CN105729213A - Turnover mechanism - Google Patents

Abstract

The invention discloses a turnover mechanism, comprising a first supporting part (f1), a second supporting part (f2), a main rotating part (f3), an auxiliary rotating part (f4), a connecting part (f5), a first clamping part (f6), a second clamping part (f7) and a driving part (f8); the first supporting part (f1) and the second supporting part (f2) bear respectively the main rotating part (f3) and the auxiliary rotating part (f4); the main rotating part (f3) receives rotational force of the driving part (f8) for rotating, and rotational force is transmitted to the connecting part (f5), and the auxiliary rotating part (f4) receives rotational force of the connecting part (f5) for rotating; the first clamping part (f6) and the second clamping part (f7) clamp a workpiece and rotate along with the main rotating part (f3) and the auxiliary rotating part (f4). Turnover of a workpiece is effectively implemented, the workpiece is firmly clamped, safety is high, automation level is high, and workpiece clamping position and workpiece turnover position are precisely controllable.

Description

Switching mechanism

Technical field

The invention belongs to field of machining, relate to a kind of switching mechanism.

Background technology

Upset is a kind of conventional mechanical action, often material or workpiece is overturn aborning, but when material or workpiece are overturn by existing turning device, it will usually run into following problem.

According to manually overturning, then overturn inefficient, particularly in toggle frequency not high when, the increase of production cost can be caused.

In the process using turning device that workpiece is overturn, material or workpiece may fall, especially accurate workpiece, switching process to ensure safety, if workpiece is adsorbed or clamps built on the sand, then because of natural cause or other beyond thought faults, and causing that absorption affinity or the chucking power of workpiece are declined by turning device, workpiece finally offsets or falls.This phenomenon can cause that percent defective increases, and even results in the fault of whole production line.

Modern production manufacturing industry, measure of precision and automaticity to processing are proposed higher requirement, therefore for Precision Machining, existing turning device, it is impossible to realize the retrofit to precision workpiece.

Summary of the invention

For solving above-mentioned technical problem, the invention provides a kind of switching mechanism, it is not only able to production efficiency is greatly improved, and reliability is high, it is capable of automatic precision processing, invention is also particularly suited for use in and thin rounded flakes shape workpiece (such as, saw blade) is carried out upset processing.

To achieve these goals, the present invention adopts the following technical scheme that.

Switching mechanism, including the first support parts, the second support parts, main rotatable parts, auxiliary rotatable parts, connection member, the first hold assembly, the second hold assembly and driver part.

First supports parts supports component in parallel setting relative to second, and first supports parts is used for carrying main rotatable parts.

Second supports parts supports component in parallel setting relative to first, and second supports parts is used for carrying auxiliary rotatable parts.

Connection member includes the first elongated end and the second elongated end, and the first elongated end is connected with main rotatable parts, and the second elongated end is then connected with auxiliary rotatable parts；Connection member, for giving auxiliary rotatable parts by the rotatory force transition of main rotatable parts, makes main rotatable parts and auxiliary rotatable parts keep when rotating synchronizing.

Main rotatable parts, including the first axle, this first axle is through the first axle sleeve being carried on the first support parts, and main rotatable parts receive the rotatory force of driver part transmission and rotate, and rotatory force is passed to connection member.

Auxiliary rotatable parts, including the second axle, this second axle is through the second axle sleeve being carried on the second support parts, and auxiliary rotatable parts receive the rotatory force of connection member transmission and rotate.

First hold assembly, is used for clamping workpiece, and follows the rotation of main rotatable parts.

First hold assembly, including the first clamping lower plate, the first clamping lower plate is fixed with the first Magnet for adsorbing workpiece, and this first Magnet can adsorb a face of workpiece.

First hold assembly also includes the first clamping upper plate, and the first clamping upper plate and the first clamping lower plate are correspondingly arranged, and the first clamping upper plate is provided with the first rubber blanket, and this first rubber blanket is for cushioning the another side of workpiece.

Second hold assembly, is used for clamping workpiece, and follows the rotation of auxiliary rotatable parts.

Second hold assembly, including the second clamping lower plate, the second clamping lower plate is fixed with the second Magnet for adsorbing workpiece, and this second Magnet can adsorb a face of workpiece.

Second hold assembly also includes the second clamping upper plate, and the second clamping upper plate and the second clamping lower plate are correspondingly arranged, and the second clamping upper plate is provided with the second rubber blanket, and this second rubber blanket is for cushioning the another side of workpiece.

As a further improvement on the present invention, described driver part includes motor, and motor is connected by motor shaft coupling and the first axle.

Switching mechanism also includes stepping motor installing plate, and stepping motor installing plate is fixed on the first support parts, and motor is fixed on the first support parts by stepping motor installing plate.

Described first axle is fixed on the first support parts by the first axle installing plate.

Further, the first axle is multidiameter shaft, and this multidiameter shaft includes thin footpath end and wide diameter end, and thin footpath end connects motor by motor shaft coupling, and wide diameter end is fixed on the first support parts by the first axle installing plate.

Described second axle is fixed on the second support parts by the second axle installing plate.

Further, the second axle is multidiameter shaft, and this multidiameter shaft includes thin footpath end and wide diameter end, and wide diameter end is fixed on the second support parts by the second axle installing plate.

Described switching mechanism also includes location sensitive parts.

Location sensitive parts include the first proximity switch, first proximity switch is for detecting the positional information that workpiece is held, described first proximity switch can be fixed on motor installing plate or first and support on parts, preferably, the first proximity switch is fixed on the side of motor installing plate by proximity switch support.

Described location sensitive parts include the second proximity switch and proximity switch baffle plate, and the second proximity switch is for detecting the rotation position information of auxiliary rotatable parts, and proximity switch baffle plate is fixed on the second axle, give the second proximity switch and trigger signal.

Second proximity switch can be fixed on the second support parts by support.

Proximity switch baffle plate is fixed on the thin footpath end of the second axle.

The thin footpath end of the second axle is further fixed on bolt, and bolt can limit the direction that proximity switch baffle plate extends to thin footpath end and move.

Described first supports parts includes first bracer, and first bracer is as the first agent structure supporting parts, and the bottom of first bracer is fixedly connected with the first support mounting plate.

Described second supports parts includes second bracer, and second bracer is as the second agent structure supporting parts, and the bottom of second bracer is fixedly connected with the second support mounting plate.

First support mounting plate and the second support mounting plate are easy to whole switching mechanism and are fixed on the operating platform of such as worktop.

It is additionally provided with the first support floor between described first bracer and the first support mounting plate.

It is additionally provided with the second support floor between described second bracer and the second support mounting plate.

Described connection member is connection strap, and this connection strap can be arc, in order to circular workpiece laminating.

Described switching mechanism also includes the three freedom degree manipulator mechanism for automatic loading/unloading.

Three freedom degree manipulator mechanism, including X-axis parts, Y-axis parts, Z axis parts and manipulator part.

X-axis parts include X-axis guide-rail plate and X-axis slide unit, and X-axis slide unit can along X-axis rectilinear motion on X-axis guide-rail plate.

X-axis guide-rail plate is arranged on Y-axis slide unit, and X-axis slide unit is connected with Z axis guide-rail plate.

Y-axis parts include Y-axis slide unit and Y-axis beam.

Y-axis beam is fixed on workbench, and Y-axis slide unit can along Y-axis rectilinear motion on Y-axis beam.

Z axis parts include Z axis guide-rail plate and Z axis slide unit, and Z axis slide unit can along Z axis rectilinear motion on Z axis guide-rail plate.

The end of Z axis slide unit connects manipulator part.

Manipulator part includes mechanical hand box, and mechanical hand box is provided with mechanical hand electric magnet and manipulator cylinder, and mechanical hand electric magnet is used for grabbing workpiece, and manipulator cylinder departs from the absorption of mechanical hand electric magnet for making workpiece.

Further, described X-axis guide-rail plate being installed X-axis line slideway and X-axis ball-screw, X-axis ball-screw is by X-axis driven by servomotor；X-axis slide unit connects the X-axis leading screw contiguous block on X-axis ball-screw, and X-axis slide unit connects the X-axis slide block arranged on X-axis line slideway.

X-axis ball-screw props up bearing by X-axis and is fixed on X-axis guide-rail plate.

X-axis ball-screw connects X-axis servomotor by X-axis shaft coupling.

X-axis servomotor is fixed on X-axis guide-rail plate by X-axis motor mounting plate.

X-axis protective cover is arranged on X-axis component outer, and its effect is security protection and dust-proof.

The X-axis servomotor of X-axis parts drives X-axis ball-screw to rotate by X-axis shaft coupling, again through X-axis leading screw contiguous block and X-axis slide block, drives X-axis slide unit to do the rectilinear motion of X-direction.

Further, being provided with Y-axis beam and support bottom described Y-axis beam, Y-axis beam supports and is fixed on workbench, and Y-axis beam is provided with Y-axis line slideway and Y-axis tooth bar.

Described Y-axis slide unit includes Y-axis slide unit transverse slat and Y-axis slide unit riser, and interconnective Y-axis gear and Y-axis servomotor are fixed on Y-axis slide unit riser, and Y-axis gear coordinates with Y-axis tooth bar, and Y-axis slide unit transverse slat is connected with the Y-axis slide block arranged on Y-axis line slideway.

Y-axis slide unit floor it is additionally provided with between Y-axis slide unit transverse slat and Y-axis slide unit riser.

Y-axis line slideway has two pieces, is separately mounted to end face and the side of Y-axis beam.

Y-axis tooth bar two ends are additionally provided with Y-axis limited block.

Further, described Z axis guide-rail plate being installed Z axis line slideway and Z axis ball-screw, Z axis ball-screw is by Z axis driven by servomotor；Z axis slide unit connects the Z axis leading screw contiguous block on Z axis ball-screw, and Z axis slide unit connects the Z axis slide block arranged on Z axis line slideway.

Z axis ball-screw props up bearing by Z axis and is fixed on Z axis guide-rail plate.

Z axis ball-screw connects Z axis servomotor by Z axis shaft coupling.

Z axis servomotor is fixed on Z axis guide-rail plate by Z axis motor mounting plate.

Z axis protective cover is arranged on Z axis component outer, and its effect is security protection and dust-proof.

The Z axis servomotor of Z axis parts drives Z axis ball-screw to rotate by Z axis shaft coupling, again through Z axis leading screw contiguous block and Z axis slide block, drives Z axis slide unit to do the rectilinear motion of Z-direction.

The end of Z axis slide unit is connected to Z axis cylinder, and Z axis cylinder connects manipulator part.

The end of Z axis slide unit is provided with Z axis bottom plate, and Z axis cylinder is fixed on Z axis bottom plate.

Z axis guide-rail plate is provided with Z axis proximity switch, and Z axis leading screw contiguous block is provided with the Z axis proximity switch baffle plate triggering Z axis proximity switch.

The end of Z axis parts is additionally provided with drag chain connecting plate.

Further, manipulator part also includes the mechanical hand lid covering on mechanical hand box, and mechanical hand lid is connected with Z axis cylinder.

Described mechanical hand box is provided with manipulator cylinder jacking block, and manipulator cylinder jacking block is driven by manipulator cylinder, ejects workpiece and departs from the absorption of mechanical hand electric magnet.

Described mechanical hand box is provided with mechanical hand proximity switch, and mechanical hand proximity switch can be fixed on mechanical hand box by mechanical hand proximity switch cushion block.

The invention has the beneficial effects as follows, it is possible to be effectively realized the upset operation of workpiece, be particularly well-suited to the upset in sheet-like workpiece, in switching process, piece-holder is firm, and safety is high.This switching mechanism with other automation equipment seamless combination, conveniently can also be carried out feeding and blanking, automaticity height, piece-holder position and workpiece turning position controllable precise by mechanical hand, be stable, efficient precise machining equipment by the present invention.

Certainly, the arbitrary product implementing the present invention it is not absolutely required to reach all the above advantage simultaneously.

Accompanying drawing explanation

Fig. 1 is switching mechanism overall structure schematic diagram of the present invention.

Fig. 2 is switching mechanism front view of the present invention.

Fig. 3 is switching mechanism top view of the present invention.

Fig. 4 is three freedom degree manipulator mechanism structure schematic diagram.

Fig. 5 is the front view of X-axis parts.

Fig. 6 is the top view of X-axis parts.

Fig. 7 is Y-axis girder construction schematic diagram.

Fig. 8 is Y-axis beam and Y-axis slide unit fit structure schematic diagram.

Fig. 9 is Z axis parts front view.

Figure 10 is Z axis parts top view.

Figure 11 is manipulator part front view.

Figure 12 is manipulator part top view.

Wherein, f1, first support parts；F2, the second support parts；F3, main rotatable parts；F4, auxiliary rotatable parts；F5, connection member；F6, the first hold assembly；F7, the second hold assembly；F8, driver part；F9, location sensitive parts.

F11, first bracer；F12, the first support mounting plate；F13, the first support floor.

F21, second bracer；F22, the second support mounting plate；F23, the second support floor.

F31, the first axle；F32, the first axle installing plate；F33, the first axle sleeve.

F41, the second axle；F42, the second axle installing plate；F43, the second axle sleeve.

F61, the first clamping lower plate；F62, the first Magnet；F63, the first clamping upper plate；F64, the first rubber blanket.

F71, the second clamping lower plate；F72, the second Magnet；F73, the second clamping upper plate；F74, the second rubber blanket.

F81, motor；F82, motor shaft coupling；F83, motor installing plate.

F91, the first proximity switch；F92, proximity switch support；F93, the second proximity switch；F94, proximity switch baffle plate；F95, bolt.

S1, X-axis parts；S2, Y-axis parts；S3, Z axis parts；S4, manipulator part.

S101, X-axis guide-rail plate；S102, X-axis slide unit；S103, X-axis line slideway；S104, X-axis ball-screw；S105, X-axis prop up bearing；S106, X-axis servomotor；S107, X-axis motor mounting plate；S108, X-axis shaft coupling；S109, X-axis leading screw contiguous block；S110, X-axis slide block；S111, X-axis protective cover.

S201, Y-axis slide unit；S202, Y-axis beam；S203, Y-axis beam support；S204, Y-axis line slideway；S205, Y-axis tooth bar；S206, Y-axis limited block；S207, Y-axis gear；S208, Y-axis servomotor；S209, Y-axis slide block.

S301, Z axis guide-rail plate；S302, Z axis slide unit；S303, Z axis line slideway；S304, Z axis ball-screw；S305, Z axis prop up bearing；S306, Z axis servomotor；S307, Z axis motor mounting plate；S308, Z axis shaft coupling；S309, Z axis leading screw contiguous block；S310, Z axis slide block；S311, Z axis protective cover；S312, Z axis cylinder；S313, Z axis bottom plate；S314, Z axis proximity switch；S315, Z axis proximity switch baffle plate；S316, drag chain connecting plate.

S401, mechanical hand box；S402, mechanical hand lid；S403, mechanical hand electric magnet；S404, manipulator cylinder；S405, manipulator cylinder jacking block；S406, mechanical hand proximity switch；S407, mechanical hand proximity switch cushion block.

Detailed description of the invention

Below in conjunction with accompanying drawing, technical scheme is clearly and completely described, it is clear that described embodiment is a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.

In describing the invention, it should be noted that, orientation or the position relationship of the instruction such as term " " center ", " on ", D score, "left", "right", " vertically ", " level ", " interior ", " outward " be based on orientation shown in the drawings or position relationship; be for only for ease of the description present invention and simplifying and describe; rather than instruction or imply indication device or element must have specific orientation, with specific azimuth configuration and operation, be therefore not considered as limiting the invention.Additionally, term " first ", " second ", " the 3rd " are only for descriptive purposes, and it is not intended that indicate or hint relative importance.

In describing the invention, it is necessary to explanation, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, for instance, it is possible to it is fixing connection, it is also possible to be removably connect, or connect integratedly；Can be mechanically connected, it is also possible to be electrical connection；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, it is possible to be the connection of two element internals.For the ordinary skill in the art, it is possible to concrete condition understands above-mentioned term concrete meaning in the present invention.

As shown in Figure 1-Figure 3, switching mechanism, including the first support parts f1, the second support parts f2, main rotatable parts f3, auxiliary rotatable parts f4, connection member f5, the first hold assembly f6, the second hold assembly f7 and driver part f8.

First supports parts f1 is arranged parallel relative to the second support parts f2, and first supports parts f1 is used for carrying main rotatable parts f3.

Second supports parts f2 is arranged parallel relative to the first support parts f1, and second supports parts f2 is used for carrying auxiliary rotatable parts f4.

Described first supports parts f1 includes first bracer f11, first bracer f11 is as the first agent structure supporting parts f1, the bottom of first bracer f11 is fixedly connected with the first support mounting plate f12, is additionally provided with the first support floor f13 between described first bracer f11 and the first support mounting plate f12.

Described second supports parts f2 includes second bracer f21, second bracer f22 is as the second agent structure supporting parts f2, the bottom of second bracer f21 is fixedly connected with the second support mounting plate f22, is additionally provided with the second support floor f23 between described second bracer f21 and the second support mounting plate f22.

First support mounting plate f12 and the second support mounting plate f22 is fixed on workbench, it is achieved that the support of switching mechanism and installation.

Connection member f5 includes the first elongated end and the second elongated end, and the first elongated end is connected with main rotatable parts f3, and the second elongated end is then connected with auxiliary rotatable parts f4；Connection member f5, for giving auxiliary rotatable parts f4 by the rotatory force transition of main rotatable parts f3, makes main rotatable parts f3 and auxiliary rotatable parts f4 keep when rotating synchronizing.

Described connection member f5 is connection strap, and this connection strap is arc, in order to circular workpiece laminating.

Connection strap two ends are connected on the first clamping lower plate f61 and the second clamping lower plate f71, it is achieved that the concordance operating of left and right clamping.

Main rotatable parts f3, including the first axle f31, the first axle f31 is multidiameter shaft, and this multidiameter shaft includes thin footpath end and wide diameter end, thin footpath end connects motor f81 by motor shaft coupling f82, and wide diameter end is fixed on first bracer f11 by the first axle installing plate f32.This first axle f31 receives the rotatory force of motor f81 transmission through the first axle sleeve f33, main rotatable parts f3 that are carried on first bracer f11 and rotates, and rotatory force is passed to connection member f5.

Auxiliary rotatable parts f4, including the second axle f41, second axle f41 is multidiameter shaft, this multidiameter shaft includes thin footpath end and wide diameter end, wide diameter end is fixed on second bracer f21 by the second axle installing plate f42, this second axle f41 receives the rotatory force of connection member f5 transmission through the second axle sleeve f43, auxiliary rotatable parts f4 that are carried on second bracer f21 and rotates.

First hold assembly f6, is used for clamping workpiece, and follows main rotatable parts f3 rotation.

First hold assembly f6, clamps upper plate f63 including the first clamping lower plate f61 and the first, and the first clamping lower plate f61 and the first clamping upper plate f63 is fixed on the first axle installing plate f32.

First clamping lower plate f61 is fixed with the first Magnet f62 for adsorbing workpiece, this first Magnet f62 and adsorbs a face of workpiece.

First clamping upper plate f63 and the first clamping lower plate f61 is correspondingly arranged, and the first clamping upper plate f63 is provided with the first rubber blanket f64, and this first rubber blanket f64 is for cushioning the another side of workpiece.

Second hold assembly f7, is used for clamping workpiece, and follows auxiliary rotatable parts f4 rotation.

Second hold assembly f7, clamps upper plate f73 including the second clamping lower plate f71 and the second, and the second clamping lower plate f71 and the second clamping upper plate f73 is fixed on the second axle installing plate f42.

Being fixed with the second Magnet f72 for adsorbing workpiece on second clamping lower plate f71, this second Magnet f72 can adsorb a face of workpiece.

Second clamping upper plate f73 and the second clamping lower plate f71 is correspondingly arranged, and the second clamping upper plate f73 is provided with the second rubber blanket f74, and this second rubber blanket f74 is for cushioning the another side of workpiece.

First clamping upper plate f63 and the second clamping upper plate f73 is mounted with two pieces the first rubber blanket f64 and the second rubber blanket f74 separately below, first clamping lower plate f61 and the second clamping lower plate f71 is mounted with two pieces the first Magnet f62 and the second Magnet f72 separately above, first Magnet f62 and the second Magnet f72 is energized to workpiece sticking, thus realizing workpiece not landing in switching process.

Described driver part f8 is included motor f81, motor f81 and is connected by motor shaft coupling f82 and the first axle f31.

Motor installing plate f83 is fixed on first bracer f11, and motor f81 is fixed on first bracer f11 by motor installing plate f83.

Described switching mechanism also includes location sensitive parts f9.

Location sensitive parts f9 includes the first proximity switch f91, and the first proximity switch f91 is for detecting the positional information that workpiece is held, and described first proximity switch f91 is fixed on the side of motor installing plate f83 by proximity switch support f92.

Described location sensitive parts f9 includes the second proximity switch f93 and proximity switch baffle plate f94, second proximity switch f93 is for detecting the rotation position information of auxiliary rotatable parts f4, proximity switch baffle plate f94 is fixed on the second axle f41, gives the second proximity switch f93 and triggers signal.

Second proximity switch f93 is fixed on second bracer f21 by support.

Proximity switch baffle plate f94 is fixed on the thin footpath end of the second axle f41.

The thin footpath end of the second axle f41 is further fixed on bolt f95, bolt f95 and can limit the proximity switch baffle plate f94 direction extended to thin footpath end and move.

Second proximity switch f93 can determine the upturned position of workpiece, it is achieved switching process accurately.

The present embodiment work process is as follows.

Switching mechanism first passes through motor f81 and rotates, motor shaft coupling f82 is driven to rotate, motor shaft coupling f82 drives the first axle f31 to rotate in the first axle sleeve f33, first axle f31 rotarily drives the upset of the first clamping lower plate f61 and the first clamping upper plate f63, the upset of the second hold assembly f7 is driven, it is achieved workpiece rotary movement on roll-over table again through connection strap.

As shown in Figure 4, described switching mechanism also includes the three freedom degree manipulator mechanism for automatic loading/unloading.

Three freedom degree manipulator mechanism, including X-axis parts s1, Y-axis parts s2, Z axis parts s3 and manipulator part s4.

As shown in Fig. 5-Fig. 6, X-axis parts s1 includes X-axis guide-rail plate s101 and X-axis slide unit s102, X-axis slide unit s102 can along X-axis rectilinear motion on X-axis guide-rail plate s101.

X-axis guide-rail plate s101 is arranged on Y-axis slide unit s201, and X-axis slide unit s102 is connected with Z axis guide-rail plate s301.

Installing two set X-axis line slideway s103 and a set of X-axis ball-screw s104 on described X-axis guide-rail plate s101, X-axis line slideway s103 is arranged on X-axis guide-rail plate s101, and ensures the depth of parallelism of two set X-axis line slideway s103；X-axis ball-screw s104 props up bearing s105 by two pieces X-axis and is fixed on X-axis guide-rail plate s101.

X-axis servomotor s106 is fixed on X-axis guide-rail plate s101 by X-axis motor mounting plate s107, and X-axis ball-screw s104 is driven by X-axis shaft coupling s108 by X-axis servomotor s106；X-axis slide unit s102 connects the X-axis leading screw contiguous block s109, X-axis slide unit s102 on X-axis ball-screw s104 and connects the X-axis slide block s110 arranged on X-axis line slideway s103.

X-axis protective cover s111 is arranged on outside X-axis parts s1.

As shown in Figs. 7-8, Y-axis parts s2 includes Y-axis slide unit s201 and Y-axis beam s202.

Y-axis slide unit s201 can along Y-axis rectilinear motion on Y-axis beam s202.

It is provided with Y-axis beam bottom described Y-axis beam s202 and supports s203; Y-axis beam supports s203 and is fixed on workbench g; Y-axis beam s202 is provided with Y-axis line slideway s204 and Y-axis tooth bar s205; Y-axis line slideway s204 has two pieces; it is separately mounted to end face and the side of Y-axis beam s202; Y-axis tooth bar s205 two ends are additionally provided with Y-axis limited block s206, play the effect of the stroke protection that Y direction is run.

Described Y-axis slide unit s201 includes Y-axis slide unit transverse slat, Y-axis slide unit riser and Y-axis slide unit floor between the two, interconnective Y-axis gear s207 and Y-axis servomotor s208 is fixed on Y-axis slide unit riser, Y-axis gear s207 is connected on the axle of Y-axis servomotor s208, fixes with gear back-up ring and screw.

Y-axis gear s207 coordinates with Y-axis tooth bar s205, and Y-axis slide unit transverse slat is connected with the Y-axis slide block s209 arranged on Y-axis line slideway s204.

As shown in Fig. 9-Figure 10, Z axis parts s3 includes Z axis guide-rail plate s301 and Z axis slide unit s302, Z axis slide unit s302 can along Z axis rectilinear motion on Z axis guide-rail plate s301.

The end of Z axis slide unit s302 connects manipulator part s4.

Installing two set Z axis line slideway s303 and a set of Z axis ball-screw s304 on described Z axis guide-rail plate s301, Z axis line slideway s303 is arranged on Z axis guide-rail plate s301, and ensures the depth of parallelism of two set Z axis line slideway s303；Z axis ball-screw s304 props up bearing s305 by two pieces Z axis and is fixed on Z axis guide-rail plate s301.

Z axis servomotor s306 is fixed on Z axis guide-rail plate s301 by Z axis motor mounting plate s307, and Z axis ball-screw s304 is driven by Z axis shaft coupling s308 by Z axis servomotor s306；Z axis slide unit s302 connects the Z axis leading screw contiguous block s309, Z axis slide unit s302 on Z axis ball-screw s304 and connects the Z axis slide block s310 arranged on Z axis line slideway s303.

Z axis protective cover s311 is arranged on outside Z axis parts s3.

The end of Z axis slide unit s302 is connected to Z axis cylinder s312, Z axis cylinder s312 and connects manipulator part s4.

The end of Z axis slide unit s302 is provided with Z axis bottom plate s313, and Z axis cylinder s312 is fixed on Z axis bottom plate s313.

Z axis guide-rail plate s301 is provided with Z axis proximity switch s314, Z axis leading screw contiguous block s309 and is provided with the Z axis proximity switch baffle plate s315 triggering Z axis proximity switch s314.

The end of Z axis parts s3 is additionally provided with drag chain connecting plate s316.

As shown in Figure 11-Figure 12, manipulator part s4 includes mechanical hand box s401 and mechanical hand lid s402.

Being provided with a four mechanical hand electric magnet s403 and manipulator cylinder s404, mechanical hand electric magnet s403 on mechanical hand box s401 for grabbing workpiece, manipulator cylinder s404 drives manipulator cylinder jacking block s405.

Manipulator cylinder s404 and manipulator cylinder jacking block s405, for making workpiece depart from the absorption of mechanical hand electric magnet s403.

Mechanical hand lid s402 covers on mechanical hand box s401, and mechanical hand lid s402 is connected with Z axis cylinder s312.

Described mechanical hand box s401 is provided with mechanical hand proximity switch s406, mechanical hand proximity switch s406 and can be fixed on mechanical hand box s401 by mechanical hand proximity switch cushion block s407.

The specific embodiment of the present invention is described in conjunction with accompanying drawing although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme, those skilled in the art need not pay various amendments or deformation that creative work can make still within protection scope of the present invention.

Claims (10)

1. switching mechanism, it is characterized in that, including the first support parts (f1), the second support parts (f2), main rotatable parts (f3), auxiliary rotatable parts (f4), connection member (f5), the first hold assembly (f6), the second hold assembly (f7) and driver part (f8)；

First supports parts (f1) is arranged parallel relative to the second support parts (f2), and first supports parts (f1) is used for carrying main rotatable parts (f3)；

Second supports parts (f2) is arranged parallel relative to the first support parts (f1), and second supports parts (f2) is used for carrying auxiliary rotatable parts (f4)；

Connection member (f5) includes the first elongated end and the second elongated end, and the first elongated end is connected with main rotatable parts (f3), and the second elongated end is then connected with auxiliary rotatable parts (f4)；Connection member, for giving auxiliary rotatable parts (f4) by the rotatory force transition of main rotatable parts (f3), makes main rotatable parts (f3) and auxiliary rotatable parts (f4) keep when rotating synchronizing；

Main rotatable parts (f3), including the first axle (f31), the traverse of this first axle (f31) is carried on the first axle sleeve (f33) on the first support parts (f1), main rotatable parts (f3) receive rotatory force that driver part (f8) transmits and rotate, and rotatory force passes to connection member (f5)；

Auxiliary rotatable parts (f4), including the second axle (f41), this second axle (f41) is through the second axle sleeve (f43) being carried on the second support parts (f2), and auxiliary rotatable parts (f4) receive rotatory force that connection member (f5) transmits and rotate；

First hold assembly (f6), is used for clamping workpiece, and follows main rotatable parts (f3) rotation；

First hold assembly (f6), including the first clamping lower plate (f61), the first clamping lower plate (f61) is fixed with the first Magnet (f62) for adsorbing workpiece, and this first Magnet (f62) adsorbs a face of workpiece；

First hold assembly (f6) also includes the first clamping upper plate (f63), first clamping upper plate (f63) is correspondingly arranged with the first clamping lower plate (f61), first clamping upper plate (f63) is provided with the first rubber blanket (f64), and this first rubber blanket (f64) is for cushioning the another side of workpiece；

Second hold assembly (f7), is used for clamping workpiece, and follows auxiliary rotatable parts (f4) rotation；

Second hold assembly (f7), including the second clamping lower plate (f71), the second clamping lower plate (f71) is fixed with the second Magnet (f72) for adsorbing workpiece, and this second Magnet (f72) adsorbs a face of workpiece；

Second hold assembly (f7) also includes the second clamping upper plate (f73), second clamping upper plate (f73) is correspondingly arranged with the second clamping lower plate (f71), second clamping upper plate (f73) is provided with the second rubber blanket (f74), and this second rubber blanket (f74) is for cushioning the another side of workpiece.

2. switching mechanism as claimed in claim 1, is characterized in that, described driver part (f8) includes motor (f81), and motor (f81) is connected with the first axle (f31) by motor shaft coupling (f82).

3. switching mechanism as claimed in claim 1, is characterized in that, described first axle (f31) is fixed on the first support parts (f1) by the first axle installing plate (f32).

4. switching mechanism as claimed in claim 1, it is characterized in that, first axle (f31) is multidiameter shaft, this multidiameter shaft includes thin footpath end and wide diameter end, thin footpath end connects motor (f81) by motor shaft coupling (f82), and wide diameter end is fixed on the first support parts (f1) by the first axle installing plate (f32).

5. switching mechanism as claimed in claim 1, is characterized in that, described second axle (f41) is fixed on the second support parts (f2) by the second axle installing plate (f42).

6. switching mechanism as claimed in claim 1, is characterized in that, the second axle (f41) is multidiameter shaft, and this multidiameter shaft includes thin footpath end and wide diameter end, and wide diameter end is fixed on the second support parts (f2) by the second axle installing plate (f42).

7. switching mechanism as claimed in claim 1, is characterized in that, described switching mechanism also includes location sensitive parts (f9)；Location sensitive parts (f9) include the first proximity switch (f91), and the first proximity switch (f91) is for detecting the positional information that workpiece is held, and the first proximity switch (f91) is fixed by proximity switch support (f92).

8. switching mechanism as claimed in claim 1, it is characterized in that, described switching mechanism also includes location sensitive parts (f9), described location sensitive parts (f9) include the second proximity switch (f93) and proximity switch baffle plate (f94), second proximity switch (f93) is used for detecting the rotation position information of auxiliary rotatable parts (f4), proximity switch baffle plate (f94) is fixed on the second axle (f41), gives the second proximity switch (f93) and triggers signal.

9. switching mechanism as claimed in claim 8, it is characterized in that, second axle (f41) is multidiameter shaft, this multidiameter shaft includes thin footpath end and wide diameter end, wide diameter end is fixed on the second support parts (f2) by the second axle installing plate (f42), and proximity switch baffle plate (f94) is fixed on the thin footpath end of the second axle (f41).

10. switching mechanism as claimed in claim 9, is characterized in that, the thin footpath end of the second axle (f41) is further fixed on bolt (f95), and bolt (f95) can limit the direction that proximity switch baffle plate (f94) extends to thin footpath end and move.