CN212173698U

CN212173698U - Multistage transfer device of production line work piece

Info

Publication number: CN212173698U
Application number: CN202020315512.8U
Authority: CN
Inventors: 沈宝君; 李锡文; 孙志斌; 何宇; 詹小斌; 杨屹立; 龙杰才; 郭芳; 王灿
Original assignee: Huazhong University of Science and Technology
Current assignee: Huazhong University of Science and Technology
Priority date: 2020-03-14
Filing date: 2020-03-14
Publication date: 2020-12-18
Anticipated expiration: 2030-03-14

Abstract

The utility model belongs to the technical field of industrial automation is relevant, it discloses a production line work piece multistage transfer device, the device includes manipulator, a plurality of trays, controller, head end transport mechanism, a plurality of middle transport mechanism and terminal transport mechanism, head end transport mechanism, middle transport mechanism and terminal transport mechanism set up along same direction interval, the tray is used for bearing the work piece; the controller is respectively connected with the manipulator, the head end transfer mechanism, the middle transfer mechanism and the tail end transfer mechanism; the head end transfer mechanism, the middle transfer mechanism and the tail end transfer mechanism work in parallel. The utility model overcomes current claw-free transmission device on the automation production line is difficult to make the defect that the small size work piece strides long distance suspension section, has solved the tight fixed, accurate positioning, the position detection scheduling problem of clamp of work piece simultaneously, has improved the stability and the efficiency of transporting, and the suitability is better.

Description

Multistage transfer device of production line work piece

Technical Field

The utility model belongs to the technical field of industrial automation is relevant, more specifically relates to a multistage transfer device of production line work piece.

Background

In the industrial automation production field, a single workpiece often needs to be continuously operated by a plurality of processes, and a multi-stage transfer device is needed for pouring in a plurality of vacuum boxes or transferring the workpiece vertically and horizontally aiming at some special operation environments and complex working conditions.

The mode that the conveyer belt was adopted in the transportation of present work piece mostly, but because the conveyer belt end has a circular cylinder, consequently can not reach the complete laminating of horizontal transport face between the adjacent conveyer belt, but there is one section unsettled distance, especially when parts such as vacuum valve need be laid between two adjacent conveyer belts, unsettled distance between the adjacent conveyer belt can further be increaseed, this will cause some small size work pieces to fall into the unsettled section or the work piece topples, safety accident such as conveyer belt card is dead, because the conveyer belt is the circular motion of the closed loop of doing or spin motion, the work piece is difficult to fix when the transmission on the conveyer belt, can cause the toppling of work piece equally, position skew, fix a position inaccurate scheduling problem.

SUMMERY OF THE UTILITY MODEL

To prior art's above defect or improvement demand, the utility model provides a production line work piece multistage transfer device, it is applicable to the work piece of arbitrary progression and transports, every grade transport mechanism all can parallel work, ensure that the tray transports after to next grade, all there is the work piece to process on every grade transport mechanism on the production line, overcome the defect that current claw-free transmission device is difficult to make the No. small size work piece stride long distance sky section on the automation line, the clamp of having solved the work piece simultaneously is fixed, accurate positioning, position detection scheduling problem, the stability and the efficiency of transporting have been improved.

In order to achieve the purpose, the utility model provides a production line workpiece multi-stage transfer device, which comprises a manipulator, a plurality of trays, a controller, a head end transfer mechanism, a plurality of middle transfer mechanisms and a tail end transfer mechanism, wherein the head end transfer mechanism, the middle transfer mechanisms and the tail end transfer mechanisms are arranged at intervals along the same direction, and the trays are used for bearing workpieces; the controller is respectively connected with the manipulator, the head end transfer mechanism, the middle transfer mechanism and the tail end transfer mechanism;

the controller is used for controlling the manipulator to grab the tray loaded with the workpiece and place the tray to the head end transfer mechanism; the head end transfer mechanism is used for clamping the current tray, transferring the tray to the middle transfer mechanism after the workpiece is processed at the station, and simultaneously transmitting a transfer completion signal to the controller, so that the controller is used for controlling the manipulator to grab the next tray and place the next tray on the head end transfer mechanism; the middle transfer mechanism is used for carrying out primary transfer on the tray and carrying out reversing and secondary transfer after the preset process of the workpiece is finished so as to transfer the tray to the tail end transfer mechanism; the tail end transfer mechanism is used for transferring the tray to a first preset position, and after the workpiece completes machining of the station, the controller is also used for controlling the manipulator to grab the tray from the tail end transfer mechanism.

Further, the device includes the base plate of rectangle and the backup pad of a plurality of L types, two liang of relative intervals of backup pad set up on the base plate, head end transport mechanism is by two the backup pad supports, every middle transport mechanism is by two the backup pad supports, terminal transport mechanism is by two the backup pad supports.

Furthermore, the tray is basically rectangular and comprises a rectangular body and four first bulges, the two surfaces of the rectangular body, which are opposite to each other, are respectively a first surface and a second surface, the first bulges are respectively arranged at four corners of the first surface, two first bulges positioned at the same end are respectively provided with a first positioning hole, and the other two first bulges are respectively provided with a fourth positioning hole; the second surface is respectively provided with two outer side grooves, two inner side grooves and a middle groove, the two inner side grooves are positioned between the two outer side grooves, and the middle groove is positioned between the two inner side grooves; the tray further comprises a second protrusion; the two second bulges are respectively arranged at two ends of the middle groove, which are opposite to each other, and fifth positioning holes are respectively formed in the two second bulges.

Furthermore, a plurality of threaded holes which are evenly distributed are formed in the first surface, and the workpiece is installed on the tray through the threaded holes.

Further, the head end transfer mechanism comprises a first bearing part in a shape of Chinese character 'ao', two head end clamping cylinders, a wedge-shaped head end claw and a head end transfer cylinder, the head end transfer cylinder comprises a first head end, a first tail end, three cylindrical first hollow guide columns and a first sliding block, the first head end and the first tail end are respectively arranged on the two corresponding supporting plates, and two ends of each first hollow guide column are respectively connected to the first head end and the first tail end; the sliding block is connected with the hollow guide post in a sliding mode and can slide along the hollow guide post; the first bearing piece is arranged on the sliding block, one ends of the two head end claws are respectively connected with the first bearing piece, and the two head end claws are arranged at intervals; two head end die clamping cylinder sets up respectively first both ends that hold carrier back of the body mutually.

Further, the head end transfer cylinder is provided with a magnetic switch, and the magnetic switch is used for position detection; and a layer of polytetrafluoroethylene is laid on the surface of the head end claw.

Further, the middle transfer mechanism comprises a support flat plate, a first blocking cylinder, a second blocking cylinder, four linear bearings and four guide rods; the four guide rods are respectively movably arranged on the two corresponding support plates and are positioned at four corners of the same rectangular shape, and each guide rod is provided with the linear bearing; the support flat plate is connected with the four guide rods; the supporting flat plate is provided with through grooves, the positions of the two through grooves correspond to the positions of the first blocking cylinder and the second blocking cylinder respectively, and the first blocking cylinder and the second blocking cylinder are connected to the supporting flat plate respectively.

Furthermore, the middle transfer mechanism further comprises a lifting cylinder, two guide rails and a plurality of supporting rollers, wherein the lifting cylinder is arranged on the base plate and is positioned between the supporting flat plate and the base plate; the two guide rails are arranged along the length direction of the support flat plate, and are respectively arranged on two opposite sides of the support flat plate at intervals; the supporting rollers are respectively arranged on the two guide rails in a sliding manner.

Furthermore, the middle transfer mechanism further comprises a middle transfer cylinder, a second bearing piece in a concave shape, a middle claw and two middle clamping cylinders, wherein the second bearing piece is arranged on a second sliding block of the middle transfer cylinder; the middle claws are arranged on the second bearing piece, and the two middle claws are arranged at intervals; the supporting roller is positioned between the middle claw and the guide rail; the two middle clamping cylinders are respectively arranged at two ends of the second bearing piece, which are opposite to each other, and are arranged oppositely; and a magnetic switch is arranged on the middle transfer cylinder.

Furthermore, an n-shaped fourth bearing piece is respectively arranged at one end of the supporting flat plate, which is close to the head end transfer mechanism, one end of the fourth bearing piece is connected to the supporting flat plate, the other end of the fourth bearing piece is connected with reversing clamping cylinders, and the two reversing clamping cylinders are oppositely arranged; and a layer of polytetrafluoroethylene is paved on the surface of the middle clamp.

Generally, through the utility model discloses the above technical scheme who conceives compares with prior art, the utility model provides a multistage transfer device of production line work piece mainly has following beneficial effect:

1. the head end transport mechanism, middle transport mechanism and the terminal transport mechanism of device adopt parallel mode to move, that is to say, after head end transport cylinder sent the tray to middle transport cylinder on, can immediately accept the new tray that the manipulator snatched, and need not wait for the work piece to accept new tray after transporting through terminal transport cylinder completely, just so guaranteed all to have the work piece to process on each level transport mechanism, improved the transmission efficiency of production line.

2. The first surface is still seted up a plurality of screw holes of evenly arranging, through the screw hole will the work piece is installed on the tray, applicable in the work piece of multiple specification, different model and classification, and the tray is symmetrical structure, need not discern the left and right directions.

3. The polytetrafluoroethylene layer is laid on the surface of the claw tool, so that the friction resistance can be reduced, and particularly for the chemical material industries such as explosive and propellant, the friction spark generated when the tray slides can be effectively avoided.

4. The magnetic switch is arranged on the transfer cylinder, when the last cylinder acts in place, the magnetic switch gives a signal, the next cylinder only starts to act, the safety interlocking function among different cylinders is achieved, meanwhile, the position of a workpiece can be conveniently detected, and the safety and the automation level of the whole device are improved.

Drawings

Fig. 1 is a schematic structural view of a production line workpiece multi-stage transfer device according to a preferred embodiment of the present invention;

FIG. 2 is a schematic view of the structure of a pallet of the multi-stage workpiece transfer device of the production line of FIG. 1;

fig. 3 is a schematic view of the tray of fig. 2 at another angle.

The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein: 1-a head end clamping cylinder, 2-a tray, 3-a head end gripper, 4-a head end transfer cylinder, 5-a middle transfer cylinder, 6-a reversing clamping cylinder, 7-a middle clamping cylinder, 8-a middle gripper, 9-a tail end transfer cylinder, 10-a tail end gripper, 11-a tail end clamping cylinder, 12-a support plate, 13-a first blocking cylinder, 14-a lifting cylinder, 15-a support roller, 16-a second blocking cylinder, 17-a linear bearing, 18-a guide rod, 19-a first positioning hole, 20-a second positioning hole, 21-a threaded hole, 22-a third positioning hole, 23-a fourth positioning hole, 24-an outer side groove, 25-an inner side groove, 26-a fifth positioning hole.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Furthermore, the technical features mentioned in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

Referring to fig. 1, fig. 2 and fig. 3, the utility model provides a multistage transfer device of production line includes manipulator, a plurality of tray 2, controller, head end transfer mechanism, a plurality of middle transfer mechanism and terminal transfer mechanism, head end transfer mechanism, middle transfer mechanism and terminal transfer mechanism set up along same direction interval, tray 2 is used for bearing the work piece. The controller is respectively connected with the manipulator, the head end transfer mechanism, the middle transfer mechanism and the tail end transfer mechanism.

When the manipulator is in work, the controller controls the manipulator to grab the tray 2 loaded with the workpiece and place the tray to the head end transfer mechanism; the head end transfer mechanism clamps the current pallet 2, transfers the pallet 2 to the middle transfer mechanism, and simultaneously transmits a transfer completion signal to the controller, and the controller controls the manipulator to further grab the next pallet 2 and place the next pallet 2 on the head end transfer mechanism; the middle transfer mechanism transfers the tray for the first time, and after the preset process of the workpiece is finished, the middle transfer mechanism performs reversing and secondary transfer so as to transfer the tray 2 to the tail end transfer mechanism; the tail end transfer mechanism transfers the tray to a first preset position, and after the workpiece finishes machining of the station, the controller controls the manipulator to grab the tray from the tail end transfer mechanism.

In this embodiment, the device includes rectangular base plate and the backup pad of a plurality of L types, two the relative interval of backup pad sets up on the base plate, head end transport mechanism is by two the backup pad is supported, every middle transport mechanism is by two the backup pad is supported, terminal transport mechanism is by two the backup pad is supported.

The tray 2 is basically rectangular and comprises a rectangular body, four first protrusions and two second protrusions, the two surfaces of the body, which are opposite to each other, are respectively a first surface and a second surface, the first protrusions are respectively arranged at four corners of the first surface, two first protrusions at the same end are respectively provided with a first positioning hole 19, the other two first protrusions are respectively provided with a fourth positioning hole 23, and the central axis of the first positioning hole 19 is parallel to the central axis of the third positioning hole. A plurality of threaded holes 21 evenly distributed are further formed in the first surface, workpieces of different shapes and sizes can be installed on the tray 2 through the threaded holes 21, and the multi-stage transfer of the workpieces can be achieved through the transfer and positioning of the tray. In this embodiment, the center axis of the first positioning hole 19 is perpendicular to the center axis of the screw hole 21.

One end of the body is respectively provided with a second positioning hole 20, the other end of the body is respectively provided with two third positioning holes 22, the two third positioning holes 22 are respectively arranged adjacent to the two fourth positioning holes 23, and the two second positioning holes 20 are respectively arranged adjacent to the two first positioning holes 19. The center axis of the third positioning hole 22, the center axis of the second positioning hole 20, and the center axis of the fourth positioning hole 23 are parallel.

The second surface is respectively provided with two outer side grooves 24, two inner side grooves 25 and a middle groove, wherein the two inner side grooves 25 are positioned between the two outer side grooves 24, and the middle groove is positioned between the two inner side grooves 25. The longitudinal direction of the intermediate groove, the longitudinal direction of the inner groove 25, and the longitudinal direction of the outer groove 24 are parallel to each other, and are perpendicular to the center axis of the third positioning hole 22. The two second protrusions are respectively arranged at two ends of the middle groove, which are opposite to each other, and the two second protrusions are respectively provided with a fifth positioning hole 26, and the central axes of the two fifth positioning holes 26 are overlapped and are perpendicular to the central axis of the third positioning hole 22. In the present embodiment, the tray 2 has a symmetrical structure.

Head end transport mechanism includes that the first carrier of type of calligraphy holds carrier, two head end die clamping cylinder 1, wedge-shaped head end claw utensil 3 and head end change cylinder 4 with, the head end is transported the cylinder and is included first head end, first end, the first hollow guide post of three columniform and first slider, first head end reaches first end sets up respectively in two backup pads that correspond, the both ends of first hollow guide post connect respectively in first head end reaches first end. The slider is slidably connected to the hollow guide post and is capable of sliding along the hollow guide post. The first bearing piece is arranged on the sliding block, one end of each of the two head end claws 3 is connected to the first bearing piece, and the two head end claws 3 are arranged at intervals. Two head end die clamping cylinder 1 sets up respectively first both ends that hold carrier mutually back of the body, and both are located respectively head end claw 3 both sides that carry on the back mutually. In the present embodiment, the head end claw 3 is engaged with the inner groove 25 to clamp and fix the pallet 2 together with the head end clamp cylinder 1.

In the embodiment, the head end transfer cylinder 4 is provided with a magnetic switch, the magnetic switch is used for position detection, when the corresponding cylinder acts in place, the magnetic switch sends a signal to the controller, the controller controls the next corresponding cylinder to start to act, so that the safety interlocking among different cylinders is realized, meanwhile, the position of a workpiece can be conveniently detected, and the safety and the automation level of the device are improved; a magnetic ring is arranged in the first hollow guide column in the middle position, the first sliding block is pushed to move left and right under the push of airflow, and the other two first hollow guide columns are used for bearing the first sliding block and providing guide for the movement of the first sliding block.

Middle section transport mechanism includes middle transport cylinder 5, two switching-over die clamping cylinder 6, two middle die clamping cylinder 7, middle anchor clamps 8, support flat board 12, first block cylinder 13, lift cylinder 14, a plurality of support pulley 15, slide rail, second and block cylinder 16, four linear bearing 17 and four guide bars 18, four guide bars 18 set up in two backup pads that correspond respectively with moving perpendicularly, and lie in four bights of same rectangle, are provided with on every guide bar linear bearing 17. The support plate 12 is connected to four of the guide rods 18. The support plate 12 is provided with through grooves, the positions of the two through grooves correspond to the positions of the first blocking cylinder 13 and the second blocking cylinder 16 respectively, and the first blocking cylinder 13 and the second blocking cylinder 16 are connected to the support plate 12 respectively. The lifting cylinder 14 is disposed on the base plate and located between the support plate 12 and the base plate.

The two guide rails are arranged along the length direction of the support flat plate 12, and the two guide rails are respectively arranged at the two sides of the support flat plate 12 at intervals, which are opposite to each other. A plurality of the support rollers 15 are slidably disposed on the two guide rails, respectively. Middle transport cylinder 5 includes the hollow guide post of second head end, second end, three columniform second and second slider, the both ends of the hollow guide post of second connect respectively in the second head end reaches the second is terminal, the second slider sets up with sliding on the hollow guide post of second. The intermediate transfer cylinder 5 is also provided with a magnetic switch, which is also used for position detection. In the present embodiment, the operation principle of the head end transfer cylinder 4, the middle transfer cylinder 5, and the tail end transfer cylinder 9 is the same; the second head end and the second tail end are both located between the two guide rails.

The middle transfer mechanism further comprises a second bearing piece which is basically in a concave shape, and the second bearing piece is arranged on the second sliding block. The intermediate jaw 8 is arranged on the second carrier. Two middle claws 8 are arranged at intervals. The support roller 15 is located between the intermediate jaw 8 and the guide rail. The two middle clamping cylinders 7 are respectively arranged at two ends of the second bearing piece, which are opposite to each other, and are arranged oppositely.

Support dull and stereotyped 12 adjacent head end transport mechanism's one end is provided with the fourth of n style of calligraphy respectively and holds carrier, the fourth hold carrier one end connect in support dull and stereotyped 12, the other end connect in switching-over die clamping cylinder 6, two switching-over die clamping cylinder 6 sets up relatively.

Terminal transport mechanism includes that the third of terminal transport cylinder 9, terminal claw utensil 10, terminal die clamping cylinder 11 and character cut in bas-relief holds carrier, terminal transport cylinder 9 includes the hollow guide post of third head end, third slider and three columniform third, the third head end reaches the third end sets up respectively in the backup pad that corresponds. And two ends of the third hollow guide column are respectively connected to the third head end and the third tail end. The third slider is slidably connected to the third hollow guide post. The third bearing piece is arranged on the sliding block. The end claw 10 is arranged in the middle of the third bearing piece, the two ends of the third bearing piece, which are opposite to each other, are respectively provided with the end clamping cylinders 11, and the two end clamping cylinders 11 are oppositely arranged. In the present embodiment, the end transfer cylinder 9 is also provided with a magnetic switch for position detection.

In this embodiment, the head end clamping cylinder 1, the reversing clamping cylinder 6, the middle clamping cylinder 7, the tail end clamping cylinder 11, the lifting cylinder 14, the first blocking cylinder 13 and the second blocking cylinder 16 are all double-acting cylinders, and piston rods thereof can extend or retract; the head end transfer cylinder 4, the middle transfer cylinder 5 and the tail end transfer cylinder 9 are double-acting rodless cylinders and are respectively provided with three hollow guide columns, a magnetic ring is arranged in the middle hollow guide column, a sliding block of the cylinder is dragged to move left and right under the pushing of air flow, and the hollow guide columns on the two sides are guide columns of the sliding block and play a role in bearing and guiding; in the practical use process, because the span of the middle transfer cylinder 5 is long, the hollow guide columns at two sides of the middle transfer cylinder are not rigid enough, and when the slide block moves to the middle position, the hollow guide columns have obvious bending deformation, which can cause the action failure of the clamping cylinder needing higher positioning precision, and because the slide block of the middle transfer cylinder 5 and the middle claw 8 are tightly connected together through the screw, 4 support rollers 15 are arranged below the middle claw 8, the rigidity of the hollow guide columns of the middle transfer cylinder 5 can be effectively improved, and the vibration of the tray 2 and the workpiece in the vertical direction is eliminated; the surfaces of the head end claw 3, the middle claw 8 and the tail end claw 10 are paved with a layer of polytetrafluoroethylene, so that the friction resistance is reduced, particularly in the chemical material industries such as explosive and propellant, the friction spark generated when the tray 2 slides can be effectively avoided, and the front end part of the claw has a certain inclination angle gradient, so that the claw can be smoothly inserted into a groove at the lower part of the tray when the tray is grabbed.

The present invention will be described in further detail below with reference to 3 stages of transport (i.e., the number of intermediate transport mechanisms is 1) as an example.

Before the work piece is transported, the operating condition of each cylinder is: the piston rods of the head end clamping cylinder 1, the middle clamping cylinder 7, the tail end clamping cylinder 11, the reversing clamping cylinder 6, the lifting cylinder 14 and the second blocking cylinder 16 are all in a retraction state; the piston rod of the first barrier cylinder 13 is in an extended state; the upper surfaces of the head end gripper 3, the middle gripper 8 and the tail end gripper 10 are on the same horizontal plane; the first slide block of the head end transferring cylinder 4 is positioned on the left side, the third slide block of the tail end transferring cylinder 9 is positioned on the right side, and the second slide block of the middle transferring cylinder 5 is positioned at the position of the first blocking cylinder 13.

When the workpiece starts to be transferred, the claw of the manipulator extends into the outer side groove 24 of the tray 2, and then the clamping cylinder on the claw of the manipulator clamps and positions the tray 2 through the fifth positioning hole 26; then, the gripper of the manipulator places the pallet 2 carrying the workpiece on the head gripper 3, so that the head gripper 3 is attached to the inner slot 25; then, the head end clamping cylinder 1 realizes positioning and clamping of the tray 2 through the third positioning hole 22, at this time, the clamping cylinder on the claw of the manipulator is loosened, the claw of the manipulator withdraws, and automatic conveying of the tray 2 and the workpiece by the manipulator is realized.

After the work piece finishes at the head end processing, head end transport cylinder 4 transports the work piece to the right side, the middle cylinder 5 of transporting makes to the left side motion middle claw utensil 8 stretches into in the outer side groove 24, middle die clamping cylinder 7 passes through second locating hole 20 is realized right the location of tray 2 is pressed from both sides tightly the back, head end die clamping cylinder 1 loosens, head end transport cylinder 1 moves left and withdraws completely, middle cylinder 5 of transporting moves right and stops first cylinder 13 place that blocks, and the work piece carries out secondary operation here.

When the workpiece needs to move vertically, the lifting cylinder 14 can jack up the support plate 12, the middle transfer cylinder 5, the first blocking cylinder 13 and the second blocking cylinder 16 are installed on the support plate 12, and the tray 2 can be jacked up together, and the vertical movement of the support plate 12 realizes a guiding function by means of the smooth movement of the guide rod 18 in the linear bearing 17.

After the secondary processing of the workpiece is completed, the reversing clamping cylinder 6 clamps and positions the tray 2 through the fourth positioning hole 23, meanwhile, the middle clamping cylinder 7 is loosened, the second blocking cylinder 16 is lifted, the middle transfer cylinder 5 moves leftwards and is blocked by the second blocking cylinder 16, then, the middle clamping cylinder 7 realizes the positioning and clamping of the tray 2 through the third positioning hole 22, then, the reversing clamping cylinder 6 is loosened, at this time, the reversing work of the tray 2 is completed, namely, the tray 2 is changed from the left side to the right side of the middle gripper 8, the clamping hole position of the middle clamping cylinder 7 is also changed from the second positioning hole 20 to the third positioning hole 22, and the middle gripper 8 is convenient to convey the tray 2 to the tail end. It should be noted that in this process, the intermediate gripper cylinder 7 is fixed to the intermediate gripper 8 and can move left and right with the intermediate transfer cylinder 5, while the reversing gripper cylinder 6 is fixed to the support plate 12 and cannot move left and right.

After the reversing work of the pallet 2 is completed, the first blocking cylinder 13 is lowered, the middle transfer cylinder 5 moves rightwards to the rightmost end, the tail end transfer cylinder 9 moves leftwards to the leftmost end, the tail end gripper 10 is inserted into the inner side groove 25, the tail end clamping cylinder 11 clamps the pallet 2 through the second positioning hole 20, at this time, the middle clamping cylinder 7 is released, the middle transfer cylinder 5 moves leftwards and is stopped by the second blocking cylinder 16, then the tail end transfer cylinder 9 moves rightwards to the rightmost end, the workpiece is machined for three times at the position, meanwhile, the first blocking cylinder 13 is raised, and the middle transfer cylinder 5 moves rightwards and is stopped at the workpiece machining station where the first blocking cylinder 13 is located; thereafter, the second blocking cylinder 16 is lowered, at which point all but the end gripper cylinder 11 have been reset.

After the workpiece is machined for three times, the claw of the manipulator extends into the outer side groove 24, and the clamping cylinder of the manipulator clamps and positions the pallet 2 through the fifth positioning hole 26; then, the end clamping cylinder 11 is released, the robot takes out the pallet 2 and the workpiece, and all cylinders are reset to the initial state so that the next workpiece can be transferred and processed.

It should be noted that, in production efficiency, the utility model discloses a multistage transfer device is efficient parallel motion, that is to say, works as head end is transported cylinder 4 and is delivered tray 2 to back on the middle transfer cylinder 5, can receive new tray 2 that the manipulator snatched immediately, and need not wait for the work piece to pass through completely accept new tray 2 after terminal transfer cylinder 9 transports, has just so ensured all to have the work piece to process on each level transport mechanism, has improved the transmission efficiency of production line.

It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

Claims

1. The utility model provides a multistage transfer device of production line work piece which characterized in that:

the device comprises a manipulator, a plurality of trays, a controller, a head end transfer mechanism, a plurality of middle transfer mechanisms and a tail end transfer mechanism, wherein the head end transfer mechanism, the middle transfer mechanisms and the tail end transfer mechanisms are arranged at intervals along the same direction, and the trays are used for bearing workpieces; the controller is respectively connected with the manipulator, the head end transfer mechanism, the middle transfer mechanism and the tail end transfer mechanism;

2. The production line workpiece multi-stage transfer device of claim 1, wherein: the device includes the base plate of rectangle and the backup pad of a plurality of L types, two liang of relative intervals of backup pad set up on the base plate, head end transport mechanism is by two the backup pad supports, every middle transport mechanism is by two the backup pad supports, terminal transport mechanism is by two the backup pad supports.

3. The production line workpiece multi-stage transfer device of claim 2, wherein: the tray is basically rectangular and comprises a rectangular body and four first bulges, wherein two opposite surfaces of the body are respectively a first surface and a second surface, the first bulges are respectively arranged at four corners of the first surface, two first bulges positioned at the same end are respectively provided with a first positioning hole, and the other two first bulges are respectively provided with a fourth positioning hole; the second surface is respectively provided with two outer side grooves, two inner side grooves and a middle groove, the two inner side grooves are positioned between the two outer side grooves, and the middle groove is positioned between the two inner side grooves; the tray further comprises a second protrusion; the two second bulges are respectively arranged at two ends of the middle groove, which are opposite to each other, and fifth positioning holes are respectively formed in the two second bulges.

4. The production line workpiece multi-stage transfer device of claim 3, wherein: the first surface is also provided with a plurality of threaded holes which are evenly distributed, and the workpieces are arranged on the tray through the threaded holes.

5. The production line workpiece multi-stage transfer device of any one of claims 1-4, wherein: the head end transfer mechanism comprises a concave first bearing piece, two head end clamping cylinders, a wedge-shaped head end claw and a head end transfer cylinder, the head end transfer cylinder comprises a first head end, a first tail end, three cylindrical first hollow guide columns and a first sliding block, the first head end and the first tail end are respectively arranged on the two corresponding supporting plates, and two ends of each first hollow guide column are respectively connected to the first head end and the first tail end; the first sliding block is slidably connected to the hollow guide post and can slide along the hollow guide post; the first bearing piece is arranged on the sliding block, one ends of the two head end claws are respectively connected with the first bearing piece, and the two head end claws are arranged at intervals; two head end die clamping cylinder sets up respectively first both ends that hold carrier back of the body mutually.

6. The production line workpiece multi-stage transfer device of claim 5, wherein: the head end transferring cylinder is provided with a magnetic switch, and the magnetic switch is used for position detection; and a layer of polytetrafluoroethylene is laid on the surface of the head end claw.

7. The production line workpiece multi-stage transfer device according to any one of claims 2 to 4, wherein: the middle transfer mechanism comprises a support flat plate, a first blocking cylinder, a second blocking cylinder, four linear bearings and four guide rods; the four guide rods are respectively movably arranged on the two corresponding support plates and are positioned at four corners of the same rectangular shape, and each guide rod is provided with the linear bearing; the support flat plate is connected with the four guide rods; the supporting flat plate is provided with through grooves, the positions of the two through grooves correspond to the positions of the first blocking cylinder and the second blocking cylinder respectively, and the first blocking cylinder and the second blocking cylinder are connected to the supporting flat plate respectively.

8. The production line workpiece multi-stage transfer device of claim 7, wherein: the middle transfer mechanism further comprises a lifting cylinder, two guide rails and a plurality of supporting rollers, wherein the lifting cylinder is arranged on the base plate and is positioned between the supporting flat plate and the base plate; the two guide rails are arranged along the length direction of the support flat plate, and are respectively arranged on two opposite sides of the support flat plate at intervals; the supporting rollers are respectively arranged on the two guide rails in a sliding manner.

9. The production line workpiece multi-stage transfer device of claim 8, wherein: the middle transfer mechanism further comprises a middle transfer cylinder, a concave second bearing piece, a middle claw and two middle clamping cylinders, wherein the second bearing piece is arranged on a second sliding block of the middle transfer cylinder; the middle claws are arranged on the second bearing piece, and the two middle claws are arranged at intervals; the supporting roller is positioned between the middle claw and the guide rail; the two middle clamping cylinders are respectively arranged at two ends of the second bearing piece, which are opposite to each other, and are arranged oppositely; and a magnetic switch is arranged on the middle transfer cylinder.

10. The production line workpiece multi-stage transfer device of claim 9, wherein: the support flat board is close to the fourth that the head end transport mechanism's one end was provided with the n style of calligraphy respectively holds carrier, the fourth hold carrier's one end connect in support flat board, the other end is connected with switching-over die clamping cylinder, two switching-over die clamping cylinder sets up relatively.