CN111151868A - Workpiece clamping manipulator for automatic ultrasonic welding - Google Patents

Workpiece clamping manipulator for automatic ultrasonic welding Download PDF

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Publication number
CN111151868A
CN111151868A CN202010084325.8A CN202010084325A CN111151868A CN 111151868 A CN111151868 A CN 111151868A CN 202010084325 A CN202010084325 A CN 202010084325A CN 111151868 A CN111151868 A CN 111151868A
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CN
China
Prior art keywords
clamping jaw
cylinder
horizontal displacement
workpiece
workpiece clamping
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010084325.8A
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Chinese (zh)
Inventor
王国成
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Changshu Dazhong Robot Research Institute Co Ltd
Original Assignee
Changshu Dazhong Robot Research Institute Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Changshu Dazhong Robot Research Institute Co Ltd filed Critical Changshu Dazhong Robot Research Institute Co Ltd
Priority to CN202010084325.8A priority Critical patent/CN111151868A/en
Publication of CN111151868A publication Critical patent/CN111151868A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/26—Auxiliary equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/10—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating making use of vibrations, e.g. ultrasonic welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

Abstract

A workpiece clamping manipulator for automatic ultrasonic welding belongs to the technical field of automatic machinery. Comprises a base, wherein the base is arranged on a workbench in a use state; the lifting platform mechanism is arranged at the top of the base in a vertically moving manner; the lifting platform actuating mechanism is arranged in the base cavity of the base, extends out of the top of the base cavity and is connected with the lifting platform mechanism; the workpiece clamping jaw horizontal displacement driving mechanism is arranged on the lifting platform mechanism; and the workpiece clamping and releasing mechanism is connected with the workpiece clamping jaw horizontal displacement driving mechanism. The good relay performance of the work of the station is guaranteed; interference influence on devices on other stations can be avoided in use; guarantee automatic welding set efficiency and be of value to saving manpower resources.

Description

Workpiece clamping manipulator for automatic ultrasonic welding
Technical Field
The invention belongs to the technical field of automatic machinery, and particularly relates to a workpiece clamping manipulator for automatic ultrasonic welding.
Background
The automatic ultrasonic welding is automatic ultrasonic welding, is widely applied to the production industries of new energy lithium batteries, electronic and electrical products, stationery, toys and the like, automobile part production industry, medical supplies production industry and the like, and adopts the principle that high-frequency vibration waves are transmitted to the surfaces of two objects to be welded into a whole, namely objects, so that the two objects to be welded are combined together. Taking thermoplastic plastic welding as an example, when ultrasonic wave acts on a thermoplastic plastic contact surface, high-frequency vibration of tens of thousands or even tens of thousands of times per second can be generated, the high-frequency vibration reaching a certain amplitude transmits ultrasonic energy to a welding area through a weldment, and the welding area, namely the sound resistance of the interface of two welding areas is large, so that local high temperature can be generated, and the high temperature cannot be diffused in time due to poor thermal conductivity of the plastic, so that the high temperature is gathered on the welding area, the contact surfaces of the two plastics are rapidly melted, and the two plastics are fused into a whole after a certain pressure is applied.
Technical information related to an ultrasonic welding apparatus, such as CN208496057U (cell ultrasonic welder), CN110238506A (an ultrasonic welder), and CN110370654A (an ultrasonic automatic welder), etc., is not known in the published chinese patent documents.
If an ultrasonic automatic welding machine such as a primary welding machine and a final welding machine, a workpiece input device such as a conveyor belt serving the ultrasonic automatic welding machine, a workpiece output device such as a conveyor belt also serving the ultrasonic welding machine, a manipulator picking up and feeding a workpiece from the workpiece input device to a station where the ultrasonic automatic welding machine is located, a workpiece station switching (or moving) manipulator, and a workpiece which has completed welding such as the final welding are extracted from the final welding machine and transferred to the workpiece output device, the work efficiency can be remarkably improved, precious labor resources can be saved, the welding quality of the workpiece can be guaranteed, the neatness of the workpiece processing environment can be embodied, and the excellent beat type (also called relay type) production effect can be embodied. The manipulator for picking up the workpiece from the workpiece input device and feeding the workpiece to the station of the ultrasonic automatic welding machine is the workpiece clamping manipulator for the automatic ultrasonic welding, and the workpiece is clamped by the workpiece clamping manipulator and supplied to the ultrasonic pre-welding device serving as the primary welding machine for pre-welding. Because the workpiece clamping manipulator needs to meet the requirements of lifting and horizontal displacement, the reliability, the simplicity, the flexibility, the noninterference to other manipulators on adjacent stations, the small size of the volume, the easy inspection and maintenance in daily use and the like are all severer, but in the Chinese and foreign patents and non-patent documents disclosed so far, the technical teaching that the manipulator can be comprehensively embodied and can not be referred to by the elements exemplified above is not seen, and the technical scheme to be described below is generated under the background.
Disclosure of Invention
The invention aims to provide a workpiece clamping manipulator for automatic ultrasonic welding, which is beneficial to flexibly and reliably extracting a workpiece introduced from a previous station, accurately supplying the extracted workpiece to an ultrasonic pre-welding device for pre-welding, taking the workpiece away from the ultrasonic pre-welding device after the ultrasonic pre-welding device finishes the pre-welding and transferring the workpiece to a next station so as to ensure good relay performance of the work of the stations, and is beneficial to embodying the simplicity of structure and the miniaturization of volume so as to avoid interference influence on devices on other stations and embodying the rapidity of action so as to ensure the production efficiency.
The task of the invention is completed in such a way that the workpiece clamping manipulator for automatic ultrasonic welding comprises a base, wherein the base is arranged on a workbench in a use state; the lifting platform mechanism is arranged at the top of the base in a vertically moving manner; the lifting platform actuating mechanism is arranged in the base cavity of the base, extends out of the top of the base cavity and is connected with the lifting platform mechanism; the workpiece clamping jaw horizontal displacement driving mechanism is arranged on the lifting platform mechanism; and the workpiece clamping and releasing mechanism is connected with the workpiece clamping jaw horizontal displacement driving mechanism.
In a specific embodiment of the invention, the bottom of the base cavity of the base is communicated with the outside, and a base top plate for shielding the top of the base cavity is fixed on the top of the base; the lifting platform mechanism is arranged on the top plate of the base in a vertically moving manner; the lifting platform actuating mechanism arranged in the base cavity extends out of the top of the base top plate and is connected with a lifting platform mechanism, and the workpiece clamping jaw horizontal displacement driving mechanism is arranged on the lifting platform mechanism in a sliding state; the workpiece clamping release mechanism is connected with the workpiece clamping jaw horizontal displacement driving mechanism at a position corresponding to the right side of the lifting platform mechanism.
In another specific embodiment of the present invention, the lifting mechanism includes a sliding lifting platform, a sliding lifting platform limit plate, a sliding lifting platform limit adjusting screw and a set of sliding lifting platform guide posts, the sliding lifting platform corresponds to the upper side of the base top plate, a set of sliding lifting platform guide post sleeves are arranged on the sliding lifting platform and at positions corresponding to the set of lifting platform guide posts, the sliding lifting platform limit plate is fixed with the top of the set of sliding lifting platform guide posts, the middle of the set of sliding lifting platform guide posts is in sliding fit with the set of sliding lifting platform guide post sleeves, the lower end of the set of sliding lifting platform guide posts is fixed with the base top plate, and the sliding lifting platform limit adjusting screw is arranged at the center of the sliding lifting platform limit plate and extends to one side of the sliding lifting platform limit plate facing downwards; a lifting platform actuating cylinder column abdicating hole is formed in the base top plate and is positioned in the center of the base top plate; the lifting platform actuating mechanism arranged in the base cavity extends out of the top of the base top plate at a position corresponding to the lifting platform actuating cylinder column abdicating hole and is connected with the central position of one downward side of the sliding lifting platform; the workpiece clamping jaw horizontal displacement driving mechanism is arranged on the sliding lifting table in a state of sliding fit with the sliding lifting table; and the workpiece clamping release mechanism is connected with the workpiece clamping jaw horizontal displacement driving mechanism at a position corresponding to the right side of the sliding lifting platform.
In another specific embodiment of the present invention, the lifting platform actuating mechanism is a lifting action cylinder, the upper part of the lifting action cylinder is fixed with one side of the base top plate facing the base cavity in the base cavity of the base, the lifting action cylinder column of the lifting action cylinder extends to the position corresponding to the yielding hole of the lifting platform actuating action cylinder to be fixed with the middle position of the side of the sliding lifting platform facing downwards above the base top plate, and the lower part of the lifting action cylinder extends out of the bottom of the base cavity, wherein the lifting action cylinder is a cylinder; the sliding lifting platform is connected with an action cylinder ventilating device, the upper part of the action cylinder ventilating device is connected with the workpiece clamping jaw horizontal displacement driving mechanism and the workpiece clamping releasing mechanism, and the lower part of the action cylinder ventilating device sequentially extends out of the base cavity through the base top plate and the base cavity and is connected with a gas production device pipeline.
In a further specific embodiment of the invention, the workpiece clamping jaw horizontal displacement driving mechanism comprises a clamping jaw horizontal displacement cylinder, a guide rod fixing seat, a pair of guide rod guide sleeves and a pair of guide rods, wherein the right end of the clamping jaw horizontal displacement cylinder is fixed with the sliding lifting platform, the left end of the clamping jaw horizontal displacement cylinder extends towards the direction far away from the left side of the sliding lifting platform in a horizontal cantilever state, a clamping jaw horizontal displacement cylinder column of the clamping jaw horizontal displacement cylinder extends to the right side of the sliding lifting platform, a clamping jaw horizontal displacement cylinder vent pipe is arranged at a position corresponding to the lower part of the clamping jaw horizontal displacement cylinder in the length direction, the left end of the clamping jaw horizontal displacement cylinder vent pipe is communicated with the left cavity of the clamping jaw horizontal displacement cylinder through a left vent interface of the clamping jaw horizontal displacement cylinder vent pipe, and the right end of the clamping jaw horizontal displacement cylinder vent pipe is closed and fixed with the left, the guide rod fixing seat is fixed with the left end faces of the pair of guide rods through guide rod fixing seat screws, a clamping jaw horizontal displacement cylinder abdicating cavity and a pair of vent pipe outer sleeve abdicating holes are formed in the guide rod fixing seat and at the position corresponding to the clamping jaw horizontal displacement cylinder, the pair of vent pipe outer sleeve abdicating holes are respectively located on the front side and the rear side of the clamping jaw horizontal displacement cylinder abdicating cavity, the left ends of the pair of guide rod guide sleeves are fixed with the sliding lifting platform, the right ends of the pair of guide rod guide sleeves extend towards the direction of the workpiece clamping and releasing mechanism in a horizontal cantilever state, the middle parts of the pair of guide rods are in sliding fit with the pair of guide rod guide sleeves, and the right ends of the pair of guide rod guide; the workpiece clamping release mechanism is connected with the right ends of the pair of guide rods and is also connected with the clamping jaw horizontal displacement cylinder column, and the acting cylinder ventilating device is communicated with the clamping jaw horizontal displacement cylinder ventilating pipe and a clamping jaw horizontal displacement cylinder right chamber of the clamping jaw horizontal displacement cylinder; a signal line pipe abdicating hole is formed in the base top plate of the base; one side of the sliding seat lifting platform facing downwards is fixed with a signal line pipe, and the lower end of the signal line pipe is located in the base cavity in a manner of moving up and down at a position corresponding to the signal line pipe abdicating hole.
In a further embodiment of the invention, the action cylinder ventilating device comprises an outer sleeve fixing plate, a first air receiving pipe sleeve I, a second air receiving pipe sleeve II, a third air receiving pipe sleeve III, a fourth air receiving pipe sleeve IV, a first air receiving pipe I, a second air receiving pipe II, a third air receiving pipe III, a fourth air receiving pipe IV, a first air guiding pipe I, a second air guiding pipe II, a third air guiding pipe III and a fourth air guiding pipe IV, wherein the outer sleeve fixing plate corresponds to the lower part of the lifting action cylinder, the first air receiving pipe sleeve I, the second air receiving pipe sleeve II, the third air receiving pipe sleeve III and the fourth air receiving pipe sleeve IV are fixed on one side of the outer sleeve fixing plate facing downwards, the upper end of the first air receiving pipe I penetrates into the first air receiving pipe sleeve I and is matched and connected with the lower end of the first air guiding pipe I, the upper end of the second air receiving pipe II penetrates into the second air receiving pipe sleeve II and is matched and connected with the lower end of the second air guiding pipe II, the upper end of a third air receiving pipe III penetrates into a third air receiving pipe sleeve III and is matched and connected with the lower end of a third air guiding pipe III, the upper end of a fourth air receiving pipe IV penetrates into a fourth air receiving pipe sleeve IV and is matched and connected with the lower end of the fourth air guiding pipe IV, the lower ends of a first air receiving pipe I, a second air receiving pipe II, a third air receiving pipe III and the fourth air receiving pipe IV are respectively provided with an electromagnetic control valve and are connected with the air generating device through a pipeline, the lower end of the first air guiding pipe I is fixed with an outer sleeve fixing plate at a position corresponding to the first air receiving pipe I, the lower end of the second air guiding pipe II is fixed with the outer sleeve fixing plate at a position corresponding to the second air receiving pipe II, the lower end of the third air guiding pipe III is fixed with the outer sleeve fixing plate at a position corresponding to the third air receiving pipe III, and the lower end of the fourth air guiding pipe IV is fixed with the outer sleeve fixing plate at a position corresponding, the upper end of a first air entraining pipe I is connected with and communicated with a clamping jaw horizontal displacement cylinder vent pipe, the upper end of a second air entraining pipe II penetrates into the sliding lifting table and is communicated with a clamping jaw horizontal displacement cylinder right chamber of the clamping jaw horizontal displacement cylinder, and the upper end of a third air entraining pipe III and the upper end of a fourth air entraining pipe IV are connected with a workpiece clamping and releasing mechanism.
In a more specific embodiment of the present invention, a sensor fixing seat engaging groove is formed on the front side of the clamping jaw horizontal displacement cylinder vent pipe in the length direction, a pair of sensor fixing seats are arranged at intervals at positions corresponding to the sensor fixing seat engaging groove, a sensor is arranged on each of the pair of sensor fixing seats, a pair of buffers is fixed on the right side of the guide rod fixing seat in a horizontal state, the pair of buffers respectively correspond to the front side and the rear side of the clamping jaw horizontal displacement cylinder, a magnetic ring for the sensor to sense and send signals is arranged on the left end face of the clamping jaw horizontal displacement cylinder column, and the sensor is led out by a circuit through the signal line pipe and is electrically connected with an electric controller.
In a further specific embodiment of the present invention, a first vent pipe i of a clamping jaw opening and closing cylinder and a second vent pipe ii of a clamping jaw opening and closing cylinder are fixed on the sliding lifting platform, the upper end of the third air guide pipe iii is connected and communicated with the first vent pipe i of the clamping jaw opening and closing cylinder at the position of the sliding lifting platform, the upper end of the fourth air guide pipe iv is connected and communicated with the second vent pipe ii of the clamping jaw opening and closing cylinder at the position of the sliding lifting platform, wherein a first connecting pipe i of the clamping jaw opening and closing cylinder is connected to the right end of the first vent pipe i of the clamping jaw opening and closing cylinder, a second connecting pipe ii of the clamping jaw opening and closing cylinder is connected to the right end of the second vent pipe ii of the clamping jaw opening and closing cylinder, and the first connecting pipe i of the clamping jaw opening and closing cylinder and the second connecting pipe ii of the clamping jaw opening and closing cylinder are connected to the.
In yet another specific embodiment of the present invention, the workpiece clamping and releasing mechanism comprises a workpiece clamping jaw opening and closing cylinder, a workpiece clamping jaw opening and closing cylinder fixing seat, a guide rod plate, a pressure plate, a cover plate, a front clamping jaw, a rear clamping jaw, a pair of pressure plate pressing cylinders and a group of pressure plate guide rods, wherein the left side of the workpiece clamping jaw opening and closing cylinder fixing seat is connected with the right ends of the pair of guide rods, a clamping jaw horizontal displacement cylinder column connecting head is connected with the middle position of the left side of the workpiece clamping jaw opening and closing cylinder fixing seat through a connecting head pin shaft screw, the clamping jaw horizontal displacement cylinder column connecting head is connected with the clamping jaw horizontal displacement cylinder column, a pressure plate pressing cylinder seat respectively extends from the middle part of the left side and the right side of the workpiece clamping jaw opening and closing cylinder fixing seat and corresponds to the position of the pair of pressure plate pressing cylinders, a group of cover plate fixing screw seats is formed on the, the cover plate is positioned above the fixed seat of the workpiece clamping jaw opening and closing cylinder, the cover plate passes through a cover plate screw hole arranged on the cover plate by a group of cover plate fixing screws to be screwed into a cover plate fixing screw seat screw hole of a group of cover plate fixing screw seats and further to be screwed into the workpiece clamping jaw opening and closing cylinder to fix the workpiece clamping jaw opening and closing cylinder below the fixed seat of the workpiece clamping jaw opening and closing cylinder, the guide rod plate is fixed on one downward side of the workpiece clamping jaw opening and closing cylinder, the lower end of a guide rod of the group of pressure plate is fixed at the position corresponding to the lower part of the guide rod plate, the upper end of a guide rod of the group of pressure plate is respectively arranged on the guide rod plate in a way of being vertically displaced through a pressure plate guide rod sleeve fixed at one upward side of the guide rod plate, the front clamping jaw corresponds to the front side of the pressure plate, a front clamping jaw fixing plate is fixed at the upper part of the front clamping jaw, the, the rear ends of the pair of front clamping jaw guide rods are in sliding fit with a cylinder body of the workpiece clamping jaw opening and closing cylinder, the rear clamping jaw corresponds to the rear side of the pressure plate and corresponds to the front clamping jaw at the same time, a rear clamping jaw fixing plate is fixed at the upper part of the rear clamping jaw, the rear clamping jaw fixing plate is fixed with the tail end of a second cylinder column of the workpiece clamping jaw opening and closing cylinder and is also fixed with the rear ends of the pair of rear clamping jaw guide rods, the front ends of the pair of rear clamping jaw guide rods are in sliding fit with the cylinder body of the workpiece clamping jaw opening and closing cylinder, the pair of pressure plate pressing cylinders are arranged on a workpiece clamping jaw opening and closing cylinder fixing seat at positions corresponding to the pressure plate pressing cylinder seat, and pressure plate pressing cylinder columns of the pressure plate pressing cylinders extend to the lower; the clamping jaw opening and closing air cylinder first connecting air pipe I and the clamping jaw opening and closing air cylinder second connecting air pipe II are connected with the workpiece clamping jaw opening and closing air cylinder.
In yet another specific embodiment of the present invention, a fixing seat through hole penetrating from the upper portion to the lower portion is formed at a central position on the left side of the workpiece clamping jaw opening and closing cylinder fixing seat and at a position corresponding to the connecting head pin shaft screw; a pair of fixed seat guide rod connecting holes are formed in the left side of the workpiece clamping jaw opening and closing cylinder fixed seat and in positions corresponding to the right ends of the pair of guide rods, and the pair of fixed seat guide rod connecting holes are connected with the right ends of the pair of guide rods; a connector pin shaft screw hole is formed in the right end of the clamping jaw horizontal displacement cylinder column connector and in a position corresponding to the through hole of the fixed seat, and the connector pin shaft screw penetrates through the connector pin shaft screw hole in a position corresponding to the through hole of the fixed seat and is limited by a connector pin shaft screw limiting nut positioned below the through hole of the fixed seat; the pressure plate is a plastic plate.
One of the technical effects of the technical scheme provided by the invention is that the lifting platform actuating mechanism can enable the lifting platform mechanism, the workpiece clamping jaw horizontal displacement driving mechanism and the workpiece clamping and releasing mechanism to lift up and down, and the workpiece clamping jaw horizontal displacement driving mechanism enables the workpiece clamping and releasing mechanism to horizontally displace, so that the workpiece clamping and releasing mechanism is favorable for flexibly, reliably and accurately extracting the workpiece introduced from the previous station, accurately supplying the extracted workpiece to the ultrasonic pre-welding device for pre-welding, and separating and transferring the extracted workpiece to the next station after the pre-welding is finished, and the good relay performance of the work of the stations can be ensured; secondly, the whole structure is compact and simple and the volume is small, so that the interference influence on devices on other stations can be avoided in use; thirdly, the workpiece clamping and releasing mechanism has excellent action agility, so that the efficiency of the automatic welding device can be guaranteed, and the labor resources can be saved.
Drawings
FIG. 1 is a block diagram of an embodiment of the present invention.
Fig. 2 is a detailed configuration diagram of the work gripping and releasing mechanism shown in fig. 1.
Fig. 3 is a schematic view of the present invention disposed on a work table and in use.
Detailed Description
In order to clearly understand the technical spirit and the advantages of the present invention, the applicant below describes in detail by way of example, but the description of the example is not intended to limit the technical scope of the present invention, and any equivalent changes made according to the present inventive concept, which are merely in form and not in material, should be considered as the technical scope of the present invention.
In the following description of fig. 1 and 2, all the concepts related to the directions or orientations of up, down, left, right, front and back are based on the position state of fig. 1, and the description of fig. 3 is exemplified by the position state of fig. 3, and therefore, it cannot be understood as a specific limitation to the technical solution provided by the present invention.
Referring to fig. 1, there is shown a base 1, the base 1 being arranged on a table 6 in a use state; a lifting platform mechanism 2 is shown, and the lifting platform mechanism 2 is arranged on the top of the base 1 in a manner of moving up and down; a lifting platform actuating mechanism 3 is shown, the lifting platform actuating mechanism 3 is arranged in the base cavity 11 of the base 1, namely is arranged corresponding to the base cavity 11, and the top extending out of the base cavity 11 is connected with the lifting platform actuating mechanism 2; a workpiece clamping jaw horizontal displacement driving mechanism 4 is shown, and the workpiece clamping jaw horizontal displacement driving mechanism 4 is arranged on the lifting platform mechanism 2; a work gripping and releasing mechanism 5 is shown, and the work gripping and releasing mechanism 5 is connected to the work gripping jaw horizontal displacement driving mechanism 4.
As shown in fig. 1, a flange-shaped base fixing base plate 13 is formed around the bottom of the base 1, and fixing base plate screw holes 131 are formed in at least four corners of the base fixing base plate 13. In actual use, the base fixing base plate 13 is fixed to the table 6 with screws at positions corresponding to the fixing base plate screw holes 131. The base cavity 11 is not closed at the bottom, i.e. is open to the outside, and suitably, a table base cavity relief hole is formed in the table 6 at a position corresponding to the base cavity 11, so that an electric controller and a gas generating device such as an air compressor or an air pump, which are disposed in the cavity at the lower part of the table 6, are connected to the present invention.
Continuing with fig. 1, it has been mentioned above that the bottom of the base chamber 11 of the aforementioned base 1 is open to the outside. A base top plate 12 (also referred to as "base chamber upper cover") for shielding the top of the base chamber 11 is fixed to the top of the base 1; the elevating table mechanism 2 is provided on the base top plate 12 so as to be movable up and down; the lifting platform actuating mechanism 3 arranged in the base cavity 11 extends out of the top of the base top plate 12 and is connected with a lifting platform mechanism 2, and the workpiece clamping jaw horizontal displacement driving mechanism 4 is arranged on the lifting platform mechanism 5 in a sliding state; the work gripping and releasing mechanism 5 is connected to the work gripper horizontal displacement drive mechanism 4 at a position corresponding to the right side of the lifting table mechanism 2.
The lifting mechanism 2 comprises a sliding lifting table 21, a sliding lifting table limit plate 22, a sliding lifting table limit adjusting screw 23 and a group of sliding lifting table guide posts 24, the sliding lifting table 21 corresponds to the upper part of the base top plate 12, a set of (four) sliding lifter guide bush 211 is provided on the sliding lifter 21 at a position corresponding to the set of lifter guide posts 24, the sliding lifter stopper plate 22 is fixed to the top of the set of sliding lifter guide posts 24 by a set of sliding lifter stopper plate screws 221, the middle part of the group of sliding lifting platform guide posts 24 is in sliding fit with the group of sliding lifting platform guide post sleeves 211, the lower ends of the group of sliding lifting platform guide posts 24 are fixed with sliding lifting platform guide post fixing holes 123 preset on the base top plate 12, and the sliding lifting platform limit adjusting screws 23 are arranged at the central position of the sliding lifting platform limit plate 22 and extend to the downward side of the sliding lifting platform limit plate 22; a lift table actuation cylinder abdicating hole 121 is arranged on the base top plate 12 and at the central position of the base top plate 12; the lifting platform actuating mechanism 3 arranged in the base cavity 11 extends upwards from the top of the base top plate 12 at a position corresponding to the lifting platform actuating cylinder abdicating hole 121 and is connected with the central position of one side of the sliding lifting platform 21 facing downwards; the workpiece clamping jaw horizontal displacement driving mechanism 4 is arranged on the sliding lifting table 21 in a state of sliding fit with the sliding lifting table 21; the workpiece gripping and releasing mechanism 5 is connected to the workpiece gripper horizontal displacement drive mechanism 4 at a position corresponding to the right side of the slide table 21.
Since the workpiece 7 illustrated in fig. 3 is a lithium battery cell and the specifications of the lithium battery cells are different, the more the sliding lifting platform limit adjusting screw 23 is adjusted downward, the smaller the amplitude of the up-and-down displacement of the guide post 24 along the set of sliding lifting platform is, and vice versa, the different process requirements can be met, as can be known from the professional knowledge: if the slide table stopper adjusting screw 23 is extended to the downward side of the slide table stopper plate 22 to a greater extent, the slide table 21 is prevented from being displaced upward by the slide table stopper adjusting screw 23 when it is lifted. And vice versa. In addition, since the structure of the foregoing lithium battery core belongs to the known technology, for example, refer to chinese patents CN103165952A, CN107180839A, CN105576298A and CN106267276A, etc., the applicant does not need to describe any further.
Continuing to refer to fig. 1, the aforementioned lift table actuating mechanism 3 is a lift cylinder 31, the upper portion of the lift cylinder 31 is fixed to the side of the base top plate 12 facing the base cavity 11 (i.e., the downward side) in the base cavity 11 of the aforementioned base 1, and the lift cylinder column 311 of the lift cylinder 31 extends to the position corresponding to the aforementioned lift table actuating cylinder relief hole 121 to be fixed to the center position above the base top plate 12 and the downward side of the aforementioned slide lift table 21, and the lower portion of the lift cylinder 31 protrudes out of the bottom of the base cavity 11. Wherein, the lifting cylinder 31 is a cylinder; an action cylinder ventilating device 212 is connected to the slide lifting table 21, the upper part of the action cylinder ventilating device 212 is connected to the workpiece clamping jaw horizontal displacement driving mechanism 4 and the workpiece clamping and releasing mechanism 5, and the lower part of the action cylinder ventilating device 212 extends out of the base cavity 11 through the base top plate 12 and the base cavity 11 in sequence and is connected to the gas generating device such as an air compressor or an air pump pipeline.
When the lifting cylinder 31 is operated, for example, when the lifting cylinder column 311 extends upward, the lifting cylinder column 311 pushes the sliding lifting table 21 of the structural system of the lifting table mechanism 2 to slide upward along the set of sliding lifting table guide posts 24, and since the workpiece clamping jaw horizontal displacement driving mechanism 4 is disposed with the sliding lifting table 21 as a carrier and the workpiece clamping release mechanism 5 is connected to the workpiece clamping jaw horizontal displacement driving mechanism 4 on the right side of the sliding lifting table 21, the workpiece clamping jaw horizontal displacement driving mechanism 4 and the workpiece clamping release mechanism 5 are also displaced upward when the sliding lifting table 21 slides upward, otherwise.
The workpiece clamping jaw horizontal displacement driving mechanism 4 comprises a clamping jaw horizontal displacement cylinder 41, a guide rod fixing seat 42, a pair of guide rod guide sleeves 43 and a pair of guide rods 44, wherein the right end of the clamping jaw horizontal displacement cylinder 41 is fixed with the sliding lifting platform 21, the left end of the clamping jaw horizontal displacement cylinder 41 extends towards the direction far away from the left side of the sliding lifting platform 21 in a horizontal cantilever state, a clamping jaw horizontal displacement cylinder column 411 of the clamping jaw horizontal displacement cylinder 41 extends to the right side of the sliding lifting platform 21, a clamping jaw horizontal displacement cylinder vent pipe 412 with a rectangular cross section is arranged at the position corresponding to the lower part of the length direction of the clamping jaw horizontal displacement cylinder 41, the left end of the clamping jaw horizontal displacement cylinder vent pipe 412 is communicated with the clamping jaw horizontal displacement cylinder left chamber of the clamping jaw horizontal displacement cylinder 41 through a clamping jaw horizontal displacement cylinder vent pipe left vent port 4121, the vent pipe end face hole 4123 on the left end face of the jaw horizontal displacement cylinder vent pipe 412 is sealed by a screw, the right end of the jaw horizontal displacement cylinder vent pipe 412 is also sealed and fixed with the left side face of the sliding lifting table 21, the guide rod fixing seat 42 is fixed with the left end faces of the pair of guide rods 44 by a guide rod fixing seat screw 421, a jaw horizontal displacement cylinder abdicating cavity 422 and a pair of vent pipe outer sleeve abdicating holes 423 are arranged on the guide rod fixing seat 42 and at the position corresponding to the jaw horizontal displacement cylinder 41, the pair of vent pipe outer sleeve abdicating holes 423 are respectively arranged on the front side and the rear side of the jaw horizontal displacement cylinder abdicating cavity 422, the left end of the pair of guide rod guide sleeves 43 is fixed with the sliding lifting table 21, the right end of the pair of guide rod guide sleeves 43 extends towards the direction of the workpiece clamping and releasing mechanism 5 in a horizontal cantilever state, the middle of the pair of guide rods 44 is in sliding, and the right end extends out of the right ends of the pair of guide bar guides 43.
The workpiece clamping and releasing mechanism 5 is connected to the right ends of the pair of guide rods 44 and also connected to the jaw horizontal displacement cylinder column 411, and the operating cylinder ventilating device 212 is communicated with the jaw horizontal displacement cylinder ventilating pipe 412 and the jaw horizontal displacement cylinder right chamber of the jaw horizontal displacement cylinder 41; a signal conduit abdicating hole 122 is opened on the base top plate 12 of the base 1; a signal conduit 213 is fixed to a downward side of the slide base elevating table 21, and a lower end of the signal conduit 213 is vertically moved in the base chamber 11 at a position corresponding to the signal conduit relief hole 122.
Continuing to refer to fig. 1, the aforementioned active cylinder ventilator 212 includes an outer sleeve fixing plate 2121, a first air receiving tube housing i 2122a, a second air receiving tube housing ii 2122b, a third air receiving tube housing iii 2122c, a fourth air receiving tube housing iv 2122d, a first air receiving tube i 2123a, a second air receiving tube ii 2123b, a third air receiving tube iii 2123c, a fourth air receiving tube iv 2123d, a first air guiding tube i 2124a, a second air guiding tube ii 2124b, a third air guiding tube iii 2124c and a fourth air guiding tube iv 2124d, the outer sleeve fixing plate 2121 corresponds to the lower portion of the aforementioned lifting active cylinder 31, the first air receiving tube housing i 2122a, the second air receiving tube housing ii 2122b, the third air receiving tube housing iii 2122c and the fourth air guiding tube iv 2122d are fixed to the downward side of the aforementioned outer sleeve 2121, the upper end i of the first air receiving tube housing 2123a penetrates into the first air receiving tube housing i 2a and is coupled to the lower end of the first air receiving tube housing i 2124a, the upper end of the second air receiving tube II 2123b penetrates into the second air receiving tube II 2122b and is coupled to the lower end of the second air guiding tube II 2124b, the upper end of the third air receiving tube III 2123c penetrates into the third air receiving tube III 2122c and is coupled to the lower end of the third air guiding tube III 2124c, the upper end of the fourth air receiving tube IV 2123d penetrates into the fourth air receiving tube IV 2122d and is coupled to the lower end of the fourth air guiding tube IV 2124d, the lower ends of the first air receiving tube I2123 a, the second air receiving tube II 2123b, the third air receiving tube III 2123c and the fourth air receiving tube IV 2123d are respectively provided with an electromagnetic control valve and are connected to the gas generating device such as the gas generating compressor or the gas pump pipeline, the lower end of the first outer sleeve I2124 a is fixed to the fixing plate 2121 at a position corresponding to the first air receiving tube I2123 a, and the lower end of the second air guiding tube 2124b is fixed to the fixing plate 2121 at a position corresponding to the second air receiving tube II 2123b, the lower end of a third air guide pipe III 2124c is fixed with the outer sleeve fixing plate 2121 at a position corresponding to a third air receiving pipe III 2123c, the lower end of a fourth air guide pipe IV 2124d is fixed with the outer sleeve fixing plate 2121 at a position corresponding to the fourth air receiving pipe IV 2123d, the upper end of a first air guide pipe I2124 a is connected and communicated with the jaw horizontal displacement cylinder vent pipe 412, the upper end of a second air guide pipe II 2124b penetrates through the sliding lifting table 21 and is communicated with the right chamber of the jaw horizontal displacement cylinder 41, and the upper end of the third air guide pipe III 2124c and the upper end of a fourth air guide pipe IV 2124d are connected with the workpiece clamping device 5.
Continuing to refer to fig. 1, a sensor fixing seat matching groove 4122 is opened at the front side of the length direction of the jaw horizontal displacement cylinder vent pipe 412, a pair of sensor fixing seats 41221 is provided at intervals corresponding to the sensor fixing seat matching groove 4122, a sensor 41222 is provided on each of the pair of sensor fixing seats 41221, a pair of buffers 424 is horizontally fixed on the right side of the guide rod fixing seat 42, the pair of buffers 424 respectively correspond to the front and rear sides of the jaw horizontal displacement cylinder 41, a magnetic ring (not shown) for the sensor 41222 to sense and send out a signal is provided on the left end surface of the jaw horizontal displacement cylinder column 411, the sensor 41222 provides a signal through the magnetic ring which is attached to the jaw horizontal displacement cylinder column 411 and moves left or right along with the jaw horizontal displacement cylinder column 411, the sensor 41222 feeds back the signal to the electric controller, so as to realize effective management and control of the action stroke of the clamping jaw horizontal displacement cylinder column 411. In addition, due to the existence of the pair of buffers 424, the amplitude of the left and right movement of the magnetic ring is equal to the amplitude of the movement of the buffers 424. The sensor 41222 is led out from the line through the signal line 213 and electrically connected to an electric controller.
A first vent pipe I214 of a clamping jaw opening and closing cylinder (also called a clamping jaw opening and closing cylinder first vent pipe outer sleeve) and a second vent pipe II 215 of a clamping jaw opening and closing cylinder (also called a clamping jaw opening and closing cylinder second vent pipe outer sleeve) are fixed on the sliding lifting platform 21, the first vent pipe I214 of the clamping jaw opening and closing cylinder and the second vent pipe II 215 of the clamping jaw opening and closing cylinder correspond to the pair of vent pipe outer sleeve abdicating holes 423, the upper end of the third vent pipe III 2124c is matched and communicated with the first vent pipe I214 of the clamping jaw opening and closing cylinder at the position of the sliding lifting platform 21, the upper end of the fourth vent pipe IV 2124d is matched and communicated with the second vent pipe II 215 of the clamping jaw opening and closing cylinder at the position of the sliding lifting platform 21, wherein, a first connecting clamping jaw opening and closing cylinder I2141 communicated with a first vent pipe cavity (not shown in the figure) of the vent pipe I214 of the clamping jaw opening and closing cylinder is matched and connected to the right end of the, and the right end of the second vent pipe II 215 of the clamping jaw opening and closing cylinder is matched with a second connecting vent pipe II 2151 of the clamping jaw opening and closing cylinder, which is communicated with the second vent pipe 2152 of the second vent pipe II 215 of the clamping jaw opening and closing cylinder, and the first connecting vent pipe I2141 of the clamping jaw opening and closing cylinder and the second connecting vent pipe II 2151 of the clamping jaw opening and closing cylinder are connected with the workpiece clamping and releasing mechanism 5.
When the clamping jaw horizontal displacement cylinder 41 is operated, for example, when the clamping jaw horizontal displacement cylinder column 411 extends to the outside of the cylinder body, that is, to the right, the clamping jaw horizontal displacement cylinder column 411 pushes the workpiece clamping and releasing mechanism 5, which will be described in detail below, to the right correspondingly, at this time, the pair of guide rods 44 moves to the right together with the workpiece clamping and releasing mechanism 5 in a state of being matched with the pair of guide rod guide sleeves, the guide rod fixing seat 42 and the pair of buffers 424 also move to the right, and in the process of moving the guide rod fixing seat 421 to the right, the pair of vent pipe outer sleeve abdicating holes 423 provide a passage for the clamping jaw opening and closing cylinder first vent pipe i 214 and the clamping jaw opening and closing cylinder. When the magnetic ring on the left end surface of the clamping jaw horizontal displacement cylinder column 411 corresponds to the right one of the sensors 41222, the sensor 41222 feeds back a signal to the electric controller, and the electric controller sends a command to halt the operation of the clamping jaw horizontal displacement cylinder 41, so that the workpiece clamping and releasing mechanism 5 does not move to the right any more. In the foregoing process, the guide bar fixing base 42 does not collide with the sliding elevating platform 21 due to the pair of buffers 424. Since the reverse operation of the jaw horizontal displacement cylinder 41 is opposite to that described above, it will not be described in detail.
Referring to fig. 2 in combination with fig. 1, the workpiece clamping and releasing mechanism 5 includes a workpiece clamping jaw opening and closing cylinder 51, a workpiece clamping jaw opening and closing cylinder fixing seat 52, a guide rod plate 53, a material pressing plate 54, a cover plate 55, a front clamping jaw 56, a rear clamping jaw 57, a pair of material pressing plate pressing cylinders 58 and a set of material pressing plate guide rods 59, the left side of the workpiece clamping jaw opening and closing cylinder fixing seat 52 is connected with the right ends of the pair of guide rods 44, a clamping jaw horizontal displacement cylinder column connector 522 is connected to the center position of the left side of the workpiece clamping jaw opening and closing cylinder fixing seat 52 through a connector pin shaft screw 521, the clamping jaw horizontal displacement cylinder column connector 522 is connected to the clamping jaw horizontal displacement cylinder column 411, a material pressing plate pressing cylinder seat 523 extends from the middle of the left and right sides of the workpiece clamping jaw opening and closing cylinder fixing seat 52 and at the position corresponding to the pair of material pressing, a set of cover plate fixing screw bases 524 are formed on the upward side of the workpiece jaw opening and closing cylinder fixing base 52, a cover plate 55 is positioned above the workpiece jaw opening and closing cylinder fixing base 52, the cover plate 55 is screwed into cover plate fixing screw base screw holes 5241 of the set of cover plate fixing screw bases 524 through a set of cover plate fixing screws 551 which pass through cover plate screw holes 552 formed in the cover plate 55 and are further screwed to the workpiece jaw opening and closing cylinder 51 to fix the workpiece jaw opening and closing cylinder 51 below the workpiece jaw opening and closing cylinder fixing base 52, a guide rod plate 53 is fixed on the downward side of the cylinder body of the workpiece jaw opening and closing cylinder 51 by a guide rod plate fixing screw 531, a pressure plate 54 is fixed at a position corresponding to the lower side of the guide rod plate 53 to the lower ends of a set (four) of pressure plate guide rods 59, and the upper ends of a set of pressure plate guide rods 59 are provided on the guide rod plate 53 so as to be vertically displaced by pressure plate guide, the front clamping jaw 56 corresponds to the front side of the pressure plate 54, a front clamping jaw fixing plate 561 is fixed on the upper part of the front clamping jaw 56 through a front clamping jaw fixing screw 562, the front clamping jaw fixing plate 561 is fixed with the tail end of a first cylinder column 511 of a workpiece clamping jaw opening and closing cylinder 51 of the workpiece clamping jaw opening and closing cylinder and is also fixed with the front ends of a pair of front clamping jaw guide rods 5611, the rear ends of the pair of front clamping jaw guide rods 5611 are in sliding fit with the cylinder body of the workpiece clamping jaw opening and closing cylinder 51, the rear clamping jaw 57 corresponds to the rear side of the pressure plate 54 and is also corresponding to the front clamping jaw 56, a rear clamping jaw fixing plate 571 is fixed on the upper part of the rear clamping jaw 57 through a rear clamping jaw fixing screw 572, the rear clamping jaw fixing plate 571 is fixed with the tail end of a second cylinder column 512 of the workpiece clamping jaw opening and closing cylinder 51 and is also fixed with the rear ends of a pair of rear clamping jaw guide rods 5711, and the front, a pair of pressure plate pressing cylinders 58 are provided on the workpiece jaw opening and closing cylinder holder 52 at positions corresponding to the aforementioned pressure plate pressing cylinder holder 523, and pressure plate pressing cylinder columns 581 of the pair of pressure plate pressing cylinders 58 extend below the guide bar plate 53 and are each fixed with a cylinder column top 5811; the first connecting air pipe I2141 of the clamping jaw opening and closing air cylinder and the second connecting air pipe II 2151 of the clamping jaw opening and closing air cylinder are connected with the workpiece clamping jaw opening and closing air cylinder 51 and are respectively communicated with two cavities of the workpiece clamping jaw opening and closing air cylinder 51.
As shown in fig. 2, a fixing seat through hole 526 penetrating from the upper portion to the lower portion is formed at a central position on the left side of the workpiece clamping jaw opening and closing cylinder fixing seat 52 and at a position corresponding to the connecting head pin shaft screw 521; a pair of fixed seat guide rod connecting holes 525 are formed in the left side of the workpiece clamping jaw opening and closing cylinder fixed seat 52 and in positions corresponding to the right ends of the pair of guide rods 44, and the pair of fixed seat guide rod connecting holes 525 are connected with the right ends of the pair of guide rods 44; a connector pin shaft screw hole 5221 is formed at the right end of the clamping jaw horizontal displacement cylinder column connector 522 and at a position corresponding to the fixing seat through hole 526, and the connector pin shaft screw 521 passes through the connector pin shaft screw hole 5221 at a position corresponding to the fixing seat through hole 526 and is limited by a connector pin shaft screw limiting nut 5211 positioned below the fixing seat through hole 526; in this embodiment, the pressing plate 54 is a plastic plate.
When the workpiece clamping jaw opening and closing cylinder 51 works, for example, when the workpiece clamping jaw opening and closing cylinder first cylinder column 511 and the workpiece clamping jaw opening and closing cylinder second cylinder column 512 retract into the cylinder body at the same time, the front clamping jaw 56 and the rear clamping jaw 57 are driven to displace towards each other, the workpiece 7, which is introduced from a previous station (also called a previous process), and is below the material pressing plate 54, namely, the aforementioned lithium battery cell is clamped, because the lithium battery cell (also called a "lithium battery cell core" in the industry, the same example above) is fluffy, when the front and rear clamping jaws 56, 57 clamp the front and rear ends thereof, the lithium battery cell will shrink, when the front and rear ends shrink to a certain extent and the middle part of the lithium battery cell is arched, the fluffy lithium battery cell will generate a reaction force on the material pressing plate 54, try to get rid of the pressure of the material pressing plate 54 to displace upwards, and under such a situation, the clamping effect of the front, and even a clamping failure, the pressing plate 54 is prevented from being upwardly arched by the lithium battery cell by the action of the pair of pressing plate pressing cylinders 58. The method comprises the following steps: the pair of pressing plate pressing cylinders 58 are operated to move the pressing plate pressing cylinder column 581 downward, and the cylinder top 5811 applies downward pressing force to the pressing plate 54, so that the pressing plate 54 overcomes the upward floating force of the lithium battery, and the lithium battery cell is reliably clamped between the front and rear clamping jaws 56, 57.
Referring to fig. 3, there is shown in fig. 3 the electrical control box 20 which has been mentioned several times above, and there are also shown a first workpiece conveyor line i 61, a second workpiece conveyor line ii 62, a third workpiece conveyor line iii 63, an ultrasonic pre-welding device 64, an ultrasonic final welding device 65, a workpiece transfer robot 8 for transferring the workpiece 7 from the first workpiece conveyor line i 61 to the second workpiece conveyor line ii 62, a final welding station workpiece supply robot 9, and a target workpiece rotary transfer robot 10 which are provided on the aforementioned table 6, the position of the first workpiece conveyor line i 61 on the table 6 corresponds to the left ends of the second workpiece conveyor line ii 62 and the third workpiece conveyor line iii 63, that is, the second workpiece conveyor line ii 62 and the third workpiece conveyor line iii 63 are in a perpendicular relationship with the first workpiece conveyor line i 61, while the second workpiece conveyor line ii 62 and the third workpiece conveyor line iii 63 are held in parallel to each other in the longitudinal direction, the ultrasonic pre-welding device 64 and the ultrasonic final welding device 65 correspond to each other in the left-right direction and are located in the front middle area of the second workpiece conveyor line ii 62, and the workpiece transfer robot 8, the workpiece gripper robot for automatic ultrasonic welding of the present invention, the final welding station workpiece supply robot 9, and the target workpiece rotary transfer robot 10 are provided between the second workpiece conveyor line ii 62 and the third workpiece conveyor line iii 63 from left to right. The first workpiece conveying line i 61, the second workpiece conveying line ii 62 and the third workpiece conveying line iii 63 are conveying lines in the form of conveyor belts.
In the case of ultrasonic welding of lithium battery cells as the workpieces 7, the applicant conveys lithium battery cells to be subjected to ultrasonic welding by the workpiece first conveying line i 61 to a position corresponding to the left side of the workpiece transfer robot 8, and picks up the lithium battery cells from the workpiece first conveying line i 61 by the workpiece transfer robot 8 and transfers the lithium battery cells to the workpiece second conveying line ii 62. The workpiece 7 on the second workpiece conveying line ii 62 is gripped by the workpiece gripping robot for automatic ultrasonic welding of the present invention and supplied to the ultrasonic pre-welding device 64, and is detached and released onto the second workpiece conveying line ii 62 after the completion of the pre-welding by the ultrasonic pre-welding device 64, so that the workpiece is conveyed from the second workpiece conveying line ii 62 to the station of the workpiece supply robot 9 of the aforementioned final welding station, i.e., to the station where the ultrasonic final welding device 65 is located.
Since the working principle of the lift table actuating mechanism 3, the workpiece clamping jaw horizontal displacement driving mechanism 4 and the workpiece clamping and releasing mechanism 5 of the present invention has been described in more detail by the applicant above, only a brief description will be given below: since the present invention corresponds to the ultrasonic pre-welding device 64 and is located between the workpiece transfer robot 8 and the final-welding-station workpiece feeding robot 9, when the workpiece transfer robot 8 transfers the workpiece 7, i.e., the lithium battery cell, from the workpiece first conveyor line i 61 to the workpiece second conveyor line ii 62 and from the workpiece second conveyor line ii 62 to the station corresponding to the ultrasonic pre-welding device 64, i.e., to the station corresponding to the present invention. Since the lift cylinder column 311 is in the lowered state at this time, the workpiece holding jaw horizontal displacement drive mechanism 4 and the workpiece gripping and releasing mechanism 5 are also in the lowered state, and the workpiece 7 corresponds to the lower side of the workpiece gripping and releasing mechanism 5, at this time, the workpiece 7 is gripped by the work of the workpiece holding jaw opening and closing cylinder 51 and the synchronous opposite displacement of the front and rear holding jaws 56 and 57 as described above by the applicant. Next, the lifting cylinder 31 operates, the lifting cylinder column 311 extends upward, that is, toward the outside of the cylinder body, the sliding lifting table 21 is pushed upward, the sliding lifting table 21 drives the workpiece clamping jaw horizontal displacement driving mechanism 4 and the workpiece clamping release mechanism 5 in a state of clamping the workpiece 7 to displace upward, then the clamping jaw horizontal displacement cylinder 41 of the workpiece clamping jaw horizontal displacement driving mechanism 4 operates, the clamping jaw horizontal displacement cylinder column 411 and the workpiece clamping release mechanism 5 displace in the direction of the ultrasonic pre-welding device 64, and the workpiece 7 in a state of being clamped by the workpiece clamping release mechanism 5 corresponds to a degree that the workpiece can be pre-welded by the ultrasonic pre-welding device 64. After the ultrasonic pre-welding device 64 finishes pre-welding the workpiece 7, firstly the clamping jaw horizontal displacement cylinder 41 works reversely, the clamping jaw horizontal displacement cylinder column 411 and the workpiece clamping release mechanism 5 clamping the workpiece 7 which finishes pre-welding move towards the direction departing from the ultrasonic pre-welding device 64, then the lifting action cylinder 31 works reversely, the lifting action cylinder column 311 descends, and after the descending is in place, the workpiece clamping jaw opening and closing cylinder 51 works to enable the front clamping jaw 56 and the rear clamping jaw 57 to repel each other, the workpiece 7 which is clamped previously and finishes pre-welding is released to the second workpiece conveying line II 62, and the second workpiece conveying line II 62 conveys the workpiece to the station where the ultrasonic final welding device 65 is located. While the second workpiece conveying line ii 62 conveys the workpiece 7, which has been subjected to the pre-welding, away from the station of the ultrasonic pre-welding device 64, the next workpiece 7 to be subjected to the pre-welding again corresponds to the position of the workpiece clamping and releasing mechanism 5 of the present invention, and the above-described process is repeated.
The aforementioned lithium battery cell as the workpiece 7 picked up by the aforementioned workpiece transfer robot 8 and transferred to the workpiece second conveyor line ii 62 is picked up by the aforementioned workpiece transfer robot 8 and placed by the present invention and fed to the aforementioned ultrasonic pre-welding device 64, then the aforementioned lithium battery cell having completed the pre-welding is transferred from the station of the ultrasonic pre-welding device 64 to the ultrasonic final-welding device 65 by the final-welding-station workpiece feed robot 9 and the lithium battery cell having completed the final-welding is taken off from the ultrasonic final-welding device 65 and placed on the workpiece second conveyor line ii 62, and then the lithium battery cell having completed the final-welding and being conveyed by the workpiece second conveyor line ii 62 is transferred from the workpiece second conveyor line ii 62 to the workpiece third conveyor line iii 63 by the target workpiece rotary conveyance robot 10 and output. Thereby realizing ideal relay type processing effect.
In conclusion, the technical scheme provided by the invention overcomes the defects in the prior art, successfully completes the invention task and truly realizes the technical effects of the applicant in the technical effect column.

Claims (10)

1. A workpiece clamping manipulator for automatic ultrasonic welding is characterized by comprising a base (1), wherein the base (1) is arranged on a workbench (6) in a use state; the lifting platform mechanism (2), the lifting platform mechanism (2) is arranged on the top of the base (1) in a manner of moving up and down; the lifting platform actuating mechanism (3), the lifting platform actuating mechanism (3) is arranged in a base cavity (11) of the base (1), and the top extending out of the base cavity (11) is connected with the lifting platform mechanism (2); the workpiece clamping jaw horizontal displacement driving mechanism (4), the workpiece clamping jaw horizontal displacement driving mechanism (4) is arranged on the lifting platform mechanism (2); and the workpiece clamping and releasing mechanism (5) is connected with the workpiece clamping jaw horizontal displacement driving mechanism (4) through the workpiece clamping and releasing mechanism (5).
2. The workpiece clamping robot for automatic ultrasonic welding according to claim 1, wherein the bottom of the base chamber (11) of the base (1) is open to the outside, and a base top plate (12) for shielding the top of the base chamber (11) is fixed to the top of the base (1); the lifting platform mechanism (2) is arranged on the base top plate (12) in a manner of moving up and down; the lifting platform actuating mechanism (3) arranged in the base cavity (11) extends out of the top of the base top plate (12) and is connected with the lifting platform mechanism (2), and the workpiece clamping jaw horizontal displacement driving mechanism (4) is arranged on the lifting platform mechanism (5) in a sliding state; the workpiece clamping and releasing mechanism (5) is connected with the workpiece clamping jaw horizontal displacement driving mechanism (4) at a position corresponding to the right side of the lifting platform mechanism (2).
3. The robot as claimed in claim 2, wherein the elevating mechanism (2) comprises a slide elevating table (21), a slide elevating table limiting plate (22), a slide elevating table limiting adjusting screw (23) and a set of slide elevating table guide posts (24), the slide elevating table (21) corresponds to the upper side of the base top plate (12), a set of slide elevating table guide post sleeves (211) are provided on the slide elevating table (21) at positions corresponding to the set of elevating table guide posts (24), the slide elevating table limiting plate (22) is fixed to the tops of the set of slide elevating table guide posts (24), the middle of the set of slide elevating table guide posts (24) is slidably fitted to the set of slide elevating table guide post sleeves (211), the lower ends of the set of slide elevating table guide posts (24) are fixed to the base top plate (12), the sliding lifting platform limiting and adjusting screw (23) is arranged at the center of the sliding lifting platform limiting plate (22) and extends to the downward side of the sliding lifting platform limiting plate (22); a cylinder column abdicating hole (121) for actuating the lifting platform is formed in the base top plate (12) and is positioned in the center of the base top plate (12); the lifting platform actuating mechanism (3) arranged in the base cavity (11) extends out of the top of the base top plate (12) at a position corresponding to a lifting platform actuating cylinder column abdicating hole (121) and is connected with the central position of one downward side of the sliding lifting platform (21); the workpiece clamping jaw horizontal displacement driving mechanism (4) is arranged on the sliding lifting table (21) in a state of sliding fit with the sliding lifting table (21); the workpiece clamping and releasing mechanism (5) is connected with a workpiece clamping jaw horizontal displacement driving mechanism (4) at a position corresponding to the right side of the sliding lifting table (21).
4. The robot for clamping work pieces for automatic ultrasonic welding according to claim 3, wherein said lift table actuating mechanism (3) is a lift cylinder (31), an upper portion of said lift cylinder (31) is fixed to a side of said base top plate (12) facing said base cavity (11) within said base cavity (11) of said base (1) and a lift cylinder post (311) of said lift cylinder (31) extends above said base top plate (12) at a position corresponding to said lift table actuating cylinder relief hole (121) to be fixed to a central position of a side of said slide lift table (21) facing downward, a lower portion of said lift cylinder (31) protrudes out of a bottom of said base cavity (11), wherein said lift cylinder (31) is a cylinder; an action cylinder ventilating device (212) is connected to the sliding lifting platform (21), the upper part of the action cylinder ventilating device (212) is connected with the workpiece clamping jaw horizontal displacement driving mechanism (4) and the workpiece clamping releasing mechanism (5), and the lower part of the action cylinder ventilating device extends out of the base cavity (11) through the base top plate (12) and the base cavity (11) in sequence and is connected with a gas production device pipeline.
5. The robot as claimed in claim 4, wherein the workpiece gripper horizontal displacement driving mechanism (4) comprises a gripper horizontal displacement cylinder (41), a guide rod holder (42), a pair of guide rod guides (43), and a pair of guide rods (44), the right end of the gripper horizontal displacement cylinder (41) is fixed to the slide table (21), the left end of the gripper horizontal displacement cylinder (41) extends in a horizontal cantilever state in a direction away from the left side of the slide table (21), a gripper horizontal displacement cylinder column (411) of the gripper horizontal displacement cylinder (41) extends to the right side of the slide table (21), and a gripper horizontal displacement cylinder vent pipe (412) is disposed at a position corresponding to the lower part of the gripper horizontal displacement cylinder (41) in the longitudinal direction, and the left end of the gripper horizontal displacement cylinder (412) passes through the gripper horizontal displacement cylinder vent pipe The connector (4121) is communicated with a left cavity of a clamping jaw horizontal displacement cylinder (41), the right end of a clamping jaw horizontal displacement cylinder vent pipe (412) is sealed and fixed with the left side surface of a sliding lifting table (21), a guide rod fixing seat (42) is fixed with the left end surfaces of a pair of guide rods (44) through guide rod fixing seat screws (421), a clamping jaw horizontal displacement cylinder abdicating cavity (422) is formed in the guide rod fixing seat (42) at a position corresponding to the clamping jaw horizontal displacement cylinder (41) and a pair of vent pipe outer sleeve abdicating holes (423) are formed in the guide rod fixing seat, the pair of vent pipe outer sleeve abdicating holes (423) are respectively positioned at the front side and the rear side of the clamping jaw horizontal displacement cylinder abdicating cavity (422), the left ends of a pair of guide rod guide sleeves (43) are fixed with the sliding lifting table (21), and the right ends of the pair of the guide rod guide sleeves (43) extend towards the direction of the workpiece releasing, the middle parts of the pair of guide rods (44) are in sliding fit with the pair of guide rod guide sleeves (43), and the right ends of the guide rods extend out of the right ends of the pair of guide rod guide sleeves (43); the workpiece clamping release mechanism (5) is connected with the right ends of the pair of guide rods (44) and is also connected with the clamping jaw horizontal displacement cylinder column (411), and the acting cylinder ventilating device (212) is communicated with the clamping jaw horizontal displacement cylinder ventilating pipe (412) and a clamping jaw horizontal displacement cylinder right chamber of the clamping jaw horizontal displacement cylinder (41); a signal line pipe abdicating hole (122) is formed in the base top plate (12) of the base (1); a signal conduit (213) is fixed on one downward side of the sliding seat lifting platform (21), and the lower end of the signal conduit (213) is vertically and movably positioned in the base cavity (11) at a position corresponding to the signal conduit abdicating hole (122).
6. The robot as claimed in claim 5, wherein the actuating cylinder ventilator (212) comprises an outer tube fixing plate (2121), a first air receiving tube housing I (2122a), a second air receiving tube housing II (2122b), a third air receiving tube housing III (2122c), a fourth air receiving tube housing IV (2122d), a first air receiving tube I (2123a), a second air receiving tube II (2123b), a third air receiving tube III (2123c), a fourth air receiving tube IV (2123d), a first air guiding tube I (2124a), a second air guiding tube II (2124b), a third air guiding tube III (2124c) and a fourth air guiding tube IV (2124d), the outer tube fixing plate (2121) corresponds to a lower portion of the elevating actuating cylinder (31), the first air receiving tube housing I (2122a), the second air receiving tube housing (2122b), the third air receiving tube housing III (2122c) and the fourth air receiving tube housing II (2122d) are mounted to the outer tube fixing plate (2121) The downward side is fixed, the upper end of a first air receiving pipe I (2123a) penetrates into a first air receiving pipe casing I (2122a) and is matched and connected with the lower end of a first air guiding pipe I (2124a), the upper end of a second air receiving pipe II (2123b) penetrates into a second air receiving pipe casing II (2122b) and is matched and connected with the lower end of a second air guiding pipe II (2124b), the upper end of a third air receiving pipe III (2123c) penetrates into a third air receiving pipe casing III (2122c) and is matched and connected with the lower end of a third air guiding pipe III (2124c), the upper end of a fourth air receiving pipe IV (2123d) penetrates into a fourth air receiving pipe casing IV (2122d) and is matched and connected with the lower end of a fourth air receiving pipe IV (2124d), the lower ends of the first air receiving pipe I (2123a), the second air receiving pipe II (2123b), the third air receiving pipe (2123c) and the fourth air receiving pipe IV (2123d) are respectively provided with an electromagnetic control pipeline and are connected with the air generating valve, the lower end of a first air guide pipe I (2124a) is fixed with the outer sleeve fixing plate (2121) at a position corresponding to the first air receiving pipe I (2123a), the lower end of a second air guide pipe II (2124b) is fixed with the outer sleeve fixing plate (2121) at a position corresponding to the second air receiving pipe II (2123b), the lower end of a third air guide pipe III (2124c) is fixed with the outer sleeve fixing plate (2121) at a position corresponding to the third air receiving pipe III (2123c), the lower end of a fourth air guide pipe IV (2124d) is fixed with the outer sleeve fixing plate (2121) at a position corresponding to the fourth air receiving pipe IV (2123d), the upper end of the first air guide pipe I (2124a) is connected and communicated with the clamping jaw horizontal displacement cylinder (412), the upper end of the second air guide pipe II (2124b) penetrates into the sliding lifting table (21) and is communicated with the right chamber of the clamping jaw horizontal displacement cylinder (41), the upper end of a third air guide pipe III (2124c) and the upper end of a fourth air guide pipe IV (2124d) are connected with the workpiece clamping and releasing mechanism (5).
7. The workpiece clamping manipulator for automatic ultrasonic welding according to claim 5, wherein a sensor holder fitting groove (4122) is formed at the front side in the length direction of the jaw horizontal displacement cylinder vent pipe (412), a pair of sensor fixing seats (41221) are arranged at intervals at positions corresponding to the sensor fixing seat matching grooves (4122), a sensor (41222) is respectively arranged on the pair of sensor fixing seats (41221), a pair of buffers (424) are fixed on the right side of the guide rod fixing seat (42) in a horizontal state, the pair of dampers (424) respectively correspond to the front and rear sides of the jaw horizontal displacement cylinder (41), and a magnetic ring used for the sensor (41222) to sense and send out signals is arranged on the left end surface of the clamping jaw horizontal displacement cylinder column (411), the sensor (41222) is led out from a circuit through the signal conduit (213) and is electrically connected with an electric controller.
8. The workpiece clamping manipulator for automatic ultrasonic welding according to claim 6, wherein a first vent pipe I (214) of a jaw opening and closing cylinder and a second vent pipe II (215) of the jaw opening and closing cylinder are fixed on the sliding lifting table (21), the upper end of the third vent pipe III (2124c) is connected and communicated with the first vent pipe I (214) of the jaw opening and closing cylinder at the position of the sliding lifting table (21), the upper end of the fourth vent pipe IV (2124d) is connected and communicated with the second vent pipe II (215) of the jaw opening and closing cylinder at the position of the sliding lifting table (21), wherein a first vent pipe I (2141) of the jaw opening and closing cylinder is connected to the right end of the first vent pipe I (214) of the jaw opening and closing cylinder, and a second vent pipe II (2151) of the jaw opening and closing cylinder is connected to the right end of the second vent pipe II (215) of the jaw opening and closing cylinder, the first connecting air pipe I (2141) of the clamping jaw opening and closing air cylinder and the second connecting air pipe II (2151) of the clamping jaw opening and closing air cylinder are connected with the workpiece clamping and releasing mechanism (5).
9. The workpiece clamping manipulator for automatic ultrasonic welding according to claim 8, wherein the workpiece clamping and releasing mechanism (5) comprises a workpiece clamping jaw opening and closing cylinder (51), a workpiece clamping jaw opening and closing cylinder fixing seat (52), a guide rod plate (53), a pressure plate (54), a cover plate (55), a front clamping jaw (56), a rear clamping jaw (57), a pair of pressure plate pressing cylinders (58) and a group of pressure plate guide rods (59), the left side of the workpiece clamping jaw opening and closing cylinder fixing seat (52) is connected with the right ends of the pair of guide rods (44), a clamping jaw horizontal displacement cylinder column connector (522) is connected with the clamping jaw horizontal displacement cylinder column (411) at the central position of the left side of the workpiece clamping jaw opening and closing cylinder fixing seat (52) through a connector pin shaft screw (521), a pressure plate pressing cylinder seat (523) respectively extends in the middle of the left side and the right side of the workpiece clamping jaw opening and closing cylinder fixing seat (52) and at the position corresponding to a pair of pressure plate pressing cylinders (58), a group of cover plate fixing screw seats (524) are formed at the upward side of the workpiece clamping jaw opening and closing cylinder fixing seat (52), a cover plate (55) is positioned above the workpiece clamping jaw opening and closing cylinder fixing seat (52), the cover plate (55) penetrates through a cover plate screw hole (552) formed in the cover plate (55) through a group of cover plate fixing screws (551) to be screwed into a cover plate fixing screw seat screw hole (5241) of the group of cover plate fixing screw seats (524) and further screwed into the workpiece opening and closing clamping jaw cylinder (51) to fix the workpiece clamping jaw opening and closing cylinder (51) below the workpiece clamping jaw opening and closing cylinder fixing seat (52), and a guide rod plate (53) is fixed at the downward side of the workpiece clamping jaw opening, the pressure plate (54) is fixed with the lower end of a group of pressure plate guide rods (59) at the position corresponding to the lower part of the guide rod plate (53), the upper end of each group of pressure plate guide rods (59) is arranged on the guide rod plate (53) in a way of vertically displacing through a pressure plate guide rod sleeve (591) fixed on one upward side of the guide rod plate (53), the front clamping jaw (56) corresponds to the front side of the pressure plate (54), a front clamping jaw fixing plate (561) is fixed on the upper part of the front clamping jaw (56), the front clamping jaw fixing plate (561) is fixed with the tail end of a first cylinder column (511) of a workpiece clamping jaw opening and closing cylinder of the workpiece clamping jaw opening and closing cylinder (51) and is also fixed with the front ends of a pair of front clamping jaw guide rods (5611), the rear ends of the pair of front clamping jaw guide rods (5611) are in sliding fit with the cylinder body of the workpiece clamping jaw opening and closing cylinder (51), the rear clamping jaw (57) corresponds to the rear side of the pressure plate (54) and, a rear clamping jaw fixing plate (571) is fixed at the upper part of the rear clamping jaw (57), the rear clamping jaw fixing plate (571) is fixed with the tail end of a second cylinder column (512) of a workpiece clamping jaw opening and closing cylinder (51) of the workpiece clamping jaw opening and closing cylinder and is also fixed with the rear ends of a pair of rear clamping jaw guide rods (5711), the front ends of the pair of rear clamping jaw guide rods (5711) are in sliding fit with the cylinder body of the workpiece clamping jaw opening and closing cylinder (51), a pair of pressure plate pressing cylinders (58) are arranged on a workpiece clamping jaw opening and closing cylinder fixing seat (52) at positions corresponding to the pressure plate pressing cylinder seat (523), and pressure plate pressing cylinder columns (581) of the pressure plate pressing cylinders (58) extend to the lower part of the guide rod plate (53) and are respectively fixed with a cylinder column top head (5811); the first connecting air pipe I (2141) of the clamping jaw opening and closing air cylinder and the second connecting air pipe II (2151) of the clamping jaw opening and closing air cylinder are connected with the workpiece clamping jaw opening and closing air cylinder (51).
10. The workpiece clamping manipulator for automatic ultrasonic welding according to claim 9, wherein a through hole (526) for the fixture is formed in the center of the left side of the fixture (52) of the workpiece clamping jaw opening and closing cylinder and in a position corresponding to the pin screw (521) of the connecting head, and penetrates from the upper part to the lower part; a pair of fixed seat guide rod connecting holes (525) are formed in the left side of a workpiece clamping jaw opening and closing air cylinder fixed seat (52) and in positions corresponding to the right ends of the pair of guide rods (44), and the pair of fixed seat guide rod connecting holes (525) are connected with the right ends of the pair of guide rods (44); a connector pin shaft screw hole (5221) is formed in the right end of the clamping jaw horizontal displacement cylinder column connector (522) and in a position corresponding to the fixing seat through hole (526), and a connector pin shaft screw (521) penetrates through the connector pin shaft screw hole (5221) in a position corresponding to the fixing seat through hole (526) and is limited by a connector pin shaft screw limiting nut (5211) located below the fixing seat through hole (526); the pressure plate (54) is a plastic plate.
CN202010084325.8A 2020-02-10 2020-02-10 Workpiece clamping manipulator for automatic ultrasonic welding Pending CN111151868A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010084325.8A CN111151868A (en) 2020-02-10 2020-02-10 Workpiece clamping manipulator for automatic ultrasonic welding

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Application Number Priority Date Filing Date Title
CN202010084325.8A CN111151868A (en) 2020-02-10 2020-02-10 Workpiece clamping manipulator for automatic ultrasonic welding

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110788476A (en) * 2019-12-17 2020-02-14 常熟大众机器人研究院有限公司 Workpiece clamping jaw opening and closing execution device of automatic workpiece transferring manipulator
CN110842344A (en) * 2019-12-17 2020-02-28 常熟大众机器人研究院有限公司 Workpiece transferring manipulator for automatic ultrasonic welding
CN113387179A (en) * 2021-07-27 2021-09-14 奔龙自动化科技有限公司 Automatic material charging equipment that divides of magnetic ring
CN113588996A (en) * 2021-07-27 2021-11-02 奔龙自动化科技有限公司 Magnetic ring clamp and detection device
CN114228351A (en) * 2021-12-16 2022-03-25 安徽大地熊新材料股份有限公司 Code spraying equipment for magnetizable cylinder material part

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110788476A (en) * 2019-12-17 2020-02-14 常熟大众机器人研究院有限公司 Workpiece clamping jaw opening and closing execution device of automatic workpiece transferring manipulator
CN110842344A (en) * 2019-12-17 2020-02-28 常熟大众机器人研究院有限公司 Workpiece transferring manipulator for automatic ultrasonic welding
CN110788476B (en) * 2019-12-17 2024-04-26 常熟大众机器人研究院有限公司 Workpiece clamping jaw opening and closing execution device of automatic workpiece transferring manipulator
CN110842344B (en) * 2019-12-17 2024-04-26 常熟大众机器人研究院有限公司 Workpiece transferring manipulator for automatic ultrasonic welding
CN113387179A (en) * 2021-07-27 2021-09-14 奔龙自动化科技有限公司 Automatic material charging equipment that divides of magnetic ring
CN113588996A (en) * 2021-07-27 2021-11-02 奔龙自动化科技有限公司 Magnetic ring clamp and detection device
CN113588996B (en) * 2021-07-27 2023-07-21 奔龙自动化科技有限公司 Magnetic ring clamp and detection device
CN114228351A (en) * 2021-12-16 2022-03-25 安徽大地熊新材料股份有限公司 Code spraying equipment for magnetizable cylinder material part
CN114228351B (en) * 2021-12-16 2022-10-11 安徽大地熊新材料股份有限公司 Code spraying equipment for magnetizable columnar material parts

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