Workpiece transfer device

Abstract

The utility model belongs to the technical field of machining, and provides a workpiece transfer device which comprises a rail, a workpiece tray, a robot and an accompanying table. The robot is used for operating the workpiece tray to conduct position transfer, and the robot is arranged on the track and can move along the track; the accompanying platform is arranged in the operation range of the robot and can move along with the robot; a plurality of supporting plates used for placing the workpiece trays are arranged on the accompanying table, each supporting plate is provided with a first sensor and a positioning column used for supporting and fixing the workpiece trays, and the first sensors are used for detecting whether the workpiece trays exist on the supporting plates or not; and a detection head of the first sensor is exposed from the plate surface of the supporting plate. The technical problem that in the prior art, a workpiece track transfer mechanism is low in efficiency is solved.

Description

Technical Field

[0001] The present application belongs to the field of mechanical processing technology, and in particular relates to a workpiece transfer device. Background Art

[0002] With the gradual development of production equipment, robots such as manipulators have the advantages of precise operation, no need for human intervention, and full automation. Using robots to transfer workpieces or perform processing on workpieces has gradually become popular in daily production operations.

[0003] The seventh axis of the robot refers to the device that drives the six-axis manipulator to transfer between multiple devices, so it is called the seventh axis of the robot. The seventh axis of the robot includes a track, and the manipulator is set on the track and can move along the track. It can be used in processing scenarios such as transferring the workpiece position, switching the processing position or switching the processing object.

[0004] In actual applications, the robot can only grab a single workpiece at a time for transfer operations, resulting in multiple round trips to complete the transportation of multiple workpieces, which is inefficient and energy-consuming. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a workpiece transfer device to solve the technical problem of low efficiency of the workpiece track transfer mechanism in the prior art.

[0006] In order to achieve the above-mentioned purpose, the technical solution adopted in the present application is: to provide a workpiece transfer device, comprising:

[0007] track;

[0008] A workpiece pallet, used for carrying the workpiece;

[0009] A robot, used for operating the workpiece pallet to transfer the position, the robot being arranged on the track and being able to move along the track;

[0010] A traveling platform is arranged within the operating range of the robot and can move with the robot; the traveling platform is provided with a plurality of pallets for placing the workpiece pallets, each of the pallets is provided with a first sensor and a positioning column for supporting and fixing the workpiece pallet, the first sensor is used to detect whether the workpiece pallet exists on the pallet, and the detection head of the first sensor is exposed from the plate surface of the pallet.

[0011] The beneficial effect of the workpiece transfer device provided by the present application is that: compared with the prior art, the workpiece transfer device of the present application is provided with a traveling platform for storing workpieces, and the traveling platform can move on the track together with the robot to achieve batch position transfer of workpieces. The workpiece transfer device of the present application uses a workpiece pallet to carry the workpiece, and the traveling platform has multiple support plates for fixing the workpiece pallet, each of which can hold a workpiece pallet, and each workpiece pallet can carry one or more workpieces, thereby increasing the volume of workpieces transferred. The workpiece transfer device can transport more workpieces in a single trip, effectively improving transportation efficiency and saving energy consumption.

[0012] In view of the use of workpiece pallets as transfer carriers, each pallet of the accompanying platform is provided with a positioning column and a first sensor. The positioning column is used to fix and position the workpiece pallet placed on the pallet, thereby ensuring the stability and certainty of the workpiece transportation process. The first sensor is used to detect whether there is a workpiece pallet on the pallet, so that the control part of the entire device can confirm the volume of the workpiece placed on the accompanying platform, and start and stop or speed control the movement of the robot and the accompanying platform, etc., effectively improving the performance of the workpiece transfer device.

[0013] The structure of the workpiece pallet is improved. A pull pin and a placement hole for inserting the positioning column are provided at the bottom of the workpiece pallet. The pull pin is used for plugging and cooperating with a chuck on a processing machine tool.

[0014] In one embodiment, the placement hole is a trapezoidal hole that gradually narrows from the hole mouth to the hole bottom, and the plug-in end of the positioning column matches the shape of the placement hole. When the workpiece pallet is transferred to the support plate, each positioning column on the support plate is respectively plugged into each placement hole and automatically positioned, effectively ensuring the stability of the workpiece pallet when it is placed.

[0015] The structure on the robot is improved, and the robot is provided with a replaceable operating part, which is used to extract or place the workpiece pallet; the accompanying platform also includes a temporary storage rack for placing the operating part of the robot, and the operating part of the robot is detachably arranged on the temporary storage rack, so that the robot can automatically replace the operating part on the corresponding temporary storage rack.

[0016] In one embodiment, at least one end of the workpiece pallet is provided with a connector for connecting to the operating part of the robot, and the operating part of the robot is provided with a sleeve hole for plugging with the connector on the workpiece pallet; the temporary storage rack is provided with a plug extending upward, and the plug is plugged with the sleeve hole on the operating part. In this way, the operating part structure on the robot, the connecting part structure on the workpiece pallet, and the structure for fixing the operating part on the temporary storage rack of the accompanying platform are mutually adapted, so as to facilitate coordinated use.

[0017] In one embodiment, the operating part of the robot is further provided with a clamping mechanism located inside the sleeve hole, and the clamping mechanism clamps and fixes the connecting head on the workpiece pallet extending into the sleeve hole. After the operating part of the robot is connected to the connecting head on the workpiece pallet, the workpiece pallet can be extracted and the position transferred, effectively ensuring the stability of the robot picking up the workpiece pallet.

[0018] In one embodiment, the temporary storage rack is further provided with a second sensor for detecting whether the operating part of the robot is installed, and the detection head of the second sensor is exposed from the end surface of the temporary storage rack having the plug, which is conducive to selectively controlling the operating part of the replacement robot according to the storage situation on the temporary storage rack.

[0019] The structure of the accompanying platform is improved. The accompanying platform includes a support frame, and at least two supporting plates are provided on the support frame. The at least two supporting plates are evenly arranged on the support frame to maximize the use of available space on the accompanying platform.

[0020] In one embodiment, the accompanying platform further includes an oil receiving pan, which is detachably arranged below the supporting plate; the supporting plate is provided with an oil drain hole, and the oil drain hole is located within the pan body of the oil receiving pan. The processing oil is collected by using the oil receiving pan to prevent the oil from dripping onto the track and affecting the track. The oil receiving pan is detachably arranged on the accompanying platform, which is conducive to cleaning and reusing the oil receiving pan.

[0021] The structure of the track is improved. The track is provided with a driving belt extending along the length direction of the track. The driving belt is connected to the base on the robot and drives the robot to move on the track. The accompanying platform is integrally connected to one side of the base of the robot. In this way, the accompanying platform is integrally connected to the base of the robot, the driving belt is connected to the base, the driving belt drives the base and simultaneously drives the robot and the accompanying platform to move on the track. This is conducive to simplifying the overall structure, reducing the occupied space, and ensuring smooth operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0023] Figure 1 Schematic diagram of the three-dimensional structure of the workpiece transfer device provided in the embodiment of the present application Figure 1 ;

[0024] Figure 2 A schematic diagram of the connection structure between the robot operating part and the workpiece pallet provided in an embodiment of the present application;

[0025] Figure 3 Schematic diagram of the three-dimensional structure of the accompanying platform provided in the embodiment of the present application Figure 1 ;

[0026] Figure 4 for Figure 3 A schematic diagram of the enlarged structure of part A;

[0027] Figure 5 A schematic diagram of the three-dimensional structure of a workpiece pallet provided in an embodiment of the present application;

[0028] Figure 6 Schematic diagram of the three-dimensional structure of the accompanying platform provided in the embodiment of the present application Figure 2 ;

[0029] Figure 7 A schematic diagram of the three-dimensional structure of the operating part of the robot provided in an embodiment of the present application;

[0030] Figure 8 Schematic diagram of the three-dimensional structure of the accompanying platform provided in the embodiment of the present application Figure 3 ;

[0031] Fig. 9 for Figure 8 A schematic diagram of the enlarged structure of part B;

[0032] Fig.10 Schematic diagram of the three-dimensional structure of the workpiece transfer device provided in the embodiment of the present application Figure 2 .

[0033] Among them, the reference numerals in the figure are:

[0034] 1-track; 11-driving belt;

[0035] 2-workpiece tray; 21-pull nail; 22-placement hole; 23-connector;

[0036] 3-robot; 30-base; 31-operating part; 32-hole;

[0037] 4-accompanying platform; 40-support frame; 41-support plate; 411-oil drain hole; 42-positioning column; 43-first sensor; 44-oil receiving tray; 45-temporary storage rack; 451-plug; 452-second sensor. DETAILED DESCRIPTION

[0038] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0039] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0040] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0041] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0042] The seventh axis of a traditional robot includes a track, on which the manipulator is set and can move along the track. It can be used in processing scenarios such as transferring workpieces, switching processing positions, or switching processing objects. In actual applications, the robot can only grab a single workpiece for transfer operations at a time, resulting in multiple round trips to complete the transportation of multiple workpieces, which is inefficient and energy-consuming.

[0043] In the related art, a table is connected to the robot, and the table has an area for placing workpieces, and fixtures for fixing the workpieces are set on the area. These fixtures need to be set according to the number of workpieces that need to be placed. It can be seen that since the workpieces are clamped and fixed directly, the control performance of the robot is relatively high. The operating part of the robot needs to move the workpiece to the target fixture so that the fixture can accurately clamp the workpiece. Here, the operating part of the robot needs to operate the workpiece to the target fixture. Corresponding alignment operations are required, and the alignment accuracy is high, otherwise the workpiece cannot be accurately clamped, resulting in the selection of a higher-performance robot, which increases production costs.

[0044] Here, an embodiment of the present application provides a new type of workpiece transfer device, which can transfer workpieces in batches, effectively improve transportation efficiency and save energy consumption, and solve the technical problem of low efficiency of traditional workpiece rail transfer mechanism, which is now described in detail.

[0045] Please also read Figure 1 , Figure 2 and Figure 3 The workpiece transfer device includes a track 1, a workpiece pallet 2, a robot 3 and an accompanying platform 4. The track 1 can be arranged according to the layout of the production site, and the robot 3 is arranged on the track 1 and can move along the track 1.

[0046] like Figure 2 As shown, the workpiece pallet 2 is used to carry the workpiece, and the workpiece pallet 2 can be understood as a base capable of carrying the workpiece, and one or more workpieces can be placed or installed on the workpiece pallet 2. At least one end of the workpiece pallet 2 has a connection end connected to the robot 3, and the connection end is detachably connected to the operating part 31 on the robot 3. Here, the "operating part 31 on the robot 3" can be understood as the clamp on the robot hand, or it can be an operating head connected to the workpiece pallet 2, etc.

[0047] The robot 3 is preferably a manipulator, and preferably a six-axis manipulator can be used, which can perform operations such as extracting, transferring or placing the workpiece pallet 2.

[0048] The accompanying platform 4 is arranged within the operable range of the robot 3 and can move with the robot 3. Here, it can be understood that the accompanying platform 4 and the robot 3 are arranged on a base, and the base is arranged on the track 1, and the base can carry the robot 3 and the accompanying platform 4 to move along the track 1.

[0049] The accompanying platform 4 is provided with a plurality of pallets 41 for placing workpieces. Figure 1 and Figure 3 As shown, two pallets 41 are provided on the accompanying platform 4, and the pallets 41 are arranged side by side on the accompanying platform 4. One or more workpiece pallets 2 can be placed on each pallet 41, and multiple workpieces can be placed or installed on each workpiece pallet 2. In this way, by using the workpiece pallet 2 to carry the workpiece, the robot 3 can temporarily store the workpiece pallet 2 on the pallet 41 of the accompanying platform 4, so as to realize the position transfer of the workpieces in batches.

[0050] like Figure 3 As shown, each support plate 41 is provided with a positioning column 42, and the positioning column 42 is used to support and fix the workpiece pallet 2 on the support plate 41 and to position the workpiece pallet 2. In this embodiment, the support plate 41 is provided with four positioning columns 42, and the bottom of the workpiece pallet 2 can be provided with a plurality of fixing parts that are the same in number as the positioning columns 42 and are connected and matched, and the fixing parts can be jacks or slots for the positioning columns 42 to be plugged in, etc., which are not specifically limited here, so as to form a multi-point support structure, so that the workpiece pallet 2 can be stably fixed on the support plate 41 of the accompanying table 4.

[0051] Please also read Figure 3 and Figure 4 , each pallet 41 is also provided with a first sensor 43, the detection head of the first sensor 43 is exposed from the plate surface of the pallet 41. The first sensor 43 is used to detect whether there is the workpiece pallet 2 on the pallet 41, which is conducive to the control part of the device to perform corresponding process changes or adjustment changes. For example, the robot 3 and the accompanying platform 4 are driven to move; or the moving speed of the robot 3 and the accompanying platform 4 is adjusted, such as slowing down the moving speed, to ensure the stability of the workpiece pallet 2 carried by the pallet 41 and the workpiece thereon during the position transfer process.

[0052] Compared with the prior art, the workpiece transfer device provided in the embodiment of the present application is provided with a traveling table 4 for storing workpieces, and the traveling table 4 can move on the track 1 together with the robot 3 to realize the position transfer of workpieces in batches.

[0053] The workpiece transfer device of the present application uses a workpiece pallet 2 to carry the workpiece. The accompanying platform 4 has a plurality of pallets 41 for fixing the workpiece pallet 2. Each pallet 41 can hold a workpiece pallet 2. Each workpiece pallet 2 can carry one or more workpieces, thereby increasing the volume of workpieces to be transferred. The workpiece transfer device can transport more workpieces in a single trip, effectively improving transportation efficiency and saving energy consumption.

[0054] Compared with the structure of the accompanying table 4 in the above-mentioned related art, which uses a fixture to fix each workpiece separately, the workpiece transfer device of the present application can reduce the difficulty of alignment between the robot 3 and the fixture. Since the support plate 41 provided on the accompanying table 4 is used to place the workpiece pallet 2, the robot 3 does not need to perform further precise alignment when placing the workpiece pallet 2 on the support plate 41, and only needs to simply place the workpiece pallet 2 on the support plate 41, which effectively simplifies the transfer operation of the robot 3 on the workpiece.

[0055] In view of using the workpiece pallet 2 as a transfer carrier, each support plate 41 of the accompanying platform 4 is provided with a positioning column 42 and a first sensor 43. The positioning column 42 is used to fix the workpiece pallet 2 placed on the support plate 41 and locate the position of the workpiece pallet 2, thereby ensuring the stability of the workpiece during transportation. The first sensor 43 is used to detect whether there is a workpiece pallet 2 on the support plate 41, so that the control part of the device can confirm the volume of the workpiece placed on the accompanying platform 4, and start and stop or speed control the movement of the robot 3 and the accompanying platform 4, etc., effectively improving the performance of the workpiece transfer device.

[0056] The specific structure of the first sensor 43 includes but is not limited to the following forms:

[0057] In one embodiment of the present application, please refer to Figure 3 and Figure 4The first sensor 43 is preferably a gravity sensor, and the detection head on the first sensor 43 is used to contact the workpiece pallet 2 placed on the support plate 41. That is, when the bottom surface of the workpiece pallet 2 contacts the detection head of the first sensor 43, a detection signal is triggered, allowing the control part of the device to make corresponding control instructions.

[0058] In this embodiment, please combine Figure 2 , Figure 3 and Figure 4 As shown, only one workpiece pallet 2 can be placed on the pallet 41 of each accompanying table 4. Only when the workpiece pallet 2 is accurately placed on the pallet 41, the bottom surface of the workpiece pallet 2 will just touch the detection head of the first sensor 43, thereby confirming that the workpiece pallet 2 is placed in place and achieving accurate detection.

[0059] In another embodiment of the present application, please refer to Figure 3 and Figure 4 The first sensor 43 is preferably a proximity sensor, and the detection head of the first sensor 43 has a detection range value. The detection range value can be set to be within the range of 1-10mm outside the detection head. That is, when the bottom surface of the workpiece tray 2 approaches the detection head of the first sensor 43, a detection signal is triggered, allowing the control part of the device to make corresponding control instructions.

[0060] In practical applications, please combine Figure 2 , Figure 3 and Figure 4 As shown, since the workpiece pallet 2 is supported and raised on the pallet 41 by the positioning posts 42 on the pallet 41, there is a gap between the bottom surface of the workpiece pallet 2 and the plate surface of the pallet 41, so as to avoid the bottom surface of the workpiece pallet 2 from contacting the plate surface of the pallet 41, resulting in the dust particles on the pallet 41 being attached, and finally affecting the accuracy of being placed on the chuck of the processing machine. Therefore, the use of a proximity sensor is conducive to the situation where the positioning posts 42 on the pallet 41 support the workpiece pallet 2, and can also accurately detect that the workpiece pallet 2 is placed in place, and timely trigger the detection signal for corresponding control application.

[0061] In other application scenarios, the use of proximity sensors is also conducive to compatibility with workpiece pallets 2 of different specifications, thereby improving versatility.

[0062] Regarding the structure of the workpiece pallet 2, according to processing requirements, the workpiece pallet 2 carries the workpiece and is transferred to a processing machine tool through the workpiece transfer device of the present application, so that the chuck on the processing machine tool fixes the workpiece pallet 2 before processing.

[0063] Here, in the embodiments of the present application, please refer to Figure 5 The bottom of the workpiece pallet 2 is provided with a pull nail 21 and a placement hole 22 for inserting the positioning column 42, and the pull nail 21 is used for plugging and matching with the chuck on the processing machine tool.

[0064] The "chuck" here can be understood as a mechanical device used to clamp a workpiece on a processing machine tool. It utilizes the radial movement of movable jaws evenly distributed on the chuck body to clamp and position the workpiece part extending into the chuck on the processing machine tool.

[0065] Since the clamping fit between the various components on the chuck, such as the movable claws, is highly precise, if dust particles are present on the surface of the clamped object, such as the rivet 21 at the bottom of the workpiece tray 2, the posture precision of the workpiece fixed on the processing machine will be affected, thereby affecting the processing accuracy.

[0066] To do this, please also refer to Figure 3 and Figure 5 The number of the placement holes 22 at the bottom of the workpiece pallet 2 is the same as the number of the positioning columns 42 on the support plate 41 , and the positions of the supporting columns and the placement holes 22 correspond one by one to support the workpiece pallet 2 on the support plate 41 .

[0067] Preferably, the height of the positioning column 42 is greater than the extended length of the rivet 21, so that a gap is formed between the bottom surface of the workpiece pallet 2 and the plate surface of the support plate 41, allowing the rivet 21 to be located in this gap and avoid contact with the plate surface of the support plate 41, thereby preventing dust particles from sticking to the surface of the rivet 21 and affecting the subsequent clamping on the chuck of the processing machine tool.

[0068] In this embodiment, if Figure 5 As shown, the plurality of placement holes 22 are respectively arranged near the corners of the workpiece pallet 2 so that the placement holes 22 are away from the rivets 21 in the middle of the workpiece pallet 2 to form an avoidance arrangement.

[0069] Among them, Figure 5 As shown, the placement hole 22 is preferably a trapezoidal hole that gradually narrows from the hole mouth to the hole bottom, and the plug-in end of the positioning column 42 matches the shape of the placement hole 22. When the workpiece pallet 2 is transferred to the support plate 41, each positioning column 42 on the support plate 41 is respectively plugged into each placement hole 22 and automatically positioned, effectively ensuring the stability of the workpiece pallet 2 when placed.

[0070] For the structure on the accompanying platform 4, in the embodiment of the present application, please refer to Figure 6 The accompanying platform 4 includes a support frame 40 , and two support plates 41 are arranged on the support frame 40 . The two support plates 41 are arranged in parallel on the support frame 40 .

[0071] In other embodiments, an even number of pallets 41, such as four, six, eight, etc., may be provided on the support frame 40 of the accompanying platform 4, and these even number of pallets 41 are evenly arranged on the support frame 40. For example, in combination with the width of the track 1, the pallets 41 may be arranged on the accompanying platform 4 in the form of two rows and multiple columns, thereby forming a rectangular array structure, effectively saving occupied space.

[0072] Therefore, a plurality of areas for placing workpieces and workpiece pallets 2 are provided on the traveling table 4 to maximize the use of the available space on the traveling table 4 .

[0073] In actual application, there may be some oil stains on the workpiece during the production process, which may easily leak from the workpiece tray 2 and contaminate the accompanying table 4 and the track 1. For this reason, in the embodiment of the present application, please refer to Figure 6 The accompanying platform 4 also includes an oil receiving pan 44, which is detachably arranged below the supporting plate 41. The supporting plate 41 is provided with an oil drain hole 411, and the oil drain hole 411 on the supporting plate 41 is located within the pan body range of the oil receiving pan 44.

[0074] In this way, the processing oil is collected by the oil receiving pan 44 to prevent the oil from dripping onto the track 1 and affecting the track 1, so that the robot 3 and the accompanying platform 4 can move smoothly on the track 1, ensuring the normal operation of the entire workpiece transfer device.

[0075] The oil receiving pan 44 is detachably arranged on the accompanying platform 4, which is convenient for removing the oil receiving pan 44 for cleaning and reinstalling it on the accompanying platform 4 for reuse.

[0076] The structure of the accompanying platform 4 is further improved. In one embodiment of the present application, please refer to Figure 1 , Figure 2 and Figure 7 The robot 3 is provided with a replaceable operating part 31 , which is used to extract or place the workpiece pallet 2 .

[0077] In conjunction with this, please refer to Figure 8 The accompanying platform 4 also includes a temporary storage rack 45, which is used to place the operating unit 31 of the robot 3. The operating unit 31 of the robot 3 is detachably arranged on the temporary storage rack 45, so that the robot 3 can automatically replace the operating unit 31 on the corresponding temporary storage rack 45.

[0078] In this embodiment, a plurality of temporary storage racks 45 can be arranged on the same side of the accompanying platform 4 according to usage requirements, so that the robot 3 can be replaced as needed.

[0079] In the embodiments of this application, please refer to Figure 5 and Figure 7 At least one end of the workpiece pallet 2 is provided with a connector 23 for connecting to the operating part 31 of the robot 3. The operating part 31 of the robot 3 is provided with a sleeve hole 32, and the sleeve hole 32 is used to be plugged and fixed with the connector 23 on the workpiece pallet 2.

[0080] In this embodiment, the operating part 31 of the robot 3 is also provided with a clamping mechanism (not shown) located inside the sleeve hole 32, and the connector 23 on the workpiece pallet 2 can be inserted into the sleeve hole 32 of the operating part 31 and clamped and fixed by the clamping mechanism. The clamping mechanism can be a radially close movable claw, or a clamping structure such as a clamping block with two sides clamped toward the middle. Any structure that can clamp and fix the connector 23 inserted into the sleeve hole 32 is acceptable, and no specific limitation is made here.

[0081] In this way, after the operating part 31 of the robot 3 is connected to the connecting head 23 on the workpiece pallet 2 , the entire workpiece pallet 2 can be extracted and transferred to a new position, and placed on the accompanying table 4 , or taken away from the accompanying table 4 .

[0082] In conjunction with Fig. 9 As shown, the temporary storage rack 45 of the accompanying platform 4 is also provided with a plug 451 extending upward, and the plug 451 matches the shape of the sleeve hole 32 on the operating part 31 and can be plugged into each other. When the operating part 31 needs to be placed on the temporary storage rack 45, the sleeve hole 32 of the operating part 31 is sleeved on the plug 451, and the operating part 31 can be fixed on the temporary storage rack 45.

[0083] It can be seen that the operating part 31 structure on the robot 3, the connecting structure on the workpiece pallet 2 and the structure for fixing the operating part 31 on the temporary storage rack 45 of the accompanying platform 4 provided in the embodiment of the present application are compatible with each other, thereby facilitating coordinated use.

[0084] On the basis of the above, please refer to Fig. 9 A second sensor 452 is also provided on the temporary storage rack 45 , and a detection head of the second sensor 452 is exposed from the end surface of the temporary storage rack 45 having the plug 451 .

[0085] In this embodiment, the second sensor 452 may preferably be a proximity sensor or a gravity sensor. The second sensor 452 is used to detect whether the operating part 31 of the robot 3 is installed on the temporary storage rack 45 .

[0086] This is beneficial for selectively controlling the operating unit 31 of the replacement robot 3 according to the storage conditions on the temporary storage rack 45 .

[0087] For the structure of the entire track 1, in one embodiment of the present application, please refer to Fig.10 A driving belt 11 extending along the length direction of the track 1 is provided on the track 1, and the driving belt 11 can preferably be a common chain driving belt 11.

[0088] The bottom of the robot 3 has a base 30 , and the driving belt 11 is connected to the base 30 on the robot 3 and drives the robot 3 to move on the track 1 .

[0089] The accompanying platform 4 is integrally connected to one side of the base 30 of the robot 3 , and moves on the track 1 together with the robot 3 .

[0090] It can be seen that the accompanying platform 4 is integrally connected to the base 30 of the robot 3, the driving belt 11 is connected to the base 30, and the driving belt 11 drives the base 30 and simultaneously drives the robot 3 and the accompanying platform 4 to move on the track 1. This is conducive to simplifying the overall structure, reducing the occupied space, and ensuring smooth operation.

[0091] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A workpiece transfer device, characterized in that: include: track; A workpiece pallet, used for carrying the workpiece; A robot, used for operating the workpiece pallet to transfer the position, the robot being arranged on the track and being able to move along the track; A traveling platform is arranged within the operating range of the robot and can move with the robot; the traveling platform is provided with a plurality of pallets for placing the workpiece pallets, each of the pallets is provided with a first sensor and a positioning column for supporting and fixing the workpiece pallet, the first sensor is used to detect whether the workpiece pallet exists on the pallet, and the detection head of the first sensor is exposed from the plate surface of the pallet.

2. The workpiece transfer device according to claim 1, characterized in that: A pull pin and a placement hole for inserting the positioning column are provided at the bottom of the workpiece pallet, and the pull pin is used for plugging and matching with the chuck on the processing machine tool.

3. The workpiece transfer device according to claim 2, characterized in that: The placement hole is a trapezoidal hole that gradually narrows from the hole mouth to the hole bottom, and the plug-in end of the positioning column matches the shape of the placement hole.

4. The workpiece transfer device according to claim 1, characterized in that: The robot is provided with a replaceable operating part, and the operating part is used to extract or place the workpiece pallet; the accompanying platform also includes a temporary storage rack for placing the operating part of the robot, and the operating part of the robot is detachably arranged on the temporary storage rack.

5. The workpiece transfer device according to claim 4, characterized in that: A connector for connecting to the operating part of the robot is provided on at least one end of the workpiece pallet, and a socket for plugging into the connector is provided on the operating part of the robot; an upwardly extending plug is provided on the temporary storage rack, and the plug is plugged into the socket on the operating part.

6. The workpiece transfer device according to claim 5, characterized in that: The operating part of the robot is also provided with a clamping mechanism located inside the sleeve hole, and the clamping mechanism clamps and fixes the connecting head on the workpiece pallet extending into the sleeve hole.

7. The workpiece transfer device according to claim 5, characterized in that: The temporary storage rack is also provided with a second sensor for detecting whether the operating part of the robot is installed, and the detection head of the second sensor is exposed from the end surface of the temporary storage rack having the plug.

8. The workpiece transfer device according to claim 1, characterized in that: The accompanying platform includes a support frame, on which at least two support plates are arranged, and the at least two support plates are evenly arranged on the support frame.

9. The workpiece transfer device according to claim 1, characterized in that: The accompanying platform also includes an oil receiving pan, which is detachably arranged below the supporting plate; an oil drain hole is arranged on the supporting plate, and the oil drain hole is located within the pan body of the oil receiving pan.

10. The workpiece transfer device according to any one of claims 1 to 9, characterized in that: The track is provided with a driving belt extending along the length direction of the track, the driving belt is connected to the base on the robot, and drives the robot to move on the track; the accompanying platform is integrally connected to one side of the base of the robot.

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