CN110842344A

CN110842344A - Workpiece transferring manipulator for automatic ultrasonic welding

Info

Publication number: CN110842344A
Application number: CN201911298529.5A
Authority: CN
Inventors: 王国成
Original assignee: Changshu Dazhong Robot Research Institute Co Ltd
Current assignee: Changshu Dazhong Robot Research Institute Co Ltd
Priority date: 2019-12-17
Filing date: 2019-12-17
Publication date: 2020-02-28
Anticipated expiration: 2039-12-17
Also published as: CN110842344B

Abstract

A workpiece transferring manipulator for automatic ultrasonic welding comprises a rotary frame driving mechanism, a rotary frame driving mechanism and a rotary frame driving mechanism, wherein the rotary frame driving mechanism is arranged on one downward side of a workbench; the rotary frame is fixed with the rotary frame driving mechanism; the support rod seat up-down lifting mechanism is arranged on the rotary frame; the supporting rod seat is connected with the up-down lifting mechanism of the supporting rod seat, and a pair of supporting rods are fixed on the supporting rod seat and are parallel to each other front and back; the workpiece clamping jaw opening and closing driving mechanism is fixed between the supporting rod seat and the workpiece clamping jaw support fixing seat, and the workpiece clamping jaw support and one side of the workpiece clamping jaw support fixing seat, which is back to the pair of supporting rods, are fixed; the workpiece clamping jaw opening and closing actuating mechanism is arranged in the cavity of the workpiece clamping jaw bracket; the workpiece front clamping jaw and the workpiece rear clamping jaw are hinged with the workpiece clamping jaw opening and closing actuating mechanism in a mutually opposite displacement or mutual repulsion state; the workpiece pressing mechanism is arranged on the workpiece clamping jaw bracket. The workpiece can be reliably and accurately clamped from the previous station to the next station; the structure is compact and the volume is small; the production efficiency is high.

Description

Workpiece transferring manipulator for automatic ultrasonic welding

Technical Field

The invention belongs to the technical field of automatic machinery, and particularly relates to a workpiece transferring manipulator for automatic ultrasonic welding.

Background

The automatic ultrasonic welding is automatic ultrasonic welding, is widely applied to the production industries of new energy lithium batteries, electronic and electrical products, stationery, toys and the like, automobile part production industry, medical supplies production industry and the like, and adopts the principle that high-frequency vibration waves are transmitted to the surfaces of two objects to be welded into a whole, namely objects, so that the two objects 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.

If an ultrasonic automatic welding machine such as a primary welding machine and a final welding machine, a workpiece input device such as a conveyor belt serving the ultrasonic automatic welding machine, a workpiece output device such as a conveyor belt also serving the ultrasonic welding machine, a manipulator picking up and feeding a workpiece from the workpiece input device to a station where the ultrasonic automatic welding machine is located, a workpiece station switching (or moving) manipulator, and a workpiece which has completed welding such as the final welding are extracted from the final welding machine and transferred to the workpiece output device, the work efficiency can be remarkably improved, precious labor resources can be saved, the welding quality of the workpiece can be guaranteed, the neatness of the workpiece processing environment can be embodied, and the excellent beat type (also called relay type) production effect can be embodied. In the above-described configuration, the robot that picks up the workpiece from the workpiece input device and feeds the workpiece to the station where the ultrasonic automatic welding machine is located is the workpiece transfer robot described above, and since the workpiece transfer robot is the starting part that ensures the normal operation of the welding machine, its reliability, simplicity, flexibility, non-interference with other robots, i.e., other robots located at adjacent stations, compactness of volume, ease of inspection and maintenance in daily use, and the like are critical, but in both the heretofore disclosed foreign patents and non-patent documents, reference technical information is not known that enables the robot to satisfy the requirements not limited to the foregoing examples, and the technical solution described below is made in this context.

Disclosure of Invention

The invention aims to provide a workpiece transfer manipulator for automatic ultrasonic welding, which is beneficial to flexibly and reliably extracting workpieces and accurately transferring the extracted workpieces to the next station so as to ensure good relay performance of the work of the station, to embody the simplicity of the structure and the miniaturization of the volume so as to avoid interference influence on devices on other stations and to embody the rapidness of action so as to ensure the production efficiency.

The invention aims to complete the task, and the workpiece transferring manipulator for automatic ultrasonic welding comprises a rotary rack driving mechanism, a rotary rack driving mechanism and a workpiece transferring mechanism, wherein the rotary rack driving mechanism is arranged on one side, facing downwards, of a workbench in a use state; the rotary machine frame is fixed with the rotary machine frame driving mechanism at a position above the workbench; the support rod seat up-down lifting mechanism is arranged on the rotary frame; a supporting rod seat, which is connected with the supporting rod seat up-and-down lifting mechanism at a position corresponding to the upper part of the supporting rod seat up-and-down lifting mechanism and is in sliding fit with the rotary frame, a pair of supporting rods are fixed on the supporting rod seat, the supporting rods are parallel to each other in front and back, the left ends of the supporting rods extend to the left side of the supporting rod seat, the right ends extend towards the direction far away from the supporting rod seat to form a supporting rod horizontal cantilever end, and a workpiece clamping jaw support fixing seat is fixed at the position of the supporting rod horizontal cantilever end; the workpiece clamping jaw opening and closing driving mechanism is fixed between the support rod seat and the workpiece clamping jaw support fixing seat and also extends into a workpiece clamping jaw support cavity of the workpiece clamping jaw support, and the workpiece clamping jaw support and one side, back to the pair of support rods, of the workpiece clamping jaw support fixing seat are fixed; the workpiece clamping jaw opening and closing actuating mechanism is arranged in the workpiece clamping jaw support cavity and is connected with the workpiece clamping jaw opening and closing driving mechanism; the workpiece front clamping jaw and the workpiece rear clamping jaw are hinged with the workpiece clamping jaw opening and closing actuating mechanism in a mutually opposite displacement or mutual repulsion state; and the workpiece pressing mechanism is arranged on the workpiece clamping jaw bracket at a position corresponding to the position between the workpiece front clamping jaw and the workpiece rear clamping jaw.

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 rotary frame is fixed with one upward side of the rotary disc; the support rod seat up-down lifting mechanism is arranged on the rotary frame in a shielding state of the rotary frame; a clamping jaw action cylinder abdicating hole is arranged on the support rod seat and at the position corresponding to the workpiece clamping jaw opening and closing driving mechanism; a workpiece clamping jaw support abdicating hole is formed in the left cavity wall of a workpiece clamping jaw support cavity of the workpiece clamping jaw support, and the workpiece clamping jaw opening and closing driving mechanism extends into the workpiece clamping jaw support cavity through the workpiece clamping jaw support abdicating hole to connect the workpiece clamping jaw opening and closing actuating mechanism with the workpiece clamping jaw opening and closing actuating mechanism; the workpiece pressing mechanism arranged on the workpiece clamping jaw bracket corresponding to the position between the workpiece front clamping jaw and the workpiece rear clamping jaw floats up and down.

In another specific embodiment of the invention, the rotating frame comprises a rotating frame body, a rotating frame body cavity top cover, a rotating frame body base and a supporting rod seat lifting guide rail seat, the rotating frame body base is fixed with one upward side of the rotating disc, a rotating frame body base abdicating cavity is arranged at the central position of the rotating frame body base, the rotating frame body is fixed with one upward side of the rotating frame body base, the rotating frame body is provided with a lifting cylinder shielding cavity corresponding to and communicated with the rotating frame body base abdicating cavity, the rotating frame body cavity top cover is fixed with the top of the rotating frame body at the position corresponding to the lifting cylinder shielding cavity, a lifting cylinder abdicating hole is arranged at the middle part of the rotating frame body cavity top cover, the supporting rod seat lifting guide rail seat is fixed on the front side of the rotating frame body, a supporting rod seat lifting guide rail cavity is formed in the front side of the supporting rod seat lifting guide rail seat along the height direction of the supporting rod seat lifting guide rail seat, and a cavity cover plate is fixed at a position corresponding to a cavity opening of the supporting rod seat lifting guide rail cavity; a pair of support rod seat lifting cylinder pipeline connecting columns are fixed on the connecting disc, a pair of workpiece clamping jaw opening and closing driving cylinder pipeline connecting heads are matched and connected with the lower part of the connecting disc, and a support rod seat lifting cylinder supporting device is arranged on one upward side of the rotary disc and at a position corresponding to the abdicating cavity of the rotary frame body base; the supporting rod seat up-down lifting mechanism is arranged in the lifting cylinder shielding cavity and supported on the supporting device of the supporting rod seat lifting cylinder, and is also connected with the pipeline connecting column pipeline of the pair of supporting rod seat lifting cylinders; the workpiece clamping jaw opening and closing driving mechanism which is fixed between the support rod seat and the workpiece clamping jaw bracket fixing seat at the position corresponding to the jaw action cylinder abdicating hole is connected with the pipeline connecting head of the pair of workpiece clamping jaw opening and closing driving action cylinders, a pair of supporting rod through holes are arranged on the supporting rod seat and at the positions corresponding to the pair of supporting rods, the left ends of the pair of supporting rods extend to the left side of the supporting rod seat through the pair of supporting rod through holes, the upper part of the workpiece clamping jaw support is fixedly provided with a workpiece clamping jaw support cavity upper cover plate, and the workpiece clamping jaw opening and closing actuating mechanism which is arranged in the workpiece clamping jaw support cavity and is used for driving the workpiece front clamping jaw and the workpiece rear clamping jaw to move towards each other or repel each other is covered and protected above the workpiece pressing and holding mechanism which is positioned between the workpiece front clamping jaw and the workpiece rear clamping jaw.

In still another embodiment of the present invention, the support rod base up-down elevating mechanism includes a support rod base up-down elevating cylinder and a support rod base up-down elevating cylinder connecting base, the support rod base up-down elevating cylinder being fixed to the support rod base up-down elevating cylinder supporting means in a longitudinal state, the up-and-down lifting cylinder column of the support rod seat of the up-and-down lifting cylinder of the support rod seat faces upwards and is fixed with the connecting seat of the up-and-down lifting cylinder column of the support rod seat, the cylinder column connecting seat for the up-down lifting action of the supporting rod seat is fixed at the central position of the bottom of the supporting rod seat, wherein the up-and-down lifting action cylinder of the support rod seat is a cylinder and is connected with the pipeline connecting columns of the lifting action cylinders of the support rod seat by a pair of lifting action cylinder vent pipes, the pair of supporting rod seat lifting acting cylinder pipeline connecting columns are connected with an external gas generating device through connecting seat pipelines; the supporting device of the lifting acting cylinder of the supporting rod seat comprises a group of acting cylinder fixing plate supporting columns and an acting cylinder fixing plate, the group of acting cylinder fixing plate supporting columns are fixed on one upward side of the rotary disc in a distributed state in a shape like a Chinese character 'jing', and are upwards lifted and unfolded into the lifting acting cylinder shielding cavity at a position corresponding to the yielding cavity of the base of the rotary frame body, the acting cylinder fixing plate is fixed at the top of the group of acting cylinder fixing plate supporting columns, and the lifting acting cylinder of the supporting rod seat is fixed with the acting cylinder fixing plate in a longitudinal state.

In a further embodiment of the present invention, a set of support rod base lifting guide rods is fixed on the top cover of the cavity of the main body of the revolving frame in a distributed manner in a # -shaped manner, a set of support rod base lifting guide rod guide sleeves is arranged on the support rod base and at positions corresponding to the set of support rod base lifting guide rods, and the set of support rod base lifting guide rods is in sliding fit with the set of support rod base lifting guide rod guide sleeves.

In yet another specific embodiment of the present invention, a support rod base guide rail slider fixing seat is fixed at a position corresponding to the upper side of the support rod base lifting guide rail seat at the front side of the support rod base, a space between the rear side of the support rod base guide rail slider fixing seat and the front side of the support rod base is formed into a guide rail slider cavity, a guide rail slider is arranged in the guide rail slider cavity, the guide rail slider is fixed with the rear side of the support rod base guide rail slider fixing seat, a support rod base lifting guide rail is arranged between the rear side of the guide rail slider and the front side of the support rod base, the upper end of the support rod base lifting guide rail is in sliding fit with the guide rail slider, and the lower end of the support rod base lifting guide rail is inserted and fixed in the support rod base lifting guide rail cavity.

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

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

In yet a more specific embodiment of the present invention, a workpiece front jaw slot is defined in an upper portion of the workpiece front jaw, and a workpiece rear jaw slot is defined in an upper portion of the workpiece rear jaw, the workpiece front jaw slot and the workpiece rear jaw slot corresponding to each other, one end of the front crank arm extends into the workpiece front jaw slot and is hinged to the upper portion of the workpiece front jaw at a position of the workpiece front jaw slot, and one end of the rear crank arm extends into the workpiece rear jaw slot and is hinged to the upper portion of the workpiece rear jaw at a position of the workpiece rear jaw slot; the upper part of the workpiece front clamping jaw is provided with a workpiece front clamping jaw sliding sleeve at the position corresponding to the pair of workpiece clamping jaw upper guide sliding rods and the pair of workpiece clamping jaw lower guide sliding rods, the upper part of the workpiece rear clamping jaw is provided with a workpiece rear clamping jaw sliding sleeve at the position corresponding to the pair of workpiece clamping jaw upper guide sliding rods and the pair of workpiece clamping jaw lower guide sliding rods, and the workpiece front clamping jaw sliding sleeve and the workpiece rear clamping jaw sliding sleeve are in sliding fit with the pair of workpiece clamping jaw upper guide sliding rods and the pair of workpiece clamping jaw lower guide sliding rods.

In yet another specific embodiment of the present invention, the workpiece pressing mechanism includes a workpiece pressing floating plate support, a workpiece pressing floating plate and a set of floating plate guide rods, the workpiece pressing floating plate support is disposed in the workpiece clamping jaw support cavity at a position corresponding to the lower portion of the lower guide slide rod of the pair of workpiece clamping jaws, the left end of the workpiece pressing floating plate support is fixed to the left cavity wall of the workpiece clamping jaw support cavity, the right end of the workpiece pressing floating plate support is a horizontal cantilever end, floating plate guide rod sliding holes equal in number to the set of floating plate guide rods are disposed in the workpiece pressing floating plate support and corresponding to the set of floating plate guide rods, a floating plate guide rod sliding guide sleeve is disposed in each floating plate guide rod sliding hole, the set of floating plate guide rods is vertically slidably engaged with the floating plate guide rod sliding guide sleeve, and the workpiece pressing floating plate is fixed to the lower end of the set of floating plate guide rods at a position corresponding to the lower portion of the workpiece pressing floating plate support And a floating plate pressing spring is sleeved on each group of floating plate guide rods, the upper end of the floating plate pressing spring is supported on the downward side of the workpiece pressing floating plate bracket, the lower end of the floating plate pressing spring is supported on the upward side of the workpiece pressing floating plate, and the workpiece pressing floating plate corresponds to the position between the lower parts of the front workpiece clamping jaw and the rear workpiece clamping jaw.

One of the technical effects of the technical scheme provided by the invention is that the rotary frame can be driven by the rotary frame driving mechanism to rotate the rotary frame together with the support rod seat, the workpiece clamping jaw opening and closing driving mechanism, the workpiece clamping jaw support, the workpiece clamping jaw opening and closing executing mechanism, the workpiece front clamping jaw, the workpiece rear clamping jaw and the workpiece pressing mechanism in the forward and backward directions by a required angle, so that the workpiece front clamping jaw and the workpiece rear clamping jaw can move between two adjacent stations under the action of the workpiece clamping jaw opening and closing executing mechanism and can reliably and accurately clamp the workpiece from the previous station to the next station; secondly, the whole structure is compact and simple and the volume is small, so that the interference influence on devices on other stations can be avoided in use; thirdly, because the workpiece clamping jaw opening and closing driving mechanism drives the workpiece clamping jaw opening and closing actuating mechanism and the workpiece clamping jaw opening and closing actuating mechanism drives the front clamping jaw and the rear clamping jaw of the workpiece to move towards each other or repel each other, ideal agility can be embodied, and the production efficiency of automatically welding and assembling the workpiece can be guaranteed.

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, there is shown a revolving gantry drive mechanism 1, the revolving gantry drive mechanism 1 is arranged at a side of a table 10 facing downward in a use state, and the revolving gantry drive mechanism 1 is substantially located in an electric control box 30 located at a lower part of the table 10 because the table 10 is arranged on the electric control box; a revolving frame 2 is shown, which revolving frame 2 is fixed to the revolving frame drive 1 at a position above the table 10, i.e. is fixedly connected to the revolving frame drive 1; a support rod base up-down lifting mechanism 3 is shown, the support rod base up-down lifting mechanism 3 being arranged on the aforementioned revolving frame 2; a support rod base 4 is shown, the support rod base 4 is connected with the support rod base up-down mechanism 3 at a position corresponding to the upper part of the support rod base up-down mechanism 3 and is also in sliding fit with the rotary frame 2, a pair of support rods 41 are fixed on the support rod base 4, the pair of support rods 41 are parallel to each other in front and back, the left ends of the pair of support rods 41 extend to the left side of the support rod base 4, the right ends extend towards the direction far away from the support rod base 4, namely extend towards the right, and the support rod base is formed into a support rod horizontal cantilever end, and a workpiece clamping jaw support fixing seat 411 is fixed at the position of the support rod horizontal cantilever end; 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; a workpiece clamping jaw opening and closing actuating mechanism 7 is shown, and the workpiece clamping jaw opening and closing actuating mechanism 7 is arranged in the workpiece clamping jaw bracket 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 are shown, and the workpiece front clamping jaw 8 and the workpiece rear clamping jaw 9 are hinged with the workpiece clamping jaw opening and closing actuating mechanism 7 in a mutual displacement (also called 'folding towards each other', the same is used below) or mutual repulsion 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.

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

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

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 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 2 in a state of being shielded by the rotary frame 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.

Continuing with fig. 1 and 2, the aforementioned revolving frame 2 includes a revolving frame body 21, a revolving frame body cavity top cover 22, a revolving frame body base 23 and a support rod seat lifting guide rail seat 24, the revolving frame body base 23 is fixed to the upward side of the aforementioned revolving disc 16 by a revolving frame body base fixing screw 232, and a revolving frame body base abdicating cavity 231 is opened at the central position of the revolving frame body base 23, the revolving frame body 21 is fixed to the upward side of the revolving frame body base 23 by a revolving frame body fixing screw 212, the revolving frame body 21 is formed with a lifting action cylinder shielding cavity 211 corresponding to and communicating with the aforementioned revolving frame body base abdicating cavity 231, the revolving frame body cavity top cover 22 is fixed to the top of the revolving frame body 21 by a screw at the position corresponding to the lifting action cylinder shielding cavity 211, a lifting cylinder abdicating hole 221 is arranged in the middle of the top cover 22 of the cavity of the revolving frame body, the supporting rod seat lifting guide rail seat 24 is preferably fixed on the front side wall body of the revolving frame body 21 by a fastener, a supporting rod seat lifting guide rail cavity 241 with a U-shaped cross section is formed on the front side of the supporting rod seat lifting guide rail seat 24 and along the height direction of the supporting rod seat lifting guide rail seat 24, and a cavity cover plate 2411 is fixed at the position corresponding to the cavity opening of the supporting rod seat lifting guide rail cavity 241 by a cavity cover plate screw 24111; a pair of support rod base lifting cylinder pipe connection posts 183 are fixed to the connection plate 18, a pair of workpiece clamping jaw opening/closing drive cylinder pipe connection heads 184 are connected to the lower portion of the connection plate 18, and a support rod base lifting cylinder support device 161 is provided at a position corresponding to the revolving frame body base offset chamber 231 on the upward side of the revolving plate 16.

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, 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 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 rail housing 24 by rail slide mount screws 452, the space between the rear side of the support rod base rail slide fixing seat 45 and the front side of the support rod base 4 is formed into a rail slide cavity 451, a rail slide 4511 is arranged in the rail slide cavity 451, the guide rail slide 4511 is fixed with the rear side of the support rod seat guide rail slide fixing seat 45 through a guide rail slide fixing screw 45111, a support rod base elevation guide 46 is provided between the rear side of the guide rail block 4511 and the front side of the support rod base 4, the upper end of the support bar holder lifting guide 46 is in sliding fit with the guide rail slide 4511, that is to say the guide rail slide 4511 is in sliding fit with the upper end of the support bar holder lifting guide 46, and the lower end of the support rod base elevation guide rail 46 is inserted into and fixed to the support rod base 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 aforementioned 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 rotary frame 2 with the support rod seat 4.

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

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

The lithium battery component 40 picked up by the present invention and transferred to the second workpiece conveying line ii 102 is picked up by the pre-welding station workpiece feeding robot 106 and placed on, i.e., supplied to, the ultrasonic pre-welding device 104, the pre-welded lithium battery component 40 is transferred from the ultrasonic pre-welding device 104 to the ultrasonic final-welding device 105 by the final-welding station workpiece conveying robot 107, the final-welded lithium battery component 40 is removed from the ultrasonic final-welding device 105 and placed on the second workpiece conveying line ii 102, and the final-welded lithium battery component 40 conveyed by the second workpiece conveying line ii 102 is transferred from the second workpiece conveying line ii 102 to the third workpiece conveying line iii 103 and output by the target workpiece picking and conveying robot 108. Thereby realizing ideal relay type processing effect.

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

Claims

1. A workpiece transfer manipulator for automatic ultrasonic welding is characterized by comprising a rotary frame driving mechanism (1), wherein the rotary frame driving mechanism (1) is arranged on one side, facing downwards, of a workbench (10) in a use state; the rotary frame (2) is fixed with the rotary frame driving mechanism (1) at a position above the workbench (10); a supporting rod seat up-down lifting mechanism (3), wherein the supporting rod seat up-down lifting mechanism (3) is arranged on the rotary rack (2); a supporting rod seat (4), the supporting rod seat (4) is connected with the supporting rod seat up-and-down lifting mechanism (3) at the position corresponding to the upper part of the supporting rod seat up-and-down lifting mechanism (3) and is in sliding fit with the rotary frame (2), a pair of supporting rods (41) are fixed on the supporting rod seat (4), the pair of supporting rods (41) are parallel front and back, the left ends of the pair of supporting rods (41) extend to the left side of the supporting rod seat (4), the right ends extend towards the direction far away from the supporting rod seat (4) to form a supporting rod horizontal cantilever end, and a workpiece clamping jaw support fixing seat (411) is fixed at the position of the supporting rod horizontal cantilever end; the workpiece clamping jaw opening and closing driving mechanism (5) and the workpiece clamping jaw support (6) are fixed between the support rod seat (4) and the workpiece clamping jaw support fixing seat (411) and also extend into a workpiece clamping jaw support cavity (61) of the workpiece clamping jaw support (6), and the workpiece clamping jaw support (6) and one side, back to the pair of support rods (41), of the workpiece clamping jaw support fixing seat (411) are fixed; the workpiece clamping jaw opening and closing actuating mechanism (7), 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); 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 or mutual repulsion state; and the workpiece pressing mechanism (20) is arranged on the workpiece clamping jaw bracket (6) at a position corresponding to the position between the workpiece front clamping jaw (8) and the workpiece rear clamping jaw (9).

2. The robot for transferring workpieces for automatic ultrasonic welding according to claim 1, wherein the rotary frame driving mechanism (1) comprises a rotary acting cylinder (11), a rotary acting cylinder column driving wheel (12), a rotary cylinder driving wheel (13), a transmission belt (14), a rotary cylinder (15), a rotary disc (16), an outer cylinder ring (17) and a connection disc (18), the rotary acting cylinder (11) is fixed to a downward side of the worktable (10), a rotary acting cylinder column (111) of the rotary acting cylinder (11) faces downward and a rotary acting cylinder column driving wheel collision block screw seat (112) is fixed to a downward side of the rotary acting cylinder (11), a rotary acting cylinder column driving wheel first collision block screw i (1121) is fixed to one end of the rotary acting cylinder column driving wheel collision block screw seat (112), and a rotary acting cylinder column driving wheel second collision block screw is fixed to the other end of the rotary acting cylinder column driving wheel collision block screw seat (112) A screw II (1122), the rotation action cylinder driving wheel (12) is fixed with the rotation action cylinder (111) at a position corresponding to the downward side of 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 revolving drum driving wheel (13) is fixed with the downward end face of the revolving drum (15), one end of the driving belt (14) is sleeved on the rotation action cylinder driving wheel (12), and the other end is sleeved on the revolving drum driving wheel (13), the outer cylinder ring (17) is fixed with the downward side of the workbench (10) in a longitudinal cantilever state, a first limit pin I (171) and a second limit pin II (172) are fixed on the lower end surface of the outer cylinder ring (17), the first limit pin I (171) and the second limit pin II (172) form a face-to-face position relationship around the circumferential direction of the outer cylinder ring (17), wherein a limit pin first adjusting screw I (1711) is arranged on the first limit pin I (171), a limit pin second adjusting screw II (1721) is arranged on the second limit pin II (172), the rotary cylinder (15) is arranged in an outer cylinder ring cavity (173) of the outer cylinder ring (17), rotary cylinder rotary bearings (151) are respectively arranged at the upper part and the lower part between the outer wall of the rotary cylinder (15) and the inner wall of the outer cylinder ring (17), and the upper end of the rotary cylinder (15) upwards extends out of the surface of the upward side 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) at a position corresponding to the lower part of the rotary cylinder driving wheel (13) through a connecting disc bolt (181), 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 rotary frame (2) is fixed with one upward side of the rotary disc (16); the support rod seat up-down lifting mechanism (3) is arranged on the rotary rack (2) in a state of being shielded by the rotary rack (2); a clamping jaw acting cylinder abdicating hole (42) is arranged on the support rod seat (4) and at the position corresponding to the workpiece clamping jaw opening and closing driving mechanism (5); a workpiece clamping jaw support abdicating hole (611) is formed in the left cavity wall of a workpiece clamping jaw support cavity (61) of the workpiece clamping jaw support (6), and the workpiece clamping jaw opening and closing driving mechanism (5) extends into the workpiece clamping jaw support cavity (61) through the workpiece clamping jaw support abdicating hole (611) to connect with the workpiece clamping jaw opening and closing executing mechanism (7); the workpiece pressing mechanism (20) arranged on the workpiece clamping jaw bracket (6) corresponding to the position between the workpiece front clamping jaw (8) and the workpiece rear clamping jaw (9) floats up and down.

3. The robot for transferring workpieces for automatic ultrasonic welding according to claim 2, wherein the rotating frame (2) comprises a rotating frame body (21), a rotating frame body cavity cap (22), a rotating frame body base (23) and a support rod base lifting guide rail seat (24), the rotating frame body base (23) is fixed to the upward side of the rotating disc (16), a rotating frame body base abdicating cavity (231) is formed in the center of the rotating frame body base (23), the rotating frame body (21) is fixed to the upward side of the rotating frame body base (23), the rotating frame body (21) is formed with a lifting cylinder shielding cavity (211) corresponding to and communicating with the rotating frame body base abdicating cavity (231), the rotating frame body cavity cap (22) is fixed to the top of the rotating frame body (21) at a position corresponding to the lifting cylinder shielding cavity (211), a lifting cylinder abdicating hole (221) is arranged in the middle of the cavity top cover (22) of the revolving frame body, a supporting rod seat lifting guide rail seat (24) is fixed on the front side wall body of the revolving frame body (21), a supporting rod seat lifting guide rail cavity (241) is formed in the front side of the supporting rod seat lifting guide rail seat (24) along the height direction of the supporting rod seat lifting guide rail seat (24), and a cavity cover plate (2411) is fixed at the position corresponding to the cavity opening of the supporting rod seat lifting guide rail cavity (241); a pair of support rod seat lifting cylinder pipeline connecting columns (183) are fixed on the connecting disc (18), a pair of workpiece clamping jaw opening and closing driving cylinder pipeline connecting heads (184) are matched at the lower part of the connecting disc (18), and a support rod seat lifting cylinder supporting device (161) is arranged at one upward side of the rotary disc (16) and at a position corresponding to the revolving rack body base abdicating cavity (231); the supporting rod seat up-down lifting mechanism (3) is arranged in the lifting cylinder shielding cavity (211) and supported on the supporting device (161) of the supporting rod seat lifting cylinder, and the supporting rod seat up-down lifting mechanism (3) is also connected with the pipeline connecting columns (183) of the pair of supporting rod seat lifting cylinder; correspond to the position of clamping jaw effect jar abdicating hole (42) is fixed support rod seat (4) with between work piece clamping jaw support fixing base (411) work piece clamping jaw open and shut actuating mechanism (5) with a pair of work piece clamping jaw open and shut actuating action jar pipe connector (184) tube coupling, on support rod seat (4) and corresponding to the position of a pair of bracing piece (41) seted up a pair of bracing piece and passed hole (43), the left end of a pair of bracing piece (41) is passed through a pair of bracing piece and is passed hole (43) and extend to the left side of supporting rod seat (4) the upper portion of work piece clamping jaw support (6) is fixed with a work piece clamping jaw support chamber upper cover plate (612), is in by this work piece clamping jaw support chamber upper cover plate (612) to setting be used for ordering about in work piece clamping jaw support chamber (61) work piece clamping jaw (8) and work piece back clamping jaw (9) are displacement in opposite directions each other or the work piece clamping jaw that repels each other opens and shuts actuating mechanism ) And the upper shielding part of the workpiece forcing mechanism (20) positioned between the workpiece front clamping jaw (8) and the workpiece rear clamping jaw (9).

4. The robot for transferring work pieces for automatic ultrasonic welding according to claim 3, wherein said support rod base up-down lifting mechanism (3) comprises a support rod base up-down lifting cylinder (31) and a support rod base up-down lifting cylinder connecting base (32), the support rod base up-down lifting cylinder (31) is fixed to said support rod base up-down lifting cylinder supporting means (161) in a longitudinal state, the support rod base up-down lifting cylinder (311) of the support rod base up-down lifting cylinder (31) is oriented upward and fixed to the support rod base up-down lifting cylinder connecting base (32), and the support rod base up-down lifting cylinder connecting base (32) is fixed to a central position of the bottom of said support rod base (4), wherein the support rod base up-down lifting cylinder (31) is an air cylinder and is connected to said support rod base up-down lifting cylinder connecting line (183) by a pair of lifting cylinder vent pipes (312) The pair of support rod seat lifting cylinder pipeline connecting columns (183) are connected with an external gas production device through connecting seat pipelines; the supporting rod seat lifting acting cylinder supporting device (161) comprises a group of acting cylinder fixing plate supporting columns (1611) and an acting cylinder fixing plate (1612), the group of acting cylinder fixing plate supporting columns (1611) are fixed on one side, facing upwards, of the rotary disc (16) in a distributed mode in a cross shape, and are upwards extended into the lifting acting cylinder shielding cavity (211) at the position corresponding to the revolving rack body base abdicating cavity (231), the acting cylinder fixing plate (1612) is fixed on the top of the group of acting cylinder fixing plate supporting columns (1611), and the supporting rod seat lifting acting cylinder (31) is fixed with the acting cylinder fixing plate (1612) in a longitudinal mode.

5. The workpiece transfer robot for automatic ultrasonic welding according to claim 3, wherein a plurality of support rod base lifting guide rods (222) are fixed to the top cover (22) of the main body cavity of the rotating machine frame in a distributed manner, a plurality of support rod base lifting guide rod guide sleeves (44) are provided on the support rod base (4) at positions corresponding to the plurality of support rod base lifting guide rods (222), and the plurality of support rod base lifting guide rods (222) are slidably fitted to the plurality of support rod base lifting guide rod guide sleeves (44).

6. The workpiece transfer robot for automatic ultrasonic welding according to claim 3, wherein a support bar base guide rail slider fixing base (45) is fixed to a front side of the support bar base (4) and at a position corresponding to above the support bar base elevation guide rail base (24), a space between a rear side of the support bar base guide rail slider fixing base (45) and the front side of the support bar base (4) is constituted as a guide rail slider chamber (451), a guide rail slider (4511) is provided in the guide rail slider chamber (451), the guide rail slider (4511) is fixed to the rear side of the support bar base guide rail slider fixing base (45), a support bar base elevation guide rail (46) is provided between the rear side of the guide rail slider (4511) and the front side of the support bar base (4), an upper end of the support bar base elevation guide rail (46) is slidably fitted to the guide rail slider (4511), and the lower end is inserted into and fixed in the support rod seat lifting guide rail cavity (241).

7. The workpiece transfer manipulator for automatic ultrasonic welding according to claim 3, wherein the workpiece clamping jaw opening/closing drive mechanism (5) comprises a workpiece clamping jaw opening/closing cylinder (51), a workpiece clamping jaw opening/closing cylinder column guide (52) and a pair of connector fitting pipes (53), the workpiece clamping jaw opening/closing cylinder (51) is fixed on the support rod base (4) in a horizontal state at a position corresponding to the jaw action cylinder abdicating hole (42), the left end of the workpiece clamping jaw opening/closing cylinder (51) extends to the left side of the support rod base (4) from the jaw action cylinder abdicating hole (42), the right end of the workpiece clamping jaw opening/closing cylinder (51) extends to the right side of the support rod base (4) from the clamping jaw action cylinder abdicating hole (42), the workpiece clamping jaw opening/closing cylinder column guide (52) is fixed between the right end of the workpiece clamping jaw opening/closing cylinder (51) and the left side of the workpiece clamping jaw holder fixing base (411), the workpiece clamping jaw opening and closing cylinder column (511) of the workpiece clamping jaw opening and closing cylinder (51) is positioned in a guide pipe cavity (521) of a workpiece clamping jaw opening and closing cylinder column guide pipe (52), the tail end of the workpiece clamping jaw opening and closing cylinder column (511) extends out of the right end of the guide pipe cavity (521) and then extends into a workpiece clamping jaw support cavity (61) through a workpiece clamping jaw support abdicating hole (611), the upper ends of a pair of connecting head adapting pipes (53) are adapted to the workpiece clamping jaw opening and closing cylinder (51), the lower ends of the pair of connecting head adapting pipes are connected with a pair of workpiece clamping jaw opening and closing driving cylinder pipeline connecting heads (184), and the pair of workpiece clamping jaw opening and closing driving cylinder pipeline connecting heads (184) are connected with an external gas generating device through pipelines; the workpiece clamping jaw opening and closing actuating mechanism (7) used for enabling the workpiece front clamping jaw (8) and the workpiece rear clamping jaw (9) to move towards each other or repel each other is connected with the tail end of the workpiece clamping jaw opening and closing acting cylinder column (511), and the workpiece pressing and holding mechanism (20) is fixed with the left cavity wall of the workpiece clamping jaw support cavity (61).

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

9. The workpiece transfer robot for automatic ultrasonic welding according to claim 8, wherein a workpiece front jaw slot (81) is formed in an upper portion of the workpiece front jaw (8), a workpiece rear jaw slot (91) is formed in an upper portion of the workpiece rear jaw (9), the workpiece front jaw slot (81) and the workpiece rear jaw slot (91) correspond to each other, one end of the front crank arm (74) extends into the workpiece front jaw slot (81) and is hinged to the upper portion of the workpiece front jaw (8) at a position of the workpiece front jaw slot (81), and one end of the rear crank arm (76) extends into the workpiece rear jaw slot (91) and is hinged to the upper portion of the workpiece rear jaw (9) at a position of the workpiece rear jaw slot (91); the upper part of a workpiece front clamping jaw (8) is provided with a workpiece front clamping jaw sliding sleeve (82) at the position corresponding to the pair of workpiece clamping jaw upper guide sliding rods (77) and the pair of workpiece clamping jaw lower guide sliding rods (78), the upper part of a workpiece rear clamping jaw (9) is provided with a workpiece rear clamping jaw sliding sleeve (92) at the position corresponding to the pair of workpiece clamping jaw upper guide sliding rods (77) and the pair of workpiece clamping jaw lower guide sliding rods (78), and the workpiece front clamping jaw sliding sleeve (82) and the workpiece rear clamping jaw sliding sleeve (92) are in sliding fit with the pair of workpiece clamping jaw upper guide sliding rods (77) and the pair of workpiece clamping jaw lower guide sliding rods (78).

10. The workpiece transfer robot for automatic ultrasonic welding according to claim 8, wherein said workpiece holding mechanism (20) comprises a workpiece holding floating plate holder (201), a workpiece holding floating plate (202), and a set of floating plate guide rods (203), said workpiece holding floating plate holder (201) is disposed in said workpiece holding jaw holder cavity (61) at a position corresponding to a lower portion of said pair of workpiece holding jaw lower guide slide rods (78), and a left end of said workpiece holding floating plate holder (201) is fixed to a left cavity wall of said workpiece holding jaw holder cavity (61) and a right end thereof is configured as a horizontal cantilever end, said workpiece holding floating plate holder (201) is provided with a number of floating plate guide rod sliding holes equal to the number of said set of floating plate guide rods (203) at a position corresponding to said set of floating plate guide rods (203), said set of floating plate guide rod sliding guide sleeves (2011) are disposed in said set of floating plate guide rod sliding holes, the group of floating plate guide rods (203) are matched with a floating plate guide rod sliding guide sleeve (2011) in a vertically sliding mode, a workpiece pressing floating plate (202) is fixed to the lower end of the group of floating plate guide rods (203) at a position corresponding to the lower portion of the workpiece pressing floating plate support (201), floating plate pressing springs (2031) are respectively sleeved on the group of floating plate guide rods (203), the upper ends of the floating plate pressing springs (2031) are supported on the downward side of the workpiece pressing floating plate support (201), the lower ends of the floating plate pressing springs are supported on the upward side of the workpiece pressing floating plate (202), and the workpiece pressing floating plate (202) corresponds to the position between the workpiece front clamping jaw (8) and the lower portion of the workpiece rear clamping jaw (9).