Workpiece clamping jaw opening and closing execution device of automatic workpiece transferring manipulator
阅读说明:本技术 自动化工件转运机械手的工件夹爪开合执行装置 (Workpiece clamping jaw opening and closing execution device of automatic workpiece transferring manipulator ) 是由 王国成 于 2019-12-17 设计创作,主要内容包括:一种自动化工件转运机械手的工件夹爪开合执行装置,属于自动化机械技术领域。自动化工件转运机械手包括工件夹爪支架、工件夹爪开合驱动机构、工件前夹爪和工件后夹爪,工件夹爪开合执行装置包括工件夹爪开合执行装置总成,工件夹爪开合执行装置总成包括滑动座导杆、滑动座、前曲臂铰接座、前曲臂、后曲臂铰接座、后曲臂、一对工件夹爪上导滑杆和一对工件夹爪下导滑杆;所述工件前夹爪以及工件后夹爪的上部各与一对工件夹爪上导滑杆与以及一对工件夹爪下导滑杆滑动配合。结构简练,避免对工件或其它装置产生干涉影响;体现滑移动作的灵活性和稳定性;夹放效果优异。(The utility model provides an automatic workpiece clamping jaw of mechanical hand is transported to chemical industry piece opens and shuts actuating device, belongs to automatic mechanical technical field. The automatic workpiece transferring manipulator comprises a workpiece clamping jaw support, a workpiece clamping jaw opening and closing driving mechanism, a workpiece front clamping jaw and a workpiece rear clamping jaw, wherein the workpiece clamping jaw opening and closing executing device comprises a workpiece clamping jaw opening and closing executing device assembly, and the workpiece clamping jaw opening and closing executing device assembly comprises a sliding seat guide rod, a sliding seat, a front crank arm hinging seat, a front crank arm, a rear crank arm hinging seat, a rear crank arm, a pair of workpiece clamping jaw upper guide slide rods and a pair of workpiece clamping jaw lower guide slide 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 structure is simple, and interference influence on workpieces or other devices is avoided; the flexibility and the stability of the sliding action are embodied; the clamping and releasing effect is excellent.)
1. A workpiece clamping jaw opening and closing execution device of an automatic workpiece transfer manipulator, the automatic workpiece transfer manipulator comprises a workpiece clamping jaw support (6), a workpiece clamping jaw opening and closing driving mechanism (5) which is fixed with the workpiece clamping jaw support (6) and extends into a workpiece clamping jaw support cavity (61) of the workpiece clamping jaw support (6), a workpiece front clamping jaw (8) and a workpiece rear clamping jaw (9), and is characterized in that the workpiece clamping jaw opening and closing execution device comprises a workpiece clamping jaw opening and closing execution device assembly (7), the workpiece clamping jaw opening and closing execution device assembly (7) comprises a sliding seat guide rod (71), a sliding seat (72), a front crank arm hinging seat (73), a front crank arm (74), a rear crank arm hinging seat (75), a rear crank arm (76), a pair of workpiece clamping jaw upper guide slide rod (77) and a pair of workpiece clamping jaw lower guide slide rod (78), a pair of sliding seat guide rods (71) are arranged in parallel front and back, the left end of each sliding seat guide rod (71) is fixed with the left cavity wall of the workpiece clamping jaw support cavity (61), the right end of each sliding seat guide rod (71) is a horizontal cantilever end, a sliding seat (72) is sleeved on each sliding seat guide rod (71) in a left-right sliding mode, the middle of each sliding seat (72) is fixedly connected with the workpiece clamping jaw opening and closing driving mechanism (5), a sliding seat front hinging lug (721) extends from the front end of each sliding seat (72), a sliding seat rear hinging lug (722) extends from the rear end of each sliding seat (72), a front crank arm hinging 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 hinging 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 sliding groove (744) is respectively formed in one end and the other end of a front crank arm (74), one end of a front crank arm (74) is hinged with the upper part of the workpiece front clamping jaw (8) at a position corresponding to a front crank arm pin shaft sliding groove (744), the middle part of the front crank arm (74) is hinged with a front crank arm hinged seat (73), the other end of the front crank arm (74) is hinged with a sliding seat front hinged lug (721) at a position corresponding to the front crank arm pin shaft sliding groove (744), a rear crank arm pin shaft sliding groove (764) is respectively formed at one end and the other end of a rear crank arm (76), 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 a rear crank arm pin shaft sliding groove (764), the middle part of the rear crank arm (76) is hinged with a rear crank arm hinged seat (75), the other end of the rear crank arm (76) is hinged with a sliding seat rear lug (722) at a position corresponding to the rear crank arm pin shaft sliding groove (764), and a pair of workpiece upper clamping jaw guide clamping jaw (77) is fixed between a front and rear clamping jaw support cavity (61) of the workpiece The 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 parts of the pair of workpiece clamping jaw upper guide sliding rods (77), and the right end of the sliding seat guide rod (71) extends between the pair of workpiece clamping jaw upper guide sliding rods (77) and the 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).
2. The workpiece clamping jaw opening and closing actuator of an automatic workpiece transfer manipulator according to claim 1, wherein the workpiece clamping jaw opening and closing driving mechanism (5) comprises a workpiece clamping jaw opening and closing cylinder (51), a workpiece clamping jaw opening and closing cylinder column guide (52) and a pair of connector fitting pipes (53), the workpiece clamping jaw opening and closing cylinder (51) is fixed on the support rod base (4) in a horizontal state, the left end of the workpiece clamping jaw opening and closing cylinder (51) extends to the left side of the support rod base (4), the right end of the workpiece clamping jaw opening and closing cylinder (51) extends to the right side of the support rod base (4), the workpiece clamping jaw opening and closing cylinder column guide (52) is fixed between the end face of the right end of the workpiece clamping jaw opening and closing cylinder (51) and the left side of the workpiece clamping jaw support fixing base (411) at the right end of the pair of support rods (41) of the support rod base (4), the workpiece clamping jaw support fixing seat (411) is fixed with the left side of the workpiece clamping jaw support (6), wherein a workpiece clamping jaw opening and closing cylinder column (511) of a 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 extends into a workpiece clamping jaw support cavity (61) through a workpiece clamping jaw support abdicating hole (611) formed in the left cavity wall of the workpiece clamping jaw support cavity (61), a pair of connecting head adapting pipes (53) are adapted to the workpiece clamping jaw opening and closing cylinder (51), the middle part of a sliding seat (72) is connected with the tail end of the workpiece clamping jaw opening and closing cylinder column (511), a workpiece forcing mechanism (20) is fixed in the workpiece clamping jaw support cavity (61) and positioned on the left cavity wall of the workpiece clamping jaw support cavity (61), the workpiece pressing mechanism (20) is arranged below the pair of workpiece clamping jaw lower guide sliding rods (78).
3. The workpiece jaw opening and closing actuator of an automated workpiece transfer robot according to claim 1, wherein a workpiece front jaw slot (81) is formed in an upper portion of the workpiece front jaw (8), 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).
4. The opening and closing actuator for workpiece jaws of an automated workpiece transfer robot according to claim 1, wherein workpiece front jaw sliding sleeves (82) are provided at upper portions of the workpiece front jaws (8) and at positions corresponding to the pair of workpiece jaw upper guide sliding rods (77) and the pair of workpiece jaw lower guide sliding rods (78), respectively, and workpiece rear jaw sliding sleeves (92) are provided at upper portions of the workpiece rear jaws (9) and also at positions corresponding to the pair of workpiece jaw upper guide sliding rods (77) and the pair of workpiece jaw lower guide sliding rods (78), respectively, the workpiece front jaw sliding sleeves (82) and the workpiece rear jaw sliding sleeves (92) being slidably engaged with the pair of workpiece jaw upper guide sliding rods (77) and the pair of workpiece jaw lower guide sliding rods (78).
5. The workpiece clamping jaw opening and closing actuator of an automated workpiece transfer robot according to claim 2, wherein the workpiece pressing mechanism (20) comprises a workpiece pressing floating plate support (201), a workpiece pressing floating plate (202) and a set of floating plate guide rods (203), the workpiece pressing floating plate support (201) is disposed in the workpiece clamping jaw support cavity (61) at a position corresponding to the lower part of the pair of workpiece clamping jaw lower guide slide rods (78), the left end of the workpiece pressing floating plate support (201) is fixed with the left cavity wall of the workpiece clamping jaw support cavity (61), the right end is configured as a horizontal cantilever end, a number of floating plate guide rod slide holes equal to the number of the set of floating plate guide rods (203) are disposed on the workpiece pressing floating plate support (201) at a position corresponding to the set of floating plate guide rods (203), a floating plate guide rod slide guide sleeve (2011) is disposed in each of the set of floating plate guide rod slide holes, the group of floating plate guide rods (203) are matched with a floating plate guide rod sliding guide sleeve (2011) in a vertically sliding mode, a workpiece pressing floating plate (202) is fixed to the lower end of the group of floating plate guide rods (203) at a position corresponding to the lower portion of the workpiece pressing floating plate support (201), floating plate pressing springs (2031) are respectively sleeved on the group of floating plate guide rods (203), the upper ends of the floating plate pressing springs (2031) are supported on the downward side of the workpiece pressing floating plate support (201), the lower ends of the floating plate pressing springs are 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 workpiece front clamping jaw (8) and the lower portion of the workpiece rear clamping jaw (9).
6. The workpiece jaw opening and closing actuator of an automated workpiece transfer robot according to claim 2, wherein a pair of support rod passing holes (43) are formed in the support rod base (4) at positions corresponding to the pair of support rods (41), and a jaw-acting cylinder abdicating hole (42) is formed at a position corresponding to a position between the pair of support rod passing holes (43), the pair of support rods (41) are parallel to each other in the front-rear direction and left ends of the pair of support rods (41) extend to the left of the pair of support rod passing holes (43); the middle part of the workpiece clamping jaw opening and closing acting cylinder (51) is supported on the support rod seat (4) at a position corresponding to the jaw acting cylinder yielding hole (42), the left end of the workpiece clamping jaw opening and closing acting cylinder (51) extends out of the jaw acting cylinder yielding hole (42) and extends to the left side of the support rod seat (4), and the right end of the workpiece clamping jaw opening and closing acting cylinder (51) extends out of the jaw acting cylinder yielding hole (42) and extends to the right side of the support rod seat (4).
7. The workpiece jaw opening and closing actuator of an automated workpiece transfer robot as claimed in claim 4, wherein a supporting rod end supporting base (412) is provided on the left side corresponding to the supporting rod base (4), a pair of supporting rod end inserting holes (4121) are formed on the supporting rod end supporting base (412) and at positions corresponding to the left ends of the pair of supporting rods (41), the left ends of the pair of supporting rods (41) are inserted into the pair of supporting rod end inserting holes (4121) and locked by supporting rod end locking screws (4122) screwed on the supporting rod end supporting base (412) and communicating with the supporting rod end inserting holes (4121), a workpiece jaw opening and closing cylinder penetrating supporting hole (4123) is formed in the middle of the supporting rod end supporting base (412) at a position corresponding to between the pair of supporting rod end inserting holes (4121), the left end of the workpiece clamping jaw opening and closing acting cylinder (51) extends into the workpiece clamping jaw opening and closing acting cylinder and extends into the supporting hole (4123).
8. The workpiece clamping jaw opening and closing actuator of the automated workpiece transfer robot according to claim 2, 6 or 7, wherein the workpiece clamping jaw opening and closing cylinder (51) is an air cylinder.
9. The workpiece jaw opening and closing actuator of an automated workpiece transfer robot according to claim 1, characterized in that a workpiece jaw support cavity upper cover plate (612) is fixed to the upper portion of the workpiece jaw support (6) by a workpiece jaw support cavity upper cover plate screw (6121) at a position corresponding to a cover plate screw hole (63) spaced apart from the upper surface of the workpiece jaw support (6).
10. The workpiece jaw opening and closing actuator of an automated workpiece transfer robot according to claim 1, 3, 4 or 5, characterized in that a workpiece front jaw edge is formed at the bottom of the side of the workpiece front jaw (8) facing the workpiece rear jaw (9), and a workpiece rear jaw edge is formed at the bottom of the side of the workpiece rear jaw (9) facing the workpiece front jaw (8), the workpiece front jaw edge and the workpiece rear jaw edge corresponding to each other.
Technical Field
The invention belongs to the technical field of automatic machinery, and particularly relates to a workpiece clamping jaw opening and closing execution device of an automatic workpiece transferring manipulator.
Background
The above mentioned automatic mechanical arm for transferring chemical parts 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 and toys and the like, the automobile part production industry, the medical supplies production industry and the like, and the principle 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, and computer simulation tests conducted by the applicant show that: the arrangement mode can make the configuration of the mechanisms in the structural system of the complete set of automatic ultrasonic welding system reasonable and compact, save the occupied space and the like to the utmost extent. However, according to the foregoing, since the first workpiece conveying line, the second workpiece conveying line and the third workpiece conveying line are vertically arranged, when a workpiece to be ultrasonically welded, such as a lithium battery component, is transferred from the first workpiece conveying line to the second workpiece conveying line, the automatic workpiece transfer robot needs to pick up the workpiece from the first workpiece conveying line, and after the workpiece is rotated by a certain angle, such as 90 °, the workpiece is released to the second workpiece conveying line corresponding to the position of the second workpiece conveying line, and the picking up the workpiece from the first workpiece conveying line and releasing the picked workpiece to the second workpiece conveying line are ensured by the opening and closing actuator of the workpiece clamping jaw having a reasonable structure. The reasonable structure at least needs to meet the following requirements: the device has the advantages of simple integral structure, no interference influence on a workpiece or other devices, flexibility and stability of action, reliability of ensuring that a pair of clamping jaws such as a front clamping jaw and a rear clamping jaw of the workpiece are synchronously opened and closed, and the like. Since there is no technical teaching in the published foreign and non-patent documents that fully satisfies the aforementioned combination of factors, the applicant has made an advantageous search and the technical solutions described below have been made in this context.
Disclosure of Invention
The invention aims to provide a workpiece clamping jaw opening and closing execution device of an automatic workpiece transfer manipulator, which is beneficial to embodying the simplicity of structure and the miniaturization of volume so as to avoid interference influence on a workpiece or devices on other stations, embodying the flexibility and the stability of action so as to ensure the transfer of the workpiece between two adjacent stations, and ensuring that a workpiece front clamping jaw and a workpiece rear clamping jaw are reliably synchronously and oppositely displaced or synchronously repelled so as to embody the excellent clamping and placing effect on the workpiece.
The invention aims to accomplish the task, and the workpiece clamping jaw opening and closing execution device of the automatic chemical part transferring mechanical arm comprises a workpiece clamping jaw support, a workpiece clamping jaw opening and closing driving mechanism, a workpiece front clamping jaw and a workpiece rear clamping jaw, wherein the workpiece clamping jaw opening and closing driving mechanism is fixed with the workpiece clamping jaw support and extends into a workpiece clamping jaw support cavity of the workpiece clamping jaw support, the workpiece clamping jaw opening and closing execution device comprises a workpiece clamping jaw opening and closing execution device assembly, the workpiece clamping jaw opening and closing execution device assembly comprises a sliding seat guide rod, a sliding seat, a front crank arm hinged seat, a rear crank arm, a pair of workpiece clamping jaw upper guide slide rods and a pair of workpiece clamping jaw lower guide slide rods, the sliding seat guide rod is provided with a pair of parallel front and back parts, and 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 a horizontal cantilever end, the sliding seat is sheathed on the sliding seat guide rod in a left-right sliding manner, the middle part of the sliding seat is fixedly connected with the workpiece clamping jaw opening and closing driving mechanism, the front end of the sliding seat extends to form a sliding seat front hinged lug, the rear end of the sliding seat extends to form a sliding seat rear hinged lug, a front crank arm hinged seat is fixed at the front end of the left cavity wall of a workpiece clamping jaw support cavity, a rear crank arm hinged seat is fixed at the rear end of the left cavity wall of the workpiece clamping jaw support cavity, a front crank arm pin shaft sliding groove is respectively arranged at one end and the other end of a front crank arm, 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 the front crank arm seat, and the other end of the front crank arm is hinged with the sliding seat front lug at a position corresponding to the front crank, a rear crank arm pin shaft sliding groove is respectively formed in one end and the other end of the rear crank arm, one end of the rear crank arm is hinged to the upper portion of the workpiece rear clamping jaw at a position corresponding to the rear crank arm pin shaft sliding groove, the middle portion of the rear crank arm is hinged to a rear crank arm hinge seat, the other end of the rear crank arm is hinged to a rear hinge lug of the sliding seat at a position corresponding to the rear crank arm pin shaft sliding groove, a pair of workpiece clamping jaw upper guide sliding rods are fixed between the front cavity wall and the rear cavity wall of a workpiece clamping jaw support cavity, a 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 a position corresponding to the lower portion of the pair of workpiece clamping jaw upper guide sliding rods, and the right end of the sliding seat guide rod extends to; 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.
In a 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 connecting head fitting tubes, the workpiece clamping jaw opening and closing cylinder is fixed on the support rod base in a horizontal state, the left end of the workpiece clamping jaw opening and closing cylinder extends to the left side of the support rod base, the right end of the workpiece clamping jaw opening and closing cylinder extends to the right side of the support rod base, the workpiece clamping jaw opening and closing cylinder column guide tube is fixed between the end surface of the right end of the workpiece clamping jaw opening and closing cylinder and the left side of the workpiece clamping jaw support fixing seat at the right end of a pair of support rods of the support rod base, the workpiece clamping jaw support fixing seat is fixed to the left side of the workpiece clamping jaw support, wherein the workpiece clamping jaw opening and closing cylinder column guide tube 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 rear path extends to the inside of the workpiece clamping jaw support through a workpiece clamping jaw support abdicating hole formed in the left cavity wall of the workpiece clamping jaw support cavity, a pair of connectors are matched with the cylinders for opening and closing the workpiece clamping jaws, the middle part of the sliding seat is connected with the tail end of the cylinder column for opening and closing the workpiece clamping jaws, a workpiece pressing and holding mechanism is fixed in the workpiece clamping jaw support cavity and positioned on the left cavity wall of the workpiece clamping jaw support cavity, and the workpiece pressing and holding mechanism corresponds to the lower part of the guide slide rod under the pair of workpiece clamping jaws.
In another specific 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 still another embodiment of the present invention, a workpiece front-jaw sliding sleeve is provided at an upper portion of the workpiece front jaw and at a position corresponding to the pair of workpiece-jaw upper guide slide bars and the pair of workpiece-jaw lower guide slide bars, and a workpiece rear-jaw sliding sleeve is provided at an upper portion of the workpiece rear jaw and also at a position corresponding to the pair of workpiece-jaw upper guide slide bars and the pair of workpiece-jaw lower guide slide bars, the workpiece front-jaw sliding sleeve and the workpiece rear-jaw sliding sleeve being slidably engaged with the pair of workpiece-jaw upper guide slide bars and the pair of workpiece-jaw lower guide slide bars.
In yet another embodiment of the present invention, the workpiece pressing mechanism comprises a workpiece pressing floating plate support, a workpiece pressing floating plate and a set of floating plate guide rods, the workpiece pressing floating plate support is arranged in the workpiece clamping jaw support cavity at a position corresponding to the lower part of the lower guide slide rod of the pair of workpiece clamping jaws, the left end of the workpiece pressing floating plate support is fixed with the left cavity wall of the workpiece clamping jaw support cavity, the right end of the workpiece pressing floating plate support is a horizontal cantilever end, floating plate guide rod sliding holes with the number equal to that of the set of floating plate guide rods are arranged on the workpiece pressing floating plate support and at a position corresponding to the set of floating plate guide rods, a floating plate guide rod sliding guide sleeve is respectively arranged in each floating plate guide rod sliding hole, the set of floating plate guide rods are matched with the floating plate guide rod sliding guide sleeve in an up-down sliding manner, the workpiece pressing floating plate is fixed with the lower end of the set of floating plate guide rods at a position corresponding to the lower part of the workpiece pressing floating plate support, the upper end of the floating plate pressing spring is supported on one downward side of the workpiece pressing floating plate bracket, the lower end of the floating plate pressing spring is supported on one upward side of the workpiece pressing floating plate, and the workpiece pressing floating plate corresponds to a position between the lower parts of the front workpiece clamping jaw and the rear workpiece clamping jaw.
In still another specific embodiment of the present invention, a pair of support rod passing holes are formed in the support rod seat at positions corresponding to the pair of support rods, and a jaw action cylinder abdicating hole is formed at a position corresponding to a position between the pair of support rod passing holes, the pair of support rods are parallel to each other in the front-rear direction and the left ends of the pair of support rods extend to the left of the pair of support rod passing holes; the middle part of the workpiece clamping jaw opening and closing acting cylinder is supported on the supporting rod seat at a position corresponding to the jaw acting cylinder yielding hole, the left end of the workpiece clamping jaw opening and closing acting cylinder extends out of the jaw acting cylinder yielding hole and extends to the left side of the supporting rod seat, and the right end of the workpiece clamping jaw opening and closing acting cylinder extends out of the jaw acting cylinder yielding hole and extends to the right side of the supporting rod seat.
In a more 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 insertion supporting hole is provided in the middle of the support rod end supporting base, i.e., 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 insertion supporting hole.
In a further specific embodiment of the present invention, the workpiece clamping jaw opening and closing cylinder is a cylinder.
In yet a more particular embodiment of the invention, a workpiece jaw housing upper cover plate is secured to the upper portion of the workpiece jaw housing by workpiece jaw housing upper cover plate screws at locations corresponding to cover plate screw holes spaced apart in the upper surface of the workpiece jaw housing.
In a further embodiment of the invention, a workpiece front jaw edge is formed at the bottom of the side of the workpiece front jaw facing the workpiece rear jaw, and a workpiece rear jaw edge is formed at the bottom of the side of the workpiece rear jaw facing the workpiece front jaw, the workpiece front jaw edge and the workpiece rear jaw edge corresponding to each other.
The technical scheme provided by the invention has the technical effects that: because the number of parts of the structure system of the workpiece clamping jaw opening and closing execution device assembly is small, the matching relation between the parts is reasonable, and the workpiece clamping jaw opening and closing execution device assembly is orderly arranged in the cavity of the workpiece clamping jaw bracket, the structure conciseness can be embodied, and the interference influence on workpieces or other devices in the actual use can be avoided; under the action of the workpiece clamping jaw opening and closing driving mechanism, the front and rear clamping jaws of the workpiece can slide in the opposite directions or repel each other to slide along the upper and lower sliding rods of the pair of workpiece clamping jaws, so that the movement resistance of the front and rear clamping jaws of the workpiece is small, the flexibility and stability of the sliding action can be embodied, and the workpiece can be guaranteed to be transferred between two adjacent stations; because the displacement synchronism of the front clamping jaw and the rear clamping jaw of the workpiece is good, the excellent clamping and placing effect on the workpiece can be guaranteed.
Drawings
Fig. 1 is a structural view of a workpiece clamping jaw opening and closing actuator of an automated workpiece transfer robot according to the present invention.
Fig. 2 is a schematic view of the arrangement of fig. 1 disposed on an automated workpiece transfer robot.
Fig. 3 is a detailed structural view of the revolving frame driving mechanism shown in fig. 2.
Fig. 4 is a schematic illustration of the application of fig. 2.
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. 2, and thus, it should not be understood as a particular limitation to the technical solution provided by the present invention.
Referring to fig. 1 in conjunction with fig. 2 and 4, fig. 2 shows a workpiece clamping jaw support 6, a workpiece clamping jaw opening and closing drive 5, a workpiece
The workpiece clamping jaw opening and closing driving mechanism 5 is fixed between the support rod seat 4 and the workpiece clamping jaw
Focusing on fig. 1 and fig. 2, a workpiece clamping jaw opening and closing actuator assembly 7 of the structural system of the workpiece clamping jaw opening and closing actuator of the invention is shown, and the workpiece clamping jaw opening and closing actuator assembly 7 is arranged in the workpiece clamping
Referring to fig. 3 in combination with fig. 2, the aforementioned revolving frame driving mechanism 1 includes a revolving
In the present embodiment, the
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
Since the left ends of the pair of
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. 2, the rotating
Continuing to refer to fig. 2 and fig. 3, the aforementioned revolving
The support rod base up-down
A pair of support rod passing holes 43 are formed in the support rod base 4 at positions corresponding to the pair of
Continuing with FIGS. 2 and 3, the above-mentioned support rod base up-down
The supporting rod base lifting cylinder supporting device 161 includes a set of cylinder fixing
When the support rod base up-down movement cylinder 31 (i.e., the air cylinder) operates and the support rod base up-down
As shown in fig. 2, a set of support rod base
Continuing with fig. 2, a support bar housing
When the
Referring to fig. 1 and fig. 2, the workpiece clamping jaw opening/closing actuator assembly 7 includes a sliding
As shown in fig. 1 and 2, the right end of the slide
Continuing to refer to fig. 2, 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
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 clamping jaw opening and closing cylinder 51 is operated, the workpiece clamping jaw opening and closing actuator assembly 7, which will be described in detail later, is driven by the left and right displacement of the workpiece clamping jaw opening and closing
When the workpiece-gripper opening/
As shown in fig. 1 and fig. 2, a workpiece
A workpiece front-jaw sliding sleeve 82 is provided on the top of the
Continuing to refer to fig. 1 and 2, 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 device assembly 7, the workpiece
Preferably, as shown in fig. 1, a workpiece front jaw edge having a blade effect like a shovel is formed at a bottom portion of the
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
The applicant took the example of the ultrasonic welding of the new energy
The invention has described the working principle of the rotary frame driving mechanism 1 driving the
When the
The
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.
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