper portion of the workpiece front jaw (8), and a workpiece rear jaw slot (91) is formed in an upper portion of the workpiece rear jaw (9), the workpiece front jaw slot (81) and the workpiece rear jaw slot (91) correspond to each other, one end of the front crank arm (74) extends into the workpiece front jaw slot (81) and is hinged to the upper portion of the workpiece front jaw (8) at a position of the workpiece front jaw slot (81), and one end of the rear crank arm (76) extends into the workpiece rear jaw slot (91) and is hinged to the upper portion of the workpiece rear jaw (9) at a position of the workpiece rear jaw slot (91).

7. A support rod seat structure of an automated workpiece transfer robot according to claim 5, characterized in that a workpiece front jaw sliding sleeve (82) is provided at an upper portion of the workpiece front jaw (8) and at a position corresponding to said pair of workpiece jaw upper guide sliding rods (77) and said pair of workpiece jaw lower guide sliding rods (78), and a workpiece rear jaw sliding sleeve (92) is provided at an upper portion of the workpiece rear jaw (9) and also at a position corresponding to said pair of workpiece jaw upper guide sliding rods (77) and said pair of workpiece jaw lower guide sliding rods (78), the workpiece front jaw sliding sleeve (82) and the workpiece rear jaw sliding sleeve (92) being slidably engaged with said pair of workpiece jaw upper guide sliding rods (77) and said pair of workpiece jaw lower guide sliding rods (78).

8. The support bar stand structure of the automated part transfer robot according to claim 3, wherein a support bar end portion supporting base (412) is provided at a left side corresponding to the support bar stand (4), a pair of support bar end portion inserting holes (4121) are formed at the support bar end portion supporting base (412) and at positions corresponding to left ends of the pair of support bars (41), left end portions of the pair of support bars (41) are inserted into the pair of support bar end portion inserting holes (4121) and locked by support bar end portion locking screws (4122) screwed to the support bar end portion supporting base (412) and communicating with the support bar end portion inserting holes (4121), a work holding jaw opening and closing cylinder penetrating supporting hole (4123) is formed at a middle portion of the support bar end portion supporting base (412) and at positions corresponding to between the pair of support bar end portion inserting holes (4121), and a left end portion of the work holding jaw opening and closing cylinder (51) is inserted into and supported by the work holding jaw opening and closing cylinder penetrating hole (4123) A support hole (4123).

9. The support rod seat structure of the automated part transfer robot according to claim 3 or 5, wherein the workpiece clamping jaw opening and closing cylinder (51) is a cylinder.

10. The support rod seat structure of the automatic workpiece transfer robot according to claim 4, wherein the support rod seat up-down lifting cylinder (31) is a cylinder and is connected to a pair of support rod seat lifting cylinder pipeline connection columns (183) through a pair of lifting cylinder vent pipes (312), and the pair of support rod seat lifting cylinder pipeline connection columns (183) is connected to an external gas production device through a connection seat pipeline.