CN110842345B - Supporting rod seat structure of automatic workpiece transferring manipulator - Google Patents

Supporting rod seat structure of automatic workpiece transferring manipulator Download PDF

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Publication number
CN110842345B
CN110842345B CN201911300278.XA CN201911300278A CN110842345B CN 110842345 B CN110842345 B CN 110842345B CN 201911300278 A CN201911300278 A CN 201911300278A CN 110842345 B CN110842345 B CN 110842345B
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China
Prior art keywords
workpiece
support
clamping jaw
jaw
support rod
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CN201911300278.XA
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Chinese (zh)
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CN110842345A (en
Inventor
王国成
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Changshu Dazhong Robot Research Institute Co ltd
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Changshu Dazhong Robot Research Institute Co ltd
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Priority to CN201911300278.XA priority Critical patent/CN110842345B/en
Publication of CN110842345A publication Critical patent/CN110842345A/en
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Publication of CN110842345B publication Critical patent/CN110842345B/en
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Classifications

    • 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
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/10—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating making use of vibrations, e.g. ultrasonic welding
    • 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
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/26—Auxiliary equipment
    • 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

The utility model provides an automatic manipulator's bracing piece seat structure is transported to work piece, includes revolving frame, bracing piece seat elevating system, work piece clamping jaw actuating mechanism, work piece clamping jaw support, work piece clamping jaw actuating mechanism that opens and shuts, clamping jaw and work piece back clamping jaw about the work piece, and the revolving frame includes revolving frame body, revolving frame body chamber top cap, revolving frame body base and bracing piece seat lift guide rail seat, characteristics: the support rod seat is provided with a pair of support rods which are parallel to each other in front-back direction; a group of supporting rod seat lifting guide rods are arranged on the top cover of the cavity of the revolving 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 fixed with a support rod seat guide rail slide block fixing seat; the front side of the support rod seat lifting guide rail seat is provided with a support rod seat lifting guide rail cavity, and a guide rail cavity opening is fixed with a cavity cover plate; the guide rail sliding 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 sliding block is inserted into and fixed in the lifting guide rail cavity of the support rod seat. And the stability of lifting and descending and the accuracy of the position are ensured.

Description

Supporting 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 supporting rod seat structure of an automatic workpiece transferring manipulator.
Background
The above-mentioned automatic workpiece transfer manipulator is mainly, but not exclusively, applied to a complete set of automatic ultrasonic welding systems or automatic ultrasonic welding systems, but the automatic ultrasonic welding systems are widely applied to new energy lithium battery production industries, electronic and electric product production industries, stationery and toy production industries, automobile part production industries, medical supplies production industries, and the like, and the principle is that two objects to be welded are combined together by transmitting high-frequency vibration waves to the surfaces of the two objects to be welded together. When ultrasonic waves act on the contact surface of thermoplastic plastics, high-frequency vibration of tens of thousands or even tens of thousands times per second is generated, the ultrasonic energy is transmitted to a welding area through a weldment by the high-frequency vibration reaching a certain amplitude, and local high temperature is generated because of large acoustic resistance of the welding area, namely the interface of two welding parts, and the high temperature is scattered because of poor thermal conductivity of the plastics, so that the high temperature is accumulated in the welding area, the contact surface of the two plastics is quickly 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), CN110370654A (an ultrasonic automatic welder), and the like is not lacking in the published chinese patent literature.
Taking a machined lithium battery part 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 manipulator, a pre-welding station workpiece feeding manipulator, a final-welding station workpiece conveying manipulator and a target workpiece pickup and conveying manipulator are reasonably arranged on a workbench, the positions of the first workpiece conveying line on the workbench correspond to the left ends of the second workpiece conveying line and the third workpiece conveying line, that is to say, the second workpiece conveying line and the third workpiece conveying line form a vertical relationship with the first workpiece conveying line, the second workpiece conveying line and the third workpiece conveying line are mutually kept in parallel in the longitudinal 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 line, and the automatic workpiece transferring manipulator, the pre-welding station workpiece feeding manipulator, the welding station workpiece conveying manipulator and the target workpiece pickup and conveying manipulator are arranged between the second workpiece conveying line and the third workpiece conveying line from left to right. The first conveying line, the second conveying line and the third conveying line for the workpieces are conveying lines in the form of conveying belts, so that the arrangement mode can bring the effects of rationality, compactness, space occupation saving and the like of the mechanism configuration of the structural system of the complete set of automatic ultrasonic welding system into play to a very great extent.
As an automatic workpiece transferring manipulator, a workpiece clamping jaw opening and closing actuating mechanism for driving the front clamping jaw and the 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 also needs to meet the requirement of vertical up-and-down lifting, so that the workpiece clamping jaw opening and closing driving mechanism needs to be provided with a lifting seat, and the lifting seat is the supporting rod seat substantially, and the workpiece clamping jaw opening and closing driving mechanism and the workpiece clamping jaw opening and closing actuating mechanism are lifted by the supporting rod seat according to requirements. However, since the workpiece jaw opening and closing actuator needs to be moved alternately between two adjacent stations and needs to be lifted frequently, the lifting stability of the support rod seat as a carrier for setting the workpiece jaw opening and closing driving mechanism and the accuracy of the lifting position can have a corresponding influence on the working position of the workpiece jaw opening and closing actuator, and the technical scheme to be described below is generated in this background.
Disclosure of Invention
The invention aims to provide a support rod seat structure of an automatic workpiece transfer manipulator, which is beneficial to fully guaranteeing the stability of the up-down lifting of a workpiece clamping jaw opening and closing driving mechanism and a workpiece clamping jaw opening and closing actuating mechanism and the accuracy of the up-down lifting position, so that the workpiece clamping jaw opening and closing actuating mechanism corresponds to a workpiece to be transferred.
The invention is accomplished by the task of the invention, a supporting rod seat structure of an automatic workpiece transfer manipulator, the automatic workpiece transfer manipulator 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 actuating mechanism, a workpiece front clamping jaw and a workpiece rear clamping jaw, 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 using state, a rotary frame body base yielding cavity is formed in the central position of the rotary frame body base, the rotary frame body is fixed with one side of the rotary frame body base facing upwards, the rotary frame body is provided with a lifting cylinder shielding cavity corresponding to the rotary frame body base yielding cavity and communicated with the rotary frame body, the rotary frame body top cover is fixed with the top of the rotary frame body at a position corresponding to the lifting cylinder shielding cavity, a lifting cylinder column yielding hole is formed in the middle of the rotary frame body cavity, the supporting rod seat lifting guide rail seat is fixed on the upper side wall of the rotary frame body and the lifting cylinder body is arranged on the lifting cylinder body to the lifting cylinder body and the lifting cylinder body is extended to the supporting cylinder body in the lifting cylinder body lifting cavity; the support rod seat structure comprises a support rod seat, wherein the support rod seat is connected with the support rod seat up-down lifting mechanism at a position corresponding to the upper part of the support rod seat up-down lifting mechanism and is also in sliding fit with the revolving frame, the workpiece clamping jaw opening-closing driving mechanism is arranged between the support 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 actuating 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, and the workpiece front clamping jaw and the workpiece rear clamping jaw are hinged with the workpiece clamping jaw opening-closing actuating mechanism in a state of being mutually displaced or mutually repelled, and the support rod seat structure is characterized in that a pair of support rods are fixed on the support rod seat, the pair of support rods are mutually parallel and are stretched to the left side of the support rod seat, the right end of the pair of support rods stretches towards the direction far away from the support rod seat to form a support rod horizontal cantilever end, and a workpiece clamping jaw support rod support seat fixing seat is fixed at the position of the horizontal cantilever end of the support rod back; a group of support rod seat lifting guide rods are fixed on the top cover of the cavity of the revolving frame body in a groined distribution state, a group of support rod seat lifting guide rod guide sleeves are arranged on the support rod seat and at positions corresponding to the group of support rod seat lifting guide rods, and the group of support rod seat lifting guide rods are in sliding fit with the group of support rod seat lifting guide rod guide sleeves; a support rod seat guide rail slide block fixing seat is fixed at the front side of the support rod seat and at a position corresponding to the upper part of the support rod seat lifting guide rail seat, a space between the rear side of the support rod seat guide rail slide block fixing seat and the front side of the support rod seat is formed into a guide rail slide block cavity, a guide rail slide block is arranged in the guide rail slide block cavity, the guide rail slide block is fixed with the rear side of the support rod seat guide rail slide block fixing seat, and a support rod seat lifting guide rail is arranged between the rear side of the guide rail slide block and the front side of the support rod seat; a supporting rod seat lifting guide rail cavity is formed on the front side of the supporting rod seat lifting guide rail seat and 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 support rod seat lifting guide rail, and the lower end of the support rod seat lifting guide rail is inserted into and fixed in the support rod seat lifting guide rail cavity.
In a specific embodiment of the invention, a clamping jaw acting cylinder abdicating hole is formed in 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 formed 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 abdication hole is formed in the left cavity wall of the 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 abdication hole so as to be connected with the workpiece clamping jaw opening and closing actuating mechanism; and a position signal collector is arranged on one side of the body cavity top cover of the revolving frame, which faces upwards.
In another specific embodiment of the present invention, the workpiece jaw opening and closing driving mechanism includes a workpiece jaw opening and closing cylinder, a workpiece jaw opening and closing cylinder column guide pipe, and a pair of connector connecting pipes, the workpiece jaw opening and closing cylinder is fixed on the support rod base in a horizontal state at a position corresponding to the jaw opening and closing cylinder, and the left end of the workpiece jaw opening and closing cylinder extends from the jaw opening and closing cylinder to the left side of the support rod base, while the right end of the workpiece jaw opening and closing cylinder extends from the jaw opening and closing cylinder to the right side of the support rod base, the workpiece jaw opening and closing cylinder column guide pipe is fixed between the right end face of the workpiece jaw opening and closing cylinder and the left side of the workpiece jaw support fixing base, the workpiece clamping jaw opening and closing action cylinder column of the workpiece clamping jaw opening and closing action cylinder is positioned in a guide pipe cavity of a guide pipe of the workpiece clamping jaw opening and closing action cylinder column, the tail end of the workpiece clamping jaw opening and closing action cylinder column extends into the workpiece clamping jaw support cavity through the workpiece clamping jaw support abdicating hole after extending out of the right end of the guide pipe cavity, the upper ends of a pair of connector connecting pipes are connected with the workpiece clamping jaw opening and closing action cylinder in a matched mode, the lower ends of the connector connecting pipes are connected with a pair of workpiece clamping jaw opening and closing drive action cylinder pipeline connectors, and the pair of workpiece clamping jaw opening and closing drive action cylinder pipeline connectors are connected with an external gas generating 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 be opposite to each other to displace or repel each other, and is connected with the tail end of the workpiece clamping jaw opening and closing actuating cylinder column; the position signal collector corresponds to the lower left end of the cylinder column guide pipe for opening and closing the workpiece clamping jaw.
In another specific embodiment of the present invention, the supporting rod seat up-down lifting mechanism includes a supporting rod seat up-down lifting cylinder and a supporting rod seat up-down lifting cylinder column connecting seat, the supporting rod seat up-down lifting cylinder is disposed in the lifting cylinder shielding cavity in a longitudinal state and is supported on the revolving frame driving mechanism, the supporting rod seat up-down lifting cylinder column of the supporting rod seat up-down lifting cylinder faces upwards and is fixed with the supporting rod seat up-down lifting cylinder column connecting seat, and the supporting rod seat up-down lifting cylinder column connecting seat is fixed at a central position of the bottom of the supporting rod seat.
In still another specific embodiment of the present invention, the workpiece clamping jaw opening and closing actuating mechanism comprises a sliding seat guide rod, a sliding seat, a front crank arm hinge seat, a front crank arm, a rear crank arm hinge seat, a rear crank arm, a pair of workpiece clamping jaw upper guide sliding rods and a pair of workpiece clamping jaw lower guide sliding 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-right sliding manner, the middle part of the sliding seat is fixedly connected with the tail end of the workpiece clamping jaw opening and closing actuating cylinder column, a sliding seat front hinge lug extends at the front end of the sliding seat, a sliding seat rear hinge lug extends at the rear end of the sliding seat, the front crank arm hinge seat is fixed at the front end of the left cavity wall of the workpiece clamping jaw support cavity, the rear crank arm hinging seat is fixed at the rear end of the left cavity wall of the workpiece clamping jaw bracket cavity, 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 the position corresponding to the front crank arm pin shaft sliding groove, the middle part of the front crank arm is hinged with the front crank arm hinging seat, the other end of the front crank arm is also hinged with the front hinging lug of the sliding seat at the 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 the position corresponding to the rear crank arm pin shaft sliding groove, the middle part of the rear crank arm is hinged with the rear crank arm hinging seat, the other end of the rear crank arm is hinged with the rear hinging lug of the sliding seat at the 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, the pair of workpiece clamping jaw lower guide sliding rods are also fixed between the front cavity wall and the rear cavity wall of the workpiece clamping jaw support cavity at positions corresponding to the lower parts of the pair of workpiece clamping jaw upper guide sliding rods, and the right ends of the sliding seat guide rods extend 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 front workpiece clamping jaw and the rear workpiece clamping jaw are respectively in sliding fit with a pair of upper workpiece clamping jaw guide sliding bars and a pair of lower workpiece clamping jaw guide sliding bars; a workpiece forcing mechanism is disposed below the pair of workpiece jaw downset slide bars.
In yet another specific embodiment of the present invention, a workpiece front jaw groove is formed in an upper portion of the workpiece front jaw, and a workpiece rear jaw groove is formed in an upper portion of the workpiece rear jaw, the workpiece front jaw groove and the workpiece rear jaw groove correspond to each other, one end of the front crank arm extends into the workpiece front jaw groove and is hinged to the upper portion of the workpiece front jaw at a position of the workpiece front jaw groove, and one end of the rear crank arm extends into the workpiece rear jaw groove and is hinged to the upper portion of the workpiece rear jaw at a position of the workpiece rear jaw groove.
In a further specific embodiment of the invention, a workpiece front jaw slide sleeve is provided at the upper part of the workpiece front jaw and at the positions corresponding to the pair of workpiece jaw upper slide bars and the pair of workpiece jaw lower slide bars, and a workpiece rear jaw slide sleeve is provided at the upper part of the workpiece rear jaw and at the positions corresponding to the pair of workpiece jaw upper slide bars and the pair of workpiece jaw lower slide bars, respectively, the workpiece front jaw slide sleeve and the workpiece rear jaw slide sleeve being in sliding fit with the pair of workpiece jaw upper slide bars and the pair of workpiece jaw lower slide bars.
In a further specific embodiment of the present invention, a support rod end support seat is provided on the left side corresponding to the support rod seat, a pair of support rod end insertion holes are provided in the support rod end support seat at positions corresponding to the left ends of the pair of support rods, the left end portions of the pair of support rods are inserted into the pair of support rod end insertion holes and locked by support rod end locking screws screwed on the support rod end support seat in communication with the support rod end insertion holes, a work jaw opening and closing cylinder insertion support hole is provided in the middle of the support rod end support seat at positions corresponding to between the pair of support rod end insertion holes, and the left ends of the work jaw opening and closing cylinder are inserted into and supported by the work jaw opening and closing cylinder insertion support hole.
In yet another specific embodiment of the present invention, the workpiece jaw opening and closing cylinder is a cylinder.
In yet another specific embodiment of the present invention, the support rod seat up-and-down lift cylinder is a cylinder and is connected by a pair of lift cylinder vent pipes to a pair of support rod seat lift cylinder line connection posts which are connected to an external gas generating device by a connection seat line.
The technical scheme provided by the invention has the technical effects that: the left ends of a pair of support rods are fixed on the support rods in a front-back parallel state, the right ends of the support rods extend towards the direction away from the support rod seat to form a horizontal cantilever end, a workpiece clamping jaw support and a workpiece clamping jaw opening and closing executing mechanism and a workpiece front clamping jaw and rear clamping jaw are fixed in a workpiece clamping jaw support fixing seat of the right ends of the support rods, the support rod seat is connected with the support rod seat up-down lifting mechanism at a position corresponding to the upper part of the support rod seat up-down lifting mechanism in a lifting action cylinder shielding cavity of a revolving frame, a support rod seat guide rail sliding block fixing seat is arranged at the front side of the support rod seat, a guide rail sliding block which is used for being in sliding fit with the upper end of a support rod seat lifting guide rail is fixed at the rear side of the support rod seat guide rail fixing seat, and then the lower end of the support rod seat lifting guide rail is inserted into and fixed in a support rod seat lifting guide rail cavity of a support rod seat lifting guide rail seat arranged at the front side of the revolving frame, so that the workpiece clamping jaw driving mechanism and the workpiece clamping jaw opening and closing stability and the up-down lifting position of the support rod clamping jaw executing mechanism are fully guaranteed, and the workpiece clamping jaw driving mechanism and the workpiece clamping jaw opening and closing stability and the workpiece clamping jaw lifting mechanism are enabled to correspond to the workpiece executing mechanism.
Drawings
Fig. 1 is a structural diagram of an embodiment of the present invention.
Fig. 2 is a detailed construction diagram of the swing frame driving mechanism shown in fig. 1.
Fig. 3 is a detailed construction view of the workpiece jaw opening and closing actuator shown in fig. 1, which is provided on the workpiece jaw support.
Fig. 4 is a schematic view illustrating an application of the automated workpiece transfer robot of the present invention.
Detailed Description
In order to make the technical spirit and advantages of the present invention more clearly understood, the applicant will now make a detailed description by way of example, but the description of the examples is not intended to limit the scope of the invention, and any equivalent transformation made merely in form, not essentially, according to the inventive concept should be regarded as the scope of the technical solution of the present invention.
In the following description, all concepts related to the directions or azimuths of up, down, left, right, front and rear are based on the position state of fig. 1, and thus should not be construed as a specific limitation on the technical solution provided by the present invention.
Referring to fig. 1 in combination with fig. 4, there are shown a swing frame 2, a support rod seat up-down elevating mechanism 3, a work-piece jaw opening-closing driving mechanism 5, a work-piece jaw holder 6, a work-piece jaw opening-closing actuating mechanism 7, a work-piece front jaw 8 and a work-piece rear jaw 9 of the structural system of the automatic work-piece transferring robot, and also a swing frame driving mechanism 1 of the structural system of the work-piece transferring robot, which swing frame driving mechanism 1 is provided on a side of a work table 10 facing downward in a use state, and the swing frame driving mechanism 1 is substantially located in an electrical control box since the work table 10 is provided on the electrical control box 30 located in a lower portion thereof. The revolving frame 2 is fixed with the revolving frame driving mechanism 1 at a position above the workbench 10, namely is fixedly connected with the revolving 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 rotary action cylinder 11, a rotary action cylinder column driving wheel 12, a revolving cylinder driving wheel 13, a driving belt 14, a revolving cylinder 15, a revolving plate 16, an outer cylinder ring 17 and a connecting plate 18, the rotary action cylinder 11 is fixed to the aforementioned downward facing side of the table 10 by rotary action cylinder fixing screws, the rotary action cylinder column 111 of the rotary action cylinder 11 is fixed downward and to the downward facing side of the rotary action cylinder 11 by bump screw seat fixing screws 1123 with a rotary action cylinder column driving wheel bump screw seat 112, one end (i.e., left end) of the rotary action cylinder column driving wheel bump screw seat 112 is fixed with a rotary action cylinder column driving wheel first bump screw i 1121, and the other end (i.e., right end) of the rotary action cylinder column driving wheel bump screw seat 112 is fixed with a rotary action cylinder column driving wheel second bump screw ii 1122, the rotary action cylinder driving wheel 12 is fixed with the rotary action cylinder 111 by a set of rotary action cylinder driving wheel fixing screws 123 which are distributed at intervals at a position corresponding to the downward-facing side of the rotary action cylinder 111, and a first rotary action cylinder driving wheel bump I121 and a second rotary action cylinder driving wheel bump II 122 are fixed at the upward-facing side of the rotary action cylinder driving wheel 12, the first rotary action cylinder driving wheel bump I121 corresponds to the first bump screw I1121 of the rotary action cylinder driving wheel, the second rotary action cylinder driving wheel bump II 122 corresponds to the second bump screw II 1122 of the rotary action cylinder driving wheel, the rotary cylinder driving wheel 13 is fixed with the downward-facing end face of the rotary cylinder 15 by the rotary cylinder driving wheel screw, the rotary cylinder driving wheel 13 and the rotary cylinder driving wheel 12 are positioned on the same horizontal plane, one end of the driving belt 14 is sleeved on the rotary cylinder driving wheel 12, the other end is sleeved on the rotary cylinder driving wheel 13, the outer cylinder ring 17 is fixed on the downward side of the workbench 10 in a longitudinal cantilever state, a first limiting foot I171 and a second limiting foot II 172 are fixed on the lower end face of the outer cylinder ring 17 through a first limiting foot screw I1712, the first limiting foot I171 and the second limiting foot II 172 form a face-to-face position relationship around the circumference direction of the outer cylinder ring 17, a first limiting pin first adjusting screw i 1711 is provided on the first limiting pin i 171, a second limiting pin second adjusting screw ii 1721 is provided on the second limiting pin ii 172, the rotary drum 15 is provided in the outer drum cavity 173 of the outer drum 17, rotary drum rotating bearings 151 are provided at the upper and lower parts between the outer wall of the rotary drum 15 and the inner wall of the outer drum 17, and the upper end of the rotary drum 15 protrudes upward from the surface of the upper side of the table 10, the rotary disc 16 and the upper end of the rotary drum 15 form an integral structure at a position corresponding to the upper side of the table 10, and the connecting disc 18 is fixed to the rotary drum 15 at a position corresponding to the lower side of the rotary drum driving wheel 13 by connecting disc bolts 181, specifically: the connecting disc bolt 181 passes through the connecting disc bolt hole 185 formed on the connecting disc 18 from the lower direction of the connecting disc 18, then passes through the rotary drum transmission wheel bolt hole 131 formed on the rotary drum transmission wheel 13 upwards, and passes through the rotary drum bolt hole 152 preset on the rotary drum 15 until the rotary disc 16 is screwed in and limited by a nut, and a limit foot adjusting screw collision head 182 extends from one side of the connecting disc 18, wherein the limit foot adjusting screw collision head 182 corresponds to a space between the limit foot first adjusting screw I1711 and the limit foot second adjusting screw II 1721.
In the present embodiment, the rotary cylinder 11 is a rotary cylinder and has a forward and reverse rotation function, and the operation of the rotary cylinder 11 is controlled by a PLC (programmable logic controller) provided in the electric control box 30. When the rotary action cylinder 11 works to drive the rotary action cylinder 111 to drive the rotary action cylinder driving wheel 12 to rotate until the first rotary action cylinder driving wheel collision block I121 collides with the first rotary action cylinder driving wheel collision block screw I1121, the rotary action cylinder 111 does not rotate clockwise any more; conversely, when the rotary cylinder 11 rotates the rotary cylinder 111 counterclockwise and drives the rotary cylinder driving wheel 12 to rotate until the second rotary cylinder driving wheel bump ii 122 bumps against the rotary cylinder driving wheel second bump screw ii 1122, the rotary cylinder 111 does not rotate counterclockwise any more, so as to define the clockwise or counterclockwise rotation angle of the rotary cylinder 111, in this embodiment, the rotary frame 2 rotates clockwise and counterclockwise by 90 ° respectively, so that the rotary frame 2 rotates clockwise by 90 ° respectively, i.e., rotates clockwise within the range of 90 °.
In this embodiment, the rotary cylinder driving wheel 12 and the rotary cylinder driving wheel 13 are both timing pulleys, and the driving belt 14 is a timing belt. The rotary disk 16 and the rotary drum 15 are integrally formed, and the rotary disk 16 is a flange-like rotary disk of the rotary drum 15.
Mention has been made above of: the rotary cylinder 111 drives the rotary cylinder driving wheel 12 to rotate 90 degrees clockwise or anticlockwise, and then the rotary cylinder driving wheel 12 drives the rotary cylinder driving wheel 13 to rotate 90 degrees clockwise or anticlockwise correspondingly through the driving belt 14, so that the rotary cylinder driving wheel 13 drives the rotary cylinder 15 and the rotary disc 16 to rotate 90 degrees clockwise or anticlockwise correspondingly. When the limit pin adjusting screw collision head 182 collides with the limit pin first adjusting screw I1711, the rotary drum driving wheel 13 does not rotate clockwise any more, and when the limit pin adjusting screw collision head 182 collides with the limit pin second adjusting screw II 1721, the rotary drum driving wheel 13 does not rotate anticlockwise any more.
As shown in fig. 1, the revolving frame 2 is fixed to the revolving tray 16 at a side facing upward; the support rod seat up-down lifting mechanism 3 is provided on the revolving frame 2 in a state of being shielded by the revolving frame 2.
With continued reference to fig. 1 and 2, the aforementioned revolving frame 2 includes a revolving frame body 21, a revolving frame body cavity top cover 22, a revolving frame body base 23, and a supporting rod seat lifting guide rail seat 24, the revolving frame body base 23 is connected to the top of the revolving frame body 21 by a revolving frame body base fixing screw 232 in a use state, specifically, a side facing upward with the aforementioned revolving plate 16 is fixed, a revolving frame body base yielding cavity 231 is provided in a central position of the revolving frame body base 23, the revolving frame body 21 is fixed to the side facing upward with the revolving frame body base 23 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 yielding cavity 231, the revolving frame body cavity top cover 22 is fixed to the top of the revolving frame body 21 by a screw in a position corresponding to the lifting cylinder shielding cavity 211, and a lifting cylinder yielding hole 221 is provided in a middle of the revolving frame body top cover 22, the supporting rod seat lifting guide seat 24 is preferably fixed to the side facing upward with a connecting plate 18 by a fastener, and a supporting rod seat 183 is further connected to the side facing upward with the aforementioned supporting rod seat 18 by a connecting plate 18, and a pipe seat is further provided to the side facing upward with the aforementioned connecting plate 18.
The support rod seat up-and-down elevating mechanism 3 is provided in the elevation cylinder housing chamber 211 and supported at a lower portion thereof by the revolving frame driving mechanism 1, specifically, by the support rod seat elevation cylinder supporting means 161, and at an upper portion thereof by the elevation cylinder column yielding hole 221 extending above the revolving frame body chamber top cover 22, and the support rod seat up-and-down elevating mechanism 3 is further connected to the pair of support rod seat elevation cylinder pipe connecting columns 183 by pipes.
A support bar 4 showing the structural system of the support bar base structure, the support bar base 4 is connected with the support bar base up-down lifting mechanism 3 at a position corresponding to the upper side of the support bar base up-down lifting mechanism 3 and is also in sliding fit with the revolving frame 2, the workpiece clamping jaw opening and closing driving mechanism 5 is arranged between the support bar base 4 and the workpiece clamping jaw support 6 and also extends into the workpiece clamping jaw support cavity 61 of the workpiece clamping jaw support 6, the workpiece clamping jaw opening and 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 and 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 and closing actuating mechanism 7 in a state of being displaced towards each other or being repelled from each other.
The technical key points of the technical scheme provided by the invention are as follows: a pair of support rods 41 are fixed to the support rod seat 4, the pair of support rods 41 are parallel to each other in front and back directions, the left ends of the pair of support rods 41 extend to the left side of the support rod seat 4, the right ends extend away from the support rod seat 4 to form a support rod horizontal cantilever end, a workpiece clamping jaw support fixing seat 411 is fixed at the position of the support rod horizontal cantilever end, and the workpiece clamping jaw support 6 is fixed to the side of the workpiece clamping jaw support fixing seat 411 opposite to the pair of support rods 41 through a workpiece clamping jaw support fixing screw 62, namely, is fixed to the right side of the workpiece clamping jaw support fixing seat 411 through the workpiece clamping jaw support fixing screw 62; a group of support rod seat lifting guide rods 222 are fixed on the body cavity top cover 22 of the revolving frame in a groined distribution state, namely four support rod seat lifting guide rods 222 are arranged, 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 bar seat rail slider fixing seat 45 is fixed at a front side of the support bar seat 4 and at a position corresponding to an upper side of the support bar seat lifting rail seat 24 through a rail slider fixing seat screw 452, a space between a rear side of the support bar seat rail slider fixing seat 45 and the front side of the support bar seat 4 is configured as a rail slider cavity 451, a rail slider 4511 is provided in the rail slider cavity 451, the rail slider 4511 is fixed with a rear side of the support bar seat rail slider fixing seat 45 through a rail slider fixing screw 45111, a support bar seat lifting rail 46 is provided between a rear side of the rail slider 4511 and the front side of the support bar seat 4, a support bar seat lifting rail cavity 241 having a U-shaped cross section is configured at a front side of the support bar seat lifting rail seat 24 and along a height direction of the support bar seat lifting rail seat 24, and a cavity cover 2411 is fixed at a position corresponding to a cavity opening of the support bar seat lifting rail cavity 241 by a cavity cover plate screw 24111; the upper end of the support bar seat elevation rail 46 is slidably engaged with the rail slider 4511, and the lower end of the support bar seat elevation rail 46 is inserted into and fixed to the support bar seat elevation rail cavity 241.
A jaw cylinder abdication hole 42 is formed in the support rod seat 4 at a position corresponding to the workpiece jaw opening/closing driving mechanism 5, a pair of support rod passing holes 43 is formed at a position corresponding to the pair of support rods 41, and 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 passing holes 43; a workpiece clamping jaw support abdication hole 611 is formed on 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 abdication hole 611 for connecting the workpiece clamping jaw opening and closing actuating mechanism 7.
Fig. 1 also shows a workpiece holding mechanism 20 which still belongs to the structural system of the automated workpiece transfer robot, wherein the workpiece holding mechanism 20 is arranged on the workpiece holding jaw support 6 at a position corresponding to the position between the workpiece front clamping jaw 8 and the workpiece rear clamping jaw 9, and the workpiece holding mechanism 20 can float up and down.
Referring to fig. 2, the workpiece clamping jaw opening and closing driving mechanism 5, which is fixed between the support bar base 4 and the workpiece clamping jaw holder fixing base 411 corresponding to the clamping jaw cylinder yielding hole 42, is connected to the pair of workpiece clamping jaw opening and closing driving cylinder pipeline connectors 184 through a pipeline.
As shown in fig. 1, a workpiece clamping jaw support cavity upper cover plate 612 is fixed at a position corresponding to a cover plate screw hole 63 formed on the upper surface of the workpiece clamping jaw support 6 at intervals by using a workpiece clamping jaw support cavity upper cover plate screw 6121 at the upper part of the workpiece clamping jaw support 6, and the workpiece clamping jaw opening and closing actuator 7 which is arranged in the workpiece clamping jaw support cavity 61 and is used for driving the workpiece front clamping jaw 8 and the workpiece rear clamping jaw 9 to move towards each other or repel each other and the upper part of the workpiece forcing mechanism 20 which is positioned between the workpiece front clamping jaw 8 and the workpiece rear clamping jaw 9 are shielded by the workpiece clamping jaw support cavity upper cover plate 612.
With continued reference to fig. 1 and 2, the above-mentioned support rod seat up-and-down lifting mechanism 3 includes a support rod seat up-and-down lifting cylinder 31 and a support rod seat up-and-down lifting cylinder column connecting seat 32, wherein the support rod seat up-and-down lifting cylinder 31 is disposed in the above-mentioned lifting cylinder shielding chamber 211 in a longitudinal state and is supported on the above-mentioned support rod seat up-and-down lifting cylinder supporting means 161 of the structural system of the above-mentioned revolving frame driving mechanism 1, the support rod seat up-and-down lifting cylinder column 311 of the support rod seat up-and-down lifting cylinder 31 is directed upward and is fixed with the support rod seat up-and-down lifting cylinder column connecting seat 32, and the support rod seat up-and-down lifting cylinder column connecting seat 32 is fixed at a central position of the bottom of the above-mentioned support rod seat 4, wherein the support rod seat up-and-down lifting cylinder 31 is a cylinder and is connected with a pair of support rod seat up-and-lifting cylinder pipe connecting columns 183 (shown in fig. 2), and the pair of support rod seat up-and-lifting cylinder pipe connecting columns 183 are connected with an external gas generating device through connecting seat pipe, an external gas source device such as an air pump or an air pump 31 disposed in an electrical control box 30, which is the above-mentioned embodiment of the lifting cylinder 31 is a lifting cylinder up-and down lifting cylinder 31.
The support rod seat lifting cylinder supporting means 161 includes a group of cylinder fixing plate supporting columns 1611 and a cylinder fixing plate 1612, wherein the group of cylinder fixing plate supporting columns 1611 are fixed to the upward side of the turntable 16 in a well-shaped distribution and are lifted up and extended into the lifting cylinder shielding cavity 211 at positions corresponding to the turntable body base seat escaping cavity 231, and the cylinder fixing plate 1612 is fixed to the top of the group of cylinder fixing plate supporting columns 1611, wherein the support rod seat lifting cylinder 31 is fixed to the cylinder fixing plate 1612 in a longitudinal state.
When the supporting rod seat up-and-down operation cylinder 31 (i.e., cylinder) is operated and the supporting rod seat up-and-down operation cylinder 311 is extended out of the cylinder body, the upper end of the supporting rod seat up-and-down operation cylinder 311 is connected to the supporting rod seat up-and-down operation cylinder column connecting seat 32, so that when the supporting rod seat up-and-down operation cylinder 31 lifts the supporting rod seat up-and-down operation cylinder column connecting seat 32 upward, the supporting rod seat 4 is lifted up and down, and otherwise lowered, the lowering degree is based on the lowering position signal of the workpiece clamping jaw opening-closing driving mechanism 5 which will be described in detail below, which is acquired by the position signal acquisition device 223 arranged on the body cavity top cover 22 of the revolving frame, can be set by the PLC, because the operation of the supporting rod seat up-and-down operation cylinder 31 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 sensing element.
As shown in fig. 1, a pair of guide tubes 47 may be fixed to the lower portion of the support rod seat 4, and a pair of guide tube holes 224 may be formed in the revolving frame body cavity top cover 22 at positions corresponding to the pair of guide tubes 47, and the pair of guide tubes 47 may be slidably engaged with the pair of guide tube holes 224. From the above description, it is clear that: due to the synergistic effect of the group of support rod seat lifting guide rods 222 and the support rod seat guide rail slide block fixing seat 45 and the like, the stability and the reliability of the lifting of the support rod seat 4 are ensured, and the action accuracy is ensured.
Continuing to see fig. 1, when the up-and-down lifting cylinder 311 drives the support rod 4 to move up or down, i.e. drive the support rod 4 to lift, through the up-and-down lifting cylinder connecting seat 32, the guide rail slide block 4511 is slidably engaged with the upper end of the lifting guide rail 46 of the support rod, so as to fully ensure the lifting stability and reliability of the support rod 4.
With continued reference to fig. 1, the aforementioned workpiece jaw opening and closing driving mechanism 5 includes a workpiece jaw opening and closing cylinder 51, a workpiece jaw opening and closing cylinder column guide 52, and a pair of connector adapter tubes 53, the workpiece jaw opening and closing cylinder 51 is fixed to the aforementioned support rod base 4 in a horizontal state at a position corresponding to the aforementioned jaw opening and closing cylinder relief hole 42, and the left end of the workpiece jaw opening and closing cylinder 51 extends from the jaw opening and closing cylinder relief hole 42 to the left side of the support rod base 4, while the right end of the workpiece jaw opening and closing cylinder 51 extends from the jaw opening and closing cylinder relief hole 42 to the right side of the support rod base 4, the workpiece jaw opening and closing cylinder column guide 52 is fixed between the right end face of the workpiece jaw opening and closing cylinder 51 and the left side of the aforementioned workpiece 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 positioned in the guide pipe cavity 521 of the workpiece clamping jaw opening and closing cylinder column guide pipe 52, and 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 the workpiece clamping jaw support cavity 61 through the workpiece clamping jaw support abdication hole 611, the upper ends of the pair of connector connecting pipes 53 are connected with the workpiece clamping jaw opening and closing cylinder 51, the lower ends of the pair of connector connecting pipes are connected with the pair of workpiece clamping jaw opening and closing driving cylinder pipeline connectors 184, and the pair of workpiece clamping jaw opening and closing driving cylinder pipeline connectors 184 are connected with an external gas generating device through pipelines, and the gas generating device is an air compressor or an air pump arranged in the electric control box 30; the workpiece jaw opening/closing actuator 7 for closing or opening the workpiece front jaw 8 and the workpiece rear jaw 9 to each other is connected to the end of the workpiece jaw opening/closing cylinder column 511, and the position signal collector 222 corresponds to the lower left end of the workpiece jaw opening/closing cylinder column guide 52. The workpiece holding mechanism 20 is fixed to the left cavity wall of the workpiece holding jaw holder cavity 61.
From the above description, it can be certainly determined that the workpiece jaw opening and closing cylinder 51 is a cylinder controlled by the PLC in the electric control box 30. When the work holding jaw opening and closing cylinder 51 is operated, the work holding jaw opening and closing actuator 7, which will be described in detail below, is driven by the left-right displacement of the work holding jaw opening and closing cylinder column 511.
Referring to fig. 3 in combination with fig. 1, the workpiece jaw opening and closing actuator 7 includes a slide guide 71, a slide 72, a front crank arm hinge seat 73, a front crank arm 74, a rear crank arm hinge seat 75, a rear crank arm 76, a pair of workpiece jaw upper guide slide bars 77 and a pair of workpiece jaw lower guide slide bars 78, the slide guide 71 has a pair of front and rear parallel and the left end of the slide guide 71 is fixed with the left cavity wall of the workpiece jaw support cavity 61, the right end of the slide guide 71 is configured as a horizontal cantilever end, the middle part of the slide 72 is slidably sleeved on the slide guide 71 left and right by the slide sleeve 723, and the middle part of the slide 72 is fixedly connected with the end of the workpiece jaw opening and closing cylinder 511, i.e. the illustrated right end, a slide front hinge lug 721 extends at the front end of the slide 72, a slide rear hinge lug 722 extends at the rear end of the slide 72, the front crank arm hinge seat 73 is fixed at the front end of the left cavity wall of the workpiece jaw support cavity 61 by the 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 jaw support cavity 61 by the rear crank arm hinge seat fixing screw 751, a front crank arm pin sliding groove 744 is formed at one end and the other end of the front crank arm 74, and one end of the front crank arm 74 is hinged with the upper portion of the front workpiece jaw 8 by the front crank arm first pin 741 at a position corresponding to the front crank arm pin sliding groove 744 at one end, the middle portion of the front crank arm 74 is hinged with the front crank arm hinge seat 73 by the front crank arm second pin ii 742, and the other end of the front crank arm 74 is hinged with the front crank arm front hinge pin 721 at a position corresponding to the front crank arm pin sliding groove 744 at the other end by the front crank arm third pin iii 743, a rear crank pin sliding slot 764 is formed at one end and the other end of the rear crank arm 76, and one end of the rear crank arm 76 is hinged to the upper portion of the workpiece rear jaw 9 through a rear crank arm first pin i 761 at a position corresponding to the rear crank arm pin sliding slot 764, and the middle portion of the rear crank arm 76 is hinged to the rear crank arm hinge seat 75 through a rear crank arm second pin ii 762, while the other end of the rear crank arm 76 is hinged to the slide seat rear hinge lug 722 through a rear crank arm third pin iii 763 at a position corresponding to the rear crank arm pin sliding slot 764, and a pair of workpiece jaw upper slide bars 77 are fixed between front and rear cavity walls of the workpiece jaw support cavity 61 at positions corresponding to the jaw upper slide bar fixing holes 64 formed in the front and rear wall bodies of the workpiece jaw support 6, and a pair of workpiece jaw lower slide bars 78 are also fixed between the front and rear cavity walls of the workpiece jaw support cavity 61 at positions corresponding to the lower slide bar fixing holes 65 formed in the front and rear wall bodies of the workpiece jaw support 6.
As shown in fig. 1 and 3, the right end of the slide guide 71 extends between a pair of workpiece jaw upper guide bars 77 and a pair of workpiece jaw lower guide bars 78; the upper parts of the front workpiece clamping jaw 8 and the rear workpiece clamping jaw 9 are respectively in sliding fit with a pair of upper workpiece clamping jaw guide slide bars 77 and a pair of lower workpiece clamping jaw guide slide bars 78; the workpiece holding mechanism 20 corresponds to the underside of the pair of workpiece jaw downset slide bars 78.
When the workpiece clamping jaw opening and closing cylinder column 511 retracts into the cylinder body of the workpiece clamping jaw opening and closing cylinder 51, that is, moves leftwards, the sliding seat 72 is driven to move leftwards along the pair of sliding seat guide rods 71, the front crank arm 74 rotates anticlockwise by an angle, and the rear crank arm 76 rotates clockwise by an angle, so that the workpiece front clamping jaw 8 and the workpiece rear clamping jaw 9 are driven to move towards each other along the pair of workpiece clamping jaw upper guide slide rods 77 and the pair of workpiece clamping jaw lower guide slide rods 78 respectively through the front crank arm first pin roll I741 and the rear crank arm first pin roll I761, and are mutually repelled otherwise.
As shown in fig. 1 and 3, a front workpiece jaw groove 81 is formed in the upper portion of the front workpiece jaw 8, a rear workpiece jaw groove 91 is formed in the upper portion of the rear workpiece jaw 9, the front workpiece jaw groove 81 and the rear workpiece jaw groove 91 correspond to each other, one end of the front crank arm 74 extends into the front workpiece jaw groove 81 and is hinged to the upper portion of the front workpiece jaw 8 at the position of the front workpiece jaw groove 81 by the front crank arm first pin i 741, and one end of the rear crank arm 76 extends into the rear workpiece jaw groove 91 and is hinged to the upper portion of the rear workpiece jaw 9 at the position of the rear workpiece jaw groove 91 by the rear crank arm first pin i 761.
A workpiece front jaw slide sleeve 82 is provided on the upper part of the workpiece front jaw 8 at positions corresponding to the pair of workpiece jaw upper slide bars 77 and the pair of workpiece jaw lower slide bars 78, and a workpiece rear jaw slide sleeve 92 is provided on the upper part of the workpiece rear jaw 9 at positions corresponding to the pair of workpiece jaw upper slide bars 77 and the pair of workpiece jaw lower slide bars 78, respectively, and the workpiece front jaw slide sleeve 82 and the workpiece rear jaw slide sleeve 92 are in sliding engagement with the pair of workpiece jaw upper slide bars 77 and the pair of workpiece jaw lower slide bars 78.
As a preferred embodiment, since the left ends of the pair of support rods 41 extend to the left side of the support rod holder 4, a support rod end support seat 412 having a counterweight effect is provided on the left side of the support rod holder 4, a pair of support rod end insertion holes 4121 are provided in the support rod end support seat 412 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 insertion holes 4121 and are preferably locked by means of support rod end locking screws 4122 screwed to the support rod end support seat 412 and communicating with the support rod end insertion holes 4121. In addition, a work jaw opening and closing cylinder insertion support hole 4123 is formed in the middle of the support rod end support seat 412, that is, at a position corresponding to between the pair of support rod end insertion holes 4121, and the left end of the work jaw operation cylinder 51 is inserted into and supported by the work jaw opening and 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, wherein the workpiece pressing floating plate holder 201 is disposed in the workpiece jaw holder cavity 61 at a position corresponding to the lower portion of the pair of workpiece jaw lower guide slide bars 78, the left end of the workpiece pressing floating plate holder 201 is fixed to the left cavity wall of the workpiece 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 at a position corresponding to the set of floating plate guide rods 203, a set of floating plate guide rod sliding guide 2011 is disposed in each of the set of floating plate guide rod sliding holes, the set of floating plate guide rods 203 is slidably matched with the floating plate guide rod sliding guide sleeve 2011 up and down, the workpiece pressing floating plate 202 is fixed to the left cavity wall of the workpiece jaw holder cavity 61 at a position corresponding to the lower portion of the workpiece pressing floating plate holder 201, the set of floating plate 202 is supported by the floating plate pressing spring, and the pressing jaw 203 is supported by the set of floating plate guide rods 203 is disposed at one side of the upper portion of the pressing jaw lower plate holder 201 facing to the front side of the pressing jaw 201, and the pressing jaw 1 is supported by the pressing plate pressing jaw opposite to the upper side of the upper plate holding plate 202.
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 forcing and holding mechanism 20 which are arranged by taking the workpiece clamping jaw support 6 as a carrier are corresponding to the upper part of a workpiece and enable the workpiece clamping jaw support 6 to descend to the extent that the workpiece forcing and holding floating plate 202 contacts the workpiece under the operation of the supporting rod seat up-down lifting action cylinder 31, the workpiece forcing and holding floating plate 202 can play a role in forcing the workpiece and avoiding the displacement of the workpiece under the action of the spring force of the floating plate pressing spring 2031, so that the workpiece is clamped by the cooperation of the workpiece front clamping jaw 8 and the workpiece rear clamping jaw 9.
Referring to fig. 4, the above-mentioned electric control box 30 is shown in fig. 4, and further, the first work conveying line i 101, the second work conveying line ii 102, the third work conveying line iii 103, the ultrasonic pre-welding device 104, the ultrasonic final welding device 105, the pre-welding station work feeding robot 106, the final welding station work conveying robot 107, and the target work pickup conveying robot 108 are provided on the aforementioned work table 10, the position of the first work conveying line i 101 on the work table 10 corresponds to the left ends of the second work conveying line ii 102 and the third work conveying line iii 103, that is, the second work conveying line ii 102 and the third work conveying line iii 103 are in a vertical relationship with the first work conveying line i 101, and the second work conveying line ii 102 and the third work conveying line iii 103 are kept in front-rear parallel in the longitudinal direction with each other, the ultrasonic pre-welding device 104 and the ultrasonic final welding device 105 correspond to each other and are located in the front middle area of the second work conveying line ii 102, and the target work pickup conveying robot 108 is automatically provided between the second work conveying line ii 102 and the third work conveying line iii, the workpiece 108 is automatically transferred from left-to right to the front of the first work conveying line ii 102 and the third work conveying line iii, the target work conveying robot 108 is provided. 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 takes ultrasonic welding of new energy lithium battery cell 40 as an example, the lithium battery cell 40 to be subjected to ultrasonic welding is conveyed to a position corresponding to the left side of the invention by the first workpiece conveying line I101, and the lithium battery cell 40 is picked up from the first workpiece conveying line I101 and transferred to the second workpiece conveying line II 102 by the aforesaid workpiece transferring manipulator of the invention.
The working principles of the invention, that is, the revolving frame driving mechanism 1 drives the revolving frame 2 to rotate, the supporting rod seat up-down lifting mechanism 3 lifts the supporting rod seat 4, the workpiece clamping jaw opening and closing actuating mechanism 7 is actuated by the workpiece clamping jaw opening and closing actuating mechanism 5, and the workpiece clamping jaw opening and closing actuating mechanism 7 drives the workpiece front clamping jaw 8 and the workpiece rear clamping jaw 9 to open and close, are described in detail, so that the applicant does not repeat the description in detail.
When the revolving frame 2 rotates 90 ° toward the first workpiece conveying line i 101 under the operation of the revolving frame driving mechanism 1, the lithium battery part 40 still located on the first workpiece conveying line i 101 is forced to be under the floating plate 202 corresponding to the workpiece, at this time, the supporting rod seat up-down lifting cylinder 31 of the supporting rod seat up-down lifting mechanism 3 operates, the supporting rod seat up-down lifting cylinder column 311 descends, the descending degree is acquired by the aforementioned position signal acquisition unit 223 and the signal is fed back to the electric control box 30, the electric control box 30 sends an instruction to stop the operation of the supporting rod seat up-down lifting cylinder 31, at this time, the workpiece clamping jaw opening and closing driving mechanism 5 operates, the workpiece clamping jaw opening and closing actuating mechanism 7 operates, the front and rear clamping jaws 8 and 9 of the workpiece are displaced toward each other according to the applicant's description, and the lithium battery part 40 is clamped. Then the up-and-down lifting cylinder 31 of the support rod seat works reversely to enable the support rod seat 4 to move upwards, meanwhile, the rotary frame driving mechanism 1 drives the rotary frame 2 to move reversely by 90 degrees, so that the lithium battery part 40 clamped by the front clamping jaw 8 and the rear clamping jaw 9 of the workpiece corresponds to the second conveying line II 102 of the workpiece, then the up-and-down lifting cylinder 31 of the support rod seat works reversely, namely the up-and-down lifting cylinder column 311 of the support rod seat works reversely to drive the support rod seat 4 to move downwards, the lithium battery part 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 conveying line II 102 of the workpiece, and then the workpiece clamping jaw opening and closing driving mechanism 5 works reversely to enable the workpiece clamping jaw opening and closing cylinder 511 to move rightwards, the front clamping jaw 8 and the rear clamping jaw 9 of the workpiece repel each other, and the lithium battery part 40 is released on the second conveying line II 102 of the workpiece. The foregoing operations are repeated to extract and release the lithium battery parts 40 to be ultrasonically welded on the workpiece first transfer line i 101 one by one on the workpiece second transfer line ii 102 by the present invention. The aforementioned lithium battery parts 40 transferred onto the workpiece second conveyor line ii 102 are extracted by the pre-welding station workpiece supply robot 106 and placed on, i.e., supplied to, the aforementioned ultrasonic pre-welding device 104, then the post-welding station workpiece handling robot 107 transfers the pre-welded lithium battery parts 40 from the ultrasonic pre-welding device 104 to the ultrasonic final-welding device 105 and removes the post-welded lithium battery parts 40 from the ultrasonic final-welding device 105 to be placed on the workpiece second conveyor line ii 102, and then the target workpiece pick-up handling robot 108 transfers the post-welded lithium battery parts 40 transferred from the workpiece second conveyor line ii 102 to the workpiece third conveyor line iii 103 to be output. Thereby realizing ideal relay type processing effect.
In summary, the technical scheme provided by the invention overcomes the defects in the prior art, successfully completes the task of the invention, and faithfully honors the technical effects carried by the applicant in the technical effect column above.

Claims (10)

1. The automatic workpiece transfer manipulator comprises a rotary frame (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 actuating mechanism (7), a workpiece front clamping jaw (8) and a workpiece rear clamping jaw (9), wherein the rotary frame (2) comprises a rotary frame body (21), a rotary frame body cavity top cover (22), a rotary frame body base (23) and a supporting rod seat lifting guide rail seat (24), the rotary frame body base (23) is fixedly connected with the rotary frame driving mechanism (1) in a use state, a rotary frame body base yielding cavity (231) is formed in the central position of the rotary frame body base (23), the rotary frame body (21) is fixed with one side of the rotary frame body base (23), the rotary frame body (21) is provided with a lifting cylinder protecting cavity (211) corresponding to the rotary frame body base yielding cavity (231) and communicated with the lifting cylinder protecting cavity (22), the rotary frame body lifting top cover (22) is provided with a lifting cylinder protecting cavity (221) corresponding to the rotary frame body base yielding cavity (21) and is provided with a lifting cylinder protecting cavity (221) at the middle part of the rotary frame body protecting cavity (21), the support rod seat lifting guide rail seat (24) is fixed on the front side wall body of the revolving frame body (21), the support rod seat lifting mechanism (3) is arranged in the lifting cylinder shielding cavity (211) and supported on the revolving frame driving mechanism (1), and the upper part of the support rod seat lifting guide rail seat extends to the upper part of the revolving frame body cavity top cover (22) through the lifting cylinder column abdicating hole (221); the support rod seat structure comprises a support rod seat (4), 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 revolving frame (2), the workpiece clamping jaw opening and 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 and 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 and closing driving mechanism (5), the workpiece front clamping jaw (8) and the workpiece clamping jaw (9) are hinged with the workpiece clamping jaw actuating mechanism (7) in a state of being mutually opposite to each other or mutually repulsive, the support rod seat (4) is fixedly provided with a pair of support rods (41), the support rods (41) are mutually parallel and extend to the left ends of the support rods (4) and extend to the left ends of the support rods (4) in the left ends of the support rods and the support rods are horizontally extended towards the fixed support rod seat (411) in a cantilever position, the workpiece clamping jaw support (6) is fixed with one side of the workpiece clamping jaw support fixing seat (411) opposite to the pair of support rods (41); a group of support rod seat lifting guide rods (222) are fixed on the cavity top cover (22) of the revolving frame body in a groined distribution state, 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 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 on the front side of the supporting rod seat lifting guide rail seat (24) and 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 a 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, characterized in that a jaw acting cylinder relief hole (42) is formed in the support rod seat (4) at a position corresponding to the workpiece jaw opening and closing driving mechanism (5), a pair of support rod passing holes (43) are formed at a position corresponding to the pair of support rods (41), and 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 passing holes (43); a left cavity wall of a workpiece clamping jaw support cavity (61) of the workpiece clamping jaw support (6) is provided with a workpiece clamping jaw support abdication hole (611), 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 abdication hole (611) to be connected with the workpiece clamping jaw opening and closing actuating mechanism (7); a position signal collector (223) is arranged on one side of the cavity top cover (22) of the revolving frame body, which faces upwards.
3. The structure of a support bar base of an automated workpiece transfer robot according to claim 2, wherein the workpiece jaw opening and closing driving mechanism (5) comprises a workpiece jaw opening and closing cylinder (51), a workpiece jaw opening and closing cylinder column guide (52) and a pair of connector connecting pipes (53), the workpiece jaw opening and closing cylinder (51) is fixed on the support bar base (4) in a horizontal state at a position corresponding to the jaw opening and closing cylinder hole (42), and a left end of the workpiece jaw opening and closing cylinder (51) extends from the jaw opening and closing cylinder hole (42) to a left side of the support bar base (4), a right end of the workpiece jaw opening and closing cylinder (51) extends from the jaw opening and closing cylinder hole (42) to a right side of the support bar base (4), the workpiece jaw opening and closing cylinder column guide (52) is fixed between a right end face of the workpiece jaw opening and closing cylinder (51) and a left side of the workpiece support bar fixing base (411), wherein the workpiece jaw opening and closing cylinder column (511) of the workpiece jaw opening and closing cylinder (51) is positioned in the left side of the support bar base (521) via the jaw opening and closing cylinder column guide (521) extending from the right end of the workpiece jaw opening and closing cylinder column guide (521) of the workpiece jaw opening and closing cylinder (521) extending from the right end of the support bar (521), the upper ends of the pair of connector connecting pipes (53) are connected with the workpiece clamping jaw opening and closing action cylinders (51) in a matching way, the lower ends of the pair of connector connecting pipes are connected with the pair of workpiece clamping jaw opening and closing driving action cylinder pipeline connectors (184), and the pair of workpiece clamping jaw opening and closing driving action cylinder pipeline connectors (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 be displaced towards each other or to be mutually repelled is connected with the tail end of the workpiece clamping jaw opening and closing action cylinder column (511); the position signal collector (223) corresponds to the lower left end of the cylinder column guide pipe (52) for opening and closing the workpiece clamping jaw.
4. The structure of a support bar base for an automated workpiece transfer robot according to claim 1, wherein the support bar base up-down lifting mechanism (3) comprises a support bar base up-down lifting cylinder (31) and a support bar base up-down lifting cylinder column connecting base (32), the support bar base up-down lifting cylinder (31) is disposed in the lifting cylinder shielding cavity (211) in a longitudinal state and supported on the revolving frame driving mechanism (1), the support bar base up-down lifting cylinder (311) of the support bar base up-down lifting cylinder (31) faces upward and is fixed with the support bar base up-down lifting cylinder column connecting base (32), and the support bar base up-down lifting cylinder column connecting base (32) is fixed at a central position of the bottom of the support bar base (4).
5. The structure of the support bar of the automatic workpiece transfer robot as claimed in claim 3, wherein the workpiece jaw opening and closing actuator (7) comprises a slide guide bar (71), a slide guide bar (72), a front crank arm hinge seat (73), a front crank arm (74), a rear crank arm hinge seat (75), a rear crank arm (76), a pair of workpiece jaw upper guide bars (77) and a pair of workpiece jaw lower guide bars (78), the slide guide bar (71) has a pair of front and rear parallel and the left end of the slide guide bar (71) is fixed with the left cavity wall of the workpiece jaw support cavity (61), the right end of the slide guide bar (71) is formed as a horizontal cantilever end, the slide guide bar (72) is sleeved on the slide guide bar (71) in a left and right sliding manner, the middle part of the slide guide bar (72) is fixedly connected with the tail end of the workpiece opening and closing action cylinder column (511), a slide guide lug (721) extends at the front end of the slide guide bar, a slide guide bar extends at the rear end of the slide guide bar (72), a slide lug (73) is hinged with the front end of the front crank arm hinge pin (75) at the front end of the left end of the workpiece jaw support cavity (75), the left end of the slide support bracket (722) is fixed at the front end of the left end of the workpiece jaw support cavity (75) and the left end of the workpiece hinge arm hinge bracket (722) is fixed at the front end of the left end, and 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), the middle part of the front crank arm (74) is hinged with the front crank arm hinging seat (73), the other end of the front crank arm (74) is also hinged with the sliding seat front hinging lug (721) at the 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 the 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 hinging seat (75), the other end of the rear crank arm (76) is also hinged with the sliding seat rear hinging lug (722) at the position corresponding to the rear crank arm pin shaft sliding groove (764), a pair of workpiece upper guide rods (77) are fixed between the front wall of the workpiece support cavity (61) and a pair of workpiece guide rods (78) are fixed between the pair of workpiece clamping jaw sliding bars (77) and the lower clamping jaw (71) of the workpiece support slide bars (77) are extended between the pair of workpiece clamping jaw upper clamping jaw lower clamping jaw (77) and the upper clamping jaw sliding bars (77) and the upper clamping jaw (77) are fixed between the workpiece clamping jaw lower clamping jaw (77) and the sliding bars; 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); a workpiece holding mechanism (20) corresponds to the pair of workpiece jaw downsides (78).
6. The support bar base structure of an automated workpiece transfer robot according to claim 5, wherein a workpiece front jaw groove (81) is formed in an upper portion of the workpiece front jaw (8), a workpiece rear jaw groove (91) is formed in an upper portion of the workpiece rear jaw (9), the workpiece front jaw groove (81) and the workpiece rear jaw groove (91) correspond to each other, one end of the front crank arm (74) extends into the workpiece front jaw groove (81) and is hinged to an upper portion of the workpiece front jaw (8) at a position of the workpiece front jaw groove (81), and one end of the rear crank arm (76) extends into the workpiece rear jaw groove (91) and is hinged to an upper portion of the workpiece rear jaw (9) at a position of the workpiece rear jaw groove (91).
7. The support bar base structure of an automated workpiece transfer robot as recited in claim 5, wherein a workpiece front jaw slide sleeve (82) is provided at an upper portion of the workpiece front jaw (8) and at positions corresponding to the pair of workpiece jaw up-slide bars (77) and the pair of workpiece jaw down-slide bars (78), and a workpiece rear jaw slide sleeve (92) is provided at an upper portion of the workpiece rear jaw (9) and at positions corresponding to the pair of workpiece jaw up-slide bars (77) and the pair of workpiece jaw down-slide bars (78), respectively, the workpiece front jaw slide sleeve (82) and the workpiece rear jaw slide sleeve (92) being in sliding engagement with the pair of workpiece jaw up-slide bars (77) and the pair of workpiece jaw down-slide bars (78).
8. A support rod seat structure of an automated workpiece transfer robot according to claim 3, wherein a support rod end support seat (412) is provided on the left side corresponding to the support rod seat (4), a pair of support rod end insertion holes (4121) are provided in the support rod end support seat (412) at positions corresponding to the left ends of the pair of support rods (41), the left end of the pair of support rods (41) is inserted into the pair of support rod end insertion holes (4121) and locked by support rod end locking screws (4122) screwed to the support rod end support seat (412) communicating with the support rod end insertion holes (4121), a workpiece jaw opening and closing cylinder insertion support hole (4123) is provided in the middle of the support rod end support seat (412) at positions corresponding to between the pair of support rod end insertion holes (4121), and the left end of the workpiece jaw opening and closing cylinder (51) is inserted into and supported in the workpiece jaw opening and closing cylinder insertion support hole (4123).
9. The support rod seat structure of the automatic workpiece transfer manipulator according to claim 3 or 5, wherein the workpiece clamping jaw opening and closing cylinder (51) is an air cylinder.
10. The structure of a support rod seat of an automated workpiece handling robot according to claim 4, wherein the support rod seat up-and-down lift cylinder (31) is a cylinder and is connected to a pair of support rod seat lift cylinder pipe connecting posts (183) by a pair of lift cylinder breather pipes (312), and the pair of support rod seat lift cylinder pipe connecting posts (183) are connected to an external gas generating device through a connection seat pipe.
CN201911300278.XA 2019-12-17 2019-12-17 Supporting rod seat structure of automatic workpiece transferring manipulator Active CN110842345B (en)

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CN110788476B (en) * 2019-12-17 2024-04-26 常熟大众机器人研究院有限公司 Workpiece clamping jaw opening and closing execution device of automatic workpiece transferring manipulator
CN110842344B (en) * 2019-12-17 2024-04-26 常熟大众机器人研究院有限公司 Workpiece transferring manipulator for automatic ultrasonic welding

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