WO2023207616A1 - 一种多工艺面自动翻转、定位面旋转和夹爪抓取机构及其组合方法 - Google Patents

一种多工艺面自动翻转、定位面旋转和夹爪抓取机构及其组合方法 Download PDF

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Publication number
WO2023207616A1
WO2023207616A1 PCT/CN2023/088153 CN2023088153W WO2023207616A1 WO 2023207616 A1 WO2023207616 A1 WO 2023207616A1 CN 2023088153 W CN2023088153 W CN 2023088153W WO 2023207616 A1 WO2023207616 A1 WO 2023207616A1
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Prior art keywords
telescopic
rotating
rotating mechanism
telescopic mechanism
clamping jaw
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PCT/CN2023/088153
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English (en)
French (fr)
Inventor
刘学洪
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深圳市富士杰智能技术有限公司
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Publication of WO2023207616A1 publication Critical patent/WO2023207616A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines

Definitions

  • the present invention relates to the technical field of mechanical processing and assembly, and more specifically, to a multi-process surface automatic turning, positioning surface rotation and clamping claw grabbing mechanism and a combination method thereof.
  • the traditional automatic turning mechanism is composed of a set of rotating mechanisms, a claw grabbing mechanism at the end of the rotating mechanism, and a workpiece pallet.
  • the working method is to grab the workpiece to the workpiece pallet (or other clamping mechanism) through an external mechanism.
  • the rotating mechanism grabs the workpiece through the clamping claw at the end and rotates it to the required processing surface.
  • the external mechanism can take away the workpiece.
  • the traditional processing surface turning mechanism generally only has one set of rotating mechanisms. Using a cylinder as the power of the rotating mechanism, it can only complete the conversion of one processing surface or assembly surface. For multi-process products, it is impossible to complete the turning of all processing surfaces or assembly surfaces in a single machine. In other words, each step of the process requires manual assistance to turn the workpiece over.
  • the purpose of the present invention is to provide a multi-process surface automatic flipping, positioning surface rotation and clamping claw grabbing mechanism and a combination method thereof.
  • the present invention can be used in CNC machining centers or other CNC equipment, In the loading and unloading machine of the assembly equipment, through the multi-process surface automatic turning mechanism and the positioning surface rotation mechanism, the process surface can be automatically turned over and the positioning surface can be automatically rotated during the workpiece process conversion process; supplemented by the automatic cooperation of the claw grabbing mechanism, no It is necessary to use manual turning of workpieces, which greatly saves people and effort; it can complete the production of finished products of multi-process products in a single machine, reducing processing flow, reducing workpiece stacking space and retention problems, and no longer having to worry about uneven machine ratios; It is no longer difficult or expensive to run the machine around the clock, and fully tap the machine's production capacity; the processing industry no longer has to worry about being restricted by personnel and difficult to manage, and the processing industry no longer has to worry about uncontroll
  • the present invention adopts the following technical solutions.
  • a multi-process surface automatic flipping, positioning surface rotation and clamping claw grabbing mechanism and a combination method thereof including a first fixed bracket, the first fixed bracket is used to install the multi-process surface automatic flipping mechanism, positioning surface rotation mechanism and materials Pallet 1, the clamping claw grabbing mechanism is installed on the external moving frame.
  • the clamping claw grabbing mechanism includes a first rotating mechanism, a first rotating mechanism power mechanism, a first clamping claw, a second clamping claw, and a third clamping mechanism.
  • the claw, the fourth clamping claw and the first telescopic mechanism and the second telescopic mechanism, the first rotating mechanism is installed on the external movable bracket, the first telescopic mechanism and the second telescopic mechanism are both installed on the first rotating mechanism,
  • the invention can be used in CNC machining centers or other CNC equipment and assembly equipment loading and unloading machines. Through the multi-process surface automatic flipping mechanism and the positioning surface rotation mechanism, it can complete the automatic flipping of the process surface and the automatic rotation of the positioning surface during the workpiece process conversion process.
  • first clamping jaw grabbing mechanism and the second clamping jaw grabbing mechanism are a group, and the first clamping jaw grabbing mechanism and the second clamping jaw grabbing mechanism are respectively connected with the first clamping jaw and the second clamping jaw grabbing mechanism.
  • the clamping jaws are matched, and the third clamping jaw grabbing mechanism and the fourth clamping jaw grabbing mechanism are a group, and the third clamping jaw grabbing mechanism and the fourth clamping jaw grabbing mechanism are respectively connected with the third clamping jaw and the fourth clamping jaw grabbing mechanism.
  • the fourth clamping jaw matches.
  • the first clamping jaw grabbing mechanism and the second clamping jaw grabbing mechanism cooperate with the first clamping jaw and the second clamping jaw to grasp and place the workpiece body.
  • the clamping direction of the clamping jaw can be adjusted according to the The processing requirements are set to clamping in the left and right or front and rear directions; the third clamping jaw grabbing mechanism and the fourth clamping jaw grabbing mechanism cooperate with the third clamping jaw and the fourth clamping jaw to realize grabbing and placing the workpiece body for processing.
  • the tightening direction can be set to left and right or front and rear clamping according to processing requirements, and the first rotating mechanism can rotate 180° to convert the first clamping jaw and other four clamping jaws.
  • the multi-process surface automatic turning mechanism includes a third telescopic mechanism, a fourth telescopic mechanism, a second rotating mechanism, a third rotating mechanism, and fifth and sixth clamping jaws.
  • the third telescopic mechanism is equipped with There is a third telescopic mechanism power mechanism, the fourth telescopic mechanism is equipped with a fourth telescopic mechanism power mechanism, the second rotating mechanism is equipped with a second rotating mechanism power mechanism, the third rotating mechanism is equipped with a third rotating mechanism Power mechanism, the third telescopic mechanism and the fourth telescopic mechanism are both installed on the second fixed bracket, the second rotating mechanism is installed on the third telescopic mechanism, the third rotating mechanism is installed on the fourth On the telescopic mechanism, the fifth clamping jaw is installed on the second rotating mechanism, the sixth clamping jaw is installed on the third rotating mechanism, and the third telescopic mechanism drives the second rotating mechanism and the fifth clamping jaw according to the X-axis To perform linear motion, the second rotating mechanism can drive the fifth clamping jaw to flip at any angle
  • the positioning surface rotating mechanism includes a fifth telescopic mechanism, a fourth rotating mechanism and a material tray.
  • the fifth telescopic mechanism is equipped with a fifth telescopic mechanism power mechanism
  • the fourth rotating mechanism is equipped with a fourth rotating mechanism.
  • Mechanism power mechanism, the fifth telescopic mechanism is installed on the second fixed bracket, the fourth rotating mechanism is installed on the fifth telescopic mechanism, the material tray is installed on the fourth rotating mechanism, the fifth
  • the telescopic mechanism drives the fourth rotating mechanism and the material pallet to make linear motion along the Z-axis.
  • the fourth rotating mechanism can drive the material pallet to flip around the Z-axis at any angle and drive the multi-positioning surfaces of the workpiece body to rotate.
  • the first combination method of automatic flipping of multiple process surfaces, rotation of positioning surfaces, and gripper grabbing mechanism including the following steps:
  • the clamping claw grabbing mechanism is driven by an external mechanism to place the workpiece body on the material pallet 1;
  • the fifth telescopic mechanism extends and moves to the designated position according to the program setting
  • the third telescopic mechanism or the fourth telescopic mechanism extends, and the workpiece body is grasped by the fifth clamping jaw or the sixth clamping jaw;
  • the fifth telescopic mechanism extends and moves to the designated position according to the program setting.
  • the workpiece body is placed back to the material pallet by the fifth or sixth clamping jaws.
  • the third telescopic mechanism or the fourth telescopic mechanism returns to the origin.
  • the second The rotating mechanism or the third rotating mechanism returns to the origin;
  • the fourth rotating mechanism sets the rotation angle of the positioning surface of the rotating workpiece according to the program
  • the clamping claw grabbing mechanism is driven by an external mechanism to grab the workpiece body, and moves to the designated position according to the program setting.
  • the fifth telescopic mechanism and the fourth rotating mechanism return to the origin.
  • the multi-process surface automatic turning mechanism includes a third telescopic mechanism and a third telescopic mechanism power mechanism, a seventh telescopic mechanism and a seventh telescopic mechanism power mechanism, a second rotation mechanism and a second rotation mechanism power mechanism, a sixth The rotating mechanism and the fifth and sixth clamping jaws; the seventh telescopic mechanism is installed on the second fixed bracket, the sixth rotating mechanism is installed on the seventh telescopic mechanism, and the sixth rotating mechanism is equipped with There is a sixth rotating mechanism power mechanism, the sixth clamping jaw is installed on the sixth rotating mechanism, the third telescopic mechanism can drive the second rotating mechanism to perform telescopic movement in the X-axis direction, and the second rotating mechanism can drive the fifth clamping jaw.
  • the fifth clamping jaw can grasp and place the workpiece body by rotating around the The clamping jaw rotates around the Y-axis and flips the processing surface of the workpiece body.
  • the sixth clamping jaw can grab and place the workpiece body.
  • the positioning surface rotating mechanism includes a fourth telescopic mechanism and a fourth telescopic mechanism power mechanism, a fifth telescopic mechanism and a fifth telescopic mechanism power mechanism, a sixth telescopic mechanism and a sixth telescopic mechanism power mechanism, and an eighth telescopic mechanism.
  • the ninth telescopic mechanism and the tenth telescopic mechanism the positioning surface rotation mechanism includes a third rotation mechanism and a third rotation mechanism power mechanism, a fourth rotation mechanism and a fourth rotation mechanism power mechanism, a fifth rotation mechanism, a seventh rotation mechanism mechanism, the eighth rotating mechanism, the ninth rotating mechanism and material pallet two, material pallet three, material pallet four, material pallet five, material pallet six and material pallet seven.
  • the fourth telescopic mechanism can drive the third rotating mechanism in the Z-axis direction. Telescopic movement, third The rotating mechanism can drive the second material tray to rotate around the Z-axis and rotate the positioning surface. The second material tray can place the workpiece body; the fifth telescopic mechanism can drive the fourth rotating mechanism to perform telescopic movement in the Z-axis direction, and the fourth rotating mechanism can drive the material. Pallet three rotates around the Z-axis, and on the rotating positioning surface, material pallet three can place the workpiece body; the sixth telescopic mechanism can drive the fifth rotating mechanism to do telescopic movement in the Z-axis direction; the fifth rotating mechanism can drive material pallet four around the Z-axis.
  • the material pallet 4 can place the workpiece body; the eighth telescopic mechanism can drive the seventh rotating mechanism to perform telescopic movement in the Z-axis direction, and the seventh rotating mechanism can drive the material pallet 5 to perform rotational movement around the Z-axis.
  • material pallet 5 can place the workpiece body; the ninth telescopic mechanism can drive the eighth rotating mechanism to perform telescopic movement in the Z-axis direction, and the eighth rotating mechanism can drive material pallet 6 to perform rotational movement around the Z-axis.
  • the rotating positioning surface, material tray Six can place the workpiece body; the tenth telescopic mechanism can drive the ninth rotating mechanism to do telescopic movement in the Z-axis direction, and the ninth rotating mechanism can drive the material pallet seven to do a rotating movement around the Z-axis, rotating the positioning surface, and the material pallet seven can place the workpiece body. .
  • the eighth telescopic mechanism is equipped with an eighth telescopic mechanism power mechanism
  • the ninth telescopic mechanism is equipped with a ninth telescopic mechanism power mechanism
  • the tenth telescopic mechanism is equipped with a tenth telescopic mechanism power mechanism
  • the The fifth rotation mechanism is equipped with a fifth rotation mechanism power mechanism
  • the seventh rotation mechanism is equipped with a seventh rotation mechanism power mechanism
  • the eighth rotation mechanism is equipped with an eighth rotation mechanism power mechanism
  • the ninth rotation mechanism is equipped with a ninth rotation mechanism.
  • Mechanism power mechanism, the sixth telescopic mechanism, the seventh telescopic mechanism, the eighth telescopic mechanism, the ninth telescopic mechanism and the tenth telescopic mechanism are all installed on the first fixed bracket.
  • the ninth telescopic mechanism By setting the eighth telescopic mechanism power mechanism, the ninth telescopic mechanism The telescopic mechanism power mechanism and the tenth telescopic mechanism power mechanism provide power assistance for the telescopic work of the eighth telescopic mechanism, the ninth telescopic mechanism and the tenth telescopic mechanism, and the fifth rotating mechanism power mechanism, the seventh rotating mechanism power mechanism, The eighth rotation mechanism power mechanism and the ninth rotation mechanism power mechanism provide power assistance for the rotation work of the fifth rotation mechanism, the seventh rotation mechanism, the eighth rotation mechanism, and the ninth rotation mechanism.
  • the fifth rotating mechanism is installed on the sixth telescopic mechanism
  • the seventh rotating mechanism is installed on the eighth telescopic mechanism
  • the eighth rotating mechanism is installed on the ninth telescopic mechanism
  • the The ninth rotating mechanism is installed on the tenth telescopic mechanism
  • the second material tray is installed on the third rotating mechanism
  • the third material tray is installed on the fourth rotating mechanism
  • the fourth material tray is installed on the fifth
  • the material tray five is installed on the seventh rotating mechanism
  • the material tray six is installed on the eighth rotating mechanism
  • the material tray seven is installed on the ninth rotating mechanism.
  • the second method is a combination method of automatic flipping of multiple process surfaces, rotation of positioning surfaces, and gripper grabbing mechanism, including the following steps:
  • the clamping claw grabbing mechanism is driven by an external mechanism to place the workpiece body on material pallet two or material pallet five;
  • the third telescopic mechanism or the seventh telescopic mechanism extends and moves to the designated position according to the program setting;
  • the fourth telescopic mechanism or the eighth telescopic mechanism extends and moves to the designated position according to the program setting;
  • the workpiece body is grasped by the fifth and sixth clamping jaws;
  • the second rotating mechanism or the sixth rotating mechanism sets the flip angle according to the program or does not flip
  • the fifth telescopic mechanism or the sixth telescopic mechanism, the ninth telescopic mechanism, and the tenth telescopic mechanism are extended and moved to the designated position according to the program setting.
  • the workpiece body is placed back to the material pallet by the fifth and sixth clamping jaws.
  • the third rotation mechanism or the fourth rotation mechanism, the fifth rotation mechanism, the seventh rotation mechanism, the eighth rotation mechanism, and the ninth rotation mechanism set the rotation angle of the positioning surface of the rotating workpiece according to the program
  • the clamping claw grabbing mechanism is driven by an external mechanism to the vicinity of material pallet three or material pallet four, material pallet six and material pallet seven containing the workpiece body.
  • the clamping claw grabbing mechanism grabs the workpiece body, moves and places the workpiece body.
  • the multi-process surface turning mechanism and the positioning surface rotating mechanism return to the origin.
  • the present invention can be used in CNC machining centers or other CNC equipment and assembly equipment loading and unloading machines.
  • the multi-process surface automatic flipping mechanism and the positioning surface rotation mechanism it can complete the automatic flipping and positioning of the process surface during the workpiece process conversion process.
  • the surface automatically rotates; supplemented by the automatic cooperation of the claw grabbing mechanism, there is no need to manually turn the workpiece, which greatly saves people and labor; it can complete the production of multi-process products in a single machine, reducing the flow of processing technology and reducing the stacking of workpieces.
  • the first clamping jaw grabbing mechanism and the second clamping jaw grabbing mechanism are a group, and the first clamping jaw grabbing mechanism and the second clamping jaw grabbing mechanism match the first clamping jaw and the second clamping jaw respectively.
  • the third jaw grabbing mechanism and the fourth clamping jaw grabbing mechanism are a group, the third clamping jaw grabbing mechanism and the fourth clamping jaw grabbing mechanism match the third clamping jaw and the fourth clamping jaw respectively,
  • the first clamping jaw grabbing mechanism and the second clamping jaw grabbing mechanism cooperate with the first clamping jaw and the second clamping jaw to grasp and place the workpiece body for processing.
  • the clamping direction of the clamping jaw can be set to left or right or front and back according to the processing requirements.
  • the clamping jaw clamping direction can be set according to the processing needs. It is clamped in the left and right or front and rear directions, and the first rotating mechanism can rotate 180° to convert the first clamping jaw and other four clamping jaws.
  • the multi-process surface automatic turning mechanism includes a third telescopic mechanism, a fourth telescopic mechanism, a second rotating mechanism, a third rotating mechanism, and fifth and sixth clamping jaws.
  • the third telescopic mechanism is equipped with a third telescopic mechanism.
  • Mechanism power mechanism, the fourth telescopic mechanism is equipped with a fourth telescopic mechanism power mechanism,
  • the second rotating mechanism is equipped with a second rotating mechanism power mechanism,
  • the third rotating mechanism is equipped with a third rotating mechanism power mechanism, the third telescopic mechanism and the fourth
  • the telescopic mechanisms are all installed on the second fixed bracket, the second rotating mechanism is installed on the third telescopic mechanism, the third rotating mechanism is installed on the fourth telescopic mechanism, and the fifth clamping jaw is installed on the second rotating mechanism.
  • the sixth clamping jaw is installed on the third rotation mechanism, and the third telescopic mechanism drives the second rotation The mechanism and the fifth clamping jaw make linear motion along the X-axis.
  • the second rotating mechanism can drive the fifth clamping jaw to rotate at any angle around the The mechanism and the sixth clamping jaw move linearly along the Y-axis.
  • the third rotating mechanism can drive the sixth clamping jaw to flip at any angle around the Y-axis, driving the workpiece body to complete multi-process flipping.
  • the positioning surface rotating mechanism includes a fifth telescopic mechanism, a fourth rotating mechanism and a material tray.
  • the fifth telescopic mechanism is equipped with a fifth telescopic mechanism power mechanism
  • the fourth rotating mechanism is equipped with a fourth rotating mechanism power mechanism
  • the fifth telescopic mechanism is equipped with a fourth rotating mechanism power mechanism.
  • the telescopic mechanism is installed on the second fixed bracket
  • the fourth rotating mechanism is installed on the fifth telescopic mechanism
  • the material pallet is installed on the fourth rotating mechanism
  • the fifth telescopic mechanism drives the fourth rotating mechanism and the material pallet presses
  • the Z-axis performs linear motion
  • the fourth rotating mechanism can drive the material tray to flip at any angle around the Z-axis, driving the multi-positioning surfaces of the workpiece body to rotate.
  • the multi-process surface automatic turning mechanism includes the third telescopic mechanism and the third telescopic mechanism power mechanism, the seventh telescopic mechanism and the seventh telescopic mechanism power mechanism, the second rotating mechanism and the second rotating mechanism power mechanism, and the sixth rotating mechanism And the fifth clamping jaw and the sixth clamping jaw; the seventh telescopic mechanism is installed on the second fixed bracket, the sixth rotating mechanism is installed on the seventh telescopic mechanism, the sixth rotating mechanism is equipped with a sixth rotating mechanism power mechanism, The sixth clamping jaw is installed on the sixth rotating mechanism.
  • the third telescopic mechanism can drive the second rotating mechanism to perform telescopic movement in the X-axis direction.
  • the second rotating mechanism can drive the fifth clamping jaw to perform rotating movement around the X-axis and turn over the workpiece body.
  • the fifth clamping jaw can grab and place the workpiece body;
  • the seventh telescopic mechanism can drive the sixth rotating mechanism to perform telescopic movement in the Y-axis direction, and the sixth rotating mechanism can drive the sixth clamping jaw to rotate around the Y-axis and flip over.
  • the sixth clamping jaw can grab and place the workpiece body.
  • the positioning surface rotating mechanism includes the fourth telescopic mechanism and the fourth telescopic mechanism dynamic mechanism, the fifth telescopic mechanism and the fifth telescopic mechanism dynamic mechanism, the sixth telescopic mechanism and the sixth telescopic mechanism dynamic mechanism, the eighth telescopic mechanism, and the sixth telescopic mechanism.
  • the ninth telescopic mechanism and the tenth telescopic mechanism, the positioning surface rotating mechanism includes a third rotating mechanism and a third rotating mechanism power mechanism, a fourth rotating mechanism and a fourth rotating mechanism power mechanism, a fifth rotating mechanism, a seventh rotating mechanism, an eighth Rotating mechanism, ninth rotating mechanism and material tray 2.
  • the fourth telescopic mechanism can drive the third rotating mechanism to do telescopic movement in the Z-axis direction, and the third rotating mechanism can drive the material pallet two to do the telescopic movement around the Z-axis.
  • Rotating movement, rotating positioning surface, material pallet two can place the workpiece body;
  • the fifth telescopic mechanism can drive the fourth rotating mechanism to do telescopic movement in the Z-axis direction, and the fourth rotating mechanism can drive the material pallet three to do rotating movement around the Z-axis, and rotate and position On the surface, material pallet three can place the workpiece body;
  • the sixth telescopic mechanism can drive the fifth rotating mechanism to do telescopic movement in the Z-axis direction;
  • the fifth rotating mechanism can drive the material pallet four to do rotational movement around the Z-axis, and the rotation positioning surface, material pallet four
  • the workpiece body can be placed;
  • the eighth telescopic mechanism can drive the seventh rotating mechanism to perform telescopic movement in the Z-axis direction, and the seventh rotating mechanism can drive the material pallet 5 to rotate around the Z-axis, rotating the positioning surface, and the material pallet 5 can place the workpiece body;
  • the ninth telescopic mechanism can drive the eighth rotating mechanism to perform telescopic movement in the Z-
  • the eighth telescopic mechanism is equipped with an eighth telescopic mechanism power mechanism
  • the ninth telescopic mechanism is equipped with a ninth telescopic mechanism power mechanism
  • the tenth telescopic mechanism is equipped with a tenth telescopic mechanism power mechanism
  • the fifth rotating mechanism is equipped with a fifth
  • the rotating mechanism power mechanism, the seventh rotating mechanism is equipped with the seventh rotating mechanism power mechanism
  • the eighth rotating mechanism is equipped with the eighth rotating mechanism power mechanism
  • the ninth rotating mechanism is equipped with the ninth rotating mechanism power mechanism
  • the sixth telescopic mechanism the The seventh telescopic mechanism, the eighth telescopic mechanism, the ninth telescopic mechanism and the tenth telescopic mechanism are all installed on the first fixed bracket.
  • the eighth telescopic mechanism power mechanism By setting the eighth telescopic mechanism power mechanism, the ninth telescopic mechanism power mechanism and the tenth telescopic mechanism power mechanism, It is realized to provide power assistance for the telescopic work of the eighth telescopic mechanism, the ninth telescopic mechanism and the tenth telescopic mechanism, and the fifth rotating mechanism power mechanism, the seventh rotating mechanism power mechanism, the eighth rotating mechanism power mechanism and the ninth rotating mechanism power
  • the mechanism provides power assistance for the rotation work of the fifth rotating mechanism, the seventh rotating mechanism, the eighth rotating mechanism and the ninth rotating mechanism.
  • the fifth rotating mechanism is installed on the sixth telescopic mechanism
  • the seventh rotating mechanism is installed on the eighth telescopic mechanism
  • the eighth rotating mechanism is installed on the ninth telescopic mechanism
  • the ninth rotating mechanism is installed on the ninth telescopic mechanism.
  • material pallet two is installed on the third rotating mechanism
  • material pallet three is installed on the fourth rotating mechanism
  • material pallet four is installed on the fifth rotating mechanism
  • material pallet five is installed on the seventh rotating mechanism.
  • material pallet six is installed on the eighth rotating mechanism
  • material pallet seven is installed on the ninth rotating mechanism.
  • Figure 1 is a schematic three-dimensional structural diagram of the first structure of the present invention
  • Figure 2 is a schematic three-dimensional structural diagram of the first multi-process surface automatic flipping mechanism in the present invention
  • Figure 3 is an exploded view of Figure 2;
  • Figure 4 is a schematic structural diagram of a three-dimensional structural diagram of the second structure of the present invention.
  • Figure 5 is a schematic three-dimensional structural diagram of the second multi-process surface automatic flipping mechanism in the present invention.
  • Figure 6 is an exploded view of Figure 5;
  • Figure 7 is a schematic three-dimensional structural diagram of the claw grabbing mechanism of the present invention.
  • FIG. 8 is an exploded view of FIG. 7 .
  • connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, or it can be inside two components of connectivity.
  • Connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, or it can be inside two components of connectivity.
  • a multi-process surface automatic flipping, positioning surface rotation and clamping claw grabbing mechanism and its The combination method includes the first fixed bracket 2.8.
  • the first fixed bracket 2.8 is used to install the multi-process surface automatic flipping mechanism, the positioning surface rotating mechanism and the material tray 2.11.
  • the clamping claw grabbing mechanism is installed on the external mobile frame.
  • the fetching mechanism includes a first rotating mechanism 1.8, a first rotating mechanism power mechanism 1.7, a first clamping jaw 1.3, a second clamping jaw 1.1, a third clamping jaw 1.4, a fourth clamping jaw 1.2 and a first telescopic mechanism 1.5 and a second telescopic mechanism.
  • the present invention can be used in CNC machining centers or other numerical control equipment, In the loading and unloading machine of the assembly equipment, through the multi-process surface automatic turning mechanism and the positioning surface rotation mechanism, the process surface can be automatically turned over and the positioning surface can be automatically rotated during the workpiece process conversion process; supplemented by the automatic cooperation of the claw grabbing mechanism, no It is necessary to use manual turning of workpieces, which greatly saves people and effort; it can complete the production of finished products of multi-process products in a single machine, reducing processing flow, reducing workpiece stacking space and retention problems, and no longer having to worry about uneven machine ratios; It is no longer difficult or expensive to run the machine around the clock, and fully tap the machine's production capacity; the processing industry no longer has to worry about being restricted by personnel and difficult to manage, and the processing industry no longer has to
  • the first clamping claw grabbing mechanism and the second clamping claw grabbing mechanism are a group.
  • the first clamping claw grabbing mechanism and the second clamping claw grabbing mechanism are respectively connected with the first clamping claw 1.3 and the second clamping claw grabbing mechanism.
  • the two clamping jaws 1.1 are matched, the third clamping jaw grabbing mechanism and the fourth clamping jaw grabbing mechanism are a group, and the third clamping jaw grabbing mechanism and the fourth clamping jaw grabbing mechanism are respectively connected with the third clamping jaw 1.4 and the fourth clamping jaw grabbing mechanism.
  • the four clamping jaws 1.2 are matched.
  • the first clamping jaw grabbing mechanism and the second clamping jaw grabbing mechanism cooperate with the first clamping jaw 1.3 and the second clamping jaw 1.1 to capture and place the workpiece body 3.17 for processing, and the clamping jaws are clamped
  • the direction can be set to left and right or front and rear clamping according to processing requirements;
  • the third clamping jaw grabbing mechanism and the fourth clamping jaw grabbing mechanism cooperate with the third clamping jaw 1.4 and the fourth clamping jaw 1.2 to realize grabbing and placing the workpiece.
  • the main body 3.17 and the clamping direction of the clamping jaws can be set to left and right or front and rear clamping according to the processing requirements, and the first rotating mechanism 1.8 can rotate 180° to convert the first clamping jaw 1.3 and other four clamping jaws.
  • the multi-process surface automatic turning mechanism includes the third telescopic mechanism 2.5 and the fourth telescopic mechanism.
  • the third telescopic mechanism 2.5 is equipped with a third telescopic mechanism power mechanism 2.6
  • the fourth telescopic mechanism 2.12 is equipped with The fourth telescopic mechanism power mechanism 2.13
  • the second rotating mechanism 2.9 are equipped with the second rotating mechanism power mechanism 2.7
  • the third rotating mechanism 2.14 is equipped with the third rotating mechanism power mechanism 2.16
  • the third telescopic mechanism 2.5 and the fourth telescopic mechanism 2.12 are both Installed on the second fixed bracket 3.18
  • the second rotating mechanism 2.9 is installed on the third telescopic mechanism 2.5
  • the third rotating mechanism 2.14 is installed on the fourth telescopic mechanism 2.12
  • the fifth clamping jaw 2.10 is installed on the second On the rotating mechanism 2.9
  • the sixth clamping jaw 2.15 is installed on the third rotating mechanism 2.14.
  • the third telescopic mechanism 2.5 drives the second rotating mechanism 2.9 and the fifth clamping jaw 2.10 to make linear motion along the X-axis.
  • the second rotating mechanism 2.9 can be driven.
  • the fifth clamping jaw 2.10 rotates around the
  • the three-rotation mechanism 2.14 can drive the sixth clamping jaw 2.15 to flip at any angle around the Y-axis, and drive the workpiece body 3.17 to complete multi-process face flipping.
  • the positioning surface rotating mechanism includes a fifth telescopic mechanism 2.1, a fourth rotating mechanism 2.4 and a material tray 2.11.
  • the fifth telescopic mechanism 2.1 is equipped with a fifth telescopic mechanism power mechanism 2.2
  • the fourth rotating mechanism 2.4 is equipped with There is a fourth rotating mechanism power mechanism 2.3, a fifth telescopic mechanism 2.1 installed on the second fixed bracket 3.18, a fourth rotating mechanism 2.4 installed on the fifth telescopic mechanism 2.1, and a material tray 2.11 installed on the fourth rotating mechanism
  • the fifth telescopic mechanism 2.1 drives the fourth rotating mechanism 2.4 and the material pallet 2.11 to make linear motion along the Z axis.
  • the fourth rotating mechanism 2.4 can drive the material pallet 2.11 to flip at any angle around the Z axis, and drives the workpiece body 3.17 to be processed. Multi-positioning plane rotation.
  • the first combination method of automatic flipping of multiple process surfaces, rotation of positioning surfaces, and gripper grabbing mechanism including the following steps:
  • the clamping claw grabbing mechanism is driven by an external mechanism to place the workpiece body 3.17 on the material pallet 2.11;
  • the fifth telescopic mechanism 2.1 extends and moves to the designated position according to the program setting;
  • the third telescopic mechanism 2.5 or the fourth telescopic mechanism 2.12 extends, and the workpiece body 3.17 is grasped by the fifth clamping jaw 2.10 or the sixth clamping jaw 2.15;
  • the fifth telescopic mechanism 2.1 retracts, and the second rotating mechanism 2.9 or the third rotating mechanism 2.14 completes the turning angle of the workpiece process surface;
  • the fifth telescopic mechanism 2.1 extends and moves to the designated position according to the program setting.
  • the workpiece body 3.17 is placed back to the material pallet 2.11 by the fifth clamp 2.10 or the sixth clamp 2.15.
  • the third telescopic mechanism 2.5 or the fourth telescopic The mechanism 2.12 returns to the origin, and the second rotating mechanism 2.9 or the third rotating mechanism 2.14 returns to the origin;
  • the fourth rotating mechanism 2.4 sets the rotation angle of the positioning surface of the rotating workpiece according to the program
  • the clamping claw grabbing mechanism drives the grasping workpiece body 3.17 through the external mechanism, moves to the designated position according to the program setting, and the fifth telescopic mechanism 2.1 and the fourth rotating mechanism 2.4 return to the origin.
  • the multi-process surface automatic turning mechanism includes the third telescopic mechanism 2.5 and the third telescopic mechanism power mechanism 2.6, the seventh telescopic mechanism 3.6 and the seventh telescopic mechanism power mechanism, the second rotating mechanism 2.9 and the second rotating mechanism.
  • the sixth clamping jaw 2.15 is installed on the sixth rotating mechanism 3.7.
  • the third telescopic mechanism 2.5 can drive the second rotating mechanism 2.9 to perform telescopic movement in the X-axis direction.
  • the second rotating mechanism 2.9 can drive the fifth clamping jaw 2.10 to rotate around the
  • the rotating mechanism 3.7 performs telescopic movement in the Y-axis direction.
  • the sixth rotating mechanism 3.7 can drive the sixth clamping jaw 2.15 to rotate around the Y-axis and turn over the processing surface of the workpiece body 3.17.
  • the sixth clamping jaw 2.15 can grab and place the workpiece body 3.17.
  • the positioning surface rotating mechanism includes the fourth telescopic mechanism 2.12 and the fourth telescopic mechanism power mechanism 2.13, the fifth telescopic mechanism 2.1 and the fifth telescopic mechanism power mechanism 2.2, the sixth telescopic mechanism 3.5 and the sixth telescopic mechanism Power mechanism, eighth telescopic mechanism 3.15, ninth telescopic mechanism 3.11 and the tenth telescopic mechanism 3.12.
  • the positioning surface rotating mechanism includes a third rotating mechanism 2.14, a third rotating mechanism power mechanism 2.16, a fourth rotating mechanism 2.4 and a fourth rotating mechanism power mechanism 2.5, a fifth rotating mechanism 3.3, and a seventh rotating mechanism.
  • the fourth telescopic mechanism 2.12 can The third rotating mechanism 2.14 is driven to perform telescopic movement in the Z-axis direction.
  • the third rotating mechanism 2.14 can drive the material pallet 2.1 to rotate around the Z-axis and rotate the positioning surface.
  • the material pallet 2.1 can place the workpiece body 3.17; the fifth telescopic mechanism 2.1
  • the fourth rotating mechanism 2.4 can be driven to perform telescopic movement in the Z-axis direction.
  • the fourth rotating mechanism 2.4 can drive the material pallet 3.2 to perform rotating movement around the Z-axis and rotate the positioning surface.
  • the material pallet 3.2 can place the workpiece body 3.17;
  • the sixth telescopic mechanism 3.5 can drive the fifth rotating mechanism 3.3 to perform telescopic movement in the Z-axis direction;
  • the fifth rotating mechanism 3.3 can drive the material pallet 4 3.4 to rotate around the Z-axis and rotate the positioning surface, and the material pallet 4 3.4 can place the workpiece body 3.17;
  • the eighth telescopic The mechanism 3.15 can drive the seventh rotating mechanism 3.16 to perform telescopic movement in the Z-axis direction.
  • the seventh rotating mechanism 3.16 can drive the material pallet 5 3.14 to rotate around the Z-axis and rotate the positioning surface.
  • the material pallet 5 3.14 can place the workpiece body 3.17; ninth The telescopic mechanism 3.11 can drive the eighth rotating mechanism 3.9 to perform telescopic movement in the Z-axis direction, and the eighth rotating mechanism 3.9 can drive the material pallet 6 3.8 to rotate around the Z-axis, and rotate the positioning surface.
  • the material pallet 6 3.8 can place the workpiece body 3.17;
  • the ten telescopic mechanism 3.12 can drive the ninth rotating mechanism 3.13 to perform telescopic movement in the Z-axis direction.
  • the ninth rotating mechanism 3.13 can drive the material pallet 7 3.10 to rotate around the Z axis and rotate the positioning surface.
  • the material pallet 7 3.10 can place the workpiece body 3.17.
  • the eighth telescopic mechanism 3.15 is equipped with the eighth telescopic mechanism power mechanism
  • the ninth telescopic mechanism 3.11 is equipped with the ninth telescopic mechanism power mechanism
  • the tenth telescopic mechanism 3.12 is equipped with the tenth telescopic mechanism power mechanism.
  • the fifth rotary mechanism 3.3 is equipped with a fifth rotary mechanism power mechanism
  • the seventh rotary mechanism 3.16 is equipped with a seventh rotary mechanism power mechanism
  • the eighth rotary mechanism 3.9 is equipped with an eighth rotary mechanism power mechanism
  • the ninth rotary mechanism 3.13 is equipped with a ninth rotary mechanism.
  • Rotating mechanism power mechanism, sixth telescopic mechanism 3.5, seventh telescopic mechanism 3.6, eighth telescopic mechanism 3.15, ninth telescopic mechanism 3.11 and tenth telescopic mechanism 3.12 are all installed on the first fixed bracket 2.8.
  • the eighth telescopic mechanism, the ninth telescopic mechanism and the tenth telescopic mechanism they are realized as the eighth telescopic mechanism 3.15, the ninth telescopic mechanism 3.11 and the tenth telescopic mechanism.
  • the telescopic work of the telescopic mechanism 3.12 provides power assistance
  • the fifth rotating mechanism power mechanism, the seventh rotating mechanism power mechanism, the eighth rotating mechanism power mechanism and the ninth rotating mechanism power mechanism are the fifth rotating mechanism 3.3 and the seventh rotating mechanism.
  • the rotation work of 3.16, the eighth rotating mechanism 3.9, and the ninth rotating mechanism 3.13 provides power assistance.
  • the fifth rotating mechanism 3.3 is installed on the sixth telescopic mechanism 3.5
  • the seventh rotating mechanism 3.16 is installed on the eighth telescopic mechanism 3.15
  • the eighth rotating mechanism 3.9 is installed on the ninth telescopic mechanism 3.11.
  • the ninth rotating mechanism 3.13 is installed on the tenth telescopic mechanism 3.12
  • the material pallet two 3.1 is installed on the third rotating mechanism 2.14
  • the material pallet three 3.2 is installed on the fourth rotating mechanism 2.4
  • the material pallet four 3.4 is installed on it.
  • material pallet five 3.14 is installed on the seventh rotating mechanism 3.16
  • material pallet six 3.8 is installed on the eighth rotating mechanism 3.9
  • material pallet seven 3.10 is installed on the ninth rotating mechanism 3.13.
  • the workpiece body 3.17 can be driven to perform arbitrary movements in the Z-axis direction. Angle adjustment.
  • the second method is a combination method of automatic flipping of multiple process surfaces, rotation of positioning surfaces, and gripper grabbing mechanism, including the following steps:
  • the clamping claw grabbing mechanism is driven by an external mechanism to place the workpiece body 3.17 on the material pallet two 3.1 or the material pallet five 3.14;
  • the third telescopic mechanism 2.5 or the seventh telescopic mechanism 3.6 extends and moves to the designated position according to the program setting;
  • the fourth telescopic mechanism 2.12 or the eighth telescopic mechanism 3.15 extends and moves to the designated position according to the program setting;
  • the fifth telescopic mechanism 2.1 or the sixth telescopic mechanism 3.5, the ninth telescopic mechanism 3.11, and the tenth telescopic mechanism 3.12 are extended and moved to the designated position according to the program setting.
  • the workpiece body 3.17 is clamped by the fifth clamping jaw 2.10 and the sixth
  • the clamping jaw 2.15 is placed back to the material pallet three 3.2 or the material pallet four 3.4, the material pallet six 3.8 and the material pallet seven 3.10, the third telescopic mechanism 2.5 or the seventh telescopic mechanism 3.6;
  • the third rotating mechanism 2.14 or the fourth rotating mechanism 2.4, the fifth rotating mechanism 3.3, the seventh rotating mechanism 3.16, the eighth rotating mechanism 3.9, and the ninth rotating mechanism 3.13 set the rotation angle of the positioning surface of the rotating workpiece according to the program;
  • the clamping claw grabbing mechanism is driven by an external mechanism to the vicinity of material pallet three 3.2 or material pallet four 3.4, material pallet six 3.8 and material pallet seven 3.10 containing the workpiece body 3.17.
  • the clamping claw grabbing mechanism grabs the workpiece body 3.17. Move and place the workpiece body 3.17 on the material pallet 2.11, and the multi-process surface turning mechanism and the positioning surface rotating mechanism return to the origin.

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Abstract

一种多工艺面自动翻转、定位面旋转和夹爪抓取机构及其组合方法，多工艺面自动翻转、定位面旋转和夹爪抓取机构包括：第一固定支架（2.8），第一固定支架（2.8）用于安装多工艺面自动翻转机构、定位面旋转机构和物料托盘一（2.11），夹爪抓取机构安装在外部活动支架（1.9）上，夹爪抓取机构包括第一旋转机构（1.8）、第一旋转机构动力机构（1.7）、第一夹爪（1.3）、第二夹爪（1.1）、第三夹爪（1.4）、第四夹爪（1.2）和第一伸缩机构（1.5）、第二伸缩机构（1.6），第一旋转机构（1.8）安装在外部活动支架（1.9）上，第一伸缩机构（1.5）和第二伸缩机构（1.6）均安装在第一旋转机构（1.8）上。

Description

一种多工艺面自动翻转、定位面旋转和夹爪抓取机构及其组合方法 技术领域
本发明涉及机械加工装配技术领域，更具体地说，涉及一种多工艺面自动翻转、定位面旋转和夹爪抓取机构及其组合方法。
背景技术
传统的自动翻料机构是由一组旋转机构、以及旋转机构端部的夹爪抓取机构和工件托盘组成，工作方法是通过外部机构将工件抓取至工件托盘(或者其他夹紧机构)处的工件装夹点，旋转机构通过端部的夹爪抓取工件后旋转至所需加工面，在将工件放置回工件托盘，外部机构便可取走工件。
传统的加工面翻转机构一般只有一组旋转机构，使用气缸作为旋转机构的动力，只能完成一个加工面或装配面的转换，对于多工序的产品无法单机完成所有加工面或装配面的翻转,或者说每一步工艺都要借助人工辅助翻转工件才能完成。
发明内容
1.要解决的技术问题
针对现有技术中存在的问题，本发明的目的在于提供一种多工艺面自动翻转、定位面旋转和夹爪抓取机构及其组合方法，本发明可使用在CNC加工中心或其他数控设备、装配设备上下料机中，通过多工艺面自动翻转机构，定位面旋转机构，可完成工件工序转换过程中的工艺面自动翻转、定位面自动旋转；辅以夹爪抓取机构的自动配合，无需要采用人工翻转工件，大幅度达到省人、省力的效果；能单机完成多工序产品的成品制作，减少加工工艺流转，减少工件堆放空间、滞留问题，不再有机台配比不均的烦恼；让机台全天候运转不再难、不再贵，充分挖掘机台产能；让加工行业不再有受制于人员难于管理的烦恼，让加工行业不再有成本不可控的烦恼。
2.技术方案
为解决上述问题，本发明采用如下的技术方案。
一种多工艺面自动翻转、定位面旋转和夹爪抓取机构及其组合方法，包括第一固定支架，所述第一固定支架用于安装多工艺面自动翻转机构、定位面旋转机构和物料托盘一，所述夹爪抓取机构安装在外部移动架上，所述夹爪抓取机构包括第一旋转机构、第一旋转机构动力机构、第一夹爪、第二夹爪、第三夹爪、第四夹爪和第一伸缩机构、第二伸缩机构，所述第一旋转机构安装在外部活动支架上，所述第一伸缩机构和第二伸缩机构均安装在第一旋转机构上，本发明可使用在CNC加工中心或其他数控设备、装配设备上下料机中，通过多工艺面自动翻转机构，定位面旋转机构，可完成工件工序转换过程中的工艺面自动翻转、定位面自动旋转；辅以夹爪抓取机构的自动配合，无需要采用人工翻转工件，大幅度达到省人、省力的效果；能单机完成多工序产品的成品制作，减少加工工艺流转，减少工件堆放空间、滞留问题，不再有机台配比不均的烦恼；让机台全天候运转不再难、不再贵，充分挖掘机台产能；让加工行业不再有受制于人员难于管理的烦恼，让加工行业不再有成本不可控的烦恼。
进一步的，所述第一夹爪抓取机构和第二夹爪抓取机构为一组，所述第一夹爪抓取机构和第二夹爪抓取机构分别与第一夹爪和第二夹爪相匹配，所述第三夹爪抓取机构和第四夹爪抓取机构为一组，所述第三夹爪抓取机构和第四夹爪抓取机构分别与第三夹爪和第四夹爪相匹配，第一夹爪抓取机构和第二夹爪抓取机构配合第一夹爪和第二夹爪，可以实现抓取、放置加工工件本体，夹爪夹紧方向可根据加工需求设定为左右或前后方向夹紧；第三夹爪抓取机构和第四夹爪抓取机构配合第三夹爪和第四夹爪，实现抓取、放置加工工件本体，夹爪夹紧方向可根据加工需求设定为左右或前后方向夹紧，且第一旋转机构可进行180°旋转，对第一夹爪等四个夹爪进行转换。
进一步的，所述多工艺面自动翻转机构包括第三伸缩机构、第四伸缩机构、第二旋转机构、第三旋转机构、和第五夹爪、第六夹爪，所述第三伸缩机构配有第三伸缩机构动力机构，所述第四伸缩机构配有第四伸缩机构动力机构，所述第二旋转机构配有第二旋转机构动力机构，所述第三旋转机构配有第三旋转机构动力机构，所述第三伸缩机构和第四伸缩机构均装设在第二固定支架上，所述第二旋转机构装设在第三伸缩机构上，所述第三旋转机构装设在第四伸缩机构上，所述第五夹爪装设在第二旋转机构上，所述第六夹爪装设在第三旋转机构，第三伸缩机构驱动第二旋转机构和第五夹爪按X轴做直线运动，第二旋转机构可驱动第五夹爪绕X轴做任意角度翻转，驱动加工工件本体的完成多工艺面翻转；第四伸缩机构驱动第三旋转机构和第六夹爪按Y轴做直线运动，第三旋转机构可驱动第六夹爪绕Y轴做任意角度翻转，驱动加工工件本体的完成多工艺面翻转。
进一步的，所述定位面旋转机构包括第五伸缩机构、第四旋转机构和物料托盘一，所述第五伸缩机构配有第五伸缩机构动力机构，所述第四旋转机构配有第四旋转机构动力机构，所述第五伸缩机构装设在第二固定支架上，所述第四旋转机构装设在第五伸缩机构上，所述物料托盘一装设在第四旋转机构上，第五伸缩机构驱动第四旋转机构和物料托盘一按Z轴做直线运动，第四旋转机构可驱动物料托盘一绕Z轴做任意角度翻转，驱动加工工件本体的多定位面旋转。
第一款一种多工艺面自动翻转、定位面旋转和夹爪抓取机构的组合方法，包括以下步骤：
S1、夹爪抓取机构通过外部机构带动，将工件本体放置在物料托盘一上；
S2、第五伸缩机构伸出，根据程序设定移动到指定位置；
S3、第三伸缩机构或第四伸缩机构伸出，工件本体被第五夹爪或第六夹爪抓取；
S4、第五伸缩机构收回，第二旋转机构或第三旋转机构完成工件工艺面翻转角度；
S5、第五伸缩机构伸出，根据程序设定移动到指定位置，工件本体被第五夹爪或第六夹爪放置回物料托盘一，第三伸缩机构或第四伸缩机构回原点，第二旋转机构或第三旋转机构回原点；
S6、第四旋转机构根据程序设定旋转工件定位面旋转角度；
S7、夹爪抓取机构通过外部机构带动抓取工件本体，根据程序设定移动至指定位置，第五伸缩机构、第四旋转机构回原点。
进一步的，所述多工艺面自动翻转机构包括第三伸缩机构和第三伸缩机构动力机构、第七伸缩机构和第七伸缩机构动力机构、第二旋转机构和第二旋转机构动力机构、第六旋转机构以及第五夹爪和第六夹爪；所述第七伸缩机构装设在第二固定支架上，所述第六旋转机构装设在第七伸缩机构上，所述第六旋转机构配有第六旋转机构动力机构，所述第六夹爪装设在第六旋转机构上，第三伸缩机构可驱动第二旋转机构做X轴方向伸缩运动，第二旋转机构可驱动第五夹爪绕X轴做旋转运动，翻转工件本体加工面，第五夹爪可抓取、放置工件本体；第七伸缩机构可驱动第六旋转机构做Y轴方向伸缩运动，第六旋转机构可驱动第六夹爪绕Y轴做旋转运动，翻转工件本体加工面，第六夹爪可抓取、放置工件本体。
进一步的，所述定位面旋转机构包括第四伸缩机构和第四伸缩机构动力机构、第五伸缩机构和第五伸缩机构动力机构、第六伸缩机构和第六伸缩机构动力机构、第八伸缩机构、第九伸缩机构和第十伸缩机构，所述定位面旋转机构包括第三旋转机构和第三旋转机构动力机构、第四旋转机构和第四旋转机构动力机构、第五旋转机构、第七旋转机构、第八旋转机构、第九旋转机构和物料托盘二、物料托盘三、物料托盘四、物料托盘五、物料托盘六和物料托盘七，第四伸缩机构可驱动第三旋转机构做Z轴方向伸缩运动，第三 旋转机构可驱动物料托盘二绕Z轴做旋转运动，旋转定位面，物料托盘二可放置工件本体；第五伸缩机构可驱动第四旋转机构做Z轴方向伸缩运动，第四旋转机构可驱动物料托盘三绕Z轴做旋转运动，旋转定位面，物料托盘三可放置工件本体；第六伸缩机构可驱动第五旋转机构做Z轴方向伸缩运动；第五旋转机构可驱动物料托盘四绕Z轴做旋转运动，旋转定位面，物料托盘四可放置工件本体；第八伸缩机构可驱动第七旋转机构做Z轴方向伸缩运动，第七旋转机构可驱动物料托盘五绕Z轴做旋转运动，旋转定位面，物料托盘五可放置工件本体；第九伸缩机构可驱动第八旋转机构做Z轴方向伸缩运动，第八旋转机构可驱动物料托盘六绕Z轴做旋转运动，旋转定位面，物料托盘六可放置工件本体；第十伸缩机构可驱动第九旋转机构做Z轴方向伸缩运动，第九旋转机构可驱动物料托盘七绕Z轴做旋转运动，旋转定位面，物料托盘七可放置工件本体。
进一步的，所述第八伸缩机构配有第八伸缩机构动力机构，所述第九伸缩机构配有第九伸缩机构动力机构，所述第十伸缩机构配有第十伸缩机构动力机构，所述第五旋转机构配有第五旋转机构动力机构，所述第七旋转机构配有第七旋转机构动力机构、第八旋转机构配有第八旋转机构动力机构，第九旋转机构配有第九旋转机构动力机构，所述第六伸缩机构、第七伸缩机构、第八伸缩机构、第九伸缩机构和第十伸缩机构均安装在第一固定支架上，通过设置第八伸缩机构动力机构、第九伸缩机构动力机构和第十伸缩机构动力机构，实现为第八伸缩机构、第九伸缩机构和第十伸缩机构的伸缩工作提供动力辅助，且第五旋转机构动力机构、第七旋转机构动力机构、第八旋转机构动力机构和第九旋转机构动力机构，为第五旋转机构、第七旋转机构、第八旋转机构、第九旋转机构的旋转工作提供动力辅助。
进一步的，所述第五旋转机构装设在第六伸缩机构上，所述第七旋转机构装设在第八伸缩机构上，所述第八旋转机构装设在第九伸缩机构上，所述 第九旋转机构装设在第十伸缩机构上，所述物料托盘二装设在第三旋转机构，所述物料托盘三装设在第四旋转机构上，所述物料托盘四装设在第五旋转机构上，所述物料托盘五装设在第七旋转机构上，所述物料托盘六装设在第八旋转机构上，所述物料托盘七装设在第九旋转机构上，通过第六伸缩机构和第五旋转机构、第八伸缩机构和第七旋转机构、第十伸缩机构和第九旋转机构，可以实现带动工件本体在Z轴方向上进行任意角度的调整。
第二款一种多工艺面自动翻转、定位面旋转和夹爪抓取机构的组合方法，包括以下步骤：
S1、夹爪抓取机构通过外部机构带动，将工件本体放置在物料托盘二或物料托盘五上；
S2、第三伸缩机构或第七伸缩机构伸出，根据程序设定移动到指定位置；
S3、第四伸缩机构或第八伸缩机构伸出，根据程序设定移动到指定位置；
S4、工件本体被第五夹爪和第六夹爪抓取；
S5、第二旋转机构或第六旋转机构根据程序设定翻转角度或者不翻转；
S6、第五伸缩机机构或第六伸缩机构、第九伸缩机构、第十伸缩机构伸出，根据程序设定移动到指定位置，工件本体被第五夹爪和第六夹爪放置回物料托盘三或物料托盘四、物料托盘六和物料托盘七，第三伸缩机构或第七伸缩机构；
S7、第三旋转机构或第四旋转机构、第五旋转机构、第七旋转机构、第八旋转机构、第九旋转机构根据程序设定旋转工件定位面旋转角度；
S8、夹爪抓取机构通过外部机构带动至装有工件本体的物料托盘三或物料托盘四、物料托盘六和物料托盘七附近，夹爪抓取机构抓取工件本体，移动并将工件本体放置到物料托盘一，多工艺面翻转机构和定位面旋转机构回原点。
3.有益效果
相比于现有技术，本发明的优点在于：
(1)本发明可使用在CNC加工中心或其他数控设备、装配设备上下料机中，通过多工艺面自动翻转机构，定位面旋转机构，可完成工件工序转换过程中的工艺面自动翻转、定位面自动旋转；辅以夹爪抓取机构的自动配合，无需要采用人工翻转工件，大幅度达到省人、省力的效果；能单机完成多工序产品的成品制作，减少加工工艺流转，减少工件堆放空间、滞留问题，不再有机台配比不均的烦恼；让机台全天候运转不再难、不再贵，充分挖掘机台产能；让加工行业不再有受制于人员难于管理的烦恼，让加工行业不再有成本不可控的烦恼。
(2)第一夹爪抓取机构和第二夹爪抓取机构为一组，第一夹爪抓取机构和第二夹爪抓取机构分别与第一夹爪和第二夹爪相匹配，第三夹爪抓取机构和第四夹爪抓取机构为一组，第三夹爪抓取机构和第四夹爪抓取机构分别与第三夹爪和第四夹爪相匹配，第一夹爪抓取机构和第二夹爪抓取机构配合第一夹爪和第二夹爪，可以实现抓取、放置加工工件本体，夹爪夹紧方向可根据加工需求设定为左右或前后方向夹紧；第三夹爪抓取机构和第四夹爪抓取机构配合第三夹爪和第四夹爪，实现抓取、放置加工工件本体，夹爪夹紧方向可根据加工需求设定为左右或前后方向夹紧，且第一旋转机构可进行180°旋转，对第一夹爪等四个夹爪进行转换。
(3)多工艺面自动翻转机构包括第三伸缩机构、第四伸缩机构、第二旋转机构、第三旋转机构、和第五夹爪、第六夹爪，第三伸缩机构配有第三伸缩机构动力机构，第四伸缩机构配有第四伸缩机构动力机构，第二旋转机构配有第二旋转机构动力机构，第三旋转机构配有第三旋转机构动力机构，第三伸缩机构和第四伸缩机构均装设在第二固定支架上，第二旋转机构装设在第三伸缩机构上，第三旋转机构装设在第四伸缩机构上，第五夹爪装设在第二旋转机构上，第六夹爪装设在第三旋转机构，第三伸缩机构驱动第二旋转 机构和第五夹爪按X轴做直线运动，第二旋转机构可驱动第五夹爪绕X轴做任意角度翻转，驱动加工工件本体的完成多工艺面翻转；第四伸缩机构驱动第三旋转机构和第六夹爪按Y轴做直线运动，第三旋转机构可驱动第六夹爪绕Y轴做任意角度翻转，驱动加工工件本体的完成多工艺面翻转。
(4)定位面旋转机构包括第五伸缩机构、第四旋转机构和物料托盘一，第五伸缩机构配有第五伸缩机构动力机构，第四旋转机构配有第四旋转机构动力机构，第五伸缩机构装设在第二固定支架上，第四旋转机构装设在第五伸缩机构上，物料托盘一装设在第四旋转机构上，第五伸缩机构驱动第四旋转机构和物料托盘一按Z轴做直线运动，第四旋转机构可驱动物料托盘一绕Z轴做任意角度翻转，驱动加工工件本体的多定位面旋转。
(5)多工艺面自动翻转机构包括第三伸缩机构和第三伸缩机构动力机构、第七伸缩机构和第七伸缩机构动力机构、第二旋转机构和第二旋转机构动力机构、第六旋转机构以及第五夹爪和第六夹爪；第七伸缩机构装设在第二固定支架上，第六旋转机构装设在第七伸缩机构上，第六旋转机构配有第六旋转机构动力机构，第六夹爪装设在第六旋转机构上，第三伸缩机构可驱动第二旋转机构做X轴方向伸缩运动，第二旋转机构可驱动第五夹爪绕X轴做旋转运动，翻转工件本体加工面，第五夹爪可抓取、放置工件本体；第七伸缩机构可驱动第六旋转机构做Y轴方向伸缩运动，第六旋转机构可驱动第六夹爪绕Y轴做旋转运动，翻转工件本体加工面，第六夹爪可抓取、放置工件本体。
(6)定位面旋转机构包括第四伸缩机构和第四伸缩机构动力机构、第五伸缩机构和第五伸缩机构动力机构、第六伸缩机构和第六伸缩机构动力机构、第八伸缩机构、第九伸缩机构和第十伸缩机构，定位面旋转机构包括第三旋转机构和第三旋转机构动力机构、第四旋转机构和第四旋转机构动力机构、第五旋转机构、第七旋转机构、第八旋转机构、第九旋转机构和物料托盘二、 物料托盘三、物料托盘四、物料托盘五、物料托盘六和物料托盘七，第四伸缩机构可驱动第三旋转机构做Z轴方向伸缩运动，第三旋转机构可驱动物料托盘二绕Z轴做旋转运动，旋转定位面，物料托盘二可放置工件本体；第五伸缩机构可驱动第四旋转机构做Z轴方向伸缩运动，第四旋转机构可驱动物料托盘三绕Z轴做旋转运动，旋转定位面，物料托盘三可放置工件本体；第六伸缩机构可驱动第五旋转机构做Z轴方向伸缩运动；第五旋转机构可驱动物料托盘四绕Z轴做旋转运动，旋转定位面，物料托盘四可放置工件本体；第八伸缩机构可驱动第七旋转机构做Z轴方向伸缩运动，第七旋转机构可驱动物料托盘五绕Z轴做旋转运动，旋转定位面，物料托盘五可放置工件本体；第九伸缩机构可驱动第八旋转机构做Z轴方向伸缩运动，第八旋转机构可驱动物料托盘六绕Z轴做旋转运动，旋转定位面，物料托盘六可放置工件本体；第十伸缩机构可驱动第九旋转机构做Z轴方向伸缩运动，第九旋转机构可驱动物料托盘七绕Z轴做旋转运动，旋转定位面，物料托盘七可放置工件本体。
(7)第八伸缩机构配有第八伸缩机构动力机构，第九伸缩机构配有第九伸缩机构动力机构，第十伸缩机构配有第十伸缩机构动力机构，第五旋转机构配有第五旋转机构动力机构，第七旋转机构配有第七旋转机构动力机构、第八旋转机构配有第八旋转机构动力机构，第九旋转机构配有第九旋转机构动力机构，第六伸缩机构、第七伸缩机构、第八伸缩机构、第九伸缩机构和第十伸缩机构均安装在第一固定支架上，通过设置第八伸缩机构动力机构、第九伸缩机构动力机构和第十伸缩机构动力机构，实现为第八伸缩机构、第九伸缩机构和第十伸缩机构的伸缩工作提供动力辅助，且第五旋转机构动力机构、第七旋转机构动力机构、第八旋转机构动力机构和第九旋转机构动力机构，为第五旋转机构、第七旋转机构、第八旋转机构、第九旋转机构的旋转工作提供动力辅助。
(8)第五旋转机构装设在第六伸缩机构上，第七旋转机构装设在第八伸缩机构上，第八旋转机构装设在第九伸缩机构上，第九旋转机构装设在第十伸缩机构上，物料托盘二装设在第三旋转机构，物料托盘三装设在第四旋转机构上，物料托盘四装设在第五旋转机构上，物料托盘五装设在第七旋转机构上，物料托盘六装设在第八旋转机构上，物料托盘七装设在第九旋转机构上，通过第六伸缩机构和第五旋转机构、第八伸缩机构和第七旋转机构、第十伸缩机构和第九旋转机构，可以实现带动工件本体在Z轴方向上进行任意角度的调整。
附图说明
图1为本发明中第一款结构的立体结构示意图；
图2为本发明中第一款多工艺面自动翻转机构的立体结构示意图；
图3为图2的爆炸视图；
图4为本发明中第二款结构的立体结构图结构示意图；
图5为本发明中第二款多工艺面自动翻转机构的立体结构示意图；
图6为图5的爆炸视图；
图7为本发明中夹爪抓取机构的立体结构示意图；
图8为图7的爆炸视图。
图中标号说明：
1.1、第二夹爪；1.2、第四夹爪；1.3、第一夹爪；1.4、第三夹爪；1.5、
第一伸缩机构；1.6、第二伸缩机构；1.7、第一旋转机构动力机构；1.8、第一旋转机构；1.9、外部活动支架；2.1、第五伸缩机构；2.2第五伸缩机构动力机构；2.3、第四旋转机构动力机构；2.4、第四旋转机构；2.5、第三伸缩机构；2.6、第三伸缩机构动力机构；2.7、第二旋转机构动力机构；2.8、第一固定支架；2.9、第二旋转机构；2.10、第五夹爪；2.11、物料托盘一；2.12、第四伸缩机构；2.13、第四伸缩机构动力机构；2.14、第三旋转机构；2.15、 第六夹爪；2.16、第三旋转机构动力机构；3.1、物料托盘二；3.2、物料托盘三；3.3、第五旋转机构；3.4、物料托盘四；3.5、第六伸缩机构；3.6、第七伸缩机构；3.7、第六旋转机构；3.8、物料托盘六；3.9、第八旋转机构；3.10、物料托盘七；3.11、第九伸缩机构；3.12、第十伸缩机构；3.13、第九旋转机构；3.14、物料托盘五；3.15、第八伸缩机构；3.16、第七旋转机构；3.17、工件本体；3.18、第二固定支架。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述；显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例，基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明的描述中，需要说明的是，术语“上”、“下”、“内”、“外”、“顶/底端”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“设置有”、“套设/接”、“连接”等，应做广义理解，例如“连接”，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
实施例：
请参阅图1-3，一种多工艺面自动翻转、定位面旋转和夹爪抓取机构及其 组合方法，包括第一固定支架2.8，第一固定支架2.8用于安装多工艺面自动翻转机构、定位面旋转机构和物料托盘一2.11，夹爪抓取机构安装在外部移动架上，夹爪抓取机构包括第一旋转机构1.8、第一旋转机构动力机构1.7、第一夹爪1.3、第二夹爪1.1、第三夹爪1.4、第四夹爪1.2和第一伸缩机构1.5、第二伸缩机构1.6，第一旋转机构1.8安装在外部活动支架1.9上，第一伸缩机构1.5和第二伸缩机构1.6均安装在第一旋转机构1.8上，本发明可使用在CNC加工中心或其他数控设备、装配设备上下料机中，通过多工艺面自动翻转机构，定位面旋转机构，可完成工件工序转换过程中的工艺面自动翻转、定位面自动旋转；辅以夹爪抓取机构的自动配合，无需要采用人工翻转工件，大幅度达到省人、省力的效果；能单机完成多工序产品的成品制作，减少加工工艺流转，减少工件堆放空间、滞留问题，不再有机台配比不均的烦恼；让机台全天候运转不再难、不再贵，充分挖掘机台产能；让加工行业不再有受制于人员难于管理的烦恼，让加工行业不再有成本不可控的烦恼。
请参阅图7-8，第一夹爪抓取机构和第二夹爪抓取机构为一组，第一夹爪抓取机构和第二夹爪抓取机构分别与第一夹爪1.3和第二夹爪1.1相匹配，第三夹爪抓取机构和第四夹爪抓取机构为一组，第三夹爪抓取机构和第四夹爪抓取机构分别与第三夹爪1.4和第四夹爪1.2相匹配，第一夹爪抓取机构和第二夹爪抓取机构配合第一夹爪1.3和第二夹爪1.1，可以实现抓取、放置加工工件本体3.17，夹爪夹紧方向可根据加工需求设定为左右或前后方向夹紧；第三夹爪抓取机构和第四夹爪抓取机构配合第三夹爪1.4和第四夹爪1.2，实现抓取、放置加工工件本体3.17，夹爪夹紧方向可根据加工需求设定为左右或前后方向夹紧，且第一旋转机构1.8可进行180°旋转，对第一夹爪1.3等四个夹爪进行转换。
请参阅图1-2，多工艺面自动翻转机构包括第三伸缩机构2.5、第四伸缩 机构2.12、第二旋转机构2.9、第三旋转机构2.14、和第五夹爪2.10、第六夹爪2.15，第三伸缩机构2.5配有第三伸缩机构动力机构2.6，第四伸缩机构2.12配有第四伸缩机构动力机构2.13，第二旋转机构2.9配有第二旋转机构动力机构2.7，第三旋转机构2.14配有第三旋转机构动力机构2.16，第三伸缩机构2.5和第四伸缩机构2.12均装设在第二固定支架上3.18，第二旋转机构2.9装设在第三伸缩机构2.5上，第三旋转机构2.14装设在第四伸缩机构2.12上，第五夹爪2.10装设在第二旋转机构2.9上，第六夹爪2.15装设在第三旋转机构2.14，第三伸缩机构2.5驱动第二旋转机构2.9和第五夹爪2.10按X轴做直线运动，第二旋转机构2.9可驱动第五夹爪2.10绕X轴做任意角度翻转，驱动加工工件本体3.17的完成多工艺面翻转；第四伸缩机构2.12驱动第三旋转机构2.14和第六夹爪2.15按Y轴做直线运动，第三旋转机构2.14可驱动第六夹爪2.15绕Y轴做任意角度翻转，驱动加工工件本体3.17的完成多工艺面翻转。
请参阅图1-3，定位面旋转机构包括第五伸缩机构2.1、第四旋转机构2.4和物料托盘一2.11，第五伸缩机构2.1配有第五伸缩机构动力机构2.2，第四旋转机构2.4配有第四旋转机构动力机构2.3，第五伸缩机构2.1装设在第二固定支架3.18上，第四旋转机构2.4装设在第五伸缩机构2.1上，物料托盘一2.11装设在第四旋转机构2.4上，第五伸缩机构2.1驱动第四旋转机构2.4和物料托盘一2.11按Z轴做直线运动，第四旋转机构2.4可驱动物料托盘一2.11绕Z轴做任意角度翻转，驱动加工工件本体3.17的多定位面旋转。
第一款一种多工艺面自动翻转、定位面旋转和夹爪抓取机构的组合方法，包括以下步骤：
S1、夹爪抓取机构通过外部机构带动，将工件本体3.17放置在物料托盘一2.11上；
S2、第五伸缩机构2.1伸出，根据程序设定移动到指定位置；
S3、第三伸缩机构2.5或第四伸缩机构2.12伸出，工件本体3.17被第五夹爪2.10或第六夹爪2.15抓取；
S4、第五伸缩机构2.1收回，第二旋转机构2.9或第三旋转机构2.14完成工件工艺面翻转角度；
S5、第五伸缩机构2.1伸出，根据程序设定移动到指定位置，工件本体3.17被第五夹爪2.10或第六夹爪2.15放置回物料托盘一2.11，第三伸缩机构2.5或第四伸缩机构2.12回原点，第二旋转机构2.9或第三旋转机构2.14回原点；
S6、第四旋转机构2.4根据程序设定旋转工件定位面旋转角度；
S7、夹爪抓取机构通过外部机构带动抓取工件本体3.17，根据程序设定移动至指定位置，第五伸缩机构2.1、第四旋转机构2.4回原点。
请参阅图4-6，多工艺面自动翻转机构包括第三伸缩机构2.5和第三伸缩机构动力机构2.6、第七伸缩机构3.6和第七伸缩机构动力机构、第二旋转机构2.9和第二旋转机构动力机构2.7、第六旋转机构3.7以及第五夹爪2.10和第六夹爪2.15；第七伸缩机构3.6装设在第二固定支架3.18上，第六旋转机构3.7装设在第七伸缩机构3.6上，第六旋转机构3.7配有第六旋转机构动力机构，第六夹爪2.15装设在第六旋转机构3.7上，第三伸缩机构2.5可驱动第二旋转机构2.9做X轴方向伸缩运动，第二旋转机构2.9可驱动第五夹爪2.10绕X轴做旋转运动，翻转工件本体3.17加工面，第五夹爪2.10可抓取、放置工件本体3.17；第七伸缩机构3.6可驱动第六旋转机构3.7做Y轴方向伸缩运动，第六旋转机构3.7可驱动第六夹爪2.15绕Y轴做旋转运动，翻转工件本体3.17加工面，第六夹爪2.15可抓取、放置工件本体3.17。
请参阅图5-6，定位面旋转机构包括第四伸缩机构2.12和第四伸缩机构动力机构2.13、第五伸缩机构2.1和第五伸缩机构动力机构2.2、第六伸缩机构3.5和第六伸缩机构动力机构、第八伸缩机构3.15、第九伸缩机构3.11 和第十伸缩机构3.12，定位面旋转机构包括第三旋转机构2.14和第三旋转机构动力机构2.16、第四旋转机构2.4和第四旋转机构动力机构2.5、第五旋转机构3.3、第七旋转机构3.16、第八旋转机构3.9、第九旋转机构3.13和物料托盘二3.1、物料托盘三3.2、物料托盘四3.4、物料托盘五3.14、物料托盘六3.8和物料托盘七3.10，第四伸缩机构2.12可驱动第三旋转机构2.14做Z轴方向伸缩运动，第三旋转机构2.14可驱动物料托盘二3.1绕Z轴做旋转运动，旋转定位面，物料托盘二3.1可放置工件本体3.17；第五伸缩机构2.1可驱动第四旋转机构2.4做Z轴方向伸缩运动，第四旋转机构2.4可驱动物料托盘三3.2绕Z轴做旋转运动，旋转定位面，物料托盘三3.2可放置工件本体3.17；第六伸缩机构3.5可驱动第五旋转机构3.3做Z轴方向伸缩运动；第五旋转机构3.3可驱动物料托盘四3.4绕Z轴做旋转运动，旋转定位面，物料托盘四3.4可放置工件本体3.17；第八伸缩机构3.15可驱动第七旋转机构3.16做Z轴方向伸缩运动，第七旋转机构3.16可驱动物料托盘五3.14绕Z轴做旋转运动，旋转定位面，物料托盘五3.14可放置工件本体3.17；第九伸缩机构3.11可驱动第八旋转机构3.9做Z轴方向伸缩运动，第八旋转机构3.9可驱动物料托盘六3.8绕Z轴做旋转运动，旋转定位面，物料托盘六3.8可放置工件本体3.17；第十伸缩机构3.12可驱动第九旋转机构3.13做Z轴方向伸缩运动，第九旋转机构3.13可驱动物料托盘七3.10绕Z轴做旋转运动，旋转定位面，物料托盘七3.10可放置工件本体3.17。
请参阅图4-6，第八伸缩机构3.15配有第八伸缩机构动力机构，第九伸缩机构3.11配有第九伸缩机构动力机构，第十伸缩机构3.12配有第十伸缩机构动力机构，第五旋转机构3.3配有第五旋转机构动力机构，第七旋转机构3.16配有第七旋转机构动力机构、第八旋转机构3.9配有第八旋转机构动力机构，第九旋转机构3.13配有第九旋转机构动力机构，第六伸缩机构3.5、第七伸缩机构3.6、第八伸缩机构3.15、第九伸缩机构3.11和第十伸缩机构 3.12均安装在第一固定支架2.8上，通过设置第八伸缩机构动力机构、第九伸缩机构动力机构和第十伸缩机构动力机构，实现为第八伸缩机构3.15、第九伸缩机构3.11和第十伸缩机构3.12的伸缩工作提供动力辅助，且第五旋转机构动力机构、第七旋转机构动力机构、第八旋转机构动力机构和第九旋转机构动力机构，为第五旋转机构3.3、第七旋转机构3.16、第八旋转机构3.9、第九旋转机构3.13的旋转工作提供动力辅助。
请参阅图4-6，第五旋转机构3.3装设在第六伸缩机构3.5上，第七旋转机构3.16装设在第八伸缩机构3.15上，第八旋转机构3.9装设在第九伸缩机构3.11上，第九旋转机构3.13装设在第十伸缩机构3.12上，物料托盘二3.1装设在第三旋转机构2.14，物料托盘三3.2装设在第四旋转机构2.4上，物料托盘四3.4装设在第五旋转机构3.3上，物料托盘五3.14装设在第七旋转机构3.16上，物料托盘六3.8装设在第八旋转机构3.9上，物料托盘七3.10装设在第九旋转机构3.13上，通过第六伸缩机构3.5和第五旋转机构3.3、第八伸缩机构3.15和第七旋转机构3.16、第十伸缩机构3.12和第九旋转机构3.13，可以实现带动工件本体3.17在Z轴方向上进行任意角度的调整。
第二款一种多工艺面自动翻转、定位面旋转和夹爪抓取机构的组合方法，包括以下步骤：
S1、夹爪抓取机构通过外部机构带动，将工件本体3.17放置在物料托盘二3.1或物料托盘五3.14上；
S2、第三伸缩机构2.5或第七伸缩机构3.6伸出，根据程序设定移动到指定位置；
S3、第四伸缩机构2.12或第八伸缩机构3.15伸出，根据程序设定移动到指定位置；
S4、工件本体3.17被第五夹爪2.10和第六夹爪2.15抓取；
S5、第二旋转机构2.9或第六旋转机构3.7根据程序设定翻转角度或者 不翻转；
S6、第五伸缩机机构2.1或第六伸缩机构3.5、第九伸缩机构3.11、第十伸缩机构3.12伸出，根据程序设定移动到指定位置，工件本体3.17被第五夹爪2.10和第六夹爪2.15放置回物料托盘三3.2或物料托盘四3.4、物料托盘六3.8和物料托盘七3.10，第三伸缩机构2.5或第七伸缩机构3.6；
S7、第三旋转机构2.14或第四旋转机构2.4、第五旋转机构3.3、第七旋转机构3.16、第八旋转机构3.9、第九旋转机构3.13根据程序设定旋转工件定位面旋转角度；
S8、夹爪抓取机构通过外部机构带动至装有工件本体3.17的物料托盘三3.2或物料托盘四3.4、物料托盘六3.8和物料托盘七3.10附近，夹爪抓取机构抓取工件本体3.17，移动并将工件本体3.17放置到物料托盘一2.11，多工艺面翻转机构和定位面旋转机构回原点。
以上所述，仅为本发明较佳的具体实施方式；但本发明的保护范围并不局限于此。任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，根据本发明的技术方案及其改进构思加以等同替换或改变，都应涵盖在本发明的保护范围内。

Claims (10)

  1. 一种多工艺面自动翻转、定位面旋转和夹爪抓取机构，包括第一固定支架(2.8)，其特征在于：所述第一固定支架(2.8)用于安装多工艺面自动翻转机构、定位面旋转机构和物料托盘一(2.11)，所述夹爪抓取机构安装在外部移动架上，所述夹爪抓取机构包括第一旋转机构(1.8)、第一旋转机构动力机构(1.7)、第一夹爪(1.3)、第二夹爪(1.1)、第三夹爪(1.4)、第四夹爪(1.2)和第一伸缩机构(1.5)、第二伸缩机构(1.6)，所述第一旋转机构(1.8)安装在外部活动支架(1.9)上，所述第一伸缩机构(1.5)和第二伸缩机构(1.6)均安装在第一旋转机构(1.8)上。
  2. 根据权利要求1所述的一种多工艺面自动翻转、定位面旋转和夹爪抓取机构，其特征在于：所述第一夹爪抓取机构和第二夹爪抓取机构为一组，所述第一夹爪抓取机构和第二夹爪抓取机构分别与第一夹爪(1.3)和第二夹爪(1.1)相匹配，所述第三夹爪抓取机构和第四夹爪抓取机构为一组，所述第三夹爪抓取机构和第四夹爪抓取机构分别与第三夹爪(1.4)和第四夹爪(1.2)相匹配。
  3. 根据权利要求1所述的一种多工艺面自动翻转、定位面旋转和夹爪抓取机构，其特征在于：所述多工艺面自动翻转机构包括第三伸缩机构(2.5)、第四伸缩机构(2.12)、第二旋转机构(2.9)、第三旋转机构(2.14)、和第五夹爪(2.10)、第六夹爪(2.15)，所述第三伸缩机构(2.5)配有第三伸缩机构动力机构(2.6)，所述第四伸缩机构(2.12)配有第四伸缩机构动力机构(2.13)，所述第二旋转机构(2.9)配有第二旋转机构动力机构(2.7)，所述第三旋转机构(2.14)配有第三旋转机构动力机构(2.16)，所述第三伸缩机构(2.5)和第四伸缩机构(2.12)均装设在第二固定支架上(3.18)，所述第二旋转机构(2.9)装设在第三伸缩机构(2.5)上，所述第三旋转机构(2.14)装设在第四伸缩机构(2.12)上，所述第五夹爪(2.10)装设在第二旋转机构(2.9)上，所述第六夹爪(2.15)装设在第三旋转机构(2.14)。
  4. 根据权利要求3所述的一种多工艺面自动翻转、定位面旋转和夹爪抓取机构，其特征在于：所述定位面旋转机构包括第五伸缩机构(2.1)、第四旋转机构(2.4)和物料托盘一(2.11)，所述第五伸缩机构(2.1)配有第五伸缩机构动力机构(2.2)，所述第四旋转机构(2.4)配有第四旋转机构动力机构(2.3)，所述第五伸缩机构(2.1)装设在第二固定支架(3.18)上，所述第四旋转机构(2.4)装设在第五伸缩机构(2.1)上，所述物料托盘一(2.11)装设在第四旋转机构(2.4)上。
  5. 根据权利要求1-4任一所述的一种多工艺面自动翻转、定位面旋转和夹爪抓取机构的组合方法，其特征在于：包括以下步骤：
    S1、夹爪抓取机构通过外部机构带动，将工件本体(3.17)放置在物料托盘一(2.11)上；
    S2、第五伸缩机构(2.1)伸出，根据程序设定移动到指定位置；
    S3、第三伸缩机构(2.5)或第四伸缩机构(2.12)伸出，工件被第五夹爪(2.10)或第六夹爪(2.15)抓取；
    S4、第五伸缩机构(2.1)收回，第二旋转机构(2.9)或第三旋转机构(2.14)完成工件工艺面翻转角度；
    S5、第五伸缩机构(2.1)伸出，根据程序设定移动到指定位置，工件本体(3.17)被第五夹爪(2.10)或第六夹爪(2.15)放置回物料托盘一(2.11)，第三伸缩机构(2.5)或第四伸缩机构(2.12)回原点，第二旋转机构(2.9)或第三旋转机构(2.14)回原点；
    S6、第四旋转机构(2.4)根据程序设定旋转工件定位面旋转角度；
    S7、夹爪抓取机构通过外部机构带动抓取工件，根据程序设定移动至指定位置，第五伸缩机构(2.1)、第四旋转机构(2.4)回原点。
  6. 根据权利要求3所述的一种多工艺面自动翻转、定位面旋转和夹爪抓取机构，其特征在于：所述多工艺面自动翻转机构包括第三伸缩机构(2.5) 和第三伸缩机构动力机构(2.6)、第七伸缩机构(3.6)和第七伸缩机构动力机构、第二旋转机构(2.9)和第二旋转机构动力机构(2.7)、第六旋转机构(3.7)以及第五夹爪(2.10)和第六夹爪(2.15)；所述第七伸缩机构(3.6)装设在第二固定支架(3.18)上，所述第六旋转机构(3.7)装设在第七伸缩机构(3.6)上，所述第六旋转机构(3.7)配有第六旋转机构动力机构，所述第六夹爪(2.15)装设在第六旋转机构(3.7)上。
  7. 根据权利要求3所述的一种多工艺面自动翻转、定位面旋转和夹爪抓取机构，其特征在于：所述定位面旋转机构包括第四伸缩机构(2.12)和第四伸缩机构动力机构(2.13)、第五伸缩机构(2.1)和第五伸缩机构动力机构(2.2)、第六伸缩机构(3.5)和第六伸缩机构动力机构、第八伸缩机构(3.15)、第九伸缩机构(3.11)和第十伸缩机构(3.12)，所述定位面旋转机构包括第三旋转机构(2.14)和第三旋转机构动力机构(2.16)、第四旋转机构(2.4)和第四旋转机构动力机构(2.5)、第五旋转机构(3.3)、第七旋转机构(3.16)、第八旋转机构(3.9)、第九旋转机构(3.13)和物料托盘二(3.1)、物料托盘三(3.2)、物料托盘四(3.4)、物料托盘五(3.14)、物料托盘六(3.8)和物料托盘七(3.10)。
  8. 根据权利要求7所述的一种多工艺面自动翻转、定位面旋转和夹爪抓取机构，其特征在于：所述第八伸缩机构(3.15)配有第八伸缩机构动力机构，所述第九伸缩机构(3.11)配有第九伸缩机构动力机构，所述第十伸缩机构(3.12)配有第十伸缩机构动力机构，所述第五旋转机构(3.3)配有第五旋转机构动力机构，所述第七旋转机构(3.16)配有第七旋转机构动力机构、第八旋转机构(3.9)配有第八旋转机构动力机构，第九旋转机构(3.13)配有第九旋转机构动力机构，所述第六伸缩机构(3.5)、第七伸缩机构(3.6)、第八伸缩机构(3.15)、第九伸缩机构(3.11)和第十伸缩机构(3.12)均安装在第一固定支架(2.8)上。
  9. 根据权利要求8所述的一种多工艺面自动翻转、定位面旋转和夹爪抓取机构，其特征在于：所述第五旋转机构(3.3)装设在第六伸缩机构(3.5)上，所述第七旋转机构(3.16)装设在第八伸缩机构(3.15)上，所述第八旋转机构(3.9)装设在第九伸缩机构(3.11)上，所述第九旋转机构(3.13)装设在第十伸缩机构(3.12)上，所述物料托盘二(3.1)装设在第三旋转机构(2.14)，所述物料托盘三(3.2)装设在第四旋转机构(2.4)上，所述物料托盘四(3.4)装设在第五旋转机构(3.3)上，所述物料托盘五(3.14)装设在第七旋转机构(3.16)上，所述物料托盘六(3.8)装设在第八旋转机构(3.9)上，所述物料托盘七(3.10)装设在第九旋转机构(3.13)上。
  10. 根据权利要求6-9任一所述的一种多工艺面自动翻转、定位面旋转和夹爪抓取机构的组合方法，其特征在于：包括以下步骤：
    S1、夹爪抓取机构通过外部机构带动，将工件本体(3.17)放置在物料托盘二(3.1)或物料托盘五(3.14)上；
    S2、第三伸缩机构(2.5)或第七伸缩机构(3.6)伸出，根据程序设定移动到指定位置；
    S3、第四伸缩机构(2.12)或第八伸缩机构(3.15)伸出，根据程序设定移动到指定位置；
    S4、工件本体(3.17)被第五夹爪(2.10)和第六夹爪(2.15)抓取；
    S5、第二旋转机构(2.9)或第六旋转机构(3.7)根据程序设定翻转角度或者不翻转；
    S6、第五伸缩机机构(2.1)或第六伸缩机构(3.5)、第九伸缩机构(3.11)、第十伸缩机构(3.12)伸出，根据程序设定移动到指定位置，工件本体(3.17)被第五夹爪(2.10)和第六夹爪(2.15)放置回物料托盘三(3.2)或物料托盘四(3.4)、物料托盘六(3.8)和物料托盘七(3.10)，第三伸缩机构(2.5)或第七伸缩机构(3.6)；
    S7、第三旋转机构(2.14)或第四旋转机构(2.4)、第五旋转机构(3.3)、第七旋转机构(3.16)、第八旋转机构(3.9)、第九旋转机构(3.13)根据程序设定旋转工件定位面旋转角度；
    S8、夹爪抓取机构通过外部机构带动至装有工件本体(3.17)的物料托盘三(3.2)或物料托盘四(3.4)、物料托盘六(3.8)和物料托盘七(3.10)附近，夹爪抓取机构抓取工件本体(3.17)，移动并将工件本体(3.17)放置到物料托盘一(2.11)，多工艺面翻转机构和定位面旋转机构回原点。
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