CN114193212A

CN114193212A - Work piece centre gripping transfer device

Info

Publication number: CN114193212A
Application number: CN202111443701.9A
Authority: CN
Inventors: 钱晓军; 周俊生; 陈波
Original assignee: Suzhou Nanshi University Science Park Investment Management Co ltd; Nanjing Normal University
Current assignee: Suzhou Nanshi University Science Park Investment Management Co ltd; Nanjing Normal University
Priority date: 2021-11-30
Filing date: 2021-11-30
Publication date: 2022-03-18

Abstract

The invention discloses a workpiece clamping and transferring device which comprises a rotary driving mechanism, four lifting driving mechanisms, four horizontal supporting mechanisms, four workpiece positioning mechanisms and four workpiece clamping mechanisms, wherein the four lifting driving mechanisms are arranged on the upper surface of the rotary driving mechanism; the four lifting driving mechanisms are fixedly arranged on the rotary driving mechanism, and the four horizontal supporting mechanisms are respectively arranged on the four lifting driving mechanisms; the four workpiece clamping mechanisms are respectively arranged on the overhanging end parts of the four horizontal supporting mechanisms; the four workpiece positioning mechanisms are respectively arranged on the four workpiece clamping mechanisms. The workpiece clamping and transferring device can drive the stations of the four workpiece clamping mechanisms to be switched in a rotating mode by utilizing the rotating driving mechanism, so that the station switching of the feeding, processing and discharging of workpieces is met, the processing efficiency is improved, and the installation space of a system can be effectively reduced; the workpiece clamping mechanism can be used for clamping workpieces, can meet the clamping requirements of workpieces of various types, and has certain universal adjusting performance.

Description

Work piece centre gripping transfer device

Technical Field

The invention relates to a workpiece transfer device, in particular to a workpiece clamping and transfer device.

Background

In an automobile body processing production line, in order to save cost and improve productivity, modular production is adopted, so that more modular workpieces need to be processed, the existing processing systems independently process each workpiece, the whole processing system is numerous and complicated, the processing efficiency is not high, and the adaptability of the processing system is low. Therefore, a workpiece clamping and transferring device is needed to be designed, so that the machining efficiency can be effectively improved, the machining cost is reduced, the installation space of a system is reduced, and the multi-station transferring and machining requirements of workpieces are met.

Disclosure of Invention

The purpose of the invention is as follows: the workpiece clamping and transferring device can effectively improve the machining efficiency, reduce the machining cost, reduce the installation space of a system and meet the requirement of multi-station transferring and machining of workpieces.

The technical scheme is as follows: the workpiece clamping and transferring device comprises a rotary driving mechanism, four lifting driving mechanisms, four horizontal supporting mechanisms, four workpiece positioning mechanisms and four workpiece clamping mechanisms; the four lifting driving mechanisms are fixedly arranged on the rotary driving mechanism, the four horizontal supporting mechanisms are respectively arranged on the four lifting driving mechanisms and are distributed in a cross shape, the rotary driving mechanism is used for driving the four lifting driving mechanisms to rotate horizontally, and the lifting driving mechanism is used for driving the horizontal supporting mechanisms to move up and down; the four workpiece clamping mechanisms are respectively arranged on the overhanging end parts of the four horizontal supporting mechanisms, the horizontal supporting mechanisms are used for carrying out overhanging support and inclination angle adjustment on the workpiece clamping mechanisms, and the workpiece clamping mechanisms are used for clamping and fixing workpieces; the four workpiece positioning mechanisms are respectively arranged on the four workpiece clamping mechanisms and are used for feeding and positioning the workpieces.

Further, the rotary driving mechanism comprises a rotary table supporting base, a rotary supporting main shaft, a rotary driving motor and a rotary table supporting disc; the turntable support base is fixedly arranged on the turntable bottom plate; an equipment installation cavity is arranged in the turntable support base, the rotary support main shaft is rotatably arranged at the top of the turntable support base, the lower end of the rotary support main shaft extends into the equipment installation cavity, and a turntable driving worm wheel is fixedly arranged on the extending end; a rotary table driving worm meshed with the rotary table driving worm wheel is installed on the end part of an output shaft of the rotary driving motor in a butt joint mode; the upper end of the rotary support main shaft is fixedly arranged at the center of the lower side surface of the turntable support disc; four lifting driving mechanisms are fixedly arranged at the quartering points of the circumferential edge of the upper side surface of the turntable supporting disk.

Furthermore, the lifting driving mechanism comprises a lifting driving motor, a lifting supporting pipe, a lifting supporting sliding sleeve and a lifting driving screw rod; the lifting support tube is vertically and fixedly arranged on the circumferential edge of the upper side surface of the turntable support disc, and the lifting drive screw is vertically and rotatably arranged in the lifting support tube; an output shaft of the lifting driving motor is in butt joint with the upper end of the lifting driving screw; a strip-shaped communicating hole is vertically arranged on the pipe wall of the lifting supporting pipe; the lifting support sliding sleeve is sleeved on the lifting support pipe in a sliding manner; a lifting support seat is slidably mounted in the lifting support tube and is fixedly connected with the lifting support sliding sleeve through a support connection column; the lifting driving screw is installed on the lifting supporting seat in a penetrating threaded screwing manner; the horizontal supporting mechanism is arranged on the lifting supporting sliding sleeve.

Furthermore, a top supporting plate is arranged between the upper end parts of the lifting supporting tubes of the four lifting driving mechanisms; the top part of the turntable support base is provided with ball limiting circular grooves, supporting balls are arranged in the ball limiting circular grooves, and the supporting balls are supported on the lower side surface of the turntable support disc.

Furthermore, the horizontal supporting mechanism comprises a horizontal supporting beam, an inclination angle adjusting motor, a mechanism supporting beam and two mechanism locking units; one end of the horizontal supporting beam is horizontally and fixedly arranged on the lifting supporting sliding sleeve, the middle part of the mechanism supporting beam is vertically and swing-type hinged on the other end of the horizontal supporting beam, and an adjusting driving worm wheel fixedly arranged with the mechanism supporting beam is arranged at the hinged position; an output shaft of the inclination angle adjusting motor is provided with an adjusting driving worm meshed with an adjusting driving worm wheel; the two mechanism locking units are respectively arranged at two ends of the horizontal support beam and used for locking the workpiece clamping mechanism.

Further, the mechanism locking unit comprises a square supporting column, a locking shaft, an extrusion block and four locking rods; one end of the square support column is fixedly arranged on the end part of the horizontal support beam, and the other end of the square support column is provided with a sliding square hole; the extrusion block is arranged in the sliding square hole in a sliding manner, and the side surfaces of the periphery of the extrusion block are provided with an extrusion slope groove; the side surfaces of the periphery of the square support column are respectively provided with a lock rod hole which is vertically communicated with the sliding square hole; the four locking rods are respectively inserted in the four locking rod holes in a penetrating manner, and the insertion end parts of the four locking rod holes are slidably pressed in the extrusion slope groove; the middle part of the locking rod is sleeved with a locking rod spring which is used for pushing the locking rod to be inserted into the extrusion slope groove; the outer end part of the locking rod is used for locking and pressing the workpiece clamping mechanism; the locking shaft is penetratingly and rotatably mounted in the middle of the square supporting column, a driving external thread is arranged at the end part of the locking shaft extending into the sliding square hole, and the driving external thread and the extrusion block are in threaded fit mounting; a supporting flange for supporting the workpiece clamping mechanism is arranged on the outer wall of the square supporting column; a locking handle is arranged on the outer end part of the locking shaft.

Further, the workpiece clamping mechanism comprises a clamping mounting plate and four workpiece clamping units; the clamping mounting plate is locked and mounted on the horizontal supporting mechanism; the four workpiece clamping units are arranged in the middle of the peripheral edge of the clamping mounting plate and used for clamping the edge of the workpiece; the workpiece positioning mechanism is arranged in the middle of the clamping mounting plate.

Further, the workpiece clamping unit comprises a horizontal adjusting seat, a horizontal adjusting motor, a horizontal adjusting screw rod, a height adjusting motor, a swinging driving motor, a height adjusting pipe column and a workpiece clamping head; the middle parts of the peripheral edges of the clamping mounting plates are provided with a strip-shaped guide hole; the horizontal adjusting seat is arranged in the strip-shaped guide hole in a sliding manner; the horizontal adjusting screw is installed on the horizontal adjusting seat in a penetrating threaded screwing manner; the output shaft of the horizontal adjusting motor is butted with the end part of the horizontal adjusting screw rod; the height adjusting pipe is penetratingly and rotatably arranged on the horizontal adjusting seat, and a height adjusting screw rod is coaxially and rotatably arranged in the height adjusting pipe; one end of the height adjusting pipe column is inserted into the height adjusting pipe, and the workpiece clamping head is arranged at the other end of the height adjusting pipe column; an adjusting internal thread is arranged in the height adjusting pipe column, and the height adjusting screw rod is screwed with the adjusting internal thread; an output shaft of the height adjusting motor is butted with the height adjusting screw rod; a swing driving gear ring is arranged on the outer wall of the height adjusting pipe; and a swing driving gear meshed with the swing driving gear ring is arranged on an output shaft of the swing driving motor.

Furthermore, the workpiece clamping head comprises a clamping driving motor, a clamping supporting pipe, a clamping supporting sliding sleeve, a clamping driving screw, two driving connecting rods, a U-shaped clamping plate and two clamping movable plates; one end of the clamping support tube is vertically fixed on the height adjusting pipe column, and the U-shaped clamping plate is fixedly arranged at the other end of the clamping support tube; an edge supporting rubber wheel is rotatably arranged between the upper side edge plate and the lower side edge plate of the U-shaped clamping plate; the two clamping movable plates are respectively hinged on the edges of the two side edge plates of the U-shaped clamping plate, and a pressing swing arm is arranged on the outer side surfaces of the two clamping movable plates; the clamping support sliding sleeve is sleeved on the clamping support tube in a sliding manner, one ends of the two driving connecting rods are respectively arranged on the clamping support sliding sleeve in a swing-type hinged manner, and the other ends of the two driving connecting rods are respectively arranged on the end part of the pressing swing arm in a swing-type hinged manner; the clamping driving screw rod is coaxially and rotatably arranged in the clamping supporting pipe, and a driving thread seat is screwed on the clamping driving screw rod in a threaded manner; a communicating strip-shaped hole is formed in the clamping support tube along the length direction, and the driving threaded seat is fixed on the inner wall of the clamping support sliding sleeve through the communicating strip-shaped hole; the output shaft of the clamping drive motor is fixedly butted with the end part of the clamping drive screw rod.

Furthermore, the workpiece positioning mechanism comprises a positioning driving motor, a positioning support disc, positioning guide pipes and telescopic positioning rods; the positioning support disc is rotatably arranged in the middle of the clamping mounting plate; each disc surface supporting ring groove is arranged on the disc surface of the positioning supporting disc, and the bottom of each disc surface supporting ring groove is provided with a multi-stage supporting step groove in a smooth transition manner; each positioning guide pipe is fixedly arranged on the clamping mounting plate in a penetrating way, and a rebound tension spring is arranged in each positioning guide pipe; each telescopic positioning rod is inserted on each positioning guide pipe in a penetrating manner, and one end of each telescopic positioning rod is inserted into the disc surface supporting ring groove at the corresponding position; the other end of each telescopic positioning rod is provided with a positioning support ring piece; the rebound tension spring is used for pulling the end part of the telescopic positioning rod to press the supporting step groove; a positioning driving gear ring is arranged on the circumference of the positioning supporting disk, and a positioning driving gear meshed with the positioning driving gear ring is arranged on an output shaft of the positioning driving motor.

Compared with the prior art, the invention has the beneficial effects that: the rotary driving mechanism can be used for driving the stations of the four workpiece clamping mechanisms to be rotationally switched, so that the station switching of workpiece feeding, processing and discharging is met, the processing efficiency is improved, and the installation space of a system can be effectively reduced; the height of the horizontal supporting mechanism can be adjusted by utilizing the lifting driving mechanism, so that the height adjustment requirements of each station are met; the workpiece clamping mechanism can be used for clamping workpieces, can meet the clamping requirements of workpieces of various types, and has certain universal adjusting performance; the workpiece positioning mechanism can enhance the clamping precision of the workpiece and ensure the processing precision of the workpiece.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a partial cross-sectional structural schematic view of the rotary drive mechanism of the present invention;

FIG. 3 is a schematic view of the workpiece positioning mechanism mounting structure of the present invention;

FIG. 4 is a cross-sectional structural schematic view of the mechanism locking unit of the present invention;

FIG. 5 is a schematic view of a workpiece clamping head mounting structure according to the present invention;

FIG. 6 is a cross-sectional structural view of the positioning support disk of the present invention.

Detailed Description

The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.

Example 1:

as shown in fig. 1 to 6, the present invention discloses a work holding transfer device comprising: the device comprises a rotary driving mechanism, four lifting driving mechanisms, four horizontal supporting mechanisms, four workpiece positioning mechanisms and four workpiece clamping mechanisms; the four lifting driving mechanisms are fixedly arranged on the rotary driving mechanism, the four horizontal supporting mechanisms are respectively arranged on the four lifting driving mechanisms and are distributed in a cross shape, the rotary driving mechanism is used for driving the four lifting driving mechanisms to rotate horizontally, and the lifting driving mechanism is used for driving the horizontal supporting mechanisms to move up and down; the four workpiece clamping mechanisms are respectively arranged on the overhanging end parts of the four horizontal supporting mechanisms, the horizontal supporting mechanisms are used for carrying out overhanging support and inclination angle adjustment on the workpiece clamping mechanisms, and the workpiece clamping mechanisms are used for clamping and fixing the workpiece 100; the four workpiece positioning mechanisms are respectively installed on the four workpiece clamping mechanisms, and the workpiece positioning mechanisms are used for feeding and positioning the workpiece 100.

The rotary driving mechanism can be used for driving the stations of the four workpiece clamping mechanisms to be rotationally switched, so that the station switching of feeding, processing and discharging of the workpieces 100 is met, the processing efficiency is improved, and the installation space of a system can be effectively reduced; the height of the horizontal supporting mechanism can be adjusted by utilizing the lifting driving mechanism, so that the height adjustment requirements of each station are met; the workpiece clamping mechanism can be used for clamping the workpiece 100, can meet the clamping requirements of workpieces 100 of various types, and has certain universal adjusting performance; the workpiece positioning mechanism can enhance the clamping accuracy of the workpiece 100 and ensure the machining accuracy of the workpiece 100.

Further, the rotation driving mechanism includes a turntable support base 103, a rotation support spindle 104, a rotation driving motor 106, and a turntable support disk 102; the turntable support base 103 is fixedly arranged on the turntable bottom plate 101; an equipment installation cavity is arranged in the turntable support base 103, the rotary support main shaft 104 is rotatably arranged at the top of the turntable support base 103, the lower end of the rotary support main shaft 104 extends into the equipment installation cavity, and a turntable drive worm gear 144 is fixedly arranged at the extending end; the rotary driving motor 106 is arranged in the equipment installation cavity, and a rotary table driving worm 143 meshed with the rotary table driving worm gear 144 is installed on the end part of the output shaft in a butt joint mode; the upper end of the rotary supporting main shaft 104 is fixedly arranged at the center of the lower side surface of the turntable supporting disc 102; four elevation drive mechanisms are fixedly installed at the quartering points of the circumferential edge of the upper side surface of the turntable support disk 102.

The cooperation of the rotary driving motor 106, the rotary table driving worm gear 144, the rotary table driving worm 143 and the rotary supporting main shaft 104 is utilized to stably and rotatably drive the rotary table supporting disc 102, so that the four horizontal supporting mechanisms are rotatably switched, the workpiece 100 clamped at the feeding station is gradually rotated to each processing station, the manual feeding station and the mechanical processing station can be isolated, and the processing safety is ensured.

Further, the lifting driving mechanism comprises a lifting driving motor 132, a lifting support pipe 108, a lifting support sliding sleeve 134 and a lifting driving screw 133; the lifting support pipe 108 is vertically and fixedly arranged on the circumferential edge of the upper side surface of the turntable support disc 102, and the lifting drive screw 133 is vertically and rotatably arranged in the lifting support pipe 108; the lifting driving motor 132 is fixedly arranged at the top end of the lifting supporting tube 108, and the output shaft is in butt joint with the upper end of the lifting driving screw 133; a strip-shaped communicating hole is vertically arranged on the pipe wall of the lifting supporting pipe 108; the lifting support sliding sleeve 134 is sleeved on the lifting support pipe 108 in a sliding manner; a lifting support seat is slidably mounted in the lifting support tube 108, and the lifting support seat is fixedly connected with a lifting support sliding sleeve 134 through a support connection column; the lifting driving screw 133 is screwed on the lifting support seat in a penetrating way; the horizontal support mechanism is mounted on a lift support slide 134.

By utilizing the matching of the lifting driving motor 132, the lifting driving screw 133 and the lifting supporting sliding sleeve 134, the height of the horizontal supporting mechanism can be adjusted, so that the height of the workpiece 100 on the workpiece clamping mechanism can be adjusted, and the adjusting requirements of different stations are met.

Further, a top support plate 130 is installed between the upper end portions of the elevation support pipes 108 of the four elevation driving mechanisms; each ball limit circular groove is arranged at the top portion of the turntable support base 103, and a support ball 105 is arranged in each ball limit circular groove, and the support ball 105 is supported on the lower side surface of the turntable support disc 102.

The stability and structural strength of the upper ends of the four elevation support tubes 108 can be enhanced by the top support plate 130; the lower side surface of the turntable support disk 102 can be supported in a rolling manner by the support balls 105, and the stability of the rotational support of the turntable support disk 102 is ensured.

Further, the horizontal support mechanism includes a horizontal support beam 107, a tilt angle adjusting motor 110, a mechanism support beam 112, and two mechanism locking units; one end of the horizontal support beam 107 is horizontally and fixedly arranged on the lifting support sliding sleeve 134, the middle part of the mechanism support beam 112 is vertically and swing-hinged on the other end of the horizontal support beam 107, and an adjusting drive worm wheel 111 fixedly arranged with the mechanism support beam 112 is arranged at the hinged position; an inclination angle adjusting motor 110 is fixedly arranged on the horizontal support beam 107, and an output shaft of the inclination angle adjusting motor 110 is provided with an adjusting driving worm 109 meshed with an adjusting driving worm wheel 111; two mechanism locking units are respectively installed on both ends of the horizontal support beam 107 for locking the work holding mechanism.

The inclination angle adjusting motor 110, the adjusting driving worm 109 and the adjusting driving worm wheel 111 are matched to rotatably adjust the mechanism supporting beam 112, so that the workpiece 100 is driven to be adjusted from a vertical state to a horizontal state, and then is converted from a loading state to a processing state and then is rotated to each processing station for processing; the detachable mounting of the workpiece clamping mechanism can be achieved by using two mechanism locking units, thereby meeting the clamping requirements of different workpieces 100.

Further, the mechanism locking unit includes a square support column 113, a locking shaft 146, a pressing block 148, and four locking levers 151; one end of the square supporting column 113 is fixedly arranged on the end part of the horizontal supporting beam 107, and the other end of the square supporting column 113 is provided with a sliding square hole 147; the extrusion block 148 is slidably mounted in the sliding square hole 147, and extrusion slope grooves 149 are formed in the peripheral side surfaces of the extrusion block 148; a lock rod hole 153 which is vertically communicated with the sliding square hole 147 is formed in each of the peripheral side surfaces of the square support column 113, and a hole wall annular groove 150 is formed in the hole wall of each lock rod hole 153; the four locking rods 151 are respectively inserted into the four locking rod holes 153 in a penetrating manner, and extrusion slopes 154 which are slidably pressed on the extrusion slope grooves 149 are arranged at the insertion end parts of the four locking rod holes 153; a locking bar supporting convex ring 155 is arranged in the middle of the locking bar 151, a locking bar spring 156 is sleeved in the middle of the locking bar 151, and the locking bar spring 156 is elastically supported between the locking bar supporting convex ring 155 and the groove edge of the hole wall annular groove 150 and used for pushing the locking bar 151 to be inserted into the sliding square hole 147; a locking extrusion slope 152 for locking extrusion is arranged on the side edge of the outer end part of the locking rod 151; the locking shaft 146 is penetratingly and rotatably mounted in the middle of the square supporting column 113, a driving external thread is arranged at the end part of the locking shaft 146 extending into the sliding square hole 147, and the driving external thread and the extrusion block 148 are in threaded fit; a supporting flange 145 for supporting the workpiece clamping mechanism is arranged on the outer wall of the square supporting column 113; a lock handle 114 is provided on an outer end portion of the lock shaft 146.

The clamping mounting plate 115 can be clamped and locked by matching the locking rod 151 with the supporting flange 145, so that the clamping mounting plate 115 is locked and mounted on the horizontal supporting mechanism, and the workpiece clamping mechanism can be detachably mounted; the locking rod 151 can be driven to extend and retract by matching of the driving external thread on the locking shaft 146, the four extrusion slope grooves 149 on the extrusion block 148 and the four locking rods 151, so that the locking and unlocking requirements are met; manual rotation of the locking shaft 146 can be facilitated by the locking handle 114; the locking lever 151 can be rebounded in time by the locking lever spring 156.

Further, the workpiece holding mechanism includes a holding mounting plate 115 and four workpiece holding units; the square support columns 113 of the two mechanism locking units penetrate through the clamping mounting plate 115, and the locking rods 151 and the support flanges 145 clamp and lock the clamping mounting plate 115, so that the clamping mounting plate 115 is locked and mounted on the horizontal support mechanism; four workpiece clamping units are mounted in the middle of the peripheral edge of the clamping mounting plate 115; the workpiece positioning mechanism is mounted in the middle of the clamp mounting plate 115.

By matching the clamping mounting plate 115 with the two mechanism locking units, the corresponding workpiece clamping mechanism can be conveniently and integrally replaced, so that the clamping requirements of workpieces 100 of different models can be met.

Further, the workpiece clamping unit comprises a horizontal adjusting seat 118, a horizontal adjusting motor 116, a horizontal adjusting screw 141, a height adjusting motor 121, a swing driving motor 120, a height adjusting pipe 117, a height adjusting pipe column 123 and a workpiece clamping head; a strip-shaped guide hole 139 pointing to the middle part is arranged in the middle of the peripheral edge of the clamping mounting plate 115, and a limit support sliding groove 140 is arranged on the hole wall of the length side of the strip-shaped guide hole 139; the horizontal adjusting seat 118 is slidably mounted in the strip-shaped guide hole 139, and a limit supporting slide block 142 slidably embedded in the limit supporting slide groove 140 is arranged on the side edge of the horizontal adjusting seat 118; the horizontal adjusting screw rod 141 is screwed on the horizontal adjusting seat 118 through threads; the horizontal adjusting motor 116 is fixedly arranged on the edge of the clamping mounting plate 115, and the output shaft is butted with the end part of the horizontal adjusting screw rod 141; the height adjusting pipe 117 is penetratingly and rotatably mounted on the horizontal adjusting seat 118, and a height adjusting screw rod is coaxially and rotatably mounted in the height adjusting pipe 117; one end of the height adjusting pipe column 123 is inserted into the height adjusting pipe 117, and the workpiece clamping head is installed at the other end of the height adjusting pipe column 123; an adjusting internal thread is arranged in the height adjusting pipe column 123, and the height adjusting screw rod is screwed with the adjusting internal thread; a synchronous limiting sliding groove 122 is arranged on the height adjusting pipe column 123, and a synchronous limiting sliding block which is slidably embedded into the synchronous limiting sliding groove 122 is arranged on the inner wall of the height adjusting pipe 117; the height adjusting motor 121 is fixed on the end of the height adjusting tube 117, and the output shaft is butted with the height adjusting screw rod; a swing driving gear ring 119 is arranged on the outer wall of the height adjusting pipe 117; the swing drive motor 120 is fixedly mounted on the horizontal adjustment base 118, and a swing drive gear 135 meshed with the swing drive ring gear 119 is provided on the output shaft.

The position of the workpiece clamping head can be adjusted in a translation manner by matching the horizontal adjusting motor 116, the horizontal adjusting screw rod 141 and the horizontal adjusting seat 118, so that the clamping requirements of workpieces 100 of different models are met; the height adjusting pipe 117 can be rotationally adjusted by the cooperation of the swing driving motor 120, the swing driving gear 135 and the swing driving gear ring 119, so that the workpiece clamping head can be swung and rotated after the workpiece 100 is positioned, the workpiece 100 cannot be blocked, and the edge of the workpiece 100 can be extruded and clamped after the workpiece 100 is positioned; the height of the workpiece clamping head can be adjusted by matching the height adjusting motor 121, the height adjusting screw rod, the height adjusting pipe 117 and the height adjusting pipe column 123, so that the clamping requirements of workpieces 100 of different models can be met.

Further, the workpiece clamping head comprises a clamping driving motor 124, a clamping support tube 125, a clamping support sliding sleeve 126, a clamping driving screw 166, two driving connecting rods 127, a U-shaped clamping plate 136 and two clamping movable plates 138; one end of the holding support tube 125 is vertically fixed on the height adjusting column 123, and the U-shaped holding plate 136 is fixedly installed on the other end of the holding support tube 125; an edge supporting rubber wheel 137 is rotatably arranged between the upper side edge plate and the lower side edge plate of the U-shaped clamping plate 136; the two clamping movable plates 138 are respectively hinged on the edges of the two side edge plates of the U-shaped clamping plate 136, and the outer side surfaces of the two clamping movable plates 138 are respectively provided with a pressing swing arm 129; the clamping support sliding sleeve 126 is slidably sleeved on the clamping support tube 125, one ends of the two driving connecting rods 127 are respectively arranged on the clamping support sliding sleeve 126 in a swing-type hinged manner, and the other ends of the two driving connecting rods 127 are respectively arranged on the end part of the pressing swing arm 129 in a swing-type hinged manner; clamping anti-slip pads 128 are provided on opposite sides of the two clamping movable plates 138; the clamping driving screw 166 is coaxially and rotatably arranged in the clamping supporting tube 125, and a driving thread seat is screwed on the clamping driving screw 166; a communicating strip-shaped hole is formed in the clamping support tube 125 along the length direction, and the driving threaded seat is fixed on the inner wall of the clamping support sliding sleeve 126 through the communicating strip-shaped hole; the clamp drive motor 124 is fixedly mounted on the height adjustment column 123 and the output shaft is fixedly secured in abutment with the end of the clamp drive screw 166.

The edge supporting rubber wheel 137 can be used for relatively pushing and pressing the edge of the workpiece 100 when the clamping supporting tube 125 horizontally swings, so that the clamped workpiece 100 is prevented from horizontally swinging; the clamping driving motor 124, the clamping support sliding sleeve 126, the clamping driving screw 166 and the two driving connecting rods 127 are matched to clamp and drive the two clamping movable plates 138, so that the edge side of the workpiece 100 is clamped, and the clamped workpiece 100 is prevented from shaking up and down.

Further, the workpiece positioning mechanism includes a positioning drive motor 161, a positioning support disc 164, each positioning guide tube 157, and each telescopic positioning rod 158; the positioning support disc 164 is rotatably installed at the middle of the clamping installation plate 115 through a central connection shaft 165; each disk surface supporting ring groove 167 is arranged on the disk surface of the positioning supporting disk 164, and the bottom of each disk surface supporting ring groove 167 is provided with a plurality of stages of supporting step grooves in a smooth transition way; each positioning guide pipe 157 is fixedly arranged on the clamping mounting plate 115 in a penetrating way, and a rebound tension spring is arranged in each positioning guide pipe 157; each telescopic positioning rod 158 is inserted into each positioning guide tube 157 in a penetrating manner, and one end of each telescopic positioning rod 158 is inserted into the disc surface supporting ring groove 167 at the corresponding position; the other end of each telescopic positioning rod 158 is provided with a conical positioning end 160, and a positioning support ring piece 159 is arranged at the position close to the conical positioning end 160; one end of the resilience tension spring is fixed on the inner wall of the positioning guide tube 157, and the other end of the resilience tension spring is fixed on the telescopic positioning rod 158 and used for pulling the end part of the telescopic positioning rod 158 to press the support step groove; a positioning drive ring gear 163 is provided on the circumference of the positioning support disk 164, a positioning drive motor 161 is fixedly mounted on the clamp mounting plate 115, and a positioning drive gear 162 that meshes with the positioning drive ring gear 163 is provided on the output shaft.

By matching each telescopic positioning rod 158 with a plurality of supporting step grooves, the supporting height of each telescopic positioning rod 158 is adjusted by rotating the positioning supporting disc 164, and the positioning requirements of positioning holes on workpieces 100 of different models are met; the telescopic positioning rod 158 can be pressed on the bottom of the groove of the disc surface supporting ring groove 167 all the time by utilizing the rebound tension spring; the positioning support ring piece 159 can be used for supporting the positioning hole on the workpiece 100; the positioning guide tube 157 ensures telescopic guidance and support of the telescopic positioning rod 158.

When the workpiece clamping and transferring device disclosed by the invention is installed and used, the electric control cabinet provided with the touch screen is arranged for an operator to input the corresponding type of the workpiece, so that the corresponding type coordination control is carried out on each motor of the device according to the type of the workpiece, the loading, clamping, rotating and blanking station switching of workpieces 100 of various types is completed, the working efficiency can be effectively improved, and the safety is better.

As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. The utility model provides a work piece centre gripping transfer device which characterized in that: the device comprises a rotary driving mechanism, four lifting driving mechanisms, four horizontal supporting mechanisms, four workpiece positioning mechanisms and four workpiece clamping mechanisms; the four lifting driving mechanisms are fixedly arranged on the rotary driving mechanism, the four horizontal supporting mechanisms are respectively arranged on the four lifting driving mechanisms and are distributed in a cross shape, the rotary driving mechanism is used for driving the four lifting driving mechanisms to rotate horizontally, and the lifting driving mechanism is used for driving the horizontal supporting mechanisms to move up and down; the four workpiece clamping mechanisms are respectively arranged on the overhanging end parts of the four horizontal supporting mechanisms, the horizontal supporting mechanisms are used for carrying out overhanging support and inclination angle adjustment on the workpiece clamping mechanisms, and the workpiece clamping mechanisms are used for clamping and fixing workpieces (100); the four workpiece positioning mechanisms are respectively arranged on the four workpiece clamping mechanisms and are used for feeding and positioning the workpiece (100).

2. The workpiece holding and transfer device of claim 1, wherein: the rotary driving mechanism comprises a rotary table supporting base (103), a rotary supporting main shaft (104), a rotary driving motor (106) and a rotary table supporting disc (102); the turntable supporting base (103) is fixedly arranged on the turntable bottom plate (101); an equipment installation cavity is arranged in the turntable support base (103), the rotary support main shaft (104) is rotatably arranged at the top of the turntable support base (103), the lower end of the rotary support main shaft (104) extends into the equipment installation cavity, and a turntable driving worm gear (144) is fixedly arranged at the extending end; a rotary table driving worm (143) meshed with the rotary table driving worm wheel (144) is installed on the end part of an output shaft of the rotary driving motor (106) in a butt joint mode; the upper end of the rotary supporting main shaft (104) is fixedly arranged at the center of the lower side surface of the turntable supporting disc (102); four elevating driving mechanisms are fixedly arranged at the quartering points of the circumferential edge of the upper side surface of the turntable supporting disk (102).

3. The workpiece holding and transfer device of claim 2, wherein: the lifting driving mechanism comprises a lifting driving motor (132), a lifting supporting pipe (108), a lifting supporting sliding sleeve (134) and a lifting driving screw rod (133); the lifting support pipe (108) is vertically and fixedly arranged on the circumferential edge of the upper side surface of the turntable support disc (102), and the lifting drive screw (133) is vertically and rotatably arranged in the lifting support pipe (108); an output shaft of the lifting driving motor (132) is in butt joint with the upper end of the lifting driving screw rod (133); a strip-shaped communicating hole is vertically arranged on the pipe wall of the lifting supporting pipe (108); the lifting support sliding sleeve (134) is sleeved on the lifting support pipe (108) in a sliding manner; a lifting support seat is slidably mounted in the lifting support tube (108), and the lifting support seat is fixedly connected with a lifting support sliding sleeve (134) through a support connection column; the lifting driving screw (133) is arranged on the lifting supporting seat in a penetrating threaded screwing way; the horizontal supporting mechanism is arranged on the lifting supporting sliding sleeve (134).

4. The workpiece holding and transfer device of claim 3, wherein: a top supporting plate (130) is arranged between the upper end parts of the lifting supporting tubes (108) of the four lifting driving mechanisms; each ball limiting circular groove is arranged at the top part of the turntable supporting base (103), supporting balls (105) are arranged in each ball limiting circular groove, and the supporting balls (105) are supported on the lower side surface of the turntable supporting disc (102).

5. The workpiece holding and transfer device of claim 3, wherein: the horizontal supporting mechanism comprises a horizontal supporting beam (107), an inclination angle adjusting motor (110), a mechanism supporting beam (112) and two mechanism locking units; one end of a horizontal supporting beam (107) is horizontally and fixedly arranged on a lifting supporting sliding sleeve (134), the middle part of a mechanism supporting beam (112) is vertically and swing-type hinged on the other end of the horizontal supporting beam (107), and an adjusting driving worm wheel (111) fixedly arranged with the mechanism supporting beam (112) is arranged at the hinged position; an adjusting drive worm (109) meshed with an adjusting drive worm wheel (111) is mounted on an output shaft of the inclination angle adjusting motor (110); two mechanism locking units are respectively mounted on both ends of the horizontal support beam (107) for locking the work holding mechanism.

6. The workpiece holding and transfer device of claim 5, wherein: the mechanism locking unit comprises a square supporting column (113), a locking shaft (146), a squeezing block (148) and four locking rods (151); one end of the square supporting column (113) is fixedly arranged on the end part of the horizontal supporting beam (107), and the other end of the square supporting column (113) is provided with a sliding square hole (147); the extrusion block (148) is arranged in the sliding square hole (147) in a sliding way, and the side surfaces of the periphery of the extrusion block (148) are provided with an extrusion slope groove (149); the side surfaces of the periphery of the square support column (113) are respectively provided with a lock rod hole (153) which is vertically communicated with the sliding square hole (147); four locking rods (151) are respectively inserted in the four locking rod holes (153) in a penetrating manner, and the insertion end parts of the four locking rod holes (153) are pressed in the extrusion slope groove (149) in a sliding manner; a locking rod spring (156) is sleeved in the middle of the locking rod (151) and used for pushing the locking rod (151) to be inserted into the extrusion slope groove (149); the outer end part of the locking rod (151) is used for locking and pressing the workpiece clamping mechanism; the locking shaft (146) is rotatably mounted in the middle of the square supporting column (113) in a penetrating mode, a driving external thread is arranged at the end part, extending into the sliding square hole (147), of the locking shaft (146), and the driving external thread and the extrusion block (148) are installed in a threaded fit mode; a supporting flange (145) for supporting the workpiece clamping mechanism is arranged on the outer wall of the square supporting column (113); a lock handle (114) is provided on the outer end of the lock shaft (146).

7. The workpiece holding and transfer device of claim 1, wherein: the workpiece clamping mechanism comprises a clamping mounting plate (115) and four workpiece clamping units; the clamping mounting plate (115) is locked and mounted on the horizontal supporting mechanism; the four workpiece clamping units are arranged in the middle of the peripheral edge of the clamping mounting plate (115) and used for clamping the edge of the workpiece (100); the workpiece positioning mechanism is arranged in the middle of the clamping mounting plate (115).

8. The workpiece holding and transfer device of claim 7, wherein: the workpiece clamping unit comprises a horizontal adjusting seat (118), a horizontal adjusting motor (116), a horizontal adjusting screw rod (141), a height adjusting motor (121), a swinging driving motor (120), a height adjusting pipe (117), a height adjusting pipe column (123) and a workpiece clamping head; the middle parts of the peripheral edges of the clamping mounting plates (115) are respectively provided with a strip-shaped guide hole (139); the horizontal adjusting seat (118) is slidably arranged in the strip-shaped guide hole (139); the horizontal adjusting screw rod (141) is arranged on the horizontal adjusting seat (118) in a penetrating threaded screwing way; the output shaft of the horizontal adjusting motor (116) is butted with the end part of the horizontal adjusting screw rod (141); the height adjusting pipe (117) is rotatably arranged on the horizontal adjusting seat (118) in a penetrating way, and a height adjusting screw rod is coaxially and rotatably arranged in the height adjusting pipe (117); one end of the height adjusting pipe column (123) is inserted into the height adjusting pipe (117), and the workpiece clamping head is installed at the other end of the height adjusting pipe column (123); an adjusting internal thread is arranged in the height adjusting pipe column (123), and the height adjusting screw rod is screwed with the adjusting internal thread; an output shaft of the height adjusting motor (121) is butted with the height adjusting screw rod; a swing driving gear ring (119) is arranged on the outer wall of the height adjusting pipe (117); an output shaft of the swing drive motor (120) is provided with a swing drive gear (135) which is meshed with the swing drive ring gear (119).

9. The workpiece holding and transfer device of claim 8, wherein: the workpiece clamping head comprises a clamping driving motor (124), a clamping supporting tube (125), a clamping supporting sliding sleeve (126), a clamping driving screw rod (166), two driving connecting rods (127), a U-shaped clamping plate (136) and two clamping movable plates (138); one end of the clamping support pipe (125) is vertically fixed on the height adjusting pipe column (123), and the U-shaped clamping plate (136) is fixedly arranged at the other end of the clamping support pipe (125); an edge supporting rubber wheel (137) is rotatably arranged between the upper side edge plate and the lower side edge plate of the U-shaped clamping plate (136); the two clamping movable plates (138) are respectively hinged on the edges of the two side edge plates of the U-shaped clamping plate (136), and the outer side surfaces of the two clamping movable plates (138) are respectively provided with a pressing swing arm (129); the clamping support sliding sleeve (126) is sleeved on the clamping support pipe (125) in a sliding manner, one ends of the two driving connecting rods (127) are respectively arranged on the clamping support sliding sleeve (126) in a swing-type hinged manner, and the other ends of the two driving connecting rods (127) are respectively arranged on the end part of the pressing swing arm (129) in a swing-type hinged manner; the clamping driving screw rod (166) is coaxially and rotatably arranged in the clamping supporting pipe (125), and a driving thread seat is screwed on the clamping driving screw rod (166); a communicated strip-shaped hole is formed in the clamping support tube (125) along the length direction, and the driving threaded seat is fixed on the inner wall of the clamping support sliding sleeve (126) through the communicated strip-shaped hole; the output shaft of the clamping drive motor (124) is butted and fixed with the end part of the clamping drive screw rod (166).

10. The workpiece holding and transfer device of claim 7, wherein: the workpiece positioning mechanism comprises a positioning driving motor (161), a positioning support disc (164), positioning guide tubes (157) and telescopic positioning rods (158); the positioning support disc (164) is rotatably arranged in the middle of the clamping mounting plate (115); each disk surface supporting ring groove (167) is arranged on the disk surface of the positioning supporting disk (164), and the bottom of each disk surface supporting ring groove (167) is provided with a multi-stage supporting step groove in a smooth transition way; each positioning guide pipe (157) is fixedly arranged on the clamping mounting plate (115) in a penetrating way, and a rebound tension spring is arranged in each positioning guide pipe (157); each telescopic positioning rod (158) is inserted on each positioning guide pipe (157) in a penetrating manner, and one end of each telescopic positioning rod (158) is inserted into a disc surface supporting ring groove (167) at the corresponding position; the other end of each telescopic locating rod (158) is provided with a locating and supporting ring piece (159); the rebound tension spring is used for pulling the end part of the telescopic positioning rod (158) to press on the supporting step groove; a positioning driving gear ring (163) is arranged on the circumference of the positioning supporting disk (164), and a positioning driving gear (162) meshed with the positioning driving gear ring (163) is arranged on an output shaft of the positioning driving motor (161).