CN110842343A - Rotary rack structure of automatic workpiece transferring manipulator - Google Patents
Rotary rack structure of automatic workpiece transferring manipulator Download PDFInfo
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- CN110842343A CN110842343A CN201911298325.1A CN201911298325A CN110842343A CN 110842343 A CN110842343 A CN 110842343A CN 201911298325 A CN201911298325 A CN 201911298325A CN 110842343 A CN110842343 A CN 110842343A
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- 230000007246 mechanism Effects 0.000 claims abstract description 63
- 230000005540 biological transmission Effects 0.000 claims description 17
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 239000000126 substance Substances 0.000 claims description 2
- 239000000969 carrier Substances 0.000 abstract description 2
- 238000003466 welding Methods 0.000 description 39
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 16
- 229910052744 lithium Inorganic materials 0.000 description 16
- 238000004519 manufacturing process Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 238000006073 displacement reaction Methods 0.000 description 3
- 239000004033 plastic Substances 0.000 description 3
- 229920003023 plastic Polymers 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000001846 repelling effect Effects 0.000 description 2
- 229920001169 thermoplastic Polymers 0.000 description 2
- 235000014676 Phragmites communis Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000004023 plastic welding Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- 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
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- 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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- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Automatic Assembly (AREA)
Abstract
A rotary rack structure of an automatic workpiece transferring manipulator comprises a rotary rack driving mechanism arranged on the downward side of a workbench; the rotary rack structure comprises a rotary rack assembly, the rotary rack assembly comprises a rotary rack body, a rotary rack body cavity top cover, a rotary rack body base and a supporting rod seat lifting guide rail seat, the rotary rack body base is fixed with a rotary rack driving mechanism, the rotary rack body is fixed with one side, facing upwards, of the rotary rack body base, the rotary rack body cavity top cover is fixed with the top of the rotary rack body, the supporting rod seat lifting guide rail seat is fixed on the front side wall body of the rotary rack body, 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 structure is simple; the action stability of other mechanisms which take the rotary rack body and the cavity top cover of the rotary rack body as carriers is ensured; can ensure the requirement that the rotary frame assembly rotates 90 degrees clockwise or anticlockwise alternately.
Description
Technical Field
The invention belongs to the technical field of automatic machinery, and particularly relates to a rotary rack structure of an automatic workpiece transferring manipulator.
Background
The automatic chemical part transferring manipulator mentioned above is mainly but not absolutely limited to be applied to a complete set of automatic ultrasonic welding system or automatic ultrasonic welding system, and the automatic ultrasonic welding system is widely applied to the new energy lithium battery production industry, the electronic and electrical product production industry, the production industries of stationery, toys and the like, the automobile part production industry, the medical supplies production industry and the like, and the principle of the automatic ultrasonic welding system is that high-frequency vibration waves are transmitted to two objects needing to be welded into a whole, namely the surfaces of the objects, so that the two objects needing to be welded are combined together. Taking thermoplastic plastic welding as an example, when ultrasonic wave acts on a thermoplastic plastic contact surface, high-frequency vibration of tens of thousands or even tens of thousands of times per second can be generated, the high-frequency vibration reaching a certain amplitude transmits ultrasonic energy to a welding area through a weldment, and the welding area, namely the sound resistance of the interface of two welding areas is large, so that local high temperature can be generated, and the high temperature cannot be diffused in time due to poor thermal conductivity of the plastic, so that the high temperature is gathered on the welding area, the contact surfaces of the two plastics are rapidly melted, and the two plastics are fused into a whole after a certain pressure is applied.
Technical information related to an ultrasonic welding apparatus, such as CN208496057U (cell ultrasonic welder), CN110238506A (an ultrasonic welder), and CN110370654A (an ultrasonic automatic welder), etc., is not known in the published chinese patent documents.
Taking the processing of lithium battery components as an example, if a first workpiece conveying line, a second workpiece conveying line, a third workpiece conveying line, an ultrasonic pre-welding device, an ultrasonic final-welding device, an automatic workpiece transferring mechanical arm, a workpiece feeding mechanical arm at a pre-welding station, a workpiece conveying mechanical arm at a final-welding station and a target workpiece picking and conveying mechanical arm are reasonably arranged on a workbench, the position of the first workpiece conveying line on the workbench corresponds to the left ends of the second workpiece conveying line and the third workpiece conveying line, namely the second workpiece conveying line and the third workpiece conveying line are in a vertical relation with the first workpiece conveying line, the second workpiece conveying line and the third workpiece conveying line are kept in a front-back parallel manner in the length direction, the ultrasonic pre-welding device and the ultrasonic final-welding device correspond to each other in the left-right direction and are positioned in the front middle area of the second workpiece conveying, the automatic workpiece transferring manipulator, the pre-welding station workpiece supplying manipulator, the final welding station workpiece carrying manipulator and the target workpiece picking and carrying manipulator are arranged between the second workpiece conveying line and the third workpiece conveying line from left to right. The first workpiece conveying line, the second workpiece conveying line and the third workpiece conveying line are conveying lines in the form of conveying belts, so that the arrangement mode can exert the effects of reasonability and compactness of the configuration of each mechanism of a structural system of the set of automatic ultrasonic welding system, space occupation saving and the like to the utmost extent. However, according to the foregoing, since the first workpiece conveying line, the second workpiece conveying line, and the third workpiece conveying line are vertically disposed, if a workpiece to be ultrasonically welded, such as a lithium battery component, is to be transferred from the first workpiece conveying line to the second workpiece conveying line, the automatic workpiece transfer robot needs to rotate through 90 ° to correspond to the second workpiece conveying line after picking up the workpiece, such as the lithium battery component (the same applies hereinafter), from the first workpiece conveying line, release the picked-up workpiece on the second workpiece conveying line, and rotate reversely through 90 ° after releasing the workpiece, so as to pick up the workpiece again from the first workpiece conveying line. Therefore, only if the revolving rack can make 90-degree rotation alternately clockwise and counterclockwise, the corresponding clockwise and anticlockwise alternate rotation of 90-degree of the automatic workpiece transferring manipulator which takes the revolving rack as a carrier can be met, and a reasonable revolving rack driving mechanism must be used for ensuring the smooth, reliable and accurate rotation of the revolving rack.
Disclosure of Invention
The invention aims to provide a rotary rack structure of an automatic workpiece transfer manipulator, which is beneficial to embodying the simplicity of the structure, the stable reliability and the accuracy of the rotation action.
The task of the invention is accomplished in such a way that the invention provides a rotary rack structure of an automatic workpiece transfer manipulator, wherein the automatic workpiece transfer manipulator comprises a rotary rack driving mechanism which is arranged on one downward side of a workbench in a use state; the rotary frame structure comprises a rotary frame assembly, the rotary frame assembly 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 position of the rotary frame body base above the workbench is fixed with the rotary frame driving mechanism, a rotary frame body base abdicating cavity is arranged at 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 action cylinder shielding cavity corresponding to and communicated with the rotary frame body base abdicating cavity, the rotary frame body cavity top cover is fixed with the top of the rotary frame body at the position corresponding to the lifting action cylinder shielding cavity, and a lifting action cylinder abdicating hole is arranged at the middle part of the rotary frame body cavity top cover, the support rod seat lifting guide rail seat is fixed on the front side wall body of the rotary frame body, a support rod seat lifting guide rail cavity is formed in the front side of the support rod seat lifting guide rail seat along the height direction of the support rod seat lifting guide rail seat, and a cavity cover plate is fixed at a position corresponding to the cavity opening of the support rod seat lifting guide rail cavity.
In a specific embodiment of the invention, the rotary frame driving mechanism comprises a rotary acting cylinder, a rotary acting cylinder driving wheel, a rotary cylinder driving wheel, a transmission belt, a rotary cylinder, a rotary disc, an outer cylinder ring and a connecting disc, wherein the rotary acting cylinder is fixed on the downward side of the workbench, the rotary acting cylinder of the rotary acting cylinder faces downward, a rotary acting cylinder driving wheel collision block screw seat is fixed on the downward side of the rotary acting cylinder, one end of the rotary acting cylinder driving wheel collision block screw seat is fixed with a rotary acting cylinder driving wheel first collision block screw I, the other end of the rotary acting cylinder driving wheel collision block screw seat is fixed with a rotary acting cylinder driving wheel second collision block screw II, the rotary acting cylinder driving wheel is fixed with the rotary acting cylinder at the position corresponding to the downward side of the rotary acting cylinder, a first rotation acting cylinder driving wheel collision block I and a second rotation acting cylinder driving wheel collision block II are fixed on one upward side of the rotation acting cylinder driving wheel, the first rotation acting cylinder driving wheel collision block I corresponds to a first collision block screw I of the rotation acting cylinder driving wheel, the second rotation acting cylinder driving wheel collision block II corresponds to a second collision block screw II of the rotation acting cylinder driving wheel, the rotary drum driving wheel is fixed with one downward end surface of the rotary drum, one end of the driving belt is sleeved on the rotation acting cylinder driving wheel, the other end is sleeved on the rotary drum driving wheel, the outer cylinder ring is fixed with one downward side of the workbench in a longitudinal cantilever state, a first limit pin I and a second limit pin II are fixed on the lower end surface of the outer cylinder ring, the first limit pin I and the second limit pin II form a face-to-face position relationship around the circumferential direction of the outer cylinder ring, the upper part and the lower part between the outer wall of the rotary cylinder and the inner wall of the outer cylinder ring are respectively provided with a rotary cylinder rotating bearing, the upper end of the rotary cylinder upwards extends out of one side surface of the workbench facing upwards, a rotary disc and the upper end of the rotary cylinder form an integral structure at a position corresponding to the upper part of the workbench, a connecting disc is fixed with the rotary cylinder through a connecting disc bolt at a position corresponding to the lower part of a rotary cylinder driving wheel, one side of the connecting disc extends to form a limit pin adjusting screw collision head corresponding to the position between the limit pin first adjusting screw I and the limit pin second adjusting screw II; the base of the rotary rack body of the rotary rack assembly is fixed with one upward side of the rotary disk.
In another specific embodiment of the invention, a pair of support rod seat lifting acting cylinder pipeline connecting columns are fixed on the connecting disc, and a pair of workpiece clamping jaw opening and closing driving acting cylinder pipeline connecting heads are matched and connected with the lower part of the connecting disc.
In a further embodiment of the invention, a support rod base lifting cylinder support is provided on the upwardly facing side of the turntable and at a location corresponding to the revolving gantry body base relief cavity.
In a further embodiment of the present invention, the supporting device of the lifting cylinder of the supporting rod base comprises a set of supporting columns of the fixing plate of the working cylinder and a fixing plate of the working cylinder, the set of supporting columns of the fixing plate of the working cylinder is fixed on one side of the rotary disk facing upwards in a distributed manner in a shape like a Chinese character 'jing' and is lifted and unfolded into the shielding cavity of the lifting cylinder at a position corresponding to the abdicating cavity of the base of the body of the rotary machine frame, the fixing plate of the working cylinder is fixed on the top of the set of supporting columns of the fixing plate of the working,
in yet another embodiment of the present invention, the rotary cylinder is a rotary cylinder.
In a more specific embodiment of the present invention, the rotary cylinder driving wheel and the rotary drum driving wheel are belt pulleys, and the transmission belt is a transmission belt.
In a further specific embodiment of the present invention, the pulley is a synchronous pulley, and the transmission belt is a synchronous belt.
In a further embodiment of the present invention, the pair of support rod base lifting cylinder pipe connecting columns are connected with an external gas generating device through a connecting base pipe in a use state.
In yet another embodiment of the present invention, the gas generating device is an air compressor or an air pump.
The technical scheme provided by the invention has the technical effects that: the rotary frame assembly of the rotary frame structure only consists of the rotary frame body, the cavity top cover of the rotary frame body, the rotary frame body base and the support rod base lifting guide rail base, so the structure is simpler; because the base of the rotary rack body is fixed with the rotary rack driving mechanism at the position corresponding to the upper part of the workbench, the stability, the reliability and the accuracy of the rotary rack driving mechanism for driving the rotary rack driving mechanism to rotate can be ensured, and the stability of the actions of other mechanisms which take the rotary rack body and the cavity top cover of the rotary rack body as carriers is ensured; the requirement that the rotary frame assembly rotates 90 degrees clockwise or anticlockwise alternately can be met by the rotary frame driving mechanism.
Drawings
FIG. 1 is a block diagram of an embodiment of the present invention.
Fig. 2 is a detailed configuration diagram of the revolving frame driving mechanism shown in fig. 1.
Fig. 3 is a detailed structural view of the workpiece jaw opening and closing actuator provided on the workpiece jaw holder shown in fig. 1.
Fig. 4 is a schematic view illustrating an application of the present invention.
Detailed Description
In order to clearly understand the technical spirit and the advantages of the present invention, the applicant below describes in detail by way of example, but the description of the example is not intended to limit the technical scope of the present invention, and any equivalent changes made according to the present inventive concept, which are merely in form and not in material, should be considered as the technical scope of the present invention.
In the following description, all the concepts related to the directions or orientations of up, down, left, right, front and rear are based on the position state of fig. 1, and thus, it should not be understood as a particular limitation to the technical solution provided by the present invention.
Referring to fig. 1 in conjunction with fig. 4, a rotary gantry drive mechanism 1 of the structural system of the automated workpiece transfer robot is shown, the rotary gantry drive mechanism 1 is arranged at the side of the working platform 10 facing downwards in the use state, and the rotary gantry drive mechanism 1 is substantially positioned in the electric control box because the working platform 10 is arranged on the electric control box 30 which is supported at the lower part of the working platform; a rotating gantry assembly 2 of a rotating gantry architecture is shown, which rotating gantry assembly 2 is fixed to the rotating gantry drive 1, i.e. is fixedly connected to the rotating gantry drive 1, at a position above the table 10.
As shown in fig. 1, the structural system of the automatic part transferring manipulator further includes a support rod seat up-down lifting mechanism 3, and the support rod seat up-down lifting mechanism 3 is disposed on the rotating rack assembly 2; 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 rotary frame assembly 2, a pair of support rods 41 are fixed on the support rod seat 4, the support rods 41 are parallel to each other in front and back, the left ends of the support rods 41 extend to the left side of the support rod seat 4, the right ends extend towards the direction far away from the support rod seat 4, namely extend towards the right, so that the support rod is formed into a horizontal cantilever end, and a workpiece clamping jaw support fixing seat 411 is fixed at the position of the horizontal cantilever end of the support rod; a workpiece clamping jaw opening and closing driving mechanism 5 and a workpiece clamping jaw support 6 are shown, the workpiece clamping jaw opening and closing driving mechanism 5 is fixed between the support rod seat 4 and the workpiece clamping jaw support fixing seat 411 and also extends into a workpiece clamping jaw support cavity 61 of the workpiece clamping jaw support 6, and one sides of the workpiece clamping jaw support 6 and the workpiece clamping jaw support fixing seat 411, which are opposite to the pair of support rods 41, are fixed with the right side of the workpiece clamping jaw support fixing seat 411 through a workpiece clamping jaw support fixing screw 62; the workpiece clamping jaw opening and closing actuating mechanism 7 is arranged in the workpiece clamping jaw support cavity 61 and is connected with the workpiece clamping jaw opening and closing driving mechanism 5; a workpiece front clamping jaw 8 and a workpiece rear clamping jaw 9, wherein 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 mutually opposite displacement (also called 'folding towards each other', the same holds true hereinafter) or mutually exclusive state; a workpiece pressing mechanism 20 is shown, which workpiece pressing mechanism 20 is provided on the aforementioned workpiece jaw holder 6 at a position corresponding to between the workpiece front jaw 8 and the workpiece rear jaw 9.
Referring to fig. 2 in combination with fig. 1, the aforementioned revolving frame driving mechanism 1 includes a revolving action cylinder 11, a revolving action cylinder driving wheel 12, a revolving drum driving wheel 13, a transmission belt 14, a revolving drum 15, a revolving disc 16, an outer drum ring 17 and a connection disc 18, the revolving action cylinder 11 is fixed to the downward side of the aforementioned table 10 by a revolving action cylinder fixing screw, a revolving action cylinder 111 of the revolving action cylinder 11 faces downward and is fixed to a revolving action cylinder driving wheel striking block screw base 112 by a striking block screw base fixing screw 1123 at the downward side of the revolving action cylinder 11, a revolving action cylinder driving wheel first striking block screw i 1121 is fixed to one end (i.e. left end) of the revolving action cylinder driving wheel striking block screw base 112, and a revolving action cylinder driving wheel second striking block screw ii is fixed to the other end (i.e. right end) of the revolving action cylinder driving wheel striking block screw base 112, the rotary action cylinder driving wheel 12 is fixed with the rotary action cylinder 111 at a position corresponding to the downward side of the rotary action cylinder 111 through a group of rotary action cylinder driving wheel fixing screws 123 distributed at intervals, and a first rotary action cylinder driving wheel collision block I121 and a second rotary action cylinder driving wheel collision block II 122 are fixed at the upward side of the rotary action cylinder driving wheel 12, the first rotary action cylinder driving wheel collision block I121 corresponds to the first collision block screw I1121 of the rotary action cylinder driving wheel, the second rotary action cylinder driving wheel collision block II 122 corresponds to the second collision block screw II 1122 of the rotary action cylinder driving wheel, the rotary cylinder driving wheel 13 is fixed with the downward end face of the rotary cylinder 15 through the rotary cylinder driving wheel screw, according to the common sense of the art, the rotary cylinder driving wheel 13 and the rotary action cylinder driving wheel 12 are on the same horizontal plane, one end of a transmission belt 14 is sleeved on a cylinder driving wheel 12 for rotary action, the other end is sleeved on a rotary drum driving wheel 13, an outer cylinder ring 17 is fixed with one side of the workbench 10 facing downwards in a longitudinal cantilever state, a first limit pin I171 is fixed on the lower end face of the outer cylinder ring 17 through a first limit pin screw I1712, a second limit pin II 172 is fixed on the lower end face of the outer cylinder ring 17 through a second limit pin screw II 1722, the first limit pin I171 and the second limit pin II 172 form a face-to-face position relation around the circumferential direction of the outer cylinder ring 17, wherein a first limit pin adjusting screw 171I 1 is arranged on the first limit pin I171, a second limit pin adjusting screw II 1721 is arranged on the second limit pin II 172, the rotary drum 15 is arranged in an outer cylinder ring cavity 173 of the outer cylinder ring 17, and rotary drum rotary bearings 151 are respectively arranged at the upper part and the lower part between the outer wall of the rotary drum 15 and the inner wall of the outer cylinder ring 17, the upper end of the rotary drum 15 extends upwards out of the upward side surface of the workbench 10, the rotary disc 16 and the upper end of the rotary drum 15 form an integral structure at the position corresponding to the upper part of the workbench 10, and the connecting disc 18 is fixed with the rotary drum 15 through a connecting disc bolt 181 at the position corresponding to the lower part of the rotary drum driving wheel 13, specifically: the connecting disc bolt 181 passes through a connecting disc bolt hole 185 formed in the connecting disc 18 from the lower part of the connecting disc 18 upwards, then passes through a rotary drum driving wheel bolt hole 131 formed in the rotary drum driving wheel 13 upwards, passes through a rotary drum bolt hole 152 formed in the rotary drum 15, is screwed into the rotary disc 16 and is limited by a nut, a limiting pin adjusting screw collision head 182 extends from one side of the connecting disc 18, and the limiting pin adjusting screw collision head 182 corresponds to a position between a first limiting pin adjusting screw I1711 and a second limiting pin adjusting screw II 1721. The above-mentioned revolving frame assembly 2 is fixed to the side of the aforementioned revolving disc 16 facing upwards.
In the present embodiment, the rotation cylinder 11 is a rotation cylinder and a rotation cylinder having a forward and reverse rotation function, and whether the rotation cylinder 11 is operated or not is controlled by a PLC (programmable logic controller) provided in the electric control box 30. When the rotation acting cylinder 11 works to enable the rotation acting cylinder column 111 to drive the rotation acting cylinder column driving wheel 12 to rotate until the first rotation acting cylinder column driving wheel collision block I121 collides with the first collision block screw I1121 of the rotation acting cylinder column driving wheel, the rotation acting cylinder column 111 does not rotate clockwise any more; conversely, when the rotation cylinder 11 rotates the rotation cylinder 111 counterclockwise and drives the rotation cylinder transmission wheel 12 to rotate until the second rotation cylinder transmission wheel collision block ii 122 collides with the second collision block screw ii 1122 of the rotation cylinder transmission wheel, the rotation cylinder 111 does not rotate counterclockwise any more, so as to limit the clockwise or counterclockwise rotation angle of the rotation cylinder 111, in this embodiment, the rotation cylinder rotates clockwise and counterclockwise by 90 °, so that the rotation frame assembly 2 also rotates clockwise and counterclockwise by 90 °, i.e., rotates clockwise and counterclockwise within a range of 90 °.
In this embodiment, the rotation cylinder driving wheel 12 and the rotary drum driving wheel 13 are both belt pulleys, the transmission belt 14 is a transmission belt, the belt pulleys are synchronous belt pulleys, and the transmission belt is a synchronous belt. The rotary disk 16 and the rotary drum 15 are integrally structured, and the rotary disk 16 is a flange-like rotary disk of the rotary drum 15.
Continuing to refer to fig. 1 and 2, the aforementioned revolving rack assembly 2 includes a revolving rack body 21, a revolving rack body cavity top cover 22, a revolving rack body base 23 and a support rod base lifting guide rail base 24, the position of the revolving rack body base 23 above the aforementioned working table 10 is fixed with the aforementioned revolving rack driving mechanism 1, specifically: a rotary frame body base fixing screw 232 is fixed with the upward side of the rotary disc 16, a rotary frame body base abdicating cavity 231 is arranged at the central position of the rotary frame body base 23, the rotary frame body 21 is fixed with the upward side of the rotary frame body base 23 by the rotary frame body fixing screw 212, the rotary frame body 21 is provided with a lifting cylinder shielding cavity 211 corresponding to and communicated with the rotary frame body base abdicating cavity 231, the rotary frame body cavity top cover 22 is fixed with the top of the rotary frame body 21 by a screw at the position corresponding to the lifting cylinder shielding cavity 211, a lifting cylinder abdicating hole 221 is arranged at the middle part of the rotary frame body cavity top cover 22, the support rod base lifting guide rail seat 24 is preferably fixed on the front side wall body of the rotary frame body 21 by a fastener, a support rod base elevation guide cavity 241 having a U-shaped cross-sectional shape is formed in front of the support rod base elevation guide seat 24 and along the height direction of the support rod base elevation guide seat 24, and a cavity cover 2411 is fixed at a position corresponding to the cavity opening of the support rod base elevation guide cavity 241 by a cavity cover screw 24111.
As shown in fig. 2, a pair of support rod base lifting cylinder pipe connection posts 183 are fixed to the connection plate 18, and a pair of workpiece clamping jaw opening and closing driving cylinder pipe connection heads 184 are connected to the lower portion of the connection plate 18; a support rod base elevation cylinder support device 161 is provided on the upward side of the turntable 16 at a position corresponding to the revolving rack main body base relief chamber 231.
Preferably, since the left ends of the pair of support rods 41 extend to the left side of the support rod base 4, a support rod end supporting base 412, which is like a counterweight or a counterweight effect, is disposed at the left side corresponding to the support rod base 4, a pair of support rod end inserting holes 4121 are formed at the support rod end supporting base 412 and at positions corresponding to the left ends of the pair of support rods 41, and the left ends of the pair of support rods 41 are inserted into the pair of support rod end inserting holes 4121 and are preferably locked by a support rod end locking screw 4122 screwed to the support rod end supporting base 412 and communicating with the support rod end inserting holes 4121. Further, a workpiece jaw opening and closing cylinder insertion support hole 4123 is provided in the middle of the support rod end portion support base 412, i.e., at a position corresponding to between the pair of support rod end portion insertion holes 4121.
Already mentioned above are: the rotation action cylinder 111 drives the rotation action cylinder driving wheel 12 to rotate 90 degrees clockwise or counterclockwise, and then the rotation action cylinder driving wheel 12 drives the rotary drum driving wheel 13 to rotate 90 degrees clockwise or counterclockwise correspondingly through the driving belt 14, so that the rotary drum driving wheel 13 drives the rotary drum 15 to rotate back to the rotary table 16 and also rotates 90 degrees clockwise or counterclockwise correspondingly. When the striking head 182 of the position-limiting pin adjusting screw strikes the first adjusting screw i 1711 of the position-limiting pin, the driving wheel 13 of the rotary drum does not rotate clockwise any more, and when the striking head 182 of the position-limiting pin adjusting screw strikes the second adjusting screw ii 1721 of the position-limiting pin, the driving wheel 13 of the rotary drum does not rotate counterclockwise any more.
As shown in fig. 1, the revolving frame body base 23 of the revolving frame assembly 2 is fixed to the upward side of the revolving plate 16; the support rod seat up-down lifting mechanism 3 is arranged on the rotary frame assembly 2 in a state of being shielded by the rotary frame assembly 2; a jaw action cylinder abdicating hole 42 is arranged on the support rod seat 4 and at the position corresponding to the workpiece jaw opening and closing driving mechanism 5; a workpiece clamping jaw support abdicating hole 611 is formed in the left cavity wall of the workpiece clamping jaw support cavity 61 of the workpiece clamping jaw support 6, and the workpiece clamping jaw opening and closing driving mechanism 5 extends into the workpiece clamping jaw support cavity 61 through the workpiece clamping jaw support abdicating hole 611 so that the workpiece clamping jaw opening and closing actuating mechanism 7 is connected with the workpiece clamping jaw opening and closing actuating mechanism; the workpiece pressing mechanism 20 provided on the workpiece holding jaw holder 6 at a position corresponding to a position between the workpiece front holding jaw 8 and the workpiece rear holding jaw 9 is vertically floating.
The support rod base up-down moving mechanism 3 is disposed in the lift cylinder shielding chamber 211 and supported by the support rod base lift cylinder supporting device 161, and the support rod base up-down moving mechanism 3 is further connected to the pair of support rod base lift cylinder pipe connection columns 183 through pipes; the workpiece clamping jaw opening and closing driving mechanism 5 fixed between the support rod seat 4 and the workpiece clamping jaw support fixing seat 411 corresponding to the position of the jaw action cylinder abdicating hole 42 is connected with the pipeline connecting head 184 of the pair of workpiece clamping jaw opening and closing driving action cylinders, a pair of support rod penetrating holes 43 are arranged on the support rod seat 4 and corresponding to the position of the pair of support rods 41, the left ends of the pair of support rods 41 extend to the left side of the support rod seat 4 through the pair of support rod penetrating holes 43 and are then inserted into the pair of support rod end inserting holes 4121, a workpiece clamping jaw support cavity upper cover plate 612 is fixed on the upper part of the workpiece clamping jaw support 6 by using a workpiece clamping jaw support cavity upper cover plate screw 6121 at the position corresponding to the cover plate screw hole 63 arranged on the upper surface of the workpiece clamping jaw support 6 at intervals, and the workpiece clamping jaw support cavity front clamp used for driving the workpiece is arranged in the workpiece clamping jaw support cavity 61 by the workpiece clamping jaw support upper cover plate A workpiece clamping jaw opening and closing actuating mechanism 7 for displacing the clamping jaw 8 and the workpiece back clamping jaw 9 towards each other or repelling each other and an upper shielding part for the workpiece pressing mechanism 20 between the workpiece front clamping jaw 8 and the workpiece back clamping jaw 9. The lower portion of the workpiece jaw support cavity 61 is open.
Continuing with fig. 1 and 2, the above-mentioned support rod base up-down lifting mechanism 3 comprises a support rod base up-down lifting action cylinder 31 and a support rod base up-down lifting action cylinder connecting seat 32, the support rod base up-down lifting action cylinder 31 is fixed on the above-mentioned support rod base up-down lifting action cylinder supporting device 161 in a longitudinal state, the support rod base up-down lifting action cylinder 311 of the support rod base up-down lifting action cylinder 31 faces upward and is fixed with the support rod base up-down lifting action cylinder connecting seat 32, and the support rod base up-down lifting action cylinder connecting seat 32 is fixed at the central position of the bottom of the above-mentioned support rod base 4, wherein the support rod base up-down lifting action cylinder 31 is a cylinder and is connected with the above-mentioned pair of support rod base up-down lifting action cylinder pipe connecting columns 183 (shown in fig. 2) by a pair of lifting action cylinder vent pipes 312, and the pair of support rod base up-down lifting action cylinder pipe connecting columns 183 is connected with an external gas, an external air source device such as an air compressor or an air pump is disposed in the electrical control box 30, and thus the supporting rod up-down lifting cylinder 31 described in this embodiment is an air cylinder.
The supporting rod base lifting cylinder supporting device 161 includes a set of cylinder fixing plate supporting columns 1611 and a cylinder fixing plate 1612, the set of cylinder fixing plate supporting columns 1611 is fixed on the upward side of the rotary disk 16 in a distributed manner and is lifted upwards into the lifting cylinder shielding cavity 211 at a position corresponding to the revolving frame body base abdicating cavity 231, the cylinder fixing plate 1612 is fixed on the top of the set of cylinder fixing plate supporting columns 1611, and the supporting rod base lifting cylinder 31 is fixed with the cylinder fixing plate 1612 in a longitudinal state.
When the support rod base up-down movement cylinder 31 (i.e., the air cylinder) operates and the support rod base up-down movement cylinder column 311 extends outward, i.e., upward, the upper end of the support rod base up-down movement cylinder column 311 is connected to the support rod base up-down movement cylinder column connection base 32, so that when the support rod base up-down movement cylinder 31 lifts the support rod base up-down movement cylinder column connection base 32 upward, the support rod base 4 also rises upward, and otherwise falls, and the degree of the fall is set by the PLC, based on the falling position signal of the workpiece clamping jaw opening and closing driving mechanism 5, which will be described in detail below, collected by the position signal collector 223 provided on the cavity top cover 22 of the revolving frame body, because whether the support rod base up-down movement cylinder 31 operates or not is controlled by the PLC. The aforementioned position signal collector 223 employs a position proximity switch, but may employ a travel switch, a micro switch, a reed switch, or a hall sensor.
As shown in fig. 1, a set of support rod base lifting guide rods 222, that is, four support rod base lifting guide rods 222, are fixed on the top cover 22 of the cavity of the main body of the revolving rack in a distributed manner, a set of support rod base lifting guide rod guide sleeves 44 are provided on the support rod base 4 at positions corresponding to the set of support rod base lifting guide rods 222, and the set of support rod base lifting guide rods 222 is slidably engaged with the set of support rod base lifting guide sleeves 44. Preferably, a pair of wire conduits 47 are fixed to the lower portion of the support rod base 4, and a pair of wire conduit holes 224 are opened in the revolving frame body cavity cover 22 at positions corresponding to the pair of wire conduits 47, and the pair of wire conduits 47 are slidably fitted into the pair of wire conduit holes 224. From the above description, it can be seen that: due to the cooperation of the set of support rod seat lifting guide rods 222 and the support rod seat guide rail slider fixing seat 45 and the like, the stability and reliability of the lifting of the support rod seat 4 can be guaranteed, and the action is accurate.
Continuing with FIG. 1, a support bar housing guide rail slide mount 45 is secured to the front side of the support bar housing 4 and at a location corresponding to above the support bar housing elevation guide rail mount 24 by way of guide rail slide mount screws 452, the space between the rear side of the support bar housing guide rail slide mount 45 and the front side of the support bar housing 4 is configured as a guide rail slide cavity 451, a guide rail slide 4511 is disposed within the guide rail slide cavity 451, the guide rail slide 4511 is secured to the rear side of the support bar housing guide rail slide mount 45 by way of guide rail slide mount screws 45111, a support bar housing elevation guide rail 46 is disposed between the rear side of the guide rail slide 4511 and the front side of the support bar housing 4, the upper end of the support bar housing elevation guide rail 46 is slidably engaged with the guide rail slide 4511, that is, the guide rail slide 4511 is slidably engaged with the upper end of the support bar housing elevation guide rail 46, and the lower end of the support bar housing elevation guide rail 46 is inserted into and secured within the support bar housing elevation guide rail cavity 241, since the support rod seat 4 is slidably engaged with the support rod seat lifting guide rail 46 through the guide rail slide 4511, and since the lower end of the support rod seat lifting guide rail 46 is inserted into and fixed to the support rod seat lifting guide rail cavity 241, it is verified that the applicant mentioned above also slidably engages the support rod seat 4 with the revolving frame assembly 2.
When the cylinder post 311 for up-and-down lifting of the support rod base drives the support rod base 4 to move up or down through the cylinder post connecting seat 32 for up-and-down lifting of the support rod base, i.e., drives the support rod base 4 to lift, the guide rail slide block 4511 is in up-and-down sliding fit with the upper end of the support rod base lifting guide rail 46, so that the lifting stability and reliability of the support rod base 4 are fully ensured.
Continuing to refer to fig. 1, the workpiece clamping jaw opening and closing driving mechanism 5 includes a workpiece clamping jaw opening and closing cylinder 51, a workpiece clamping jaw opening and closing cylinder column guide tube 52 and a pair of connecting head fitting tubes 53, the workpiece clamping jaw opening and closing cylinder 51 is fixed on the support rod seat 4 in a horizontal state at a position corresponding to the clamping jaw opening and closing hole 42, the left end of the workpiece clamping jaw opening and closing cylinder 51 extends to the left side of the support rod seat 4 from the clamping jaw opening and closing cylinder opening and closing hole 42 and then extends into the workpiece clamping jaw opening and closing cylinder and extending into the support hole 4123, the right end of the workpiece clamping jaw opening and closing cylinder 51 extends to the right side of the support rod seat 4 from the clamping jaw opening and closing cylinder column guide tube 42, the workpiece clamping jaw opening and closing cylinder column guide tube 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 seat 411, wherein the workpiece opening and closing cylinder column guide tube 511 of the workpiece clamping jaw opening and closing cylinder 51 The tail end of the workpiece clamping jaw opening and closing cylinder column 511 in the conduit cavity 521 extends out of the right end of the conduit cavity 521 and then extends into the workpiece clamping jaw support cavity 61 through the workpiece clamping jaw support abdicating hole 611, the upper ends of a pair of connector adapter pipes 53 are connected with the workpiece clamping jaw opening and closing actuating cylinder 51, the lower ends of the connector adapter pipes are connected with the workpiece clamping jaw opening and closing actuating cylinder pipeline connectors 184, the workpiece clamping jaw opening and closing actuating cylinder pipeline connectors 184 are connected with an external gas production device through pipelines, and the gas production device is an air compressor or an air pump arranged in the electric control box 30; the workpiece clamping jaw opening/closing actuator 7 for closing or repelling the workpiece front clamping jaw 8 and the workpiece rear clamping jaw 9 to each other is connected to the end of the workpiece clamping jaw opening/closing cylinder 511, and the workpiece pressing mechanism 20 is fixed to the left chamber wall of the workpiece clamping jaw support chamber 61.
From the above description, it is needless to say that the workpiece chuck jaw opening/closing cylinder 51 is a cylinder controlled by the PLC in the electric control box 30. When the workpiece-holding-jaw opening/closing cylinder 51 is operated, the workpiece-holding-jaw opening/closing actuator 7 described in detail later is driven by the left-right displacement of the workpiece-holding-jaw opening/closing cylinder column 511.
Referring to fig. 3 in combination with fig. 1, the workpiece clamping jaw opening/closing actuator 7 includes a sliding base guide rod 71, a sliding base 72, a front curved arm hinge base 73, a front curved arm 74, a rear curved arm hinge base 75, a rear curved arm 76, a pair of workpiece clamping jaw upper guide slide rods 77 and a pair of workpiece clamping jaw lower guide slide rods 78, the sliding base guide rod 71 has a pair parallel to each other in front and rear, and the left end of the sliding base guide rod 71 is fixed to the left chamber wall of the workpiece clamping jaw support chamber 61, while the right end of the sliding base guide rod 71 is configured as a horizontal cantilever end, the middle of the sliding base 72 is slidably fitted over the sliding base guide rod 71 in left and right directions via a sliding base sliding sleeve 723, and the middle of the sliding base 72 is fixedly connected to the end of the workpiece clamping jaw opening/closing cylinder column 511, i.e., the right end shown in the figure, a sliding base front hinge lug 721 extends from the front end of the sliding base 72, and a sliding base rear lug hinge, the front crank arm hinge seat 73 is fixed at the front end of the left cavity wall of the workpiece clamping jaw support cavity 61 through a front crank arm hinge seat fixing screw 731, the rear crank arm hinge seat 75 is fixed at the rear end of the left cavity wall of the workpiece clamping jaw support cavity 61 through a rear crank arm hinge seat fixing screw 751, a front crank arm pin shaft sliding groove 744 is respectively arranged at one end and the other end of the front crank arm 74, one end of the front crank arm 74 is hinged with the upper part of the workpiece front clamping jaw 8 at the position corresponding to the front crank arm pin shaft sliding groove 744 at one end through a front crank arm first pin shaft I741, the middle part of the front crank arm 74 is hinged with the front crank arm hinge seat 73 through a front crank arm second pin shaft II 742, the other end of the front crank arm 74 is hinged with the sliding seat front lug 721 at the position corresponding to the front crank arm pin shaft sliding groove 744 at the other end through a front crank arm third pin shaft III 743, a rear crank arm pin shaft sliding groove 764 is respectively arranged at one end and the other end of the rear crank arm 76, one end of a rear crank arm 76 is hinged with the upper part of the workpiece rear clamping jaw 9 at a position corresponding to a rear crank arm pin shaft sliding groove 764 through a rear crank arm first pin shaft I761, the middle part of the rear crank arm 76 is hinged with a rear crank arm hinging seat 75 through a rear crank arm second pin shaft II 762, the other end of the rear crank arm 76 is hinged with a sliding seat rear hinging lug 722 at a position corresponding to the rear crank arm pin shaft sliding groove 764 through a rear crank arm third pin shaft III 763, a pair of workpiece clamping jaw upper guide sliding rods 77 are fixed between the front cavity wall and the rear cavity wall of the workpiece clamping jaw support cavity 61 at positions corresponding to the clamping jaw upper guide sliding rod fixing holes 64 formed on the front wall and the rear wall of the workpiece clamping jaw support 6, and a pair of workpiece clamping jaw lower guide sliding rods 78 are also fixed between the front cavity wall and the rear cavity wall of the workpiece clamping jaw support cavity 61 at positions corresponding to the lower guide sliding rod fixing holes 65 formed on the front wall and the rear wall of the workpiece clamping jaw support 6 Between the front and rear walls of the rack chamber 61.
As shown in fig. 1 and 3, the right end of the slide shoe guide rod 71 extends between a pair of workpiece-chuck upper slide guide rods 77 and a pair of workpiece-chuck lower slide guide rods 78; the upper parts of the workpiece front clamping jaw 8 and the workpiece rear clamping jaw 9 are respectively matched with a pair of workpiece clamping jaw upper guide sliding rods 77 and a pair of workpiece clamping jaw lower guide sliding rods 78 in a sliding manner; the workpiece pressing mechanism 20 is disposed below the pair of workpiece holding jaw lower guide rods 78.
When the workpiece-gripper opening/closing cylinder column 511 retracts into the cylinder body of the workpiece-gripper opening/closing cylinder 51, i.e., moves leftward, the slide holder 72 is driven to move leftward along the pair of slide-holder guide rods 71, so that the front crank arm 74 rotates counterclockwise by an angle, and the rear crank arm 76 rotates clockwise by an angle, so that the workpiece front gripper 8 and the workpiece rear gripper 9 are driven to move toward each other along the pair of workpiece-gripper upper guide rods 77 and the pair of workpiece-gripper lower guide rods 78, respectively, via the front crank arm first pin i 741 and the rear crank arm first pin i 761, and, conversely, are repelled from each other.
As shown in fig. 1 and fig. 3, a workpiece front jaw slot 81 is formed in the upper portion of the workpiece front jaw 8, a workpiece rear jaw slot 91 is formed in the upper portion of the workpiece rear jaw 9, the workpiece front jaw slot 81 and the workpiece rear jaw slot 91 correspond to each other, one end of the front crank arm 74 extends into the workpiece front jaw slot 81 and is hinged to the upper portion of the workpiece front jaw 8 by the front crank arm first pin i 741 at the position of the workpiece front jaw slot 81, one end of the rear crank arm 76 extends into the workpiece rear jaw slot 91 and is hinged to the upper portion of the workpiece rear jaw 9 by the rear crank arm first pin i 761 at the position of the workpiece rear jaw slot 91; a workpiece front-jaw sliding sleeve 82 is provided on the top of the workpiece front jaw 8 at a position corresponding to the pair of workpiece-jaw upper guide slide bars 77 and the pair of workpiece-jaw lower guide slide bars 78, a workpiece rear-jaw sliding sleeve 92 is provided on the top of the workpiece rear jaw 9 at a position corresponding to the pair of workpiece-jaw upper guide slide bars 77 and the pair of workpiece-jaw lower guide slide bars 78, and the workpiece front-jaw sliding sleeve 82 and the workpiece rear-jaw sliding sleeve 92 are slidably engaged with the pair of workpiece-jaw upper guide slide bars 77 and the pair of workpiece-jaw lower guide slide bars 78.
Continuing to refer to fig. 1 and 3, the workpiece pressing mechanism 20 includes a workpiece pressing floating plate holder 201, a workpiece pressing floating plate 202, and a set of floating plate guide rods 203, the workpiece pressing floating plate holder 201 is disposed in the workpiece clamping jaw holder cavity 61 at a position corresponding to the lower portion of the pair of workpiece clamping jaw lower guide rods 78, the left end of the workpiece pressing floating plate holder 201 is fixed to the left cavity wall of the workpiece clamping jaw holder cavity 61, the right end is configured as a horizontal cantilever end, floating plate guide rod sliding holes equal in number to the set of floating plate guide rods 203 (four floating plate guide rods 203 in this embodiment) are disposed on the workpiece pressing floating plate holder 201 and at positions corresponding to the set of floating plate guide rods 203, a floating plate guide rod sliding guide sleeve is disposed in each floating plate guide rod sliding hole, and the set of floating plate guide rods 203 is slidably fitted with the floating plate guide rod sliding guide sleeve 2011 up and down, the workpiece pressing floating plate 202 is fixed to the lower ends of a plurality of floating plate guide rods 203 at a position corresponding to the lower side of the workpiece pressing floating plate holder 201, wherein a floating plate pressing spring 2031 is respectively sleeved on the plurality of floating plate guide rods 203, the upper end of the floating plate pressing spring 2031 is supported on the downward side of the workpiece pressing floating plate holder 201, the lower end is supported on the upward side of the workpiece pressing floating plate 202, and the workpiece pressing floating plate 202 corresponds to the position between the lower parts of the workpiece front clamping jaw 8 and the workpiece rear clamping jaw 9.
When the workpiece clamping jaw opening and closing actuating mechanism 7, the workpiece front clamping jaw 8, the workpiece rear clamping jaw 9 and the workpiece pressing and holding mechanism 20 which are arranged by taking the workpiece clamping jaw support 6 as a carrier correspond to the upper part of the workpiece and the workpiece clamping jaw support 6 moves downwards under the work of the supporting rod seat up-down lifting acting cylinder 31 to the extent that the workpiece pressing and holding floating plate 202 is contacted with the workpiece, the workpiece pressing and holding floating plate 202 can play a role of pressing and holding the workpiece to avoid the displacement of the workpiece under the spring force action of the floating plate pressing spring 2031, so that the workpiece is clamped by the common matching of the workpiece front clamping jaw 8 and the workpiece rear clamping jaw 9.
Referring to fig. 4, the electrical control box 30 mentioned above for many times is shown in fig. 4, and further, a first workpiece conveying line i 101, a second workpiece conveying line ii 102, a third workpiece conveying line iii 103, an ultrasonic pre-welding device 104, an ultrasonic final-welding device 105, a pre-welding station workpiece supply manipulator 106, a final-welding station workpiece conveying manipulator 107 and a target workpiece picking and conveying manipulator 108 are arranged on the aforementioned work table 10, the position of the first workpiece conveying line i 101 on the work table 10 corresponds to the left ends of the second workpiece conveying line ii 102 and the third workpiece conveying line iii 103, that is, the second workpiece conveying line ii 102 and the third workpiece conveying line iii 103 are in a perpendicular relationship with the first workpiece conveying line i 101, while the second workpiece conveying line ii 102 and the third workpiece conveying line iii 103 are parallel to each other in the longitudinal direction, and the ultrasonic pre-welding device 104 and the ultrasonic final-welding device 105 correspond to each other left and right and are located on the second workpiece conveying line i 101 In the middle area in front of ii 102, the workpiece transfer robot for automatic ultrasonic welding of the present invention, the above-described pre-welding station workpiece supply robot 106, the final welding station workpiece transfer robot 107, and the target workpiece pickup and transfer robot 108 are disposed between the second workpiece conveying line ii 102 and the third workpiece conveying line iii 103 from left to right. The first workpiece conveying line i 101, the second workpiece conveying line ii 102 and the third workpiece conveying line iii 103 are conveying lines in the form of conveying belts.
The applicant took the example of the ultrasonic welding of the new energy lithium battery component 40, and transported the lithium battery component 40 to be subjected to the ultrasonic welding to a position corresponding to the left side of the present invention by the workpiece first transport line i 101, and picked up and transferred the lithium battery component 40 from the workpiece first transport line i 101 to the workpiece second transport line ii 102 by the aforementioned workpiece transfer robot of the present invention.
The invention has described the working principle of the rotary frame driving mechanism 1 driving the rotary frame assembly 2 to rotate, the support rod seat up-down lifting mechanism 3 lifting the support rod seat 4, the workpiece clamping jaw opening-closing driving mechanism 5 actuating the workpiece clamping jaw opening-closing actuating mechanism 7, and the workpiece clamping jaw opening-closing actuating mechanism 7 driving the workpiece front clamping jaw 8 and the workpiece rear clamping jaw 9 to open and close in more detail, so the applicant does not repeat the explanation in detail.
When the rotary frame assembly 2 rotates 90 degrees towards the direction of the first workpiece conveying line I101 under the operation of the rotary frame driving mechanism 1, the lithium battery component 40 still positioned on the first workpiece conveying line I101 corresponds to the position below the workpiece pressing floating plate 202, at this time, the support rod seat up-down lifting action cylinder 31 of the support rod seat up-down lifting mechanism 3 works to enable the support rod seat up-down lifting action cylinder column 311 to descend, the descending degree is acquired by the position signal acquirer 223 and feeds back the signal to the electric control box 30, the electric control box 30 sends out an instruction to enable the support rod seat up-down lifting action cylinder 31 to stop working, at this time, the workpiece clamping jaw opening-closing driving mechanism 5 works to enable the workpiece clamping jaw opening-closing executing mechanism 7 to act, and the workpiece is moved in front according to the above, the rear jaws 8, 9 are displaced towards each other, clamping the lithium battery pack 40. Then the up-down lifting cylinder 31 of the support rod base works reversely to make the support rod base 4 move upwards, meanwhile, the rotary frame driving mechanism 1 drives the rotary frame assembly 2 to move in a reverse direction by 90 degrees, so that the lithium battery component 40 clamped by the front clamping jaw 8 and the rear clamping jaw 9 of the workpiece corresponds to the second workpiece conveying line II 102, then the up-down lifting action cylinder 31 of the support rod seat works in a reverse direction, namely, the up-down lifting action cylinder column 311 of the support rod base moves downwards to drive the support rod base 4 to move downwards, the lithium battery component 40 clamped between the front clamping jaw 8 and the rear clamping jaw 9 of the workpiece is in a state of tending to contact with the second workpiece conveying line II 102, and then the workpiece clamping jaw opening and closing driving mechanism 5 works reversely to enable the workpiece clamping jaw opening and closing action cylinder column 511 to move rightwards, so that the front clamping jaw 8 and the rear clamping jaw 9 of the workpiece are mutually repelled, and the lithium battery component 40 is released on the second workpiece conveying line II 102. The above-described operations are repeated, the lithium battery parts 40 to be subjected to ultrasonic welding on the first workpiece conveying line i 101 are picked up and released one by one on the second workpiece conveying line ii 102 by the present invention, and then picked up and placed on the ultrasonic pre-welding device 104 by the pre-welding station workpiece feeding robot 106, and then the lithium battery parts 40 subjected to the pre-welding are transferred from the ultrasonic pre-welding device 104 to the ultrasonic final-welding device 105 by the final-welding station workpiece conveying robot 107, and the lithium battery parts 40 subjected to the final-welding are picked up from the ultrasonic final-welding device 105 and placed on the second workpiece conveying line ii 102, and then the lithium battery parts 40 subjected to the final-welding are transferred from the second workpiece conveying line ii 102 to the third workpiece conveying line iii 103 by the target workpiece picking and conveying robot 108 and are output. Thereby realizing ideal relay type processing effect.
In conclusion, the technical scheme provided by the invention overcomes the defects in the prior art, successfully completes the invention task and truly realizes the technical effects of the applicant in the technical effect column.
Claims (10)
1. A rotary frame structure of an automatic chemical part transferring manipulator comprises a rotary frame driving mechanism (1) arranged on one side of a workbench (10) facing downwards in a use state; the rotary rack structure is characterized by comprising a rotary rack assembly (2), wherein the rotary rack assembly (2) comprises a rotary rack body (21), a rotary rack body cavity top cover (22), a rotary rack body base (23) and a supporting rod seat lifting guide rail seat (24), the rotary rack body base (23) is arranged above the workbench (10), the rotary rack driving mechanism (1) is fixed, a rotary rack body base abdicating cavity (231) is arranged at the central position of the rotary rack body base (23), the rotary rack body (21) is fixed with one side of the rotary rack body base (23) facing upwards, the rotary rack body (21) is provided with a lifting action cylinder shielding cavity (211) corresponding to the rotary rack body base abdicating cavity (231), and the rotary rack body cavity top cover (22) is fixed with the rotary rack body (211) at a position corresponding to the lifting action cylinder shielding cavity (211) 21) The top of the rotary frame body is fixed, a lifting cylinder abdicating hole (221) is arranged in the middle of the cavity top cover (22) of the rotary frame body, a support rod seat lifting guide rail seat (24) is fixed on the front side wall body of the rotary frame body (21), a support rod seat lifting guide rail cavity (241) is formed on the front side of the support rod seat lifting guide rail seat (24) along the height direction of the support rod seat lifting guide rail seat (24), and a cavity cover plate (2411) is fixed at the position corresponding to the cavity opening of the support rod seat lifting guide rail cavity (241).
2. The revolving rack structure of an automated workpiece transfer robot according to claim 1, wherein the revolving rack driving mechanism (1) comprises a revolving action cylinder (11), a revolving action cylinder column driving wheel (12), a revolving drum driving wheel (13), a driving belt (14), a revolving drum (15), a revolving disc (16), an outer drum ring (17) and a connecting disc (18), the revolving action cylinder (11) is fixed to the downward side of the table (10), the revolving action cylinder (111) of the revolving action cylinder (11) faces downward and a revolving action cylinder column driving wheel collision block screw seat (112) is fixed to the downward side of the revolving action cylinder (11), a revolving action cylinder column driving wheel first collision block screw i (1121) is fixed to one end of the revolving action cylinder column driving wheel collision block screw seat (112), and a revolving action cylinder column driving wheel second collision block screw seat (112) is fixed to the other end of the revolving action cylinder column collision block screw seat (112) A collision block screw II (1122), wherein the position of the rotation action cylinder driving wheel (12) corresponding to the downward side of the rotation action cylinder (111) is fixed with the rotation action cylinder (111), a first rotation action cylinder driving wheel collision block I (121) and a second rotation action cylinder driving wheel collision block II (122) are fixed on the upward side of the rotation action cylinder driving wheel (12), the first rotation action cylinder driving wheel collision block I (121) corresponds to the first collision block screw I (1121) of the rotation action cylinder driving wheel, the second rotation action cylinder driving wheel collision block II (122) corresponds to the second collision block screw II (1122) of the rotation action cylinder driving wheel, the rotary cylinder driving wheel (13) is fixed with the downward end face of the rotary cylinder (15), one end of the transmission belt (14) is sleeved on the rotation action cylinder driving wheel (12), the other end of the rotary drum is sleeved on a rotary drum driving wheel (13), an outer drum ring (17) is fixed with one side of the workbench (10) facing downwards in a longitudinal cantilever state, a first limiting pin I (171) and a second limiting pin II (172) are fixed on the lower end face of the outer drum ring (17), the first limiting pin I (171) and the second limiting pin II (172) form a face-to-face position relationship around the circumferential direction of the outer drum ring (17), wherein a first limiting pin adjusting screw I (1711) is arranged on the first limiting pin I (171), a second limiting pin adjusting screw II (1721) is arranged on the second limiting pin II (172), a rotary drum (15) is arranged in an outer drum ring cavity (173) of the outer drum ring (17), and rotary drum bearings (151) are respectively arranged at the upper part and the lower part between the outer wall of the rotary drum (15) and the inner wall of the outer drum ring (17), the upper end of the rotary cylinder (15) upwards extends out of the surface of one side, facing upwards, of the workbench (10), the rotary disc (16) and the upper end of the rotary cylinder (15) form an integral structure at a position corresponding to the upper part of the workbench (10), the connecting disc (18) is fixed with the rotary cylinder (15) through a connecting disc bolt (181) at a position corresponding to the lower part of the rotary cylinder driving wheel (13), a limit pin adjusting screw collision head (182) extends from one side of the connecting disc (18), and the limit pin adjusting screw collision head (182) corresponds to a position between a limit pin first adjusting screw I (1711) and a limit pin second adjusting screw II (1721); the base (23) of the rotary frame body of the rotary frame assembly (2) is fixed with one side of the rotary disc (16) facing upwards.
3. The revolving rack structure of an automated workpiece transfer robot according to claim 2, wherein a pair of support rod base lifting cylinder line connection posts (183) are fixed on the connection pad (18), and a pair of workpiece clamping jaw opening and closing driving cylinder line connection posts (184) are further coupled to the lower portion of the connection pad (18).
4. The revolving rack structure of an automated workpiece transfer robot according to claim 2, characterized in that a support rod base elevation cylinder support device (161) is provided at the side of the revolving tray (16) facing upwards and at a position corresponding to the revolving rack body base abdicating cavity (231).
5. The revolving frame structure of an automated workpiece transfer robot according to claim 4, wherein the support bar base elevation cylinder support means (161) comprises a set of cylinder fixing plate support columns (1611) and a cylinder fixing plate (1612), the set of cylinder fixing plate support columns (1611) is fixed to the upward facing side of the revolving plate (16) in a distributed-in-a-shape and is raised into the elevation cylinder shielding chamber (211) at a position corresponding to the revolving frame body base abdicating chamber (231), and the cylinder fixing plate (1612) is fixed to the top of the set of cylinder fixing plate support columns (1611).
6. The revolving frame structure of an automated workpiece transfer robot according to claim 2, characterised in that the rotary action cylinder (11) is a rotary cylinder.
7. The revolving frame structure of an automated workpiece transfer robot according to claim 2, wherein the rotary action cylinder transmission wheel (12) and the revolving drum transmission wheel (13) are belt pulleys, and the transmission belt (14) is a transmission belt.
8. The rotating gantry structure of an automated part transfer robot of claim 7, wherein the pulley is a synchronous pulley and the driving belt is a synchronous belt.
9. The revolving rack structure of an automated workpiece transfer robot according to claim 3, wherein the pair of support rod base lifting cylinder pipe connection columns (183) are connected to an external gas generating device through a connection base pipe in a use state.
10. The rotary frame structure of an automated workpiece transfer robot of claim 9, wherein the gas generating device is an air compressor or an air pump.
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| CN201911298325.1A CN110842343B (en) | 2019-12-17 | 2019-12-17 | Rotary frame structure of automatic workpiece transfer manipulator |
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| CN201911298325.1A CN110842343B (en) | 2019-12-17 | 2019-12-17 | Rotary frame structure of automatic workpiece transfer manipulator |
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| CN110842344A (en) * | 2019-12-17 | 2020-02-28 | 常熟大众机器人研究院有限公司 | Workpiece transferring manipulator for automatic ultrasonic welding |
| CN110842345A (en) * | 2019-12-17 | 2020-02-28 | 常熟大众机器人研究院有限公司 | Support rod seat structure of automatic workpiece transferring manipulator |
| CN112355700A (en) * | 2020-11-25 | 2021-02-12 | 上汽通用五菱汽车股份有限公司 | Grabbing clamp structure of engine cylinder cover |
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| CN211102131U (en) * | 2019-12-17 | 2020-07-28 | 常熟大众机器人研究院有限公司 | Rotary rack structure of automatic workpiece transferring manipulator |
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| CN110788476A (en) * | 2019-12-17 | 2020-02-14 | 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 |
| CN110842344A (en) * | 2019-12-17 | 2020-02-28 | 常熟大众机器人研究院有限公司 | Workpiece transferring manipulator for automatic ultrasonic welding |
| CN110842345A (en) * | 2019-12-17 | 2020-02-28 | 常熟大众机器人研究院有限公司 | Support rod seat structure 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 |
| CN110842345B (en) * | 2019-12-17 | 2024-04-26 | 常熟大众机器人研究院有限公司 | Supporting rod seat structure of automatic workpiece transferring manipulator |
| 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 |
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