CN110842344B

CN110842344B - Workpiece transferring manipulator for automatic ultrasonic welding

Info

Publication number: CN110842344B
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: 2024-04-26
Anticipated expiration: 2039-12-17
Also published as: CN110842344A

Abstract

The workpiece transferring manipulator for automatic ultrasonic welding includes one rotating frame driving mechanism set on the downward side of the work bench; the rotary rack is fixed with the rotary rack driving mechanism; the support rod seat up-down lifting mechanism is arranged on the revolving frame; the support rod seat is connected with the support rod seat up-down lifting mechanism, a pair of support rods are fixed on the support rod seat, and the pair of support rods are parallel to each other back and forth; 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 one side of the workpiece clamping jaw support fixing seat, which is opposite to the pair of support rods, are fixed; the workpiece clamping jaw opening and closing actuating mechanism is arranged in the workpiece clamping jaw bracket cavity; the front workpiece clamping jaw and the rear workpiece clamping jaw are hinged with the workpiece clamping jaw opening and closing executing mechanism in a state of opposite displacement or mutual repulsion; the workpiece forcing 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, and is widely applied to the production industries of new energy lithium batteries, electronic and electric products, stationery and toys, automobile parts and medical supplies, and the like. When ultrasonic waves act on the contact surface of thermoplastic plastics, high-frequency vibration of tens of thousands or even tens of thousands times per second is generated, the ultrasonic energy is transmitted to a welding area through a weldment by the high-frequency vibration reaching a certain amplitude, and local high temperature is generated because of large acoustic resistance of the welding area, namely the interface of two welding parts, and the high temperature is scattered because of poor thermal conductivity of the plastics, so that the high temperature is accumulated in the welding area, the contact surface of the two plastics is quickly melted, and the two plastics are fused into a whole after a certain pressure is applied.

Technical information related to an ultrasonic welding apparatus such as CN208496057U (cell ultrasonic welder), CN110238506a (an ultrasonic welder), CN110370654A (an ultrasonic automatic welder), and the like is not lacking in the published chinese patent literature.

If an ultrasonic automatic welder such as a primary welder and a final welder, a workpiece input device such as a conveyor belt serving the ultrasonic automatic welder, a workpiece output device such as a conveyor belt also serving the ultrasonic automatic welder, a manipulator picking up a workpiece from the workpiece input device and feeding the workpiece to a station where the ultrasonic automatic welder is located, a workpiece station switching (or moving) manipulator, and extracting and transferring a workpiece which has completed welding such as a final welding from the final welder to the workpiece output device, the work efficiency can be remarkably improved, valuable labor resources can be saved, the welding quality of the workpiece can be ensured, the neatness of the workpiece processing environment can be embodied, and excellent takt (also called relay) production effect can be embodied. In the above-described configuration, the manipulator that picks up a workpiece from the workpiece input device and feeds the workpiece to the station where the ultrasonic automatic welding machine is located is the aforementioned workpiece transfer manipulator, and since the workpiece transfer manipulator is the starting member that ensures that the welding machine enters into normal operation, the reliability, the simplicity, the flexibility, the noninterference to other manipulators on adjacent stations, the miniaturization of the volume, the easy-to-check and protection in daily use, and the like are all harsher, but no borrowable technical information that enables the manipulator to meet the requirements that are not limited to the aforementioned requirements is found in the middle and outer patent documents and the non-patent documents disclosed so far, and the technical scheme to be described below is generated in this background.

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 that the good relay performance of station work is ensured, the simplicity of a structure is facilitated, the miniaturization of the volume is facilitated, the interference influence on devices on other stations is avoided, the rapidity of actions is facilitated, and the production efficiency is ensured.

The invention is based on the task of providing a workpiece transfer manipulator for automatic ultrasonic welding, comprising a revolving frame driving mechanism which is arranged at one side of a workbench facing downwards in a use state; a revolving frame fixed to the revolving frame driving mechanism at a position above the table; the support rod seat up-down lifting mechanism is arranged on the revolving frame; the support rod seat is connected with the support rod seat up-down lifting mechanism at a position corresponding to the upper part of the support rod seat up-down lifting mechanism and is in sliding fit with the revolving frame, a pair of support rods are fixed on the support rod seat, the support rods are parallel to each other back and forth, the left ends of the support rods extend to the left side of the support rod seat, the right ends extend towards a direction far away from the support rod seat to form a support rod horizontal cantilever end, and a workpiece clamping jaw support fixing seat is fixed at the position of the support rod horizontal cantilever end; the workpiece clamping jaw opening and closing driving mechanism and the workpiece clamping jaw support are fixed between the support rod seat and the workpiece clamping jaw support fixing seat and extend into a workpiece clamping jaw support cavity of the workpiece clamping jaw support, and the workpiece clamping jaw support and one side, opposite 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 bracket cavity and is connected with the workpiece clamping jaw opening and closing driving mechanism; a workpiece front clamping jaw and a workpiece rear clamping jaw which are hinged with the workpiece clamping jaw opening and closing actuating mechanism in a state of opposite displacement or mutual repulsion; and the workpiece forcing 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 revolving frame driving mechanism comprises a rotary action cylinder, a rotary action cylinder column driving wheel, a revolving cylinder driving wheel, a driving belt, a revolving cylinder, a revolving disc, an outer cylinder ring and a connecting disc, wherein the rotary action cylinder is fixed on one side of the workbench facing downwards, a rotary action cylinder column driving wheel bump screw seat is fixed on one side of the rotary action cylinder facing downwards, a rotary action cylinder column driving wheel first bump screw I is fixed on one end of the rotary action cylinder column driving wheel bump screw seat, a rotary action cylinder column driving wheel second bump screw II is fixed on the other end of the rotary action cylinder column driving wheel bump screw seat, the rotary action cylinder column driving wheel is fixed with the rotary action cylinder column at a position corresponding to the side of the rotary action cylinder column facing downwards, a first rotary action cylinder column driving wheel collision block I and a second rotary action cylinder column driving wheel collision block II are fixed on one side of the rotary action cylinder column driving wheel, which faces upwards, the first rotary action cylinder column driving wheel collision block I corresponds to the first collision block screw I of the rotary action cylinder column driving wheel, the second rotary action cylinder column driving wheel collision block II corresponds to the second collision block screw II of the rotary action cylinder column driving wheel, the rotary cylinder driving wheel is fixed with one end face of the rotary cylinder which faces downwards, one end of the driving belt is sleeved on the rotary action cylinder column driving wheel, the other end is sleeved on the rotary cylinder driving wheel, the outer cylinder ring is fixed with one side of the workbench which faces downwards in a longitudinal cantilever state, a first limit foot I and a second limit foot II are fixed on the lower end face of the outer cylinder ring, the first limiting pin I and the second limiting pin II form a face-to-face position relation around the circumferential direction of the outer barrel ring, wherein a limiting pin first adjusting screw I is arranged on the first limiting pin I, a limiting pin second adjusting screw II is arranged on the second limiting pin II, a rotary barrel is arranged in an outer barrel ring cavity of the outer barrel ring, rotary barrel rotating bearings are respectively arranged at the upper part and the lower part between the outer wall of the rotary barrel and the inner wall of the outer barrel ring, the upper end of the rotary barrel upwards protrudes out of one side surface of the workbench facing upwards, a rotary disc and the upper end of the rotary barrel form an integrated structure at a position corresponding to the upper part of the workbench, a connecting disc is fixed with the rotary barrel through a connecting disc bolt at a position corresponding to the lower part of a rotary barrel driving wheel, and a limiting pin adjusting screw collision head extends at one side of the connecting disc and corresponds to the space between the limiting pin first adjusting screw I and the limiting pin second adjusting screw II; the rotary rack is fixed with one side of the rotary disc, which faces upwards; the up-down lifting mechanism of the support rod seat is arranged on the revolving frame in a shielding state of the revolving frame; a clamping jaw acting cylinder abdicating hole is formed in the supporting rod seat and at a position corresponding to the workpiece clamping jaw opening and closing driving mechanism; a workpiece clamping jaw support abdication hole is formed in the left cavity wall of the workpiece clamping jaw support cavity of the workpiece clamping jaw support, and the workpiece clamping jaw opening and closing driving mechanism extends into the workpiece clamping jaw support cavity through the workpiece clamping jaw support abdication hole so as to be connected with the workpiece clamping jaw opening and closing actuating mechanism; the workpiece forcing mechanism arranged on the workpiece clamping jaw bracket corresponding to the position between the workpiece front clamping jaw and the workpiece rear clamping jaw is floating up and down.

In another specific embodiment of the present invention, the revolving frame includes a revolving frame body, a revolving frame body cavity top cover, a revolving frame body base and a supporting rod seat lifting guide rail seat, the revolving frame body base is fixed with one side of the revolving disc facing upwards, a revolving frame body base abdication cavity is formed in the center position of the revolving frame body base, the revolving frame body is fixed with one side of the revolving frame body base facing upwards, the revolving frame body forms a lifting action cylinder shielding cavity corresponding to and communicating with the revolving frame body base abdication cavity, the revolving frame body cavity top cover is fixed with the top of the revolving frame body at a position corresponding to the lifting action cylinder shielding cavity, a lifting action cylinder column abdication hole is formed in the middle of the revolving frame body cavity top cover, the supporting rod seat lifting guide rail seat is fixed on the front side wall of the revolving frame body, a supporting rod seat lifting guide rail seat is formed in front side of the supporting rod seat lifting guide rail seat and along the height direction of the supporting rod seat lifting guide rail seat, and a cavity cover plate is fixed at a position corresponding to the cavity opening of the supporting rod seat lifting guide rail seat; a pair of supporting rod seat lifting action cylinder pipeline connecting columns are fixed on the connecting disc, a pair of workpiece clamping jaw opening and closing driving action cylinder pipeline connecting heads are also connected to the lower part of the connecting disc in a matched mode, and a supporting rod seat lifting action cylinder supporting device is arranged on one side of the rotating disc, which faces upwards, and at a position corresponding to the base abdication cavity of the rotating frame body; the support rod seat up-down lifting mechanism is arranged in the lifting action cylinder shielding cavity and supported on the support rod seat lifting action cylinder supporting device, and is also connected with the pair of support rod seat lifting action cylinder pipeline connecting columns through pipelines; the clamping jaw opening and closing driving mechanism is connected with the pipeline connector of the pair of clamping jaw opening and closing driving action cylinder, a pair of supporting rod through holes are formed in the supporting rod seat and correspond 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, a clamping jaw support cavity upper cover plate is fixed to the upper portion of the clamping jaw support, and the clamping jaw support cavity upper cover plate is used for shielding and protecting the clamping jaw opening and closing actuating mechanism which is arranged in the clamping jaw support cavity and used for driving the clamping jaw and the clamping jaw to move towards each other or repel each other after the workpiece and the clamping jaw are arranged between the clamping jaw and the clamping jaw after the workpiece.

In yet another specific embodiment of the present invention, the support rod seat up-and-down lifting mechanism includes a support rod seat up-and-down lifting cylinder and a support rod seat up-and-down lifting cylinder column connecting seat, the support rod seat up-and-down lifting cylinder is fixed on the support rod seat up-and-down lifting cylinder supporting means in a longitudinal state, the support rod seat up-and-down lifting cylinder column of the support rod seat up-and-down lifting cylinder is fixed with the support rod seat up-and-down lifting cylinder column connecting seat, and the support rod seat up-and-down lifting cylinder is fixed at a central position of the bottom of the support rod seat, wherein the support rod seat up-and-down lifting cylinder is a cylinder and is connected with the pair of support rod seat up-and-down lifting cylinder pipeline connecting columns through a connecting seat pipeline, and the pair of support rod seat up-and-down lifting cylinder pipeline connecting columns are connected with the external gas generating device; the supporting rod seat lifting acting cylinder supporting device comprises a group of acting cylinder fixing plate supporting columns and an acting cylinder fixing plate, wherein the group of acting cylinder fixing plate supporting columns are fixed on one side of the rotating disc, which faces upwards, in a state of being distributed in a groined shape, and are lifted upwards to the lifting acting cylinder shielding cavity at the position corresponding to the base abdication cavity of the rotating frame body, the acting cylinder fixing plate is fixed at the top of the group of acting cylinder fixing plate supporting columns, and the supporting rod seat lifting acting cylinder is fixed with the acting cylinder fixing plate in a longitudinal state.

In still another specific embodiment of the present invention, a set of support bar seat lifting guide rods are fixed on the top cover of the cavity of the revolving frame body in a state of being distributed in a groined manner, and a set of support bar seat lifting guide rod guide sleeves are arranged on the support bar seat and at positions corresponding to the set of support bar seat lifting guide rods, and the set of support bar seat lifting guide rods are in sliding fit with the set of support bar seat lifting guide rod guide sleeves.

In still another specific embodiment of the present invention, a support bar seat rail slider fixing seat is fixed at a front side of the support bar seat and at a position corresponding to an upper side of the support bar seat lifting rail seat, a space between a rear side of the support bar seat rail slider fixing seat and a front side of the support bar seat is configured as a rail slider cavity, a rail slider is provided in the rail slider cavity, the rail slider is fixed with a rear side of the support bar seat rail slider fixing seat, a support bar seat lifting rail is provided between a rear side of the rail slider and a front side of the support bar seat, an upper end of the support bar seat lifting rail is slidably engaged with the rail slider, and a lower end of the support bar seat lifting rail is inserted into and fixed in the support bar seat lifting rail cavity.

In a further specific embodiment of the present invention, the workpiece jaw opening and closing driving mechanism includes a workpiece jaw opening and closing cylinder, a workpiece jaw opening and closing cylinder column conduit and a pair of connector connecting pipes, wherein the workpiece jaw opening and closing cylinder is fixed on the support rod seat in a horizontal state at a position corresponding to the position of the jaw opening and closing cylinder yielding hole, the left end of the workpiece jaw opening and closing cylinder extends from the jaw opening and closing cylinder yielding hole to the left side of the support rod seat, the right end of the workpiece jaw opening and closing cylinder extends from the jaw opening and closing cylinder yielding hole to the right side of the support rod seat, the workpiece jaw opening and closing cylinder column conduit is fixed between the right end of the workpiece jaw opening and closing cylinder and the left side of the workpiece jaw support fixing seat, the workpiece jaw opening and closing cylinder column is positioned in a conduit cavity of the workpiece jaw opening and closing cylinder column conduit, the tail end of the workpiece opening and closing cylinder column is extended into the workpiece support cavity through the workpiece support yielding hole, and the upper end of the pair of connector connecting pipes is connected with the upper end of the workpiece jaw opening and closing cylinder by the pair of connector connecting pipes, and the connector connecting pipes are connected with the opening and closing cylinder connecting pipes by the pair of connector connecting pipes; 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 actuating cylinder column, and the workpiece forcing and holding mechanism is fixed with the left cavity wall of the workpiece clamping jaw bracket cavity.

In a further specific embodiment of the present invention, the workpiece clamping jaw opening and closing actuating mechanism comprises a sliding seat guide rod, a sliding seat, a front crank arm hinge seat, a front crank arm, a rear crank arm hinge seat, a rear crank arm, a pair of workpiece clamping jaw upper guide sliding rods and a pair of workpiece clamping jaw lower guide sliding rods, wherein the sliding seat guide rod is provided with a pair of front and rear parallel sliding seat guide rods, the left end of the sliding seat guide rod is fixed with the left cavity wall of the workpiece clamping jaw support cavity, the right end of the sliding seat guide rod is formed into a horizontal cantilever end, the sliding seat is sleeved on the sliding seat guide rod in a sliding manner left and right, the middle part of the sliding seat is fixedly connected with the tail end of the workpiece clamping jaw opening and closing action cylinder column, a sliding seat front hinge lug extends at the front end of the sliding seat, a sliding seat rear hinge lug extends at the rear end of the sliding seat, the front crank arm hinge seat is fixed at the front end of the left cavity wall of the workpiece clamping jaw support cavity, the rear crank arm hinging seat is fixed at the rear end of the left cavity wall of the workpiece clamping jaw bracket cavity, one end and the other end of the front crank arm are respectively provided with a front crank arm pin shaft sliding groove, one end of the front crank arm is hinged with the upper part of the workpiece front clamping jaw at the position corresponding to the front crank arm pin shaft sliding groove, the middle part of the front crank arm is hinged with the front crank arm hinging seat, the other end of the front crank arm is also hinged with the front hinging lug of the sliding seat at the position corresponding to the front crank arm pin shaft sliding groove, one end and the other end of the rear crank arm are respectively provided with a rear crank arm pin shaft sliding groove, one end of the rear crank arm is hinged with the upper part of the workpiece rear clamping jaw at the position corresponding to the rear crank arm pin shaft sliding groove, the middle part of the rear crank arm is hinged with the rear crank arm hinging seat, the other end of the rear crank arm is hinged with the rear hinging lug of the sliding seat at the position corresponding to the rear crank arm pin shaft sliding groove, the pair of workpiece clamping jaw upper guide sliding rods are fixed between the front cavity wall and the rear cavity wall of the workpiece clamping jaw support cavity, the pair of workpiece clamping jaw lower guide sliding rods are also fixed between the front cavity wall and the rear cavity wall of the workpiece clamping jaw support cavity at positions corresponding to the lower parts of the pair of workpiece clamping jaw upper guide sliding rods, and the right ends of the sliding seat guide rods extend between the pair of workpiece clamping jaw upper guide sliding rods and the pair of workpiece clamping jaw lower guide sliding rods; the upper parts of the front workpiece clamping jaw and the rear workpiece clamping jaw are respectively in sliding fit with a pair of upper workpiece clamping jaw guide sliding bars and a pair of lower workpiece clamping jaw guide sliding bars; the workpiece forcing mechanism corresponds to the lower part of the pair of workpiece clamping jaw downward guide sliding rods.

In a still further specific embodiment of the present invention, a workpiece front jaw groove is formed in the upper portion of the workpiece front jaw, and a workpiece rear jaw groove is formed in the upper portion of the workpiece rear jaw, the workpiece front jaw groove and the workpiece rear jaw groove correspond to each other, one end of the front crank arm extends into the workpiece front jaw groove and is hinged to the upper portion of the workpiece front jaw at the position of the workpiece front jaw groove, and one end of the rear crank arm extends into the workpiece rear jaw groove and is hinged to the upper portion of the workpiece rear jaw at the position of the workpiece rear jaw groove; and a workpiece front clamping jaw sliding sleeve is arranged at the upper part of the workpiece front clamping jaw and at the positions corresponding to the pair of workpiece clamping jaw upper guide sliding rods and the pair of workpiece clamping jaw lower guide sliding rods, a workpiece rear clamping jaw sliding sleeve is arranged at the upper part of the workpiece rear clamping jaw and at the positions 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 part of the pair of workpiece clamping jaw lower guide sliding rods, the left end of the workpiece pressing floating plate support is fixed with the left cavity wall of the workpiece clamping jaw support cavity, the right end is configured as a horizontal cantilever end, floating plate guide rod sliding holes with the same number as the set of floating plate guide rods are disposed on the workpiece pressing floating plate support at a position corresponding to the set of floating plate guide rods, a floating plate guide rod sliding guide sleeve is disposed in each set of floating plate guide rod sliding holes, a set of floating plate guide rods are matched with the floating plate guide rod sliding guide sleeve in a vertically sliding manner, the workpiece pressing floating plate is fixed with the lower end of the set of floating plate guide rods at a position corresponding to the lower part of the workpiece pressing floating plate support, the floating plate pressing spring is respectively sleeved on the set of floating plate guide rods, the floating plate guide rods are supported between the workpiece pressing floating plate support and the workpiece pressing jaw lower part, and the workpiece pressing floating plate support is supported towards one side of the workpiece pressing plate support.

According to one of the technical effects provided by the technical scheme, as the rotary rack, 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 actuating mechanism, the workpiece front clamping jaw, the workpiece rear clamping jaw and the workpiece forcing and holding mechanism can rotate clockwise and anticlockwise by the required angles, 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 actuating mechanism, and the workpiece can be reliably and accurately clamped to the next station from the previous station; secondly, the whole structure is compact and simple, and the volume is small, so that interference influence on devices on other stations can be avoided in use; and thirdly, 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, so that ideal agility can be embodied, and the production efficiency of automatic welding and assembling of the workpiece can be ensured.

Drawings

Fig. 1 is a structural diagram of an embodiment of the present invention.

Fig. 2 is a detailed construction diagram of the swing frame driving mechanism shown in fig. 1.

Fig. 3 is a detailed construction view of the workpiece jaw opening and closing actuator shown in fig. 1, which is provided on the workpiece jaw support.

Fig. 4 is a schematic diagram of an application of the present invention.

Detailed Description

In order to make the technical spirit and advantages of the present invention more clearly understood, the applicant will now make a detailed description by way of example, but the description of the examples is not intended to limit the scope of the invention, and any equivalent transformation made merely in form, not essentially, according to the inventive concept should be regarded as the scope of the technical solution of the present invention.

In the following description, all concepts related to the directions or azimuths of up, down, left, right, front and rear are based on the position state of fig. 1, and thus should not be construed as a specific limitation on the technical solution provided by the present invention.

Referring to fig. 1 in combination with fig. 4, there is shown a swing frame driving mechanism 1, the swing frame driving mechanism 1 being disposed on a downward facing side of a table 10 in a use state, the swing frame driving mechanism 1 being substantially located in an electrical control box 30 located at a lower portion thereof, since the table 10 is disposed on the electrical control box; a revolving frame 2 is shown, which revolving frame 2 is fixed to the revolving frame driving mechanism 1 at a position above the table 10, i.e. is fixedly connected to the revolving frame driving mechanism 1; showing a supporting rod seat up-and-down lifting mechanism 3, wherein the supporting rod seat up-and-down lifting mechanism 3 is arranged on the revolving frame 2; a support bar base 4 is shown, the support bar base 4 is connected with the support bar base up-down lifting mechanism 3 at a position corresponding to the upper side of the support bar base up-down lifting mechanism 3 and is also in sliding fit with the revolving frame 2, a pair of support bars 41 are fixed on the support bar base 4, the pair of support bars 41 are parallel to each other and extend to the left side of the support bar base 4 at the left end of the pair of support bars 41, the right end extends towards the direction away from the support bar base 4, namely extends to the right, and is configured as a support bar horizontal cantilever end and a workpiece clamping jaw bracket fixing seat 411 is fixed at the position of the support bar horizontal cantilever end; a workpiece clamping jaw opening and closing driving mechanism 5 and a workpiece clamping jaw support 6 are shown, wherein the workpiece clamping jaw opening and closing driving mechanism 5 is fixed between the supporting 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 side of the workpiece clamping jaw support 6, which is opposite to the pair of supporting rods 41, of the workpiece clamping jaw support fixing seat 411 is 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 jaw opening and closing actuator 7 is shown, the workpiece jaw opening and closing actuator 7 being disposed within the workpiece jaw holder cavity 61 and being connected to the workpiece jaw opening and closing drive mechanism 5; a front workpiece holding jaw 8 and a rear workpiece holding jaw 9 are shown, the front workpiece holding jaw 8 and the rear workpiece holding jaw 9 are hinged with the workpiece holding jaw opening and closing actuator 7 in a state of being displaced toward each other (also called as being folded toward each other, hereinafter the same) or being separated from each other; a workpiece holding mechanism 20 is shown, which workpiece holding mechanism 20 is provided on the aforementioned workpiece jaw support 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 rotary action cylinder 11, a rotary action cylinder column driving wheel 12, a revolving cylinder driving wheel 13, a driving belt 14, a revolving cylinder 15, a revolving plate 16, an outer cylinder ring 17 and a connecting plate 18, the rotary action cylinder 11 is fixed to the aforementioned downward facing side of the table 10 by rotary action cylinder fixing screws, the rotary action cylinder column 111 of the rotary action cylinder 11 is fixed downward and to the downward facing side of the rotary action cylinder 11 by bump screw seat fixing screws 1123 with a rotary action cylinder column driving wheel bump screw seat 112, one end (i.e., left end) of the rotary action cylinder column driving wheel bump screw seat 112 is fixed with a rotary action cylinder column driving wheel first bump screw i 1121, and the other end (i.e., right end) of the rotary action cylinder column driving wheel bump screw seat 112 is fixed with a rotary action cylinder column driving wheel second bump screw ii 1122, the rotary action cylinder driving wheel 12 is fixed with the rotary action cylinder 111 by a set of rotary action cylinder driving wheel fixing screws 123 which are distributed at intervals at a position corresponding to the downward-facing side of the rotary action cylinder 111, and a first rotary action cylinder driving wheel bump I121 and a second rotary action cylinder driving wheel bump II 122 are fixed at the upward-facing side of the rotary action cylinder driving wheel 12, the first rotary action cylinder driving wheel bump I121 corresponds to the first bump screw I1121 of the rotary action cylinder driving wheel, the second rotary action cylinder driving wheel bump II 122 corresponds to the second bump screw II 1122 of the rotary action cylinder driving wheel, the rotary cylinder driving wheel 13 is fixed with the downward-facing end face of the rotary cylinder 15 by the rotary cylinder driving wheel screw, the rotary cylinder driving wheel 13 and the rotary cylinder driving wheel 12 are positioned on the same horizontal plane, one end of the driving belt 14 is sleeved on the rotary cylinder driving wheel 12, the other end is sleeved on the rotary cylinder driving wheel 13, the outer cylinder ring 17 is fixed on the downward side of the workbench 10 in a longitudinal cantilever state, a first limiting foot I171 and a second limiting foot II 172 are fixed on the lower end face of the outer cylinder ring 17 through a first limiting foot screw I1712, the first limiting foot I171 and the second limiting foot II 172 form a face-to-face position relationship around the circumference direction of the outer cylinder ring 17, a first limiting pin first adjusting screw i 1711 is provided on the first limiting pin i 171, a second limiting pin second adjusting screw ii 1721 is provided on the second limiting pin ii 172, the rotary drum 15 is provided in the outer drum cavity 173 of the outer drum 17, rotary drum rotating bearings 151 are provided at the upper and lower parts between the outer wall of the rotary drum 15 and the inner wall of the outer drum 17, and the upper end of the rotary drum 15 protrudes upward from the surface of the upper side of the table 10, the rotary disc 16 and the upper end of the rotary drum 15 form an integral structure at a position corresponding to the upper side of the table 10, and the connecting disc 18 is fixed to the rotary drum 15 at a position corresponding to the lower side of the rotary drum driving wheel 13 by connecting disc bolts 181, specifically: the connecting disc bolt 181 passes through the connecting disc bolt hole 185 formed on the connecting disc 18 from the lower direction of the connecting disc 18, then passes through the rotary drum transmission wheel bolt hole 131 formed on the rotary drum transmission wheel 13 upwards, and passes through the rotary drum bolt hole 152 preset on the rotary drum 15 until the rotary disc 16 is screwed in and limited by a nut, and a limit foot adjusting screw collision head 182 extends from one side of the connecting disc 18, wherein the limit foot adjusting screw collision head 182 corresponds to a space between the limit foot first adjusting screw I1711 and the limit foot second adjusting screw II 1721.

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

In this embodiment, the rotary cylinder driving wheel 12 and the rotary cylinder driving wheel 13 are both timing pulleys, and the driving belt 14 is a timing belt. The rotary disk 16 and the rotary drum 15 are integrally formed, and the rotary disk 16 is a flange-like rotary disk of the rotary drum 15.

As a preferred embodiment, since the left ends of the pair of support rods 41 extend to the left side of the support rod holder 4, a support rod end support seat 412 having a counterweight effect is provided on the left side of the support rod holder 4, a pair of support rod end insertion holes 4121 are provided in the support rod end support seat 412 at positions corresponding to the left ends of the pair of support rods 41, and the left ends of the pair of support rods 41 are inserted into the pair of support rod end insertion holes 4121 and are preferably locked by means of support rod end locking screws 4122 screwed to the support rod end support seat 412 and communicating with the support rod end insertion holes 4121. In addition, a work jaw opening and closing cylinder penetrating the support hole 4123 is provided in the middle of the support rod end support seat 412, i.e., at a position corresponding to between the pair of support rod end insertion holes 4121.

Mention has been made above of: the rotary cylinder 111 drives the rotary cylinder driving wheel 12 to rotate 90 degrees clockwise or anticlockwise, and then the rotary cylinder driving wheel 12 drives the rotary cylinder driving wheel 13 to rotate 90 degrees clockwise or anticlockwise correspondingly through the driving belt 14, so that the rotary cylinder driving wheel 13 drives the rotary cylinder 15 and the rotary disc 16 to rotate 90 degrees clockwise or anticlockwise correspondingly. When the limit pin adjusting screw collision head 182 collides with the limit pin first adjusting screw I1711, the rotary drum driving wheel 13 does not rotate clockwise any more, and when the limit pin adjusting screw collision head 182 collides with the limit pin second adjusting screw II 1721, the rotary drum driving wheel 13 does not rotate anticlockwise any more.

As shown in fig. 1, the revolving frame 2 is fixed to the revolving tray 16 at a side facing upward; the support rod seat up-down lifting mechanism 3 is arranged on the revolving frame 2 in a shielding state of the revolving frame 2; a clamping jaw acting cylinder abdicating hole 42 is formed on the supporting rod seat 4 and at a position corresponding to the workpiece clamping jaw opening and closing driving mechanism 5; a workpiece clamping jaw support abdication 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 abdication hole 611 so as to be connected with the workpiece clamping jaw opening and closing actuating mechanism 7; the workpiece pressing mechanism 20 provided on the workpiece jaw holder 6 in correspondence with the position between the workpiece front jaw 8 and the workpiece rear jaw 9 is floating up and down.

With continued reference to fig. 1 and 2, the aforementioned revolving frame 2 includes a revolving frame body 21, a revolving frame body cavity top cover 22, a revolving frame body base 23, and a support rod seat lifting guide rail seat 24, the revolving frame body base 23 is fixed to the upward facing side of the aforementioned revolving frame body 16 by a revolving frame body base fixing screw 232, and a revolving frame body base relief cavity 231 is provided in the center position of the revolving frame body base 23, the revolving frame body 21 is fixed to the upward facing 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 cylinder shielding cavity 211 corresponding to and communicating with the aforementioned revolving frame body base relief cavity 231, the revolving frame body cavity top cover 22 is fixed to the top of the revolving frame body 21 by screws at a position corresponding to the lifting cylinder shielding cavity 211, and a lifting cylinder relief hole 221 is provided in the middle of the revolving frame body top cover 22, the support rod seat lifting guide rail seat 24 is preferably fixed to the front side wall of the revolving frame body 21 by a fastener, the support rod seat lifting guide rail seat 24 is formed with a guide rail seat 241 in a height corresponding to the guide rail seat 241 of the guide rail seat 11, and a guide rail seat 241 is formed with a guide rail seat lifting cavity in a height corresponding to the vertical position of the guide rail seat 11; a pair of support rod seat elevation cylinder pipe connection posts 183 are fixed to the connection plate 18, a pair of work jaw opening and closing driving cylinder pipe connection heads 184 are further coupled to the lower portion of the connection plate 18, and a support rod seat elevation cylinder supporting means 161 is provided on the upward facing side of the turntable 16 at a position corresponding to the turntable body seat relief chamber 231.

The up-and-down lifting mechanism 3 is disposed in the shielding cavity 211 and supported on the supporting device 161, and the up-and-down lifting mechanism 3 is further connected with the pipeline connecting posts 183; the workpiece jaw opening and closing driving mechanism 5 is connected with the pair of workpiece jaw opening and closing driving cylinder pipe connectors 184 through pipes, the pair of support rod through holes 43 are formed in the support rod seat 4 and at positions corresponding to the pair of support rods 41, 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 through holes 43 and are then inserted into the pair of support rod end insertion holes 4121, a workpiece jaw support cavity upper cover plate 612 is fixed at positions corresponding to cover plate screw holes 63 formed at intervals on the upper surface of the workpiece jaw support 6 at the upper part of the workpiece jaw support 6, and a workpiece jaw opening and closing actuator 7 for driving the front jaw 8 and the rear jaw 9 of the workpiece to move toward each other or repel each other and a workpiece jaw guard mechanism 20 located between the front jaw 8 and the rear jaw 9 of the workpiece are arranged in the workpiece jaw support cavity upper cover plate 612. The lower portion of the workpiece jaw support cavity 61 is open.

With continued reference to fig. 1 and 2, the support rod seat up-and-down lifting mechanism 3 includes a support rod seat up-and-down lifting cylinder 31 and a support rod seat up-and-down lifting cylinder column connecting seat 32, the support rod seat up-and-down lifting cylinder 31 is fixed to the support rod seat up-and-down lifting cylinder supporting means 161 in a longitudinal state, the support rod seat up-and-down lifting cylinder column 311 of the support rod seat up-and-down lifting cylinder 31 is directed upward and fixed to the support rod seat up-and-down lifting cylinder column connecting seat 32, and the support rod seat up-and-down lifting cylinder column connecting seat 32 is fixed to a central position of the bottom of the support rod seat 4, wherein the support rod seat up-and-down lifting cylinder 31 is a cylinder and is connected to the support rod seat up-and-down lifting cylinder pipe connecting columns 183 (shown in fig. 2) by a pair of lifting cylinder pipe connecting columns 183, and the support rod seat up-and-down lifting cylinder connecting column 183 is connected to an external gas generating device, such as an air compressor or an air pump, which is disposed in the electrical control box 30, so that the support rod up-and-down lifting cylinder 31 of this embodiment is a cylinder.

The support rod seat lifting cylinder supporting means 161 includes a group of cylinder fixing plate supporting columns 1611 and a cylinder fixing plate 1612, wherein the group of cylinder fixing plate supporting columns 1611 are fixed to the upward side of the turntable 16 in a well-shaped distribution and are lifted up and extended into the lifting cylinder shielding cavity 211 at positions corresponding to the turntable body base seat escaping cavity 231, and the cylinder fixing plate 1612 is fixed to the top of the group of cylinder fixing plate supporting columns 1611, wherein the support rod seat lifting cylinder 31 is fixed to the cylinder fixing plate 1612 in a longitudinal state.

When the supporting rod seat up-and-down operation cylinder 31 (i.e., cylinder) is operated and the supporting rod seat up-and-down operation cylinder 311 is extended out of the cylinder body, the upper end of the supporting rod seat up-and-down operation cylinder 311 is connected to the supporting rod seat up-and-down operation cylinder column connecting seat 32, so that when the supporting rod seat up-and-down operation cylinder 31 lifts the supporting rod seat up-and-down operation cylinder column connecting seat 32 upward, the supporting rod seat 4 is lifted up and down, and otherwise lowered, the lowering degree is based on the lowering position signal of the workpiece clamping jaw opening-closing driving mechanism 5 which will be described in detail below, which is acquired by the position signal acquisition device 223 arranged on the body cavity top cover 22 of the revolving frame, can be set by the PLC, because the operation of the supporting rod seat up-and-down operation cylinder 31 is controlled by the PLC. The aforementioned position signal collector 223 employs a position proximity switch, but may employ a travel switch, a micro switch, a reed switch, or a hall sensing element.

As shown in fig. 1, a group of support bar seat lifting guide rods 222 are fixed on the body cavity top cover 22 of the revolving frame in a state of being distributed in a cross shape, namely, four support bar seat lifting guide rods 222 are arranged, a group of support bar seat lifting guide rod guide sleeve 44 is arranged on the support bar seat 4 and at a position corresponding to the group of support bar seat lifting guide rods 222, and the group of support bar seat lifting guide rods 222 are in sliding fit with the group of support bar seat lifting guide rod guide sleeve 44. A pair of guide tubes 47 may be fixed to the lower portion of the support rod seat 4, and a pair of guide tube holes 224 may be formed in the revolving frame body cavity top cover 22 at positions corresponding to the pair of guide tubes 47, where the pair of guide tubes 47 are slidably engaged with the pair of guide tube holes 224. From the above description, it is clear that: due to the synergistic effect of the group of support rod seat lifting guide rods 222 and the support rod seat guide rail slide block fixing seat 45 and the like, the stability and the reliability of the lifting of the support rod seat 4 are ensured, and the action accuracy is ensured.

With continued reference to fig. 1, a support bar seat rail slider fixing seat 45 is fixed at a front side of the support bar seat 4 and at a position corresponding to an upper side of the support bar seat lifting rail seat 24 by a rail slider fixing seat screw 452, a space between a rear side of the support bar seat rail slider fixing seat 45 and the front side of the support bar seat 4 is configured as a rail slider cavity 451, a rail slider 4511 is provided in the rail slider cavity 451, the rail slider 4511 is fixed with a rear side of the support bar seat rail slider fixing seat 45 by a rail slider fixing screw 45111, a support bar seat lifting rail 46 is provided between a rear side of the rail slider 4511 and the front side of the support bar seat 4, an upper end of the support bar seat lifting rail 46 is slidably engaged with the rail slider 4511, that is, the rail slider 4511 is slidably engaged with an upper end of the support bar seat lifting rail 46, and a lower end of the support bar seat lifting rail 46 is inserted into and fixed in the support bar seat lifting rail cavity 241. Since the support rod seat 4 is slidably engaged with the support rod seat elevating rail 46 through the rail slider 4511, and since the lower end of the support rod seat elevating rail 46 is inserted into and fixed in the support rod seat elevating rail cavity 241, it is verified that the support rod seat 4 previously described by the applicant is also slidably engaged with the swing frame 2.

When the support rod seat up-and-down lifting cylinder column 311 drives the support rod seat 4 to move up or down through the support rod seat up-and-down lifting cylinder column connecting seat 32, that is, drives the support rod seat 4 to lift, the guide rail slider 4511 is in up-and-down sliding fit with the upper end of the support rod seat lifting guide rail 46, so that the lifting stability and reliability of the support rod seat 4 are fully ensured.

With continued reference to fig. 1, the workpiece jaw opening and closing driving mechanism 5 includes a workpiece jaw opening and closing cylinder 51, a workpiece jaw opening and closing cylinder post guide 52, and a pair of connector adapter pipes 53, the workpiece jaw opening and closing cylinder 51 is fixed to the support rod base 4 in a horizontal state at a position corresponding to the jaw opening and closing cylinder hole 42, and a left end of the workpiece jaw opening and closing cylinder 51 extends from the jaw opening and closing cylinder hole 42 to a left side of the support rod base 4 and then extends into the workpiece jaw opening and closing cylinder insertion support hole 4123, a right end of the workpiece jaw opening and closing cylinder 51 extends from the jaw opening and closing cylinder hole 42 to a right side of the support rod base 4, the workpiece jaw opening and closing cylinder post guide 52 is fixed between an end face of the right end of the workpiece jaw opening and closing cylinder 51 and a left side of the workpiece jaw support rod base 411, wherein the workpiece clamping jaw opening and closing cylinder column 511 of the workpiece clamping jaw opening and closing cylinder 51 is positioned in the guide pipe cavity 521 of the workpiece clamping jaw opening and closing cylinder column guide pipe 52, and the tail end of the workpiece clamping jaw opening and closing cylinder column 511 extends out of the right end of the guide pipe cavity 521 and then extends into the workpiece clamping jaw support cavity 61 through the workpiece clamping jaw support abdication hole 611, the upper ends of the pair of connector connecting pipes 53 are connected with the workpiece clamping jaw opening and closing cylinder 51, the lower ends of the pair of connector connecting pipes are connected with the pair of workpiece clamping jaw opening and closing driving cylinder pipeline connectors 184, and the pair of workpiece clamping jaw opening and closing driving cylinder pipeline connectors 184 are connected with an external gas generating device through pipelines, and the gas generating device is an air compressor or an air pump arranged in the electric control box 30; the workpiece clamping jaw opening and closing actuator 7 for closing or opening the workpiece front clamping jaw 8 and the workpiece rear clamping jaw 9 is connected with the end of the workpiece clamping jaw opening and closing cylinder column 511, and the workpiece forcing mechanism 20 is fixed with the left cavity wall of the workpiece clamping jaw bracket cavity 61.

From the above description, it can be certainly determined that the workpiece jaw opening and closing cylinder 51 is a cylinder controlled by the PLC in the electric control box 30. When the work holding jaw opening and closing cylinder 51 is operated, the work holding jaw opening and closing actuator 7, which will be described in detail below, is driven by the left-right displacement of the work holding jaw opening and closing cylinder column 511.

Referring to fig. 3 in combination with fig. 1, the workpiece jaw opening and closing actuator 7 includes a slide guide 71, a slide 72, a front crank arm hinge seat 73, a front crank arm 74, a rear crank arm hinge seat 75, a rear crank arm 76, a pair of workpiece jaw upper guide slide bars 77 and a pair of workpiece jaw lower guide slide bars 78, the slide guide 71 has a pair of front and rear parallel and the left end of the slide guide 71 is fixed with the left cavity wall of the workpiece jaw support cavity 61, the right end of the slide guide 71 is configured as a horizontal cantilever end, the middle part of the slide 72 is slidably sleeved on the slide guide 71 left and right by the slide sleeve 723, and the middle part of the slide 72 is fixedly connected with the end of the workpiece jaw opening and closing cylinder 511, i.e. the illustrated right end, a slide front hinge lug 721 extends at the front end of the slide 72, a slide rear hinge lug 722 extends at the rear end of the slide 72, the front crank arm hinge seat 73 is fixed at the front end of the left cavity wall of the workpiece jaw support cavity 61 by the front crank arm hinge seat fixing screw 731, the rear crank arm hinge seat 75 is fixed at the rear end of the left cavity wall of the workpiece jaw support cavity 61 by the rear crank arm hinge seat fixing screw 751, a front crank arm pin sliding groove 744 is formed at one end and the other end of the front crank arm 74, and one end of the front crank arm 74 is hinged with the upper portion of the front workpiece jaw 8 by the front crank arm first pin 741 at a position corresponding to the front crank arm pin sliding groove 744 at one end, the middle portion of the front crank arm 74 is hinged with the front crank arm hinge seat 73 by the front crank arm second pin ii 742, and the other end of the front crank arm 74 is hinged with the front crank arm front hinge pin 721 at a position corresponding to the front crank arm pin sliding groove 744 at the other end by the front crank arm third pin iii 743, a rear crank pin sliding slot 764 is formed at one end and the other end of the rear crank arm 76, and one end of the rear crank arm 76 is hinged to the upper portion of the workpiece rear jaw 9 through a rear crank arm first pin i 761 at a position corresponding to the rear crank arm pin sliding slot 764, and the middle portion of the rear crank arm 76 is hinged to the rear crank arm hinge seat 75 through a rear crank arm second pin ii 762, while the other end of the rear crank arm 76 is hinged to the slide seat rear hinge lug 722 through a rear crank arm third pin iii 763 at a position corresponding to the rear crank arm pin sliding slot 764, and a pair of workpiece jaw upper slide bars 77 are fixed between front and rear cavity walls of the workpiece jaw support cavity 61 at positions corresponding to the jaw upper slide bar fixing holes 64 formed in the front and rear wall bodies of the workpiece jaw support 6, and a pair of workpiece jaw lower slide bars 78 are also fixed between the front and rear cavity walls of the workpiece jaw support cavity 61 at positions corresponding to the lower slide bar fixing holes 65 formed in the front and rear wall bodies of the workpiece jaw support 6.

As shown in fig. 1 and 3, the right end of the slide guide 71 extends between a pair of workpiece jaw upper guide bars 77 and a pair of workpiece jaw lower guide bars 78; the upper parts of the front workpiece clamping jaw 8 and the rear workpiece clamping jaw 9 are respectively in sliding fit with a pair of upper workpiece clamping jaw guide slide bars 77 and a pair of lower workpiece clamping jaw guide slide bars 78; the workpiece holding mechanism 20 corresponds to the underside of the pair of workpiece jaw downset slide bars 78.

When the workpiece clamping jaw opening and closing cylinder column 511 retracts into the cylinder body of the workpiece clamping jaw opening and closing cylinder 51, that is, moves leftwards, the sliding seat 72 is driven to move leftwards along the pair of sliding seat guide rods 71, the front crank arm 74 rotates anticlockwise by an angle, and the rear crank arm 76 rotates clockwise by an angle, so that the workpiece front clamping jaw 8 and the workpiece rear clamping jaw 9 are driven to move towards each other along the pair of workpiece clamping jaw upper guide slide rods 77 and the pair of workpiece clamping jaw lower guide slide rods 78 respectively through the front crank arm first pin roll I741 and the rear crank arm first pin roll I761, and are mutually repelled otherwise.

As shown in fig. 1 and 3, a workpiece front jaw groove 81 is formed in the upper portion of the workpiece front jaw 8, a workpiece rear jaw groove 91 is formed in the upper portion of the workpiece rear jaw 9, the workpiece front jaw groove 81 and the workpiece rear jaw groove 91 correspond to each other, one end of the front crank arm 74 extends into the workpiece front jaw groove 81 and is hinged to the upper portion of the workpiece front jaw 8 at the position of the workpiece front jaw groove 81 by the front crank arm first pin i 741, and one end of the rear crank arm 76 extends into the workpiece rear jaw groove 91 and is hinged to the upper portion of the workpiece rear jaw 9 at the position of the workpiece rear jaw groove 91 by the rear crank arm first pin i 761; a workpiece front jaw slide sleeve 82 is provided on the upper part of the workpiece front jaw 8 at positions corresponding to the pair of workpiece jaw upper slide bars 77 and the pair of workpiece jaw lower slide bars 78, and a workpiece rear jaw slide sleeve 92 is provided on the upper part of the workpiece rear jaw 9 at positions corresponding to the pair of workpiece jaw upper slide bars 77 and the pair of workpiece jaw lower slide bars 78, respectively, and the workpiece front jaw slide sleeve 82 and the workpiece rear jaw slide sleeve 92 are in sliding engagement with the pair of workpiece jaw upper slide bars 77 and the pair of workpiece jaw lower slide bars 78.

Continuing to refer to fig. 1 and 3, the workpiece pressing mechanism 20 includes a workpiece pressing floating plate holder 201, a workpiece pressing floating plate 202 and a set of floating plate guide rods 203, wherein the workpiece pressing floating plate holder 201 is disposed in the workpiece jaw holder cavity 61 at a position corresponding to the lower portion of the pair of workpiece jaw lower guide slide bars 78, the left end of the workpiece pressing floating plate holder 201 is fixed to the left cavity wall of the workpiece jaw holder cavity 61, the right end is configured as a horizontal cantilever end, floating plate guide rod sliding holes equal in number to the set of floating plate guide rods 203 (four floating plate guide rods 203 in this embodiment) are disposed on the workpiece pressing floating plate holder 201 at a position corresponding to the set of floating plate guide rods 203, a set of floating plate guide rod sliding guide 2011 is disposed in each of the set of floating plate guide rod sliding holes, the set of floating plate guide rods 203 is slidably matched with the floating plate guide rod sliding guide sleeve 2011 up and down, the workpiece pressing floating plate 202 is fixed to the left cavity wall of the workpiece jaw holder cavity 61 at a position corresponding to the lower portion of the workpiece pressing floating plate holder 201, the set of floating plate 202 is supported by the floating plate pressing spring, and the pressing jaw 203 is supported by the set of floating plate guide rods 203 is disposed at one side of the upper portion of the pressing jaw lower plate holder 201 facing to the front side of the pressing jaw 201, and the pressing jaw 1 is supported by the pressing plate pressing jaw opposite to the upper side of the upper plate holding plate 202.

When the workpiece clamping jaw opening and closing actuating mechanism 7, the workpiece front clamping jaw 8, the workpiece rear clamping jaw 9 and the workpiece forcing and holding mechanism 20 which are arranged by taking the workpiece clamping jaw support 6 as a carrier are corresponding to the upper part of a workpiece and enable the workpiece clamping jaw support 6 to descend to the extent that the workpiece forcing and holding floating plate 202 contacts the workpiece under the operation of the supporting rod seat up-down lifting action cylinder 31, the workpiece forcing and holding floating plate 202 can play a role in forcing the workpiece and avoiding the displacement of the workpiece under the action of the spring force of the floating plate pressing spring 2031, so that the workpiece is clamped by the cooperation of the workpiece front clamping jaw 8 and the workpiece rear clamping jaw 9.

Referring to fig. 4, the above-mentioned electric control box 30 is shown in fig. 4, and further, the first work conveying line i 101, the second work conveying line ii 102, the third work conveying line iii 103, the ultrasonic pre-welding device 104, the ultrasonic final welding device 105, the pre-welding station work feeding robot 106, the final welding station work conveying robot 107, and the target work pickup conveying robot 108 are provided on the aforementioned work table 10, the position of the first work conveying line i 101 on the work table 10 corresponds to the left ends of the second work conveying line ii 102 and the third work conveying line iii 103, that is, the second work conveying line ii 102 and the third work conveying line iii 103 are in a vertical relationship with the first work conveying line i 101, and the second work conveying line ii 102 and the third work conveying line iii 103 are kept in front-rear parallel in the longitudinal direction with each other, the ultrasonic pre-welding device 104 and the ultrasonic final welding device 105 correspond to each other and are located in the front middle area of the second work conveying line ii 102, and the target work pickup conveying robot 108 is automatically provided between the second work conveying line ii 102 and the third work conveying line iii, the workpiece 108 is automatically transferred from left-to right to the front of the first work conveying line ii 102 and the third work conveying line iii, the target work conveying robot 108 is provided. The first workpiece conveying line i 101, the second workpiece conveying line ii 102, and the third workpiece conveying line iii 103 are conveying lines in the form of conveying belts.

The applicant takes ultrasonic welding of new energy lithium battery cell 40 as an example, the lithium battery cell 40 to be subjected to ultrasonic welding is conveyed to a position corresponding to the left side of the invention by the first workpiece conveying line I101, and the lithium battery cell 40 is picked up from the first workpiece conveying line I101 and transferred to the second workpiece conveying line II 102 by the aforesaid workpiece transferring manipulator of the invention.

The working principles of the invention, that is, the revolving frame driving mechanism 1 drives the revolving frame 2 to rotate, the supporting rod seat up-down lifting mechanism 3 lifts the supporting rod seat 4, the workpiece clamping jaw opening and closing actuating mechanism 7 is actuated by the workpiece clamping jaw opening and closing actuating mechanism 5, and the workpiece clamping jaw opening and closing actuating mechanism 7 drives the workpiece front clamping jaw 8 and the workpiece rear clamping jaw 9 to open and close, are described in detail, so that the applicant does not repeat the description in detail.

When the revolving frame 2 rotates 90 ° toward the first workpiece conveying line i 101 under the operation of the revolving frame driving mechanism 1, the lithium battery part 40 still located on the first workpiece conveying line i 101 is forced to be under the floating plate 202 corresponding to the workpiece, at this time, the supporting rod seat up-down lifting cylinder 31 of the supporting rod seat up-down lifting mechanism 3 operates, the supporting rod seat up-down lifting cylinder column 311 descends, the descending degree is acquired by the aforementioned position signal acquisition unit 223 and the signal is fed back to the electric control box 30, the electric control box 30 sends an instruction to stop the operation of the supporting rod seat up-down lifting cylinder 31, at this time, the workpiece clamping jaw opening and closing driving mechanism 5 operates, the workpiece clamping jaw opening and closing actuating mechanism 7 operates, the front and rear clamping jaws 8 and 9 of the workpiece are displaced toward each other according to the applicant's description, and the lithium battery part 40 is clamped. Then the up-and-down lifting cylinder 31 of the support rod seat works reversely to enable the support rod seat 4 to move upwards, meanwhile, the rotary frame driving mechanism 1 drives the rotary frame 2 to move reversely by 90 degrees, so that the lithium battery part 40 clamped by the front clamping jaw 8 and the rear clamping jaw 9 of the workpiece corresponds to the second conveying line II 102 of the workpiece, then the up-and-down lifting cylinder 31 of the support rod seat works reversely, namely the up-and-down lifting cylinder column 311 of the support rod seat works reversely to drive the support rod seat 4 to move downwards, the lithium battery part 40 clamped between the front clamping jaw 8 and the rear clamping jaw 9 of the workpiece is in a state of tending to contact with the second conveying line II 102 of the workpiece, and then the workpiece clamping jaw opening and closing driving mechanism 5 works reversely to enable the workpiece clamping jaw opening and closing cylinder 511 to move rightwards, the front clamping jaw 8 and the rear clamping jaw 9 of the workpiece repel each other, and the lithium battery part 40 is released on the second conveying line II 102 of the workpiece. The foregoing operations are repeated to extract and release the lithium battery parts 40 to be ultrasonically welded on the workpiece first transfer line i 101 one by one on the workpiece second transfer line ii 102 by the present invention.

The aforementioned lithium battery parts 40 picked up and transferred onto the workpiece second conveyor line ii 102 by the present invention are extracted by the pre-welding station workpiece supply robot 106 and placed on, i.e., supplied to, the aforementioned ultrasonic pre-welding device 104, then the post-welded lithium battery parts 40 are transferred from the ultrasonic pre-welding device 104 to the ultrasonic post-welding device 105 by the post-welding station workpiece handling robot 107 and the post-welded lithium battery parts 40 are taken off from the ultrasonic post-welding device 105 and placed on the workpiece second conveyor line ii 102, and then the post-welded lithium battery parts 40 conveyed by the workpiece second conveyor line ii 102 are transferred from the workpiece second conveyor line ii 102 to the workpiece third conveyor line iii 103 by the target workpiece pick-up handling robot 108 and output. Thereby realizing ideal relay type processing effect.

In summary, the technical scheme provided by the invention overcomes the defects in the prior art, successfully completes the task of the invention, and faithfully honors the technical effects carried by the applicant in the technical effect column above.

Claims

1. The workpiece transferring manipulator for automatic ultrasonic welding is characterized by comprising a rotary frame driving mechanism (1), wherein the rotary frame driving mechanism (1) is arranged at one side of a workbench (10) facing downwards in a use state; a revolving frame (2), wherein the revolving frame (2) is fixed with the revolving 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 revolving frame (2); a support rod seat (4), wherein the support rod seat (4) is connected with the support rod seat up-down lifting mechanism (3) at a position corresponding to the upper part of the support rod seat up-down lifting mechanism (3) and is in sliding fit with the revolving frame (2), a pair of support rods (41) are fixed on the support rod seat (4), the pair of support rods (41) are parallel to each other back and forth, the left ends of the pair of support rods (41) extend to the left side of the support rod seat (4), the right ends extend towards a direction far away from the support rod seat (4) to form 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; the workpiece clamping jaw opening and closing driving mechanism (5) and the workpiece clamping jaw support (6), the workpiece clamping jaw opening and closing driving mechanism (5) is fixed between the supporting 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 side, opposite to the pair of supporting rods (41), of the workpiece clamping jaw support (6) and the workpiece clamping jaw support fixing seat (411) are fixed; 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), wherein the workpiece front clamping jaw (8) and the workpiece rear clamping jaw (9) are hinged with the workpiece clamping jaw opening and closing actuating mechanism (7) in a state of opposite displacement or mutual repulsion; a workpiece holding mechanism (20), the workpiece holding 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 automatic ultrasonic welding workpiece transfer robot as claimed in claim 1, wherein the revolving frame driving mechanism (1) comprises a rotary action cylinder (11), a rotary action cylinder column driving wheel (12), a revolving cylinder driving wheel (13), a driving belt (14), a revolving cylinder (15), a revolving disk (16), an outer cylinder ring (17) and a connecting disk (18), the rotary action cylinder (11) is fixed to a downward facing side of the table (10), a rotary action cylinder column (111) of the rotary action cylinder (11) faces downward and a rotary action cylinder column driving wheel bump block screw seat (112) is fixed to a downward facing side of the rotary action cylinder (11), a rotary action cylinder column driving wheel bump block screw I (1121) is fixed to one end of the rotary action cylinder column driving wheel bump block screw seat (112), a rotary action cylinder column driving wheel second bump block screw II (1122) is fixed to the other end of the rotary action cylinder driving wheel screw seat (112), the rotary action cylinder driving wheel (12) is fixed to the rotary action cylinder driving wheel (12) and the rotary action cylinder driving wheel (12) at the first bump block (121) side and the rotary action cylinder driving wheel II, the first rotary action cylinder column driving wheel collision block I (121) corresponds to the rotary action cylinder column driving wheel first collision block screw I (1121), the second rotary action cylinder column driving wheel collision block II (122) corresponds to the rotary action cylinder column driving wheel second collision block screw II (1122), the rotary cylinder driving wheel (13) is fixed with one end face of the rotary cylinder (15) facing downwards, one end of the driving belt (14) is sleeved on the rotary action cylinder column driving wheel (12), the other end is sleeved on the rotary cylinder driving wheel (13), the outer cylinder ring (17) is fixed with one side of the workbench (10) facing downwards in a longitudinal cantilever state, a first limit foot I (171) and a second limit foot II (172) are fixed on the lower end face of the outer barrel ring (17), the first limit foot I (171) and the second limit foot II (172) form a face-to-face position relationship around the circumferential direction of the outer barrel ring (17), wherein a limit foot first adjusting screw I (1711) is arranged on the first limit foot I (171), a limit foot second adjusting screw II (1721) is arranged on the second limit foot II (172), a rotary drum (15) is arranged in an outer barrel ring cavity (173) of the outer barrel ring (17), a rotary drum rotating bearing (151) is 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 barrel ring (17), the upper end of the rotary drum (15) protrudes upwards from the surface of one side of the workbench (10) facing upwards, the rotary disc (16) and the upper end of the rotary drum (15) form an integrated structure at a position corresponding to the upper part of the workbench (10), the connecting disc (18) is fixed with the rotary drum (15) at a position corresponding to the lower part of the rotary drum driving wheel (13) through a connecting disc bolt (181), one side of the connecting disc (18) is extended with a limit pin adjusting screw collision head (182), 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 revolving frame (2) is fixed with one side of the revolving disc (16) facing upwards; the support rod seat up-down lifting mechanism (3) is arranged on the revolving frame (2) in a shielding state of the revolving frame (2); a clamping jaw acting cylinder abdicating hole (42) is formed in the supporting rod seat (4) and at a position corresponding to the workpiece clamping jaw opening and closing driving mechanism (5); a left cavity wall of a workpiece clamping jaw support cavity (61) of the workpiece clamping jaw support (6) is provided with a workpiece clamping jaw support abdication hole (611), and the workpiece clamping jaw opening and closing driving mechanism (5) extends into the workpiece clamping jaw support cavity (61) through the workpiece clamping jaw support abdication hole (611) to be connected with the workpiece clamping jaw opening and closing actuating mechanism (7); the workpiece forcing 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 automatic ultrasonic welding workpiece transfer robot as claimed in claim 2, wherein the revolving frame (2) comprises 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 facing side of the revolving frame body (16), a revolving frame body base seat yielding cavity (231) is formed in the center position of the revolving frame body base (23), the revolving frame body (21) is fixed to the upward facing side of the revolving frame body base (23), the revolving frame body (21) is formed with a lifting cylinder shielding cavity (211) corresponding to and communicating with the revolving frame body base seat yielding cavity (231), the revolving frame body cavity top cover (22) is fixed to the top of the revolving frame body (21) at a position corresponding to the lifting cylinder shielding cavity (211), a lifting cylinder column yielding hole (221) is formed in the middle of the revolving frame body cavity (22), the support rod (24) is fixed to the guide rail seat (24) at the front of the support rod seat (24), a cavity cover plate (2411) is fixed at the position corresponding to the cavity opening of the lifting guide rail cavity (241) of the support rod seat; a pair of supporting rod seat lifting action cylinder pipeline connecting columns (183) are fixed on the connecting disc (18), a pair of workpiece clamping jaw opening and closing driving action cylinder pipeline connecting heads (184) are also connected to the lower part of the connecting disc (18) in a matched mode, and a supporting rod seat lifting action cylinder supporting device (161) is arranged on one side of the rotary disc (16) facing upwards and at a position corresponding to the base abdication cavity (231) of the rotary frame body; the support rod seat up-down lifting mechanism (3) is arranged in the lifting action cylinder shielding cavity (211) and supported on the support rod seat lifting action cylinder supporting device (161), and the support rod seat up-down lifting mechanism (3) is also connected with the pair of support rod seat lifting action cylinder pipeline connecting columns (183) through pipelines; the workpiece clamping jaw opening and closing driving mechanism (5) which is fixed between the supporting rod seat (4) and the workpiece clamping jaw support fixing seat (411) at the position corresponding to the clamping jaw acting cylinder abdication hole (42) is connected with the pipeline of the pair of workpiece clamping jaw opening and closing driving acting cylinder pipeline connectors (184), a pair of supporting rod penetrating holes (43) are formed on the supporting rod seat (4) and at the position corresponding to the pair of supporting rods (41), the left ends of the pair of supporting rods (41) extend to the left side of the supporting rod seat (4) through the pair of supporting rod penetrating holes (43), a workpiece clamping jaw support cavity upper cover plate (612) is fixed on the upper part of the workpiece clamping jaw support (6), and the workpiece clamping jaw support cavity upper cover plate (612) is used for shielding the upper part of the workpiece forcing mechanism (20) which is arranged in the workpiece clamping jaw support cavity (61) and used for driving the workpiece front clamping jaw (8) and the workpiece rear clamping jaw (9) to displace towards each other or repel each other.

4. A workpiece transfer robot for automatic ultrasonic welding according to claim 3, characterized in that the support rod seat up-and-down lift mechanism (3) comprises a support rod seat up-and-down lift cylinder (31) and a support rod seat up-and-down lift cylinder column connecting seat (32), the support rod seat up-and-down lift cylinder (31) being fixed to the support rod seat up-and-down lift cylinder supporting means (161) in a longitudinal state, a support rod seat up-and-down lift cylinder column (311) of the support rod seat up-and-down lift cylinder (31) being oriented upward and being fixed to the support rod seat up-and-down lift cylinder column connecting seat (32), and the support rod seat up-and-down lift cylinder column connecting seat (32) being fixed to a central position of the bottom of the support rod seat (4), wherein the support rod seat up-and-down lift cylinder (31) is a cylinder and being connected to the pair of support rod seat up-and-down lift cylinder pipe connecting columns (183) by a pair of lift cylinder pipe connecting pipes (183) being connected to an external gas generating means through a connecting seat pipe; 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), wherein the group of acting cylinder fixing plate supporting columns (1611) are fixed on one side of the rotary disc (16) facing upwards in a well-shaped distribution mode, and are lifted and unfolded into the lifting acting cylinder shielding cavity (211) at positions corresponding to the base abdication cavity (231) of the rotary frame body, 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. A workpiece transfer robot for automatic ultrasonic welding according to claim 3, characterized in that a set of support bar seat lifting guide rods (222) are fixed to the revolving frame body cavity top cover (22) in a state of being distributed in a zigzag, a set of support bar seat lifting guide rod guide sleeves (44) are provided on the support bar seat (4) and at positions corresponding to the set of support bar seat lifting guide rods (222), and the set of support bar seat lifting guide rods (222) are slidably fitted with the set of support bar seat lifting guide rod guide sleeves (44).

6. A workpiece transfer robot for automatic ultrasonic welding according to claim 3, characterized in that a support bar seat rail slider fixing seat (45) is fixed at a position on the front side of the support bar seat (4) and above the support bar seat lifting rail seat (24), a space between the rear side of the support bar seat rail slider fixing seat (45) and the front side of the support bar seat (4) is configured as a rail slider cavity (451), a rail slider (4511) is provided in the rail slider cavity (451), the rail slider (4511) is fixed with the rear side of the support bar seat rail slider fixing seat (45), a support bar seat lifting rail (46) is provided between the rear side of the rail slider (4511) and the front side of the support bar seat (4), and the upper end of the support bar seat lifting rail (46) is slidably fitted with the rail slider (4511) while the lower end is inserted and fixed in the support bar seat lifting rail cavity (241).

7. The automatic ultrasonic welding workpiece transfer robot as claimed in claim 3, wherein the workpiece jaw opening and closing drive mechanism (5) comprises a workpiece jaw opening and closing cylinder (51), a workpiece jaw opening and closing cylinder column guide (52) and a pair of connector connecting pipes (53), the workpiece jaw opening and closing cylinder (51) is fixed on the support rod base (4) in a horizontal state at a position corresponding to the jaw opening and closing cylinder hole (42), and a left end of the workpiece jaw opening and closing cylinder (51) extends from the jaw opening and closing cylinder hole (42) to a left side of the support rod base (4), a right end of the workpiece jaw opening and closing cylinder (51) extends from the jaw opening and closing cylinder hole (42) to a right side of the support rod base (4), the workpiece jaw opening and closing cylinder column guide (52) is fixed between the right end of the workpiece jaw opening and closing cylinder (51) and the left side of the workpiece jaw support bracket base (411), wherein the workpiece opening and closing cylinder column (511) of the workpiece jaw opening and closing cylinder column (51) is positioned in the left side of the support rod (521) via the jaw opening and closing cylinder column guide (521) and the right end of the workpiece jaw opening and closing cylinder column guide (521) extends out of the workpiece jaw opening and closing cylinder column (521), the upper ends of a pair of connector connecting pipes (53) are connected with a workpiece clamping jaw opening and closing action cylinder (51) in a matching way, the lower ends of the connector connecting pipes are connected with a pair of workpiece clamping jaw opening and closing driving action cylinder pipeline connectors (184), and the pair of workpiece clamping jaw opening and closing driving action cylinder pipeline connectors (184) are connected with an external gas generating device through pipelines; the workpiece clamping jaw opening and closing actuating mechanism (7) used for enabling the workpiece front clamping jaw (8) and the workpiece rear clamping jaw (9) to be displaced towards each other or to be separated from each other is connected with the tail end of the workpiece clamping jaw opening and closing action cylinder column (511), and the workpiece forcing and holding mechanism (20) is fixed with the left cavity wall of the workpiece clamping jaw support cavity (61).

8. The automatic ultrasonic welding workpiece transfer robot as claimed in claim 7, wherein the workpiece jaw opening and closing actuator (7) comprises a slide guide (71), a slide guide (72), a front crank arm hinge seat (73), a front crank arm (74), a rear crank arm hinge seat (75), a rear crank arm (76), a pair of workpiece jaw upper guide slide bars (77) and a pair of workpiece jaw lower guide slide bars (78), the slide guide (71) has a pair of front and rear parallel and the left end of the slide guide (71) is fixed with the left cavity wall of the workpiece jaw support cavity (61), the right end of the slide guide (71) is formed as a horizontal cantilever end, the slide guide (72) is laterally slidably sleeved on the slide guide (71), the middle part of the slide guide (72) is fixedly connected with the end of the workpiece opening and closing action cylinder column (511), a slide guide front hinge lug (721) extends at the front end of the slide guide (72), a slide guide hinge lug (73) extends at the rear end of the slide guide (72), a slide hinge lug (722) is provided at the front end of the slide guide pin (61), the front end of the workpiece jaw support (61) is fixed at the front end of the left cavity wall of the workpiece support (61), the front hinge pin (722) is provided at the front end of the workpiece jaw support cavity (75), and one end of the front crank arm (74) is hinged with the upper part of the workpiece front clamping jaw (8) at the position corresponding to the front crank arm pin shaft sliding groove (744), the middle part of the front crank arm (74) is hinged with the front crank arm hinging seat (73), the other end of the front crank arm (74) is also hinged with the sliding seat front hinging lug (721) at the position corresponding to the front crank arm pin shaft sliding groove (744), one end and the other end of the rear crank arm (76) are respectively provided with a rear crank arm pin shaft sliding groove (764), one end of the rear crank arm (76) is hinged with the upper part of the workpiece rear clamping jaw (9) at the position corresponding to the rear crank arm pin shaft sliding groove (764), the middle part of the rear crank arm (76) is hinged with the rear crank arm hinging seat (75), the other end of the rear crank arm (76) is also hinged with the sliding seat rear hinging lug (722) at the position corresponding to the rear crank arm pin shaft sliding groove (764), a pair of workpiece upper guide rods (77) are fixed between the front wall of the workpiece support cavity (61) and a pair of workpiece guide rods (78) are fixed between the pair of workpiece clamping jaw sliding bars (77) and the lower clamping jaw (71) of the workpiece support slide bars (77) are extended between the pair of workpiece clamping jaw upper clamping jaw lower clamping jaw (77) and the upper clamping jaw sliding bars (77) and the upper clamping jaw (77) are fixed between the workpiece clamping jaw lower clamping jaw (77) and the sliding bars; the upper parts of the workpiece front clamping jaw (8) and the workpiece rear clamping jaw (9) are respectively in sliding fit with a pair of workpiece clamping jaw upper guide sliding rods (77) and a pair of workpiece clamping jaw lower guide sliding rods (78); the workpiece forcing mechanism (20) corresponds to the underside of the pair of workpiece jaw downslide bars (78).

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

10. The automatic ultrasonic welding workpiece transfer robot as claimed in claim 8, wherein the workpiece pressing and holding mechanism (20) comprises a workpiece pressing and holding floating plate holder (201), a workpiece pressing and holding floating plate (202) and a set of floating plate guide rods (203), the workpiece pressing and holding floating plate holder (201) is disposed in the workpiece jaw holder cavity (61) at a position corresponding to the lower portion of the pair of workpiece jaw lower guide rods (78), and the left end of the workpiece pressing and holding floating plate holder (201) is fixed to the left cavity wall of the workpiece jaw holder cavity (61), while the right end is configured as a horizontal cantilever end, a floating plate guide rod sliding hole having the same number as the set of floating plate guide rods (203) is disposed at a position corresponding to the set of floating plate guide rods (203), a set of floating plate guide rods sliding guide sleeve (2011) is disposed in the set of floating plate guide rods sliding hole, the set of floating plate (203) is slidingly matched with the floating plate guide sleeve (2011) up and down, the workpiece pressing and holding floating plate guide rods (202) are disposed at a position corresponding to the set of floating plate pressing and holding floating plate guide rods (203) on one side of the upper pressing and holding floating plate holder (201) at a position corresponding to the set of floating plate pressing and holding floating plate guide rods (203), while the lower end is supported on the side of the workpiece-holding floating plate (202) facing upward, the workpiece-holding floating plate (202) corresponding between the lower portions of the workpiece front clamping jaw (8) and the workpiece rear clamping jaw (9).