Hand changing module for moving bent workpiece to assembly station

Abstract

The invention discloses a hand changing module for moving a bent workpiece to an assembly station, comprising: a bearing part for bearing and fixing the workpiece, the bearing part comprising a first mounting seat and a carrier fixedly arranged on the first mounting seat; the carrier is provided with a bearing surface for bearing and fixing a workpiece; a channel is arranged in the carrier, and a magnetic attraction piece is arranged in the channel; the two suction parts are arranged in the first direction in a spaced mode, and each suction part comprises a first driving piece and a suction surface used for sucking a bent workpiece; the suction surface is provided with a negative pressure suction hole, a fixed check block and a movable check block, and the fixed check block and the movable check block protrude out of the suction surface and are arranged at intervals in the second direction. The two grabbing parts are located on the two sides of the bearing part in the first direction, and the two grabbing parts are symmetrically arranged; the grabbing part comprises a grabbing hand extending in the first direction and a driving assembly connected with the grabbing hand. According to the hand changing module, a fixed workpiece can be stably fixed, a bent workpiece can be stably and efficiently moved to the side face of the fixed workpiece, and the bent workpiece is prevented from being damaged.

Description

Technical Field

[0001] This specification relates to the technical field of automation equipment, and in particular to a hand-changing module for moving a bent workpiece to an assembly station. Background Art

[0002] On an automated production line, after a workpiece is bent, if it is necessary to assemble the bent workpiece with another workpiece, it is usually necessary to first fix one workpiece, and then move the bent workpiece to the surface of the fixed workpiece to complete the assembly. If the bent workpiece needs to be installed on the upper surface of the fixed workpiece, it is often relatively simple. If the bent workpiece needs to be installed on the side of the fixed workpiece, and the thickness of the fixed workpiece is relatively small, the assembly process cannot be achieved using existing equipment. In addition, when the bent workpiece is an extremely thin and light strip-shaped small workpiece, its surface and interior are often damaged during the bending and moving process, making it impossible to move smoothly and efficiently. Summary of the Invention

[0003] In view of the deficiencies in the prior art, one purpose of this specification is to provide a hand-changing module for moving a bent workpiece to an assembly station, which can firmly fix the fixed workpiece and move the bent workpiece smoothly and efficiently to the side of the fixed workpiece to avoid damage to the bent workpiece.

[0004] To achieve the above objectives, the embodiments of this specification provide a handover module for moving a bent workpiece to an assembly station, comprising: A bearing portion for supporting and fixing a workpiece, the bearing portion comprising a first mounting seat and a carrier fixedly mounted on the first mounting seat; the carrier having a bearing surface for supporting and fixing the workpiece; a channel perpendicular to the bearing surface, the channel having a magnetic element; Two suction parts are spaced apart and symmetrically arranged in a first direction, the suction parts include a first driving member and a suction surface for sucking the bent workpiece; the suction surface is provided with a negative pressure suction hole, a fixed stopper, and a movable stopper, the fixed stopper and the movable stopper protrude from the suction surface and are spaced apart in a second direction; the first driving member is connected to the movable stopper, and is used to drive the movable stopper to move in the second direction; the first direction, the second direction, and the vertical direction are perpendicular to each other; the two suction surfaces are perpendicular to the first direction and are arranged opposite to each other; the bearing surface is arranged perpendicular to the second direction; A first slide rail extending in a first direction, wherein the first slide rail is slidably connected to a first slider; a second slide rail extending in a second direction is provided on the first slider, wherein the suction portion is slidably connected to the second slide rail; Two gripping parts are located on both sides of the bearing part in the first direction, and the two gripping parts are symmetrically arranged; the gripping part includes a gripper extending along the first direction, and a driving assembly connected to the gripper, and the gripper is provided with a gripping surface for gripping the bent workpiece, and the gripping surface is perpendicular to the first direction; the driving assembly is used to drive the gripper to move along the first direction, move along the second direction, move along the vertical direction, rotate around the axis extending in the first direction, and rotate around the axis extending in the vertical direction.

[0005] As a preferred embodiment, the hand-changing module further includes a second mounting seat, and the driving assembly includes: a first support block fixedly connected to the second mounting seat, wherein the first support block is provided with a third slide rail extending along the second direction; a second support block slidably connected to the third slide rail, wherein the second support block is provided with a fourth slide rail extending along the first direction; a third support block slidably connected to the fourth slide rail, wherein the third support block is provided with a fifth slide rail extending in a vertical direction; a fourth support block slidably connected to the fifth slide rail; a fifth support block rotatably connected to the fourth support block, wherein the fifth support block is rotatable relative to the fourth support block around an axis extending in the first direction; A sixth support block is rotatably connected to the fifth support block, and the sixth support block can rotate relative to the fifth support block around an axis extending in a vertical direction; and the gripper is connected to the sixth support block.

[0006] As a preferred embodiment, the sixth support block is provided with a sixth slide rail extending along the first direction, and the gripper is slidably connected to the sixth slide rail; the end of the gripper away from the gripping surface is pressed against the sixth support block by a spring.

[0007] As a preferred embodiment, the hand-changing module also includes a pressure block; the pressure block is located above the carrier; the second mounting seat is provided with a seventh slide rail extending along the second direction, the seventh slide rail is slidably connected to the second slider, the second slider is provided with an eighth slide rail extending along the vertical direction, the eighth slide rail is slidably connected to the third slider, and the pressure block is fixedly connected to the third slider.

[0008] As a preferred embodiment, there are at least two negative pressure suction holes, and the two negative pressure suction holes are spaced apart in the vertical direction; a first air path channel and a second air path channel are provided in the suction part, and the first air path channel is connected to the first driving member, and is used to drive the moving end of the first driving member to move in the second direction; the second air path channel is connected to the negative pressure suction hole, and the second air path channel includes a first part extending along the second direction and a second part extending along the vertical direction, and the second part is located on one side of the negative pressure suction hole in the first direction; the first air path channel and the first part are spaced apart in the vertical direction.

[0009] As a preferred embodiment, the movable stopper is provided with a connected blocking surface and an avoidance surface, the blocking surface faces the fixed stopper and is perpendicular to the second direction; the avoidance surface is arranged at an angle, and the distance between the avoidance surface and the fixed stopper gradually increases in the direction away from the suction surface.

[0010] As a preferred embodiment, the suction part has a first position and a second position. When the suction part is in the first position, the two suction surfaces are arranged horizontally upward, and when the suction part is in the second position, the two suction surfaces are arranged vertically opposite to each other; the suction part is connected to a second driving member for driving the suction part to rotate 90° to switch between the first position and the second position; a third mounting seat is slidably connected to the second slide rail; the suction part and the second driving member are connected to the third mounting seat.

[0011] As a preferred embodiment, the magnetic attraction member can move in the channel to switch between a material suction position close to the load-bearing surface and a material discharge position away from the load-bearing surface; the carrier has a waiting position where the load-bearing surface is horizontally set and a working position where the load-bearing surface is vertically set; when the carrier is in the working position, the magnetic attraction member is in the material suction position; the first mounting seat is connected to a third driving member, which is used to drive the first mounting seat to rotate 90° around an axis extending in the first direction, so that the carrier can switch between the waiting position and the working position.

[0012] As a preferred embodiment, the length of the magnetic member is smaller than the length of the channel; the diameter of the channel matches the diameter of the magnetic member; the magnetic member is connected to a fourth driving member for driving the magnetic member to switch between a material suction position and a material discharge position; the output end of the fourth driving member is eccentrically arranged with respect to the magnetic member; when the carrier is in the working position, the output end of the fourth driving member is arranged close to the bottom of the magnetic member.

[0013] As a preferred embodiment, the bearing portion further includes: Two first blocking blocks are slidably connected to the first mounting seat in a first direction, and the two first blocking blocks are respectively located on both sides of the carrier in the first direction; a ninth slide rail is provided on the first mounting seat and extends in the first direction, and the first blocking blocks are slidably connected to the ninth slide rail; when the carrier is in the working position, the first blocking blocks are arranged near the bottom of the carrier; a second blocking block slidably connected to the first mounting seat, the second blocking block being arranged facing the bearing surface; a tenth slide rail extending along the second direction is provided on the first mounting seat, a connecting block is slidably connected to the tenth slide rail, an eleventh slide rail extending along the vertical direction is provided on the connecting block, and the second blocking block is slidably connected to the eleventh slide rail; A blocking bar is protruding from the supporting surface and extends along a first direction; when the carrier is in the working position, the blocking bar is arranged close to the bottom of the carrier, the top end of the second blocking block is not higher than the top end of the supporting surface, and the bottom end of the second blocking block is higher than the top end of the blocking bar. Beneficial effects

[0014] The handover module provided in this embodiment for moving the bent workpiece to the assembly station is provided with a bearing part, a suction part, a first slide rail, a second slide rail and a grasping part. The bearing part is used to bear and fix the fixed workpiece; the two suction parts are used to suck the bent workpiece and move along the first direction on the first slide rail and along the second direction on the second slide rail, so that the bent workpiece is close to the bearing part; the two grasping parts are used to grab the bent workpiece from the suction part and install it to the corresponding position of the fixed workpiece, thereby realizing the assembly of the fixed workpiece and the bent workpiece.

[0015] First, the bearing portion is provided with a first mounting seat and a carrier. The carrier is in the working position, with the side of the fixed workpiece on the carrier facing upward, making it easy to assemble the bent workpiece on the side of the fixed workpiece. The magnetic suction part located at the material suction position attracts the fixed workpiece to ensure that the fixed workpiece does not fall, thereby firmly fixing the fixed workpiece.

[0016] Secondly, the two suction parts spaced apart in the first direction have suction surfaces provided with negative pressure suction holes, fixed stops, and movable stops. The negative pressure suction holes allow negative pressure adsorption of the bent workpiece, and the fixed stops and movable stops secure the bent workpiece in the second direction, further securing the workpiece. The workpiece is secured solely by the negative pressure suction holes, fixed stops, and movable stops; these structures remain relatively stationary with the workpiece. Furthermore, the suction parts act on only one surface of the workpiece, rather than clamping both surfaces. This prevents damage to the workpiece and provides protection for the workpiece.

[0017] The gripping section is equipped with grippers and a drive assembly. The two grippers are positioned opposite each other in a first direction, with the gripping surface perpendicular to the first direction. The gripping surface is provided with multiple vacuum holes. These gripping surfaces, in conjunction with the first drive member and the negative pressure holes, transfer the bent workpiece from the suction section to the gripping section. The drive assembly provides the grippers with at least five degrees of freedom, enabling them to smoothly and efficiently move the bent workpiece to the side of the fixed workpiece.

[0018] With reference to the following description and the accompanying drawings, the specific embodiments of the present invention are disclosed in detail, indicating the manner in which the principles of the present invention can be employed. It should be understood that the embodiments of the present invention are not limited in scope thereby.

[0019] Features described and / or illustrated with respect to one embodiment may be used in the same or similar manner in one or more other embodiments, combined with features in other embodiments, or substituted for features in other embodiments.

[0020] It should be emphasized that the term "include / comprising" when used herein refers to the presence of features, integers, steps or components, but does not exclude the presence or addition of one or more other features, integers, steps or components. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative labor.

[0022] Figure 1 This is a schematic diagram of the three-dimensional structure of a hand-changing module for moving a bent workpiece to an assembly station provided in this embodiment; Figure 2 for Figure 1 Schematic diagram of the enlarged structure at A in the middle; Figure 3 This is a schematic diagram of the three-dimensional structure of a carrier provided in this embodiment, wherein the carrier is in a working position; Figure 4 for Figure 3 A schematic diagram of a three-dimensional structure from another perspective; Figure 5 This is a schematic diagram of the three-dimensional structure of another carrying portion provided in this embodiment, wherein the carrier is in a waiting position; Figure 6 for Figure 3 A top view of Figure 7 for Figure 3 Front view of Figure 8 for Figure 7 Schematic diagram of the cross-sectional structure of the middle BB surface; Figure 9 for Figure 8 The enlarged structural diagram of point C in the middle shows that the magnetic attraction part is located at the material attraction position; Figure 10 for Figure 8 The enlarged structural diagram of point C in the middle shows that the magnetic element is located at the discharge position; Figure 11 This is a schematic diagram of the three-dimensional structure of a gripping portion provided in this embodiment; Figure 12 for Figure 11 A schematic diagram of a three-dimensional structure from another perspective; Figure 13 This is a schematic diagram of the three-dimensional structure of a second mounting base provided in this embodiment; Figure 14 for Figure 13 A schematic diagram of a three-dimensional structure from another perspective; Figure 15 This is a schematic diagram of the three-dimensional structure of a suction portion provided in this embodiment; Figure 16 for Figure 15 A top view of Figure 17 for Figure 16 Schematic diagram of the cross-sectional structure of the middle DD surface; Figure 18 for Figure 16 Schematic diagram of the cross-sectional structure of the EE plane.

[0023] Description of reference numerals: 1. Carrying portion; 11. First mounting seat; 12. Carrier; 121. Carrying surface; 122. Channel; 123. Magnetic element; 124. Blocking bar; 13. First blocking block; 14. Second blocking block; 15. Third driving element; 16. Fourth driving element; 161. Output end; 17. Ninth slide rail; 18. Tenth slide rail; 19. Eleventh slide rail; 110. Connecting block; 2. Gripping portion; 20. Drive assembly; 21. Gripper; 201. Gripping surface; 22. First support block; 23. Second support block; 24. Third support block; 25. Fourth support block; 26. Fifth support block; 27. Sixth support block; 28. Third slide rail; 29. ​​Fourth slide rail; 210. Fifth slide rail; 211. Sixth slide rail; 212. Spring; 3. Suction portion; 31. First driving member; 32. Suction surface; 33. Negative pressure suction hole; 34. Fixed stopper; 35. Movable stopper; 351. Blocking surface; 352. Avoidance surface; 36. First air passage; 37. Second air passage; 371. First portion; 372. Second portion; 38. Accommodating groove; 39. Fixed block; 4. Second mounting base; 51. First slide rail; 52. First slider; 53. Second slide rail; 6. Pressing block; 61. Second slide block; 62. Third slide block; 63. Seventh slide rail; 64. Eighth slide rail; 7. Second driving member; 8. Third mounting seat; X, first direction; Y, second direction; Z, vertical direction. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0025] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be another element centered thereon. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be another element centered thereon. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0027] See also Figures 1 to 18 The embodiment of the present application provides a hand-changing module for moving a bent workpiece to an assembly station, comprising: a carrying portion 1 , a suction portion 3 , a first slide rail 51 , a second slide rail 53 and a gripping portion 2 .

[0028] Among them, Figure 3 and Figure 4As shown, the bearing portion 1 is used to bear and fix the workpiece. The bearing portion 1 includes a first mounting seat 11 and a carrier 12 fixedly arranged on the first mounting seat 11. The carrier 12 is provided with a bearing surface 121 for bearing and fixing the workpiece. Figure 1 The bearing surface 121 in the embodiment is arranged perpendicular to the second direction Y. Figure 9 and Figure 10 As shown, a channel 122 perpendicular to the carrying surface 121 is defined in the carrier 12 , and a magnetic element 123 is disposed in the channel 122 .

[0029] like Figure 1 As shown, the two suction parts 3 are spaced and symmetrically arranged in the first direction X. Figure 15 As shown, the suction unit 3 includes a first driving member 31 and a suction surface 32 for sucking the bent workpiece. The suction surface 32 is provided with a negative pressure suction hole 33, a fixed stopper 34, and a movable stopper 35. The fixed stopper 34 and the movable stopper 35 protrude from the suction surface 32 and are spaced apart in the second direction Y. The first driving member 31 is connected to the movable stopper 35 and is configured to drive the movable stopper 35 to move in the second direction Y. The two suction surfaces 32 are perpendicular to the first direction X and are disposed opposite each other.

[0030] like Figure 1 As shown, the first slide rail 51 extends along the first direction X. The first slide rail 51 is slidably connected to a first slider 52. The first slider 52 is provided with a second slide rail 53 extending along the second direction Y. The suction portion 3 is slidably connected to the second slide rail 53, so that the suction portion 3 can move in the first direction X and the second direction Y.

[0031] like Figure 1 As shown, two gripping portions 2 are located on either side of the support portion 1 in a first direction X. The two gripping portions 2 are symmetrically arranged. The gripping portions 2 include a gripper 21 extending in the first direction X, and a drive assembly 20 connected to the gripper 21. The gripper 21 is provided with a gripping surface 201 for gripping a workpiece to be bent, and the gripping surface 201 is perpendicular to the first direction X. The drive assembly 20 is used to drive the gripper 21 to move in the first direction X, in the second direction Y, in the vertical direction Z, and to rotate about an axis extending in the first direction X and about an axis extending in the vertical direction Z.

[0032] In this embodiment, the first direction X, the second direction Y, and the vertical direction Z are mutually perpendicular to each other. The first direction X and the second direction Y can be two mutually perpendicular directions in a horizontal plane. The assembly station is where the carrier 1 is located. The suction unit 3 moves along the first and second guide rails 51 and 53 in the first and second directions X and Y, respectively, to approach or move away from the assembly station.

[0033] The fixed workpiece in the embodiment of the present application must be a workpiece that can be adsorbed by the magnetic adsorption member 123. The shape of the fixed workpiece is sheet-like, and the height of its side surface is relatively small. In the embodiment of the present application, the width of the bent workpiece can be approximately equal to the height of the side surface of the fixed workpiece. The bent workpiece is bent from a long strip, and its shape matches the side surface of the fixed workpiece. For example, the bent workpiece can be formed by bending the two ends of a strip-shaped part with a length of about 1 cm to 5 cm and a width of about 1 mm to 5 mm. Its thickness is extremely thin, and its shape is roughly the same as "冂".

[0034] The workpiece changing module provided in this embodiment for moving the bent workpiece to the assembly station is provided with a carrying part 1, a suction part 3, a first slide rail 51, a second slide rail 53 and a grasping part 2. The carrying part 1 is used to carry and fix the fixed workpiece; the two suction parts 3 are used to suck the bent workpiece and move along the first direction X on the first slide rail 51 and along the second direction Y on the second slide rail 53, so that the bent workpiece approaches the carrying part 1; the two grasping parts 2 are used to grasp the bent workpiece from the suction part 3 and install it at the corresponding position of the fixed workpiece, thereby realizing the assembly of the fixed workpiece and the bent workpiece.

[0035] First, the carrying part 1 is provided with a first mounting seat 11 and a carrier 12. The carrier 12 is located at the working position, and the side surface of the fixed workpiece on the carrier 12 faces upward, which is convenient for assembling the bent workpiece on the side surface of the fixed workpiece. The fixed workpiece is sucked by the magnetic adsorption member 123 located at the material suction position to ensure that the fixed workpiece will not fall, so that the fixed workpiece can be firmly fixed.

[0036] Secondly, the two suction parts 3 arranged at intervals in the first direction X have a suction surface 32 provided with negative pressure suction holes 33, a fixed stop block 34 and a movable stop block 35. The bent workpiece can be negatively pressured and adsorbed through the negative pressure suction holes 33, and the bent workpiece can be further fixed by the fixed stop block 34 and the movable stop block 35 in the second direction Y. The bent workpiece is only fixed by the negative pressure suction holes 33, the fixed stop block 34 and the movable stop block 35. These structures remain relatively stationary with respect to the bent workpiece, and moreover, the suction part 3 only acts on one surface of the bent workpiece instead of clamping its two surfaces, so as to avoid damaging the bent workpiece and having a protective effect on the bent workpiece.

[0037] Thirdly, the grasping part 2 is provided with a gripper 21 and a driving component 20. The two grippers 21 are arranged opposite to each other in the first direction X, and the grasping surface 201 is perpendicular to the first direction X. The grasping surface 201 is provided with a plurality of vacuum suction holes. Through the cooperation of the grasping surface 201 with the first driving member 31 and the negative pressure suction holes 33, the bent workpiece can be transferred from the suction part 3 to the grasping part 2. The driving component 20 enables the gripper 21 to have at least five degrees of freedom, and can smoothly and efficiently move the bent workpiece to the side surface of the fixed workpiece.

[0038] In this embodiment, the hand-changing module further includes a second mounting base 4. Figure 11 As shown, the drive assembly 20 includes a first support block 22, a second support block 23, a third support block 24, a fourth support block 25, a fifth support block 26, and a sixth support block 27. The first support block 22 is fixedly connected to the second mounting base 4. A third slide rail 28 extending in the second direction Y is provided on the first support block 22. The second support block 23 is slidably connected to the third slide rail 28. The second support block 23 is provided with a fourth slide rail 29 extending in the first direction X. The third support block 24 is slidably connected to the fourth slide rail 29. The third support block 24 is provided with a fifth slide rail 210 extending in the vertical direction Z. The fourth support block 25 is slidably connected to the fifth slide rail 210. The fifth support block 26 is rotatably connected to the fourth support block 25. The fifth support block 26 can rotate relative to the fourth support block 25 about an axis extending in the first direction X. The sixth support block 27 is rotatably connected to the fifth support block 26. The sixth support block 27 can rotate relative to the fifth support block 26 about an axis extending in the vertical direction Z. The gripper 21 is connected to the sixth support block 27 .

[0039] Specifically, such as Figure 11 and Figure 12 As shown, the sixth support block 27 is provided with a sixth slide rail 211 extending along the first direction X, and the gripper 21 is slidably connected to the sixth slide rail 211. The end of the gripper 21 away from the gripping surface 201 is pressed against the sixth support block 27 by a spring 212. The provision of the spring 212 and the sixth slide rail 211 can prevent the gripper 21 from applying excessive pressure on the side of the fixed workpiece when grasping and installing the bent workpiece.

[0040] In this embodiment, the hand-changing module further includes a pressing block 6, which is located above the carrier 12. After the gripping portion 2 moves the bent workpiece to the side of the fixed workpiece, the pressing block 6 is moved to the upper side of the fixed workpiece facing upward and pressed down, thereby fixing the bent workpiece and the fixed workpiece together, facilitating the next step. Figure 13 and Figure 14 As shown, the second mounting seat 4 is provided with a seventh slide rail 63 extending along the second direction Y, the seventh slide rail 63 is slidably connected to the second slider 61, the second slider 61 is provided with an eighth slide rail 64 extending along the vertical direction Z, the eighth slide rail 64 is slidably connected to the third slider 62, and the pressing block 6 is fixedly connected to the third slider 62, so that the pressing block 6 can move in the second direction Y and the vertical direction Z.

[0041] like Figure 15 As shown, there are at least two negative pressure suction holes 33, which are spaced apart in the vertical direction Z. The at least two negative pressure suction holes 33 can effectively negatively absorb the bent workpiece, and the fixed stopper 34 and the movable stopper 35 can fix the bent workpiece in the second direction Y, thereby stably and reliably fixing the bent workpiece.

[0042] Specifically, the first driving member 31 is preferably a cylinder to adapt to the fixation of the bent workpiece. When the first driving member 31 controls the movement of the movable stopper 35, it is necessary to control the force exerted by the movable stopper 35 on the bent workpiece to prevent excessive pressure on the bent workpiece in the second direction Y from causing deformation of the bent workpiece.

[0043] like Figure 16 and Figure 17 As shown, a first air path 36 and a second air path 37 are provided in the suction portion 3. The first air path 36 is connected to the first driving member 31 and is used to drive the movable end of the first driving member 31 to move in the second direction Y. The second air path 37 is connected to the negative pressure suction hole 33. The second air path 37 includes a first portion 371 extending along the second direction Y and a second portion 372 extending along the vertical direction Z. The second portion 372 is located on one side of the negative pressure suction hole 33 in the first direction X. The first air path 36 and the first portion 371 are spaced apart in the vertical direction Z, which fully, effectively and rationally utilizes the space in the suction portion 3 and avoids air path interference.

[0044] like Figure 15 As shown, the movable stopper 35 is provided with a blocking surface 351 and an avoidance surface 352 connected to each other. The blocking surface 351 faces the fixed stopper 34 and is perpendicular to the second direction Y, and can cooperate with the fixed stopper 34 to clamp the bent workpiece. The avoidance surface 352 is set at an angle, and the distance between the avoidance surface 352 and the fixed stopper 34 gradually increases in the direction away from the suction surface 32, so that Figure 2 As shown, the avoidance surface 352 can avoid the gripping part 2 to avoid interference.

[0045] In this embodiment, the suction portion 3 is provided with a receiving groove 38 for accommodating the first driving member 31. A fixing block 39 is provided at the opening of the receiving groove 38 for fixing the first driving member 31 to prevent the first driving member 31 from falling out of the receiving groove 38. The fixing block 39 is positioned at one end adjacent to the movable stopper 35 in the second direction Y to limit the movable stopper 35.

[0046] Specifically, the suction portion 3 has a first position and a second position. When the suction portion 3 is in the first position, the two suction surfaces 32 are arranged horizontally and upward; when the suction portion 3 is in the second position, the two suction surfaces 32 are arranged vertically and opposite each other. During the processing of the present application, the suction portion 3 is always in the second position. When the suction portion 3 is located at another workstation before the assembly station (such as a bending station), the suction portion 3 can be in the first position. When the suction portion 3 switches from the first position to the second position, the workpiece can be bent.

[0047] In this embodiment, the suction portion 3 is connected to a second driving member 7, which is used to drive the suction portion 3 to rotate 90 degrees to switch between the first and second positions. A third mounting base 8 is slidably connected to the second slide rail 53. The suction portion 3 and the second driving member 7 are connected to the third mounting base 8, so that the suction portion 3 and the second driving member 7 can move as a whole in a first direction X to transport the bent workpiece before and after bending. The suction portion 3 and the second driving member 7 can also move as a whole in a second direction Y to move closer to or farther from the support portion 1 in the second direction Y.

[0048] In this embodiment, the length of the magnetic member 123 (the dimension in the second direction Y) is smaller than the length of the channel 122 (the dimension in the second direction Y), so that the magnetic member 123 can move within the channel 122 along the second direction Y to switch between a material-absorbing position close to the bearing surface 121 and a material-discharging position away from the bearing surface 121. The diameter of the channel 122 matches the diameter of the magnetic member 123, that is, the diameter of the channel 122 is approximately equal to the diameter of the magnetic member 123, or the diameter of the channel 122 is slightly larger than the diameter of the magnetic member 123. The peripheral side of the channel 122 can guide and limit the movement of the magnetic member 123.

[0049] Specifically, the carrier 12 has a waiting position where the carrying surface 121 is horizontally arranged (eg Figure 5 As shown) and the working position where the bearing surface 121 is vertically arranged (as shown Figure 3 When the carrier 12 is in the working position, the magnetic element 123 is in the material suction position. A third drive element 15 is connected to the first mounting base 11, configured to rotate the first mounting base 11 90° about an axis extending in the first direction X, thereby switching the carrier 12 between the waiting position and the working position. The fixed end of the third drive element 15 and the first support block 22 of the drive assembly 20 are fixedly connected to the second mounting base 4.

[0050] During the processing of this application, the carrier 12 is always in the working position. At other times, the carrier 12 can be in the waiting position, during which a fixed workpiece can be placed on the carrier 12 or an assembled workpiece can be removed after the bent workpiece and the fixed workpiece are assembled. After the carrier 12 rotates to the waiting position, the magnetic element 123 can be moved to the discharge position, allowing the fixed workpiece to be removed.

[0051] More specifically, the magnetic member 123 is connected to a fourth driving member 16 for driving the magnetic member 123 to switch between the material suction position and the material discharge position. The fourth driving member 16 is preferably a cylinder. Figure 9 and Figure 10As shown, the output end 161 of the fourth driving member 16 is eccentrically disposed with respect to the magnetic member 123. When the carrier 12 is in the working position, the output end 161 of the fourth driving member 16 is disposed close to the bottom of the magnetic member 123. This is to position the fourth driving member 16 as close to the bottom as possible to avoid interference with the movement of the bent workpiece.

[0052] In this embodiment, the carrying portion 1 further includes two first blocking blocks 13 slidably connected to the first mounting seat 11 in the first direction X. The two first blocking blocks 13 are respectively located on both sides of the carrier 12 in the first direction X. The first mounting seat 11 is provided with a ninth slide rail 17 extending along the first direction X, and the first blocking blocks 13 are slidably connected to the ninth slide rail 17. Figure 3 As shown, when the carrier 12 is located at the working position, the first blocking block 13 is disposed near the bottom of the carrier 12 to avoid interference with the movement of the bent workpiece.

[0053] like Figure 3 and Figure 4 As shown, the support portion 1 also includes a second stopper 14 slidably connected to the first mounting seat 11. The second stopper 14 is disposed facing the support surface 121. The first mounting seat 11 is provided with a tenth slide rail 18 extending in the second direction Y. The tenth slide rail 18 is slidably connected to a connecting block 110. The connecting block 110 is provided with an eleventh slide rail 19 extending in the vertical direction Z. The second stopper 14 is slidably connected to the eleventh slide rail 19. The two first stoppers 13 can limit the fixed workpiece on the carrier 12 in the first direction X, and the second stopper 14 can limit the fixed workpiece on the carrier 12 in the second direction Y. By providing the magnetic member 123, the first stopper 13, and the second stopper 14, the fixed workpiece on the carrier 12 can be stably fixed. In particular, when the grasping portion 2 moves the bent workpiece to the side of the fixed workpiece, the fixed workpiece can be kept stationary during the movement, thereby improving processing efficiency and yield.

[0054] Specifically, in the second direction Y, the ninth slide rail 17 and the eleventh slide rail 19 are respectively located on both sides of the carrier 12. In the first direction X, the tenth slide rail 18 and the third driving member 15 are respectively located on both sides of the carrier 12. Figure 4 and Figure 6 As shown, such a setting can make the overall space distribution uniform, so that it can operate stably and extend its service life.

[0055] In this embodiment, if Figure 7 As shown, a blocking bar 124 is protruding from the support surface 121 of the carrier 12 , and the blocking bar 124 extends along the first direction X. When the carrier 12 is in the working position, the blocking bar 124 is disposed near the bottom of the carrier 12 , and can limit the fixed workpiece on the carrier 12 at the bottom to ensure that the fixed workpiece does not fall downward.

[0056] Specifically, when the carrier 12 is in the working position, the top of the second blocking block 14 is not higher than the top of the bearing surface 121, thereby avoiding interference with the assembly of the fixed workpiece and the bent workpiece; the bottom end of the second blocking block 14 is higher than the top of the blocking bar 124, ensuring that the entire second blocking block 14 can act on the surface of the fixed workpiece, and no excess part will interfere with the blocking bar 124.

[0057] When the carrier 12 is in the waiting position, the fixed workpiece can be placed in a horizontal state on the carrier 12 and limited by the magnetic suction part 123, the first blocking block 13, the second blocking block 14, and the blocking bar 124; when the carrier 12 is in the working position, the side of the fixed workpiece is set upward, which can facilitate the movement of the bent workpiece to the side of the fixed workpiece.

[0058] In a specific application scenario, the supporting part 1 carries a fixed workpiece, which is fixed and limited by the magnetic part 123, the first blocking block 13, the second blocking block 14, and the blocking bar 124. The suction part 3 absorbs and fixes the bent workpiece after bending, and then moves on the first slide rail 51 to move the bent workpiece to a position relative to the carrier 12 of the supporting part 1. By moving on the second slide rail 53, the bent workpiece is brought close to the fixed workpiece on the carrier 12. Then, the gripper 21 approaches the bending assembly under the drive of the gripping assembly, and the gripping surface 201 cooperates with the first driving member 31 and the negative pressure suction hole 33 to transfer the bent workpiece from the suction part 3 to the gripping part 2. The gripper 21 moves the bent workpiece to the side of the fixed workpiece on the carrier 12 under the drive of the gripping assembly, and finally moves the pressing block 6 to the top of the installed bent workpiece to fix the bent workpiece and the fixed workpiece.

[0059] It should be noted that, in the description of this specification, the terms "first," "second," etc., are used solely for descriptive purposes and to distinguish similar objects. There is no order of precedence between the two, nor should they be understood to indicate or imply relative importance. Furthermore, in the description of this specification, unless otherwise specified, "plurality" means two or more.

[0060] Any numerical value cited herein includes all values ​​of the lower and upper values ​​in increments of one unit from the lower value to the upper value, provided that there is at least a two-unit interval between any lower value and any higher value. For example, if the value of a component quantity or process variable (e.g., temperature, pressure, time, etc.) is stated to be from 1 to 90, preferably from 20 to 80, and more preferably from 30 to 70, it is intended to illustrate that values ​​such as 15 to 85, 22 to 68, 43 to 51, 30 to 32, etc. are also explicitly listed in this specification. For values ​​less than 1, one unit is appropriately considered to be 0.0001, 0.001, 0.01, 0.1. These are merely examples intended to be clearly stated, and it is to be understood that all possible combinations of the values ​​listed between the minimum and maximum values ​​are explicitly stated in this specification in a similar manner.

[0061] Unless otherwise indicated, all ranges include the endpoints and all numbers between the endpoints. When used with a range, "about" or "approximately" applies to both endpoints of the range. Thus, "about 20 to 30" is intended to cover "about 20 to about 30," including at least the specified endpoints.

[0062] All articles and references disclosed herein, including patent applications and publications, are incorporated herein by reference for all purposes. The term "consisting essentially of..." when describing a combination should include the identified elements, ingredients, components, or steps and other elements, ingredients, components, or steps that do not materially affect the basic novel characteristics of the combination. The use of the terms "comprising" or "including" to describe a combination of elements, ingredients, components, or steps herein also contemplates embodiments consisting essentially of these elements, ingredients, components, or steps. By using the term "may," it is intended to indicate that any attribute described as "may" be optional.

[0063] Multiple elements, ingredients, parts or steps can be provided by a single integrated element, ingredient, part or step. Alternatively, a single integrated element, ingredient, part or step can be divided into separate multiple elements, ingredients, parts or steps. The disclosure of "a" or "an" to describe an element, ingredient, part or step is not intended to exclude other elements, ingredients, parts or steps.

[0064] It should be understood that the above description is for illustration and not for limitation. Many embodiments and many applications beyond the examples provided will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of the present teachings should not be determined with reference to the above description, but rather with reference to the appended claims and the full scope of equivalents to which such claims are entitled. For the purpose of comprehensiveness, all articles and references, including disclosures of patent applications and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein from the foregoing claims is not intended to be a disclaimer of such subject matter, nor should it be assumed that the inventors did not consider such subject matter to be part of the disclosed inventive subject matter.

Claims

1. A hand-changing module for moving a bent workpiece to an assembly station, characterized in that: include: A bearing portion for supporting and fixing a workpiece, the bearing portion comprising a first mounting seat and a carrier fixedly mounted on the first mounting seat; the carrier having a bearing surface for supporting and fixing the workpiece; a channel perpendicular to the bearing surface, the channel having a magnetic element; Two suction parts are spaced apart and symmetrically arranged in a first direction, the suction parts include a first driving member and a suction surface for sucking the bent workpiece; the suction surface is provided with a negative pressure suction hole, a fixed stopper, and a movable stopper, the fixed stopper and the movable stopper protrude from the suction surface and are spaced apart in a second direction; the first driving member is connected to the movable stopper, and is used to drive the movable stopper to move in the second direction; the first direction, the second direction, and the vertical direction are perpendicular to each other; the two suction surfaces are perpendicular to the first direction and are arranged opposite to each other; the bearing surface is arranged perpendicular to the second direction; A first slide rail extending in a first direction, wherein the first slide rail is slidably connected to a first slider; a second slide rail extending in a second direction is provided on the first slider, wherein the suction portion is slidably connected to the second slide rail; Two gripping parts are located on both sides of the bearing part in the first direction, and the two gripping parts are symmetrically arranged; the gripping part includes a gripper extending along the first direction, and a driving assembly connected to the gripper, and the gripper is provided with a gripping surface for gripping the bent workpiece, and the gripping surface is perpendicular to the first direction; the driving assembly is used to drive the gripper to move along the first direction, move along the second direction, move along the vertical direction, rotate around the axis extending in the first direction, and rotate around the axis extending in the vertical direction.

2. The hand-changing module for moving the bent workpiece to the assembly station according to claim 1, characterized in that: The hand-changing module further includes a second mounting seat, and the driving assembly includes: a first support block fixedly connected to the second mounting seat, wherein the first support block is provided with a third slide rail extending along the second direction; a second support block slidably connected to the third slide rail, wherein the second support block is provided with a fourth slide rail extending along the first direction; a third support block slidably connected to the fourth slide rail, wherein the third support block is provided with a fifth slide rail extending in a vertical direction; a fourth support block slidably connected to the fifth slide rail; a fifth support block rotatably connected to the fourth support block, wherein the fifth support block is rotatable relative to the fourth support block around an axis extending in the first direction; A sixth support block is rotatably connected to the fifth support block, and the sixth support block can rotate relative to the fifth support block around an axis extending in a vertical direction; and the gripper is connected to the sixth support block.

3. The hand-changing module for moving the bent workpiece to the assembly station according to claim 2, characterized in that: The sixth support block is provided with a sixth slide rail extending along the first direction, and the gripper is slidably connected to the sixth slide rail; an end of the gripper away from the gripping surface is pressed against the sixth support block by a spring.

4. The hand-changing module for moving the bent workpiece to the assembly station according to claim 2, characterized in that: The hand-changing module also includes a pressure block; the pressure block is located above the carrier; the second mounting seat is provided with a seventh slide rail extending along the second direction, the seventh slide rail is slidably connected to the second slider, the second slider is provided with an eighth slide rail extending along the vertical direction, the eighth slide rail is slidably connected to the third slider, and the pressure block is fixedly connected to the third slider.

5. The hand-changing module for moving the bent workpiece to the assembly station according to claim 1, characterized in that: There are at least two negative pressure suction holes, and the two negative pressure suction holes are spaced apart in the vertical direction; a first air path channel and a second air path channel are provided in the suction part, and the first air path channel is connected to the first driving member, and is used to drive the moving end of the first driving member to move in the second direction; the second air path channel is connected to the negative pressure suction hole, and the second air path channel includes a first part extending along the second direction and a second part extending along the vertical direction, and the second part is located on one side of the negative pressure suction hole in the first direction; the first air path channel and the first part are spaced apart in the vertical direction.

6. The hand-changing module for moving the bent workpiece to the assembly station according to claim 5, characterized in that: The movable stopper is provided with a connected blocking surface and an avoidance surface, the blocking surface faces the fixed stopper and is perpendicular to the second direction; the avoidance surface is inclined, and the distance between the avoidance surface and the fixed stopper gradually increases in the direction away from the suction surface.

7. The hand-changing module for moving a bent workpiece to an assembly station according to claim 1, characterized in that: The suction part has a first position and a second position. When the suction part is in the first position, the two suction surfaces are arranged horizontally upward, and when the suction part is in the second position, the two suction surfaces are arranged vertically opposite to each other; the suction part is connected to a second driving member for driving the suction part to rotate 90° to switch between the first position and the second position; a third mounting seat is slidably connected to the second slide rail; the suction part and the second driving member are connected to the third mounting seat.

8. The hand-changing module for moving a bent workpiece to an assembly station according to claim 1, characterized in that: The magnetic attraction member can move in the channel to switch between a material suction position close to the load-bearing surface and a material discharge position away from the load-bearing surface; the carrier has a waiting position with the load-bearing surface horizontally set and a working position with the load-bearing surface vertically set; when the carrier is in the working position, the magnetic attraction member is in the material suction position; the first mounting seat is connected to a third driving member, which is used to drive the first mounting seat to rotate 90° around an axis extending in the first direction, so that the carrier switches between the waiting position and the working position.

9. The hand-changing module for moving a bent workpiece to an assembly station according to claim 8, characterized in that: The length of the magnetic element is smaller than the length of the channel; the diameter of the channel matches the diameter of the magnetic element; the magnetic element is connected to a fourth driving element for driving the magnetic element to switch between a material suction position and a material discharge position; the output end of the fourth driving element is eccentrically arranged with respect to the magnetic element; when the carrier is in the working position, the output end of the fourth driving element is arranged close to the bottom of the magnetic element.

10. The hand-changing module for moving a bent workpiece to an assembly station according to claim 1, characterized in that: The bearing portion further includes: Two first blocking blocks are slidably connected to the first mounting seat in a first direction, and the two first blocking blocks are respectively located on both sides of the carrier in the first direction; a ninth slide rail is provided on the first mounting seat and extends in the first direction, and the first blocking blocks are slidably connected to the ninth slide rail; when the carrier is in the working position, the first blocking blocks are arranged near the bottom of the carrier; a second blocking block slidably connected to the first mounting seat, the second blocking block being arranged facing the bearing surface; a tenth slide rail extending along the second direction is provided on the first mounting seat, a connecting block is slidably connected to the tenth slide rail, an eleventh slide rail extending along the vertical direction is provided on the connecting block, and the second blocking block is slidably connected to the eleventh slide rail; A blocking bar is protruding from the supporting surface and extends along a first direction; when the carrier is in the working position, the blocking bar is arranged close to the bottom of the carrier, the top end of the second blocking block is not higher than the top end of the supporting surface, and the bottom end of the second blocking block is higher than the top end of the blocking bar.

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