Workpiece processing auxiliary device

Abstract

The present application discloses a workpiece processing auxiliary device, including a loading mechanism, a feeding mechanism and a feeding conveying mechanism. The loading mechanism includes a loading rack and a loading drive assembly. The loading rack includes multiple loading support layers, the loading support layers are used to place workpieces, and the loading drive assembly is used to drive the loading rack to rise and fall. The feeding end of the feeding mechanism is connected to the discharging end of the loading mechanism. Both the loading mechanism and the feeding mechanism are provided with a slideway. The feeding conveying mechanism is slidably connected to the slideway, and the feeding conveying mechanism is used to transfer the workpiece on the loading support layer to the feeding mechanism, and to transfer the workpiece on the feeding mechanism to the loading support layer. The feeding end of the processing mechanism is connected to the discharging end of the feeding mechanism. The processing conveying mechanism is arranged on the feeding mechanism and the processing mechanism, and the processing conveying mechanism is used to transfer the workpiece on the feeding mechanism to the processing mechanism or to transfer the workpiece on the processing mechanism to the feeding mechanism. The present application provides a workpiece processing auxiliary device that can improve the workpiece processing efficiency.

Description

Technical Field

[0001] The present application relates to the field of processing equipment, and in particular to a workpiece processing auxiliary device. Background Art

[0002] In industry, workpiece processing auxiliary devices are commonly used to clamp and transfer workpieces. How to achieve a high degree of automation in clamping and transferring workpieces and improve workpiece processing efficiency has become a technical problem that needs to be solved. Summary of the invention

[0003] The present application provides a workpiece machining auxiliary device capable of improving workpiece machining efficiency.

[0004] The present application provides a workpiece processing auxiliary device, comprising:

[0005] The feeding mechanism comprises a feeding frame and a feeding drive assembly, wherein the feeding frame comprises a plurality of feeding support layers, the feeding support layers are used to place workpieces, and the feeding drive assembly is used to drive the feeding frame to rise and fall;

[0006] A feeding mechanism, wherein the feeding end of the feeding mechanism is connected to the discharging end of the loading mechanism;

[0007] A feeding conveying mechanism, wherein the loading mechanism and the feeding mechanism are both provided with slideways, the feeding conveying mechanism is slidably connected to the slideways, and the feeding conveying mechanism is used to transfer the workpiece on the loading support layer to the feeding mechanism, and to transfer the workpiece on the feeding mechanism to the loading support layer;

[0008] a processing mechanism, wherein a feeding end of the processing mechanism is connected to a discharging end of the feeding mechanism; and

[0009] A processing and conveying mechanism is provided on the feeding mechanism and the processing mechanism, and is used to convey the workpiece on the feeding mechanism to the processing mechanism or to convey the workpiece on the processing mechanism to the feeding mechanism.

[0010] In a possible embodiment, the workpiece processing auxiliary device also includes a first controller, which is used to control the loading drive component to drive the target loading support layer on the loading rack to align with the feeding mechanism, and control the feeding conveying mechanism to transfer the workpiece on the loading support layer to the feeding mechanism, and control the processing conveying mechanism to transfer the workpiece on the feeding mechanism to the processing mechanism, and control the processing conveying mechanism to transfer the processed workpiece from the processing mechanism to the feeding mechanism, and control the feeding conveying mechanism to transfer the workpiece from the feeding mechanism to the target loading support layer; and control the loading rack to rise or fall so that the loading support layer adjacent to the target loading support layer is aligned with the feeding mechanism.

[0011] In a possible embodiment, the feeding drive assembly includes a feeding drive member, a scissors member and a force transmission member; the scissors member includes a first arm and a second arm that are cross-arranged and rotatably connected; the force transmission member includes a moving member and a connecting rod member, the connecting rod member includes a first connecting rod and a second connecting rod, the moving member is connected to the feeding drive member, the two ends of the first connecting rod are respectively rotatably connected to the moving member and the first arm, the two ends of the second connecting rod are respectively rotatably connected to the moving member and the second arm, the moving member is used to drive the connecting rod member to open or close under the drive of the feeding drive member, and the connecting rod member is used to drive the scissors member to open or close after opening or closing.

[0012] In a possible embodiment, the feed conveying mechanism includes a clamping assembly and a first clamping drive assembly and a second clamping drive assembly connected to the clamping assembly, the clamping assembly includes a base body, a first chuck and a second chuck, the first chuck is rotatably connected to the base body, the second chuck is rotatably connected or fixedly connected to the base body, one end of the first chuck approaches or moves away from one end of the second chuck under the action of the first clamping drive assembly, and the second clamping drive assembly is used to drive the clamping assembly to move along the slide.

[0013] In a possible implementation, the feeding mechanism includes a first workbench, an in-place detection component and a first lifting component provided on the first workbench, wherein the in-place detection component is used to detect whether the workpiece is present; at least a portion of the first lifting component is retracted relative to the table surface of the first workbench to lift or release the workpiece;

[0014] The processing mechanism includes a second workbench and a second lifting assembly disposed on the second workbench, the table surface of the second workbench is connected to the table surface of the first workbench, and at least a portion of the second lifting assembly is retracted relative to the table surface of the second workbench to lift or release the workpiece;

[0015] The processing and conveying mechanism includes at least one clamp, which is arranged toward the table top of the first workbench. The clamp is used to clamp the workpiece lifted by the first lifting assembly. The processing and conveying mechanism is used to transfer the workpiece to the table top of the second workbench and place the workpiece on the second lifting assembly.

[0016] In a possible embodiment, the processing and conveying mechanism includes a clamp, a cylinder assembly and a rotation drive assembly; the clamp includes a first surface and a second surface arranged opposite to each other; the cylinder assembly includes a clamp module, a cylinder body and a rotation module, the cylinder body is arranged on the first surface of the clamp, one end of the clamp module is arranged in the cylinder body, the other end of the clamp module passes through the clamp and is arranged opposite to the first surface, the clamp module can be raised and lowered relative to the cylinder body, and is used to form a clamp with the clamp to clamp the object to be clamped or release the object to be clamped; one end of the rotation module is arranged in the cylinder body and engages with the clamp module in the rotation direction, and the other end of the rotation module is located outside the cylinder body; the rotation drive assembly is connected to the other end of the rotation module, and is used to drive the rotation module to rotate, so as to drive the clamp module to rotate to or move away from the clamping area to be clamped, and the clamping area is the area where the object to be clamped is placed.

[0017] In a possible embodiment, the processing and conveying mechanism also includes a lifting drive assembly, which is connected to the cylinder body, and the lifting drive assembly is used to change the air pressure difference in the cylinder body to drive the clamping module to rise and fall along the axial direction of the cylinder body; the workpiece processing auxiliary device also includes a second controller, which is electrically connected to the lifting drive assembly and the rotation drive assembly, and the second controller is used to control the rotation drive assembly to drive the other end of the clamping module to rotate to face the clamping area and control the lifting drive assembly to drive the other end of the clamping module close to the clamping plate to clamp the object to be clamped; the second controller is also used to control the lifting drive assembly to drive the other end of the clamping module away from the clamping plate to release the object to be clamped, and control the rotation drive assembly to drive the other end of the clamping module to move out of the position facing the clamping area.

[0018] In a possible embodiment, the cylinder body has a first through hole, a cylinder inner cavity and a second through hole that are sequentially connected along the axial direction; the clip module includes a cylinder rod and a lifting clip, one end of the cylinder rod is arranged in the cylinder inner cavity, the other end of the cylinder rod extends out of the cylinder body through the first through hole and is connected to the lifting clip, and the lifting clip is opposite to the first surface of the clamping plate; the rotating module includes a rotating rod and a rotating sheet, one end of the rotating rod is arranged in the cylinder inner cavity, the other end of the rotating rod extends out of the cylinder body through the second through hole and is connected to the rotating sheet, the rotating sheet is connected to the rotating drive assembly, one end of the rotating rod is engaged with one end of the cylinder rod in the rotating direction, and when the rotating drive assembly drives the rotating sheet and the rotating rod to rotate, the rotating rod drives the cylinder rod to rotate;

[0019] The cylinder assembly further includes a first seal and a second seal. The first seal is sealed between the inner wall of the first through hole and the outer peripheral surface of the cylinder rod. The second seal is sealed between the inner wall of the second through hole and the outer peripheral surface of the rotating rod.

[0020] In a possible implementation, the clip module further includes a piston, the piston is disposed in the inner cavity of the cylinder body, the piston sleeve is disposed on the periphery of the cylinder rod, the outer circumference of the piston is slidably connected to the inner circumference of the inner cavity of the cylinder body, and the piston drives the cylinder rod to move axially along the inner cavity of the cylinder body;

[0021] The circumferential side wall of the cylinder body is also provided with a first through hole and a second through hole, both of which penetrate the circumferential side wall of the cylinder body and are connected to the inner cavity of the cylinder body, and the first through hole and the second through hole are respectively located on opposite sides of the piston in the axial direction of the inner cavity of the cylinder body; the lifting drive assembly includes an air pressure regulating module, which is connected to the first through hole and the second through hole, and the air pressure regulating module is used to supply air to the first through hole or the second through hole, so that the piston moves axially along the inner cavity of the cylinder body to drive the cylinder rod to rise and fall.

[0022] In a possible implementation, the rotation drive assembly further includes a connecting piece, a push rod and a push rod cylinder, one end of the connecting piece is rotatably connected to an end of the rotating piece away from the rotating rod, the other end of the connecting piece is fixedly connected to the push rod, the push rod is connected to the push rod cylinder, the push rod cylinder is used to push the push rod and the connecting piece to move along the extension direction of the push rod, the connecting piece drives the rotating piece to rotate, so as to drive the rotating rod, the cylinder rod and the lifting clamp to rotate;

[0023] The connecting piece is provided with a strip hole, the extension direction of the strip hole intersects or is perpendicular to the extension direction of the push rod, and one end of the rotating piece away from the rotating rod is slidably connected to the inner wall of the strip hole.

[0024] The present application sets up a loading mechanism that can be automatically lifted and lowered, which can simultaneously support multiple workpieces to rise synchronously to the height of the first worktable of the feeding mechanism, prepare for the feeding conveying mechanism to convey the workpieces to the feeding mechanism, and also support the synchronous recovery of multiple workpieces to the loading mechanism. After one layer of workpieces is processed, they rise to the next layer of workpieces to continue processing, and this cycle is repeated, thereby realizing automated generation of processes, improving the efficiency of workpiece loading and recovery, saving loading time and improving workpiece processing efficiency. By setting up a feeding conveying mechanism and a processing conveying mechanism, accurate transmission of the target position of the workpiece can be achieved, thereby improving the degree of automation of the workpiece during the transmission process and improving the processing efficiency of the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments 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 creative work.

[0026] Figure 1 is a top view of a workpiece processing auxiliary device provided in an embodiment of the present application;

[0027] Figure 2 yes Figure 1 A side view of the workpiece machining aid shown;

[0028] Figure 3 yes Figure 1 A partial top view of the workpiece processing auxiliary device conveying the workpiece shown;

[0029] Figure 4 yes Figure 1 A partial top view of the transfer position of the workpiece on the workpiece processing auxiliary device shown;

[0030] Figure 5 A schematic diagram of some electrical connection relationships of a feeding mechanism provided in one embodiment of the present application;

[0031] Figure 6 A schematic diagram of a feeding mechanism provided in yet another embodiment of the present application;

[0032] Figure 7 A schematic diagram of partial electrical connection relationships of a feeding mechanism provided in another embodiment of the present application;

[0033] Figure 8A schematic diagram of a feeding mechanism provided in yet another embodiment of the present application;

[0034] Fig. 9 A partial schematic diagram of a feeding mechanism provided in yet another embodiment of the present application;

[0035] Fig.10 A schematic diagram of partial electrical connection relationships of a feeding mechanism provided in yet another embodiment of the present application;

[0036] Fig.11 A schematic diagram of a feeding drive assembly provided in an embodiment of the present application;

[0037] Fig.12 A schematic diagram of a lifting structure provided in one embodiment of the present application;

[0038] Fig.13 Schematic diagram of the lifting structure provided in the embodiment of the present application Figure 1 ;

[0039] Fig.14 Schematic diagram of the lifting structure provided in the embodiment of the present application Figure 2 ;

[0040] Fig.15 Schematic diagram of the lifting structure provided in the embodiment of the present application Figure 3 ;

[0041] Fig.16 Schematic diagram of the lifting structure provided in the embodiment of the present application Figure 4 ;

[0042] Fig.17 Schematic diagram of the lifting structure provided in the embodiment of the present application Figure 5 ;

[0043] Fig.18 yes Figure 1 The structural schematic diagram of the feeding conveying mechanism shown;

[0044] Fig.19 yes Fig.18 An exploded view of the feed conveyor mechanism shown;

[0045] Fig. 20 yes Fig.19 A partial structural schematic diagram of the feed conveying mechanism shown;

[0046] Fig.21 yes Fig. 20 A cross-sectional view of the clamp assembly shown;

[0047] Fig. 22 yes Figure 1 A top view of the feeding mechanism shown;

[0048] Fig.23 yes Figure 1 A bottom view of the feed mechanism shown;

[0049] Fig.24 is a cross-sectional view of a first jacking assembly provided in an embodiment of the present application;

[0050] Fig.25 yes Fig. 22 A cross-sectional view of the second jacking assembly along line AA shown;

[0051] Fig.26 yes Figure 1 A schematic diagram of the structure of the fixture in the processing and conveying mechanism shown;

[0052] Fig. 27 yes Figure 3 A partial exploded schematic diagram of the feeding and conveying mechanism shown;

[0053] Fig.28 yes Fig. 27 A perspective view of the cylinder assembly shown;

[0054] Fig.29 yes Fig.28 An exploded view of the first cylinder assembly is shown;

[0055] Fig.30 yes Figure 1 A partial top view of the feeding conveyor mechanism shown Figure 1 ;

[0056] Fig.31 yes Fig.28 A cross-sectional view of the first cylinder assembly shown in a relaxed state;

[0057] Fig.32 yes Fig.28 A cross-sectional view of the first cylinder assembly shown in a clamped state;

[0058] Fig.33 yes Fig.28 A cross-sectional view of the second cylinder assembly shown in a clamped state;

[0059] Fig.34 yes Fig.33 A partial schematic diagram of the cylinder assembly shown;

[0060] Fig.35 yes Fig.34 The structural schematic diagram of the cylinder rod end shown;

[0061] Fig.36 yes Fig.34 A schematic structural diagram of the end of the rotating rod shown;

[0062] Fig.37 yes Fig.28A cross-sectional view of the third cylinder assembly shown in a clamped state;

[0063] Fig.38 yes Figure 1 A partial top view of the feeding conveyor mechanism shown Figure 2 ;

[0064] Fig.39 yes Figure 1 A top view of the loading conveyor mechanism is shown. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0066] In the description of the embodiments of the present application, it should be understood that the terms "above", "upper side", "below", "lower side", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not imply or indicate 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.

[0067] See also Figure 1 The present application provides a workpiece processing auxiliary device 1000, and the workpiece 2000 includes but is not limited to a circuit board and the like.

[0068] See also Figure 1 The workpiece processing auxiliary device 1000 includes a loading mechanism 100, a feeding mechanism 300 and a processing mechanism 700 arranged in sequence along the positive direction of the X axis. The workpiece processing auxiliary device 1000 also includes a feeding conveying mechanism 500 and a processing conveying mechanism 900 for conveying the workpiece 2000.

[0069] See also Figure 2 The feeding mechanism 100 includes a feeding frame 101 and a feeding drive assembly 103. The feeding frame 101 includes a multi-layer feeding support layer 105 arranged along the Z-axis direction. The feeding support layer 105 is used to place the workpiece 2000. Each layer is a row of placement positions arranged along the Y-axis direction. Optionally, the number of placement positions in a row is 6, and of course, it can also be 2, 4, 8, etc.

[0070] The feeding drive assembly 103 is used to drive the feeding frame 101 to move up and down.

[0071] See also Figure 1The feeding end of the feeding mechanism 300 is connected to the discharging end of the loading mechanism 100 .

[0072] See also Figure 1 The loading mechanism 100 and the feeding mechanism 300 are both provided with a connected slideway. The feeding conveying mechanism 500 is slidably connected to the slideway. The feeding conveying mechanism 500 is used to transfer the workpiece 2000 on the loading support layer 105 to the feeding mechanism 300, and to transfer the workpiece 2000 on the feeding mechanism 300 to the loading support layer 105.

[0073] See also Figure 1 The feeding end of the processing mechanism 700 is connected to the discharging end of the feeding mechanism 300 .

[0074] See also Figure 1 The processing and conveying mechanism 900 is disposed on the feeding mechanism 300 and the processing mechanism 700. The processing and conveying mechanism 900 is used to convey the workpiece 2000 on the feeding mechanism 300 to the processing mechanism 700 or to convey the workpiece 2000 on the processing mechanism 700 to the feeding mechanism 300.

[0075] In this embodiment, please refer to Figure 3 The feeding mechanism 300 has a first workbench 301, and the processing mechanism 700 has a second workbench 303. The surface of the first workbench 301 is flush with the surface of the second workbench 303. Under the action of the feeding drive assembly 103, the support surface of each feeding support layer 105 can be flush with the surface of the first workbench 301.

[0076] Among them, see Figure 3 A first slideway 107 is provided on the support surface of the loading support layer 105, a second slideway 109 is provided on the surface of the first workbench 301, and a third slideway 111 is provided on the surface of the second workbench 303. The first slideway 107, the second slideway 109 and the third slideway 111 are sequentially arranged and connected along the positive direction X. At least one slide post 2001 is provided on the workpiece 2000, and the slide post 2001 can move along the first slideway 107, the second slideway 109 and the third slideway 111 to move the workpiece 2000 along the X direction.

[0077] See also Figure 4 The loading support layer 105 is used to place the workpiece 2000 , so the position on the loading support layer 105 where the workpiece 2000 is placed is defined as the placement position 102 .

[0078] See also Figure 4The feeding conveying mechanism 500 is used to transfer the workpiece 2000 from the placement position 102 to the tabletop of the first workbench 301 of the feeding mechanism 300, and the position where the feeding mechanism 300 places the workpiece 2000 is defined as the waiting position 104. The processing conveying mechanism 900 is used to transfer the workpiece 2000 from the waiting position 104 to the processing mechanism 700, and the position where the processing mechanism 700 places the workpiece 2000 is defined as the processing position 106.

[0079] The moving process of the workpiece 2000 is as follows: under the action of the feeding drive assembly 103, the supporting surface of the top feeding support layer 105 of the loading rack 101 is flush with the table surface of the first workbench 301. The feeding conveyor mechanism 500 transfers the workpiece 2000 from the placement position 102 to the waiting position 104 on the feeding conveyor mechanism 500 from the end of the loading rack 101 away from the feeding mechanism 300. After putting down the workpiece 2000, the feeding conveyor mechanism 500 returns to the end of the loading rack 101 away from the feeding mechanism 300. The processing conveyor mechanism 900 transfers the workpiece 2000 from the waiting position 104 to the processing position 106. After putting down the workpiece 2000, the processing conveyor mechanism 900 returns to the initial position. After the workpiece 2000 is processed, the processing conveyor mechanism 900 comes to the processing position 106 to clamp the workpiece 2000 and send the workpiece 2000 back to the waiting position 104. After the workpiece 2000 is located at the waiting position 104, the feeding conveying mechanism 500 comes to the waiting position 104 and conveys the workpiece 2000 to the placement position 102 of the loading support layer 105. In this way, the workpiece 2000 of the top loading support layer 105 is processed. The above is the processing procedure of a layer of workpieces 2000. Optionally, when there are 6 workpieces 2000 in a layer, 6 workpieces 2000 can be processed at the same time, thereby improving the processing efficiency of the workpieces 2000. After the workpieces 2000 of the top layer are processed, the loading drive assembly 103 causes the loading rack 101 to rise one layer to process the workpieces 2000 of the second layer. The process is the same as the processing process of the workpieces 2000 of the top layer, and will not be repeated here.

[0080] The present application sets an automatically rising and lowering loading mechanism 100, which can simultaneously support multiple workpieces 2000 to rise synchronously to the height of the first workbench 301 of the feeding mechanism 300, prepare for the feeding conveying mechanism 500 to convey the workpieces 2000 to the feeding mechanism 300, and also support multiple workpieces 2000 to be synchronously recovered to the loading mechanism 100. After the processing of one layer of workpieces 2000 is completed, the workpieces 2000 on the next layer are raised to continue processing, and such a cycle is repeated, thereby realizing automated generation of processes, improving the efficiency of loading and recycling of workpieces 2000, saving loading time and improving the processing efficiency of workpieces 2000; by setting the feeding conveying mechanism 500 and the processing conveying mechanism 900, accurate transmission of the target position of the workpiece 2000 is achieved, the degree of automation of the workpiece 2000 in the transmission process is improved, and the processing efficiency of the workpiece 2000 is improved.

[0081] Understandable, see Figure 5 The feeding mechanism 100 includes a detection component 113, and the detection component 113 is used to detect whether there is a workpiece 2000 on a feeding support layer 105.

[0082] Please refer to Figure 5 and Figure 6 The feeding mechanism 100 also includes a detection component 113 , which includes a first sensor 1131 , a second sensor 1132 and a processor 1133 , and the processor 1133 is electrically connected to the first sensor 1131 and the second sensor 1132 .

[0083] The first sensor 1131 is located on one side of the loading rack 101 and is spaced apart from the loading rack 101 and fixedly arranged. The so-called fixed arrangement means that the first sensor 1131 does not move with the loading rack 101. Fig. 9 ), and the number of first sensors 1131 is determined by the number of groups of the carrying platforms 1011, that is, the number of first sensors 1131 is equal to the number of groups of the carrying platforms 1011. When the number is greater than or equal to 2, the first sensors 1131 are opposite to the carrying platforms 1011 one by one, and different first sensors 1131 are opposite to different carrying platforms 1011. Each first sensor 1131 is used to detect whether there is a workpiece 2000 on each loading support layer 105 on the corresponding carrying platform 1011. The first sensor 1131 can be, but is not limited to, an infrared sensor.

[0084] Among them, the second sensor 1132 is arranged on one side of the loading rack 101 along a preset direction and is fixedly arranged. The so-called fixed arrangement means that the second sensor 1132 is at least partially fixed on other stationary components of the non-load-bearing device. The second sensor 1132 is a distance detection sensor, which is used to obtain the position information of the loading rack 101 in real time. It can be understood that the number of the second sensor 1132 is 1 to achieve the above functions. The second sensor 1132 can be, but is not limited to, a wire encoder, which includes a wire 1135 and a functional body 1136 (such as Figure 6 ), the functional body is fixedly arranged and does not move with the loading rack 101, one end of the pull wire 1135 is connected to the functional body 1136, and the other end of the pull wire 1135 is connected to the loading rack 101. When the loading rack 101 moves in a preset direction, the pull wire 1135 will stretch, so that the functional body 1136 can obtain the real-time position of the loading rack 101. In other embodiments, the second sensor 1132 can also be an ultrasonic sensor, infrared sensor, or other sensor that can measure distance and is spaced apart from the loading rack 101.

[0085] The specific detection principle is as follows: the second sensor 1132 is used to obtain the position information of the loading rack 101 and send a first position signal to the processor 1133. The processor 1133 is used to generate a first control signal after receiving the first position signal. The first control signal is used to control the first sensor 1131 to detect whether there is a workpiece 2000 on the loading support layer 105.

[0086] It is understandable that, since the multiple loading support layers 105 in each group of carriers are arranged at intervals, the workpieces 2000 carried on different loading support layers 105 are also arranged at intervals, and only when the workpiece 2000 moves to a position directly opposite to the first sensor 1131, the first sensor 1131 can detect whether there is a workpiece 2000 on the current loading support layer 105. Therefore, the role of the second sensor 1132 is to obtain the position data of the loading rack 101 in real time during the movement and send it to the processor 1133, and the role of the processor 1133 is to determine in real time whether the current position of the loading rack 101 satisfies the condition that the workpiece 2000 is directly opposite to the first sensor 1131, and if so, the first sensor 1131 is controlled to start detection.

[0087] It can be understood that the setting of this embodiment can, firstly, save power by not turning on the first sensor 1131 all the time, and secondly, can accurately record which carrier has the workpiece 2000 and which does not, so as to facilitate the subsequent control of whether the feed conveying mechanism 500 is ready for action.

[0088] Please refer to Figures 7 to 9 In another embodiment, the feeding mechanism 100 further includes a detection component 113 , the detection component 113 includes a first sensor 1131 , a third sensor 1134 and a processor 1133 , and the processor 1133 is electrically connected to the first sensor 1131 and the third sensor 1134 .

[0089] Among them, the first sensor 1131 is located on one side of the loading rack 101, and is spaced apart from the loading rack 101, and is fixedly arranged. The so-called fixed arrangement means that the first sensor 1131 does not move with the loading rack 101. Further, the first sensor 1131 is arranged opposite to the load-bearing platform 1011, and the number of the first sensors 1131 is determined by the number of groups of the load-bearing platforms 1011, that is, the number of the first sensors 1131 is equal to the number of groups of the load-bearing platforms 1011. When the number is greater than or equal to 2, the first sensors 1131 are opposite to the load-bearing platforms 1011 one by one, and different first sensors 1131 are opposite to different load-bearing platforms 1011. Each first sensor 1131 is used to detect whether there is a workpiece 2000 on each loading support layer 105 on the corresponding load-bearing platform 1011. The first sensor 1131 can be, but is not limited to, an infrared sensor.

[0090] The third sensor 1134 is located on one side of the loading rack 101 and is spaced apart from the loading rack 101 and fixedly arranged. The so-called fixed arrangement means that the third sensor 1134 does not move with the loading rack 101. The loading rack 101 is provided with a plurality of positioning marks 1021 ( Fig. 9 ). The positioning mark 1021 may be, but not limited to, a hole, a groove, a protrusion, etc. The third sensor 1134 is used to obtain the position information of the loading rack 101 through multiple positioning marks 1021. It is understandable that the number of the third sensor 1134 is 1 to achieve the above function. The third sensor 1134 may be, but not limited to, an infrared sensor, an ultrasonic sensor, etc.

[0091] The distance between adjacent loading support layers 105 in the same group of load-bearing platforms 1011 is defined as the first distance. The interval between adjacent positioning marks 1021 is defined as the second distance. The first distance and the second distance are equal. Since the positioning mark 1021 is set on the loading rack 101, the positioning mark 1021 moves the same distance as the loading rack 101 moves, so the current position of the loading rack 101 can be obtained by detecting the position of the mark.

[0092] Optionally, the number of positioning marks 1021 is the same as the number of loading support layers 105 on the same group of carrying platforms 1011 , and the positioning marks 1021 are arranged relative to the loading support layers 105 , and different positioning marks 1021 are relative to different loading support layers 105 .

[0093] The specific detection principle is as follows: the third sensor 1134 is used to obtain the position information of the loading rack 101 through the multiple positioning marks 1021 and send a first position signal to the processor 1133. The processor 1133 is used to generate a first control signal after receiving the first position signal. The first control signal is used to control the first sensor 1131 to detect whether there is a workpiece 2000 on the loading support layer 105.

[0094] As described in the above embodiment, since the multiple loading support layers 105 in each group of carriers are arranged at intervals, the workpieces 2000 carried on different loading support layers 105 are also arranged at intervals. Only when the workpiece 2000 moves to a position directly opposite to the first sensor 1131, the first sensor 1131 can detect whether there is a workpiece 2000 on the current loading support layer 105. Therefore, the role of the third sensor 1134 is to obtain the position data of the loading rack 101 in the process of movement in real time and send it to the processor 1133, and the role of the processor 1133 is to determine in real time whether the current position of the loading rack 101 satisfies the condition that the workpiece 2000 is directly opposite to the first sensor 1131. If so, the first sensor 1131 is controlled to start detection.

[0095] It can be understood that the setting of this embodiment can, firstly, save power by not turning on the first sensor 1131 all the time, and secondly, can accurately record which carrier has the workpiece 2000 and which does not, so as to facilitate the subsequent control of whether the feed conveying mechanism 500 is ready for action.

[0096] It should be noted that in the above two detection implementation modes, the functions of the first sensor 1131 and the processor 1133 are the same, and the functions of the second sensor 1132 and the third sensor 1134 are also used to detect the position information of the loading rack 101. The difference is that the second sensor 1132 and the third sensor 1134 are arranged in different positions, and therefore the detection principles of the second sensor 1132 and the third sensor 1134 are also different.

[0097] Please refer to Fig.10In combination with any of the above detection implementations, the first sensor 1131 in the detection component 113 is used to send a confirmation signal to the processor 1133 after detecting the presence of the workpiece 2000 on the loading support layer 105. The processor 1133 is also used to generate a second control signal after receiving the confirmation signal. The second control signal is used to control the feed conveyor mechanism 500 to clamp the workpiece 2000 and transport it from the feed end of the loading rack 101 to the discharge end of the loading rack 101. If the first sensor 1131 detects that there is no workpiece 2000 on the loading support layer 105, the processor 1133 does not need to control the feed conveyor mechanism 500 to perform the clamping action and the movement action. It can be understood that this setting form is conducive to saving power, especially in mass production.

[0098] It should be noted that the detection process of the workpiece 2000 and the circulation process of the workpiece 2000 can be carried out separately or crosswise. Separately means that the detection component 113 is used to detect the loading rack 101 layer by layer, and after the entire loading rack 101 is detected, the feed conveyor mechanism 500 is used to rotate the workpiece 2000 on the loading rack 101 layer by layer. Crosswise means that the detection component 113 is used to detect the first layer of the loading rack 101, and after the first layer is detected, the feed conveyor mechanism 500 is used to rotate the workpiece 2000 on the first layer, and after the first layer is rotated, the detection component 113 is used to detect the second layer in turn, and the feed conveyor mechanism 500 rotates the second layer, and this cycle is repeated until the last layer is completed.

[0099] The above detection of the workpiece 2000 is not only applicable when loading, but also applicable when the workpiece 2000 is recovered to the loading rack 101.

[0100] By setting up an automatically lifting loading mechanism 100 and a detection component 113 on the loading mechanism 100, it is possible to effectively detect whether there is a workpiece 2000 on each layer of the loading support layer 105, thereby reducing problems such as missing workpieces 2000 and incorrect positioning of workpieces 2000, and improving the accuracy of loading and recovering workpieces 2000.

[0101] The controller is electrically connected to the loading drive assembly 103 , the feeding conveying mechanism 500 and the processing conveying mechanism 900 . The controller is used to control the loading drive component 103 to drive the target loading support layer 105 on the loading rack 101 to align with the feeding mechanism 300, and to control the feeding conveying mechanism 500 to transfer the workpiece 2000 on the loading support layer 105 to the feeding mechanism 300, and to control the processing conveying mechanism 900 to transfer the workpiece 2000 on the feeding mechanism 300 to the processing mechanism 700, and to control the processing conveying mechanism 900 to transfer the processed workpiece 2000 from the processing mechanism 700 to the feeding mechanism 300, and to control the feeding conveying mechanism 500 to transfer the workpiece 2000 from the feeding mechanism 300 to the target loading support layer 105, and to control the loading rack 101 to rise or fall so that the loading support layer 105 adjacent to the target loading support layer 105 is aligned with the feeding mechanism 300. By analogy, the workpieces 2000 on each loading support layer 105 on the loading rack 101 are all transferred to the processing mechanism 700 and recovered to the loading support layer 105. The above process realizes that the workpiece processing auxiliary device 1000 automatically transfers each workpiece 2000 on the loading rack 101 to the processing mechanism 700 in an orderly manner and recovers them, thereby realizing the automated processing of batches of workpieces 2000 and improving the processing efficiency of the workpieces 2000.

[0102] The structure of the feeding drive assembly 103 is described below by way of example with reference to the accompanying drawings.

[0103] Please refer to Fig.11 The feeding drive assembly 103 includes a first frame 127, a second frame 128, and a lifting structure 129 described in any of the following embodiments. The lifting structure 129 is supported by the first frame 127. The second frame 128 is supported by the lifting structure 129 and can perform reciprocating motion (lifting motion) under the drive of the lifting mechanism. Fig.11 In the embodiment, the reciprocating direction (lifting direction) of the second frame 128 is the positive / negative direction of the Z axis. The second frame 128 is used to carry the workpiece 2000 and transport the workpiece 2000 through lifting motion.

[0104] Please refer to Fig.11 The lifting structure 129 includes a first arm 1291 and a second arm 1292 which are cross-arranged and rotationally connected.

[0105] One end of the first arm 1291 is rotatably connected to the first frame 127 and fixed on the first frame 127. The other end of the first arm 1291 is movably connected to the second frame 128. When the lifting structure 129 drives the second frame 128 to lift, the first arm 1291 only rotates relative to the first frame 127, and at the same time, the first arm 1291 rotates and translates relative to the second frame 128.

[0106] One end of the second arm 1292 is rotatably connected to the second frame 128 and fixed on the second frame 128. The other end of the second arm 1292 is movably connected to the first frame 127. When the lifting structure 129 drives the second frame 128 to rise and fall, the second arm 1292 only rotates relative to the second frame 128, and at the same time, the second arm 1292 rotates and translates relative to the first frame 127.

[0107] It should be noted that the parts of the first arm 1291 and the second arm 1292 that only rotate are located at the same end of the lifting structure 129, or in other words, the parts of the first arm 1291 and the second arm 1292 that simultaneously rotate and translate are located at the same end of the lifting structure 129. Fig.11 In the figure, the first arm 1291 and the second arm 1292 in the first dotted circle Q1 undergo both rotation and translation motions, and the first arm 1291 and the second arm 1292 in the second dotted circle Q2 undergo only rotation.

[0108] Please refer to Fig.12 The lifting structure 129 also includes a first rolling body 1293 and a second rolling body 1290. The first rolling body 1293 is rotatably connected to one end of the first arm 1291. The second rolling body 1290 is rotatably connected to one end of the second arm 1292. The first rolling body 1293 and the second rolling body 1290 are located at the scissor member 130 ( Fig.13 ) on the same side.

[0109] Among them, the first rolling body 1293 is rollingly connected to the above-mentioned second frame 128, that is, the first rolling body 1293 is located at one end of the first arm 1291 and simultaneously undergoes rotation and translational movement. When the lifting structure 129 drives the second frame 128 to lift and lower, the first rolling body 1293 rolls on the second frame 128, thereby realizing the rotation and translational movement of the first arm 1291 relative to the second frame 128.

[0110] Among them, the second rolling body 1290 is rollingly connected to the above-mentioned first frame 127, that is, the second rolling body 1290 is located at one end of the second arm 1292 and simultaneously undergoes rotation and translational movement. When the lifting structure 129 drives the first frame 127 to lift and lower, the second rolling body 1290 rolls on the first frame 127, thereby realizing the rotation and translational movement of the second arm 1292 relative to the first frame 127.

[0111] It can be understood that the provision of the first rolling body 1293 and the second rolling body 1290 can reduce the resistance to the translational movement of the first arm 1291 and the second arm 1292, so that the second frame 128 can be raised and lowered smoothly.

[0112] The lifting structure 129 in the above-mentioned feeding drive assembly 103 is described in detail below with reference to the accompanying drawings.

[0113] Please refer to Fig.13 The present application also provides a lifting structure 129 , which includes a feeding drive member 132 , a scissors member 130 and a force transmission member 131 .

[0114] The scissor member 130 includes a first arm 1291 and a second arm 1292 which are cross-arranged and rotatably connected, that is, the scissor member 130 is in the form of scissors. The scissor member 130 has a first lifting angle α1, which is the angle formed by the orthographic projections of the first arm 1291 and the second arm 1292 on the same plane (XZ plane). During the relative rotation of the first arm 1291 and the second arm 1292, the size of the first lifting angle α1 will change, and the size of the scissor member 130 in the Z-axis direction will change accordingly. When the first lifting angle α1 is opened (the first lifting angle α1 becomes larger), the size of the scissor member 130 in the Z-axis direction increases, thereby lifting the above-mentioned second frame 128; when the first lifting angle α1 is closed (the first lifting angle α1 becomes smaller), the size of the scissor member 130 in the Z-axis direction decreases, thereby retracting the above-mentioned second frame 128.

[0115] Optionally, the first arm 1291 and the second arm 1292 are spaced apart from each other. It is understandable that the spaced apart arrangement can avoid friction between the first arm 1291 and the second arm 1292 , thereby facilitating relative rotation of the first arm 1291 and the second arm 1292 .

[0116] The force transmission member 131 includes a moving member 134 and a connecting rod member 133. The connecting rod member 133 includes a first connecting rod 1331 and a second connecting rod 1332 which are arranged at intervals. The moving member 134 is connected to the feeding driving member 132. The two ends of the first connecting rod 1331 are respectively rotatably connected to the moving member 134 and the first arm 1291. The two ends of the second connecting rod 1332 are respectively rotatably connected to the moving member 134 and the second arm 1292.

[0117] The connecting rod 133 has a second lifting angle α2, which is the angle formed by the orthographic projections of the first connecting rod 1331 and the second connecting rod 1332 on the same plane (XZ plane). During the relative rotation of the first connecting rod 1331 and the second connecting rod 1332, the magnitude of the second lifting angle α2 will change. When the second lifting angle α2 is opened (the second lifting angle α2 becomes larger), the connecting rod 133 causes the first lifting angle α1 to open; when the second lifting angle α2 is closed (the second lifting angle α2 becomes smaller), the connecting rod 133 causes the first lifting angle α1 to close.

[0118] Therefore, the moving member 134 is used to drive the second lifting angle α2 of the connecting rod member 133 to open or close under the drive of the feeding driving member 132. The connecting rod member 133 is used to drive the scissor member 130 to open or close after the second lifting angle α2 is opened or closed, thereby realizing the lifting movement of the second frame 128.

[0119] The following is an explanation of the lifting principle of the lifting structure 129 from another perspective. For the convenience of explanation, the following definitions are made: the central axis of the rotational connection between the first connecting rod 1331 and the first arm 1291 is O1; the central axis of the rotational connection between the second connecting rod 1332 and the second arm 1292 is O2; the central axis of the rotational connection between the first arm 1291 and the second arm 1292 is O3.

[0120] When the moving part 134 moves in the negative direction of the Y-axis, the first connecting rod 1331 causes the first arm 1291 to rotate clockwise around O3, and the second connecting rod 1332 causes the second arm 1292 to rotate counterclockwise around O3. That is, O1 and O2 move away from each other, thereby increasing the size of the scissors-type part 130 in the Z-axis direction, thereby achieving the lifting of the above-mentioned second frame 128.

[0121] When the moving part 134 moves in the positive direction of the Y-axis, the first connecting rod 1331 causes the first arm 1291 to rotate counterclockwise around O3, and the second connecting rod 1332 causes the second arm 1292 to rotate clockwise around O3. In other words, O1 and O2 approach each other, thereby reducing the size of the scissors-fork part 130 in the Z-axis direction, thereby achieving the retraction of the above-mentioned second frame 128.

[0122] In summary, the lifting structure 129 provided in the present application includes a feeding drive member 132, a scissors-type member 130 and a force transmission member 131, wherein the feeding drive member 132 is connected to the force transmission member 131, and can drive the moving member 134 in the force transmission member 131, and the moving member 134 thereby drives the connecting rod member 133 to open or close, and finally drives the scissors-type member 130 to open or close through the connecting rod member 133, thereby realizing the lifting function of the upgrading mechanism. It can be understood that the lifting structure 129 can be used in the production field to improve production efficiency.

[0123] Please refer to Fig.14, the first arm 1291 has a first connection part A. The second arm 1292 has a second connection part B. The moving part 134 has a third connection part C and a fourth connection part D. Among them, the first connection part A is closer to the third connection part C than the second connection part B. The second connection part B is closer to the fourth connection part D than the first connection part A. In other words, in the lifting direction, the position of the first connection part A is above the position of the second connection part B, and the position of the third connection part C is above the position of the fourth connection part D.

[0124] Further, the two ends of the first connecting rod 1331 are respectively connected to the first connecting portion A and the fourth connecting portion D. The two ends of the second connecting rod 1332 are respectively connected to the second connecting portion B and the third connecting portion C. In other words, the first connecting rod 1331 and the second connecting rod 1332 are cross-arranged, and the cross-arrangement can make the driving force required by the feeding drive member 132 to drive the lifting structure 129 to achieve the lifting effect smaller, thereby saving electricity.

[0125] The above-mentioned labor-saving principle is explained below: As can be seen from the previous description, the lifting effect of the lifting structure 129 is achieved by the rotation of the first arm 1291, and the rotation of the first arm 1291 needs to be achieved by the first connecting rod 1331 rotating around O1. In other words, when the first connecting rod 1331 rotates, the lifting structure 129 achieves the lifting effect. If the first connecting rod 1331 is connected to the third connecting portion C of the moving member 134, the first force applied by the moving member 134 to the first connecting rod 1331 is almost parallel to the first connecting rod 1331. At this time, the force arm driving the first connecting rod 1331 to rotate is small, so a larger first force is required to rotate the first connecting rod 1331. When the first connecting rod 1331 is connected to the fourth connecting portion D of the moving member 134, the angle formed by the first force and the first connecting rod 1331 is larger than when the first connecting rod 1331 is connected to the third connecting portion C of the moving member 134. At this time, the force arm driving the first connecting rod 1331 to rotate is larger, so a smaller first force can be used to rotate the first connecting rod 1331. Similarly, the lifting effect of the lifting structure 129 requires the rotation of the second connecting rod 1332 to be realized. If the second connecting rod 1332 is connected to the fourth connecting portion D of the moving member 134, the second force applied by the moving member 134 to the second connecting rod 1332 is almost parallel to the second connecting rod 1332. At this time, the force arm driving the second connecting rod 1332 to rotate is smaller, so a larger second force is required to rotate the second connecting rod 1332. When the second connecting rod 1332 is connected to the third connecting part C of the moving part 134, compared with connecting the second connecting rod 1332 to the fourth connecting part D of the moving part 134, the angle formed by the second force and the second connecting rod 1332 is larger. At this time, the force arm driving the second connecting rod 1332 to rotate is larger, so a smaller second force can be used to rotate the second connecting rod 1332.

[0126] Please refer to Fig.14 The scissor member 130 has a hinged portion E, which is a portion where the first arm 1291 and the second arm 1292 are rotatably connected. The first arm 1291 has a first end F away from the hinged portion E. The first connecting portion A is located between the first end F and the hinged portion E. The second arm 1292 has a second end G away from the hinged portion E. The second connecting portion B is located between the second end G and the hinged portion E.

[0127] It can be understood that, during the lifting process of the lifting structure 129, each part of the first arm 1291 and the second arm 1292 rotates around the hinge E, and the linear velocity of the first arm 1291 and the second arm 1292 is greater at the position farther from the hinge E, so the displacement of the first arm 1291 and the second arm 1292 is greater at the position farther from the hinge E in the Z-axis direction. In this embodiment, the first connecting part A is arranged between the first end F and the hinge E, so in the Z-axis direction, the displacement of the first end F is greater than that of the first connecting part A. In other words, the first connecting part A only needs a smaller displacement to make the first end F produce a larger displacement, and the closer the first connecting part A is to the hinge E, the smaller the displacement required for the first connecting part A. Compared with the arrangement of the first connecting part A at the first end F, the arrangement of this embodiment has a smaller movement space for the force transmission member 131, so that the size of the force transmission member 131 can be set smaller, thereby saving space occupation and the weight of the lifting structure 129. The second connection portion B is similar to the first connection portion A and will not be described in detail here.

[0128] Please refer to Fig.15 The scissor member 130 further includes a reinforcement member 1301, which is connected to the first arm 1291 and is adjacent to the first connection portion A. It can be understood that during the lifting process of the lifting structure 129, the first connection portion A will rotate only when it is subjected to the force from the first connecting rod 1331, so the first connection portion A is a force-bearing part. The reinforcement member 1301 in this embodiment is disposed adjacent to the first connection portion A, so that the mechanical strength of the first connection portion A and its vicinity can be increased, thereby improving the service life of the lifting structure 129.

[0129] Please refer to Fig.15 The feeding driving member 132 includes a power source 1321 and a transmission member 1322 connected to each other. The power source 1321 is used to drive the transmission member 1322 to move. The transmission member 1322 is used to drive the moving member 134 to approach or move away from the power source 1321 under the drive of the power source 1321.

[0130] In one embodiment, see Fig.15, the transmission member 1322 has an external thread. The moving member 134 has a threaded hole K1 that passes through the opposite sides of the moving member 134. The transmission member 1322 is inserted into the through hole and is connected to the transmission member 1322 through the threaded hole K1. The transmission member 1322 is used to rotate under the drive of the power source 1321 to drive the moving member 134 to approach or move away from the power source 1321. Specifically, the power source 1321 is a motor, and the output shaft of the motor is connected to one end of the transmission member 1322. The moving member 134 is sleeved on the transmission member 1322 and cooperates with the external thread on the transmission member 1322 through the threaded hole K1. When the power source 1321 is turned on, the transmission member 1322 rotates with the output shaft, and the moving member 134 performs translational motion on the transmission member 1322, that is, the moving member 134 approaches or moves away from the power source 1321.

[0131] In another embodiment, the power source 1321 can also be replaced by a hydraulic cylinder, and the transmission member 1322 can be replaced by a hydraulic rod. One end of the transmission member 1322 is movably connected to the hydraulic cylinder, and the other end of the transmission member 1322 is fixedly connected to the moving member 134. When the pressure liquid is injected into the hydraulic cylinder, the transmission member 1322 is pushed, thereby driving the moving member 134 to reciprocate, that is, the moving member 134 is close to or away from the power source 1321.

[0132] It is understandable that there are other embodiments that can enable the moving part 134 to move closer to or farther away from the power source 1321, which are not listed here one by one.

[0133] Please refer to Fig.15 The feeding drive member 132 further includes a bearing seat 1323 and a connecting member 1324. The bearing seat 1323 is rotatably connected to the hinge portion E. One end of the connecting member 1324 is connected to the bearing seat 1323, and the other end of the connecting member 1324 is connected to the power source 1321, that is, the feeding drive member 132 is supported on the hinge portion E through the bearing seat 1323.

[0134] It is understandable that any position on the scissor member 130 except the hinge E will generate a torque when subjected to an external force, and the torque will affect the rotation of the first arm 1291 or the second arm 1292. In this embodiment, the feeding drive member 132 is indirectly supported on the hinge E through the bearing seat 1323, so that the self-weight of the feeding drive member 132 passes through the hinge E. Since the hinge E is the rotation center of the scissor member 130, the self-weight of the feeding drive member 132 will not generate a torque for the scissor member 130, and will not affect the rotation of the first arm 1291 or the second arm 1292. In other words, it is ensured that the first arm 1291 and the second arm 1292 can rotate smoothly. Moreover, in this embodiment, the supporting seat 1323 is rotatably connected to the hinge part E, rather than fixing the supporting seat 1323 on the first arm 1291 or the second arm 1292. In other words, the loading drive member 132 will not rotate with the first arm 1291 or the second arm 1292, thereby ensuring that the moving member 134 and the connecting rod member 133 are in a state of being able to move relative to each other, so that the lifting effect of the lifting structure 129 can be continuously achieved.

[0135] The bearing seat 1323 has a through hole K2, which passes through the opposite sides of the bearing seat 1323. The transmission member 1322 is arranged in the through hole K2. A bearing is also arranged in the through hole K2, and the bearing is sleeved on the transmission member 1322, and the bearing is used to realize the rotation of the transmission member 1322 relative to the bearing seat 1323. It can be understood that the setting of the through hole K2 can prevent the transmission member 1322 from moving in the radial direction of the through hole K2, thereby ensuring that the lifting structure 129 can smoothly achieve lifting.

[0136] Please refer to Fig.16 The scissor member 130 further includes a third arm 1302 and a fourth arm 1303 which are cross-arranged and rotationally connected.

[0137] The third arm 1302 is arranged opposite to the first arm 1291. The scissor member 130 also includes a first fixed shaft 1304 and a second fixed shaft 1305. The first fixed shaft 1304 is connected to one end of the first arm 1291 and the third arm 1302. The second fixed shaft 1305 is connected to the other end of the first arm 1291 and the third arm 1302. During the lifting movement of the lifting structure 129, the first arm 1291 and the third arm 1302 realize synchronous movement through the first fixed shaft 1304 and the second fixed shaft 1305. Optionally, the lifting structure 129 also includes a first plate 1294 and a second plate 1295, wherein the first plate 1294 is connected to the first arm 1291 and the third arm 1302 and is adjacent to the first fixed shaft 1304. The second plate 1295 is connected to the first arm 1291 and the third arm 1302 and is adjacent to the second fixed shaft 1305. It can be understood that the first plate 1294 and the second plate 1295 can increase the connection stability between the first arm 1291, the third arm 1302, the first fixed shaft 1304 and the second fixed shaft 1305, thereby further ensuring that the first arm 1291 and the third arm 1302 can move synchronously.

[0138] The fourth arm 1303 is arranged opposite to the second arm 1292. The scissor member 130 further includes a third fixed shaft 1306. The third fixed shaft 1306 is connected to one end of the second arm 1292 and the fourth arm 1303. During the lifting movement of the lifting structure 129, the second arm 1292 and the fourth arm 1303 realize synchronous movement through the third fixed shaft 1306. Optionally, the lifting structure 129 further includes a third plate 1296 and a fourth plate 1297, wherein the third plate 1296 is connected to the second arm 1292 and the fourth arm 1303 and is adjacent to the third fixed shaft 1306. The fourth plate 1297 is connected to the second arm 1292 and the fourth arm 1303 and is adjacent to the second fixed shaft 1305. It can be understood that the third plate 1296 and the fourth plate 1297 can increase the connection stability between the second arm 1292, the fourth arm 1303 and the third fixed shaft 1306, thereby further ensuring that the second arm 1292 and the fourth arm 1303 can move synchronously.

[0139] Please refer to Fig.17 The connecting rod member 133 also includes a third connecting rod 1333, a fourth connecting rod 1334, a first connecting shaft 1315 and a second connecting shaft 1316 which are arranged at intervals.

[0140] The third connecting rod 1333 is arranged opposite to the first connecting rod 1331. One end of the first connecting rod 1331 and the third connecting rod 1333 is connected to the first connecting shaft 1315. The first connecting shaft 1315 is connected to the first arm 1291 and the third arm 1302. The other ends of the first connecting rod 1331 and the third connecting rod 1333 are connected to opposite sides of the moving member 134.

[0141] The fourth connecting rod 1334 is arranged opposite to the second connecting rod 1332. One end of the second connecting rod 1332 and the fourth connecting rod 1334 is connected to the second connecting shaft 1316. The second connecting shaft 1316 is connected to the second arm 1292 and the fourth arm 1303. The other ends of the second connecting rod 1332 and the fourth connecting rod 1334 are connected to opposite sides of the moving member 134.

[0142] The second arm 1292 and the fourth arm 1303 are spaced apart to form an accommodation space K3. The force transmission member 131 and the feeding drive member 132 are at least partially located in the accommodation space K3. It can be understood that such a configuration improves the space utilization rate and fully and reasonably utilizes the space. Moreover, in this configuration, the scissor member 130 can also protect the force transmission member 131 and the feeding drive member 132, thereby improving the service life to a certain extent.

[0143] The structure of the feed conveying mechanism 500 is described below by way of example with reference to the accompanying drawings.

[0144] See also Fig.18 and Fig.19 The feed conveying mechanism 500 includes a clamping assembly 501 and a first clamping driving assembly 503 connected to the clamping assembly 501 (see Fig.21 ) and a second clamping drive assembly 505. The clamping assembly 501 includes a base body 507, a first chuck 509 and a second chuck 511. The first chuck 509 is rotatably connected to the base body 507. The second chuck 511 is rotatably connected or fixedly connected to the base body 507. In this embodiment, the second chuck 511 is fixedly connected to the base body 507. One end of the first chuck 509 approaches or moves away from one end of the second chuck 511 under the action of the first clamping drive assembly 503. The second clamping drive assembly 505 is used to drive the clamping assembly 501 to move along the slideway (the first slideway 107 and the second slideway 109), so as to realize the transfer of the workpiece 2000 to the waiting position 104.

[0145] By setting up the feeding and conveying mechanism 500 including a clamping component 501, a first clamping drive component 503 and a second clamping drive component 505, the first chuck 509 and the second chuck 511 can work together to clamp the workpiece 2000. At the same time, the clamping component 501 is connected to the second clamping drive component 505 and can be driven by the second clamping drive component 505. Therefore, after the clamping component 501 completes the clamping process of the workpiece 2000, it can move under the drive of the second clamping drive component 505, so as to achieve transfer to the target workstation, thereby improving production efficiency.

[0146] Please refer to Fig.18The feeding and conveying mechanism 500 further includes a motion structure 513. The motion structure 513 includes a first substructure 515 and a second substructure 517. The first substructure 515 and the second substructure 517 are respectively connected to the opposite ends of the clamping assembly 501, and are used to carry the clamping assembly 501 to move on the loading support layer 105. It can be understood that by installing the first substructure 515 and the second substructure 517 at both ends of the clamping assembly 501, the span of the clamping assembly 501 can be increased, thereby improving the movement stability of the feeding and conveying mechanism 500, and ensuring that the workpiece 2000 is accurately conveyed to the target station.

[0147] It should be noted that the second clamping drive assembly 505 can be directly connected to the motion structure 513, can also be directly connected to the clamping assembly 501, and can also be directly connected to both the motion structure 513 and the clamping assembly 501 at the same time, which is not limited in the present application.

[0148] Optionally, the second clamping drive assembly 505 includes but is not limited to a motor and a one-way bending chain. One end of the one-way bending chain is connected to the motor, and the other end is connected to the motion structure 513. Since the one-way bending chain can only bend toward the inside but not toward the outside, the outside of the one-way bending chain is turned away from the support surface of the upper material support layer 105. When the motor drives the one-way bending chain to move forward toward the X-axis, the one-way bending chain stretches and forms a structure similar to a support rod, so that the motion structure 513 can be pushed to move forward along the X-axis. When the electrode drives the one-way bending chain to move in the opposite direction toward the X-axis, the one-way bending chain is gradually retracted to drive the motion structure 513 to move in the opposite direction along the X-axis, and the one-way bending chain is flexible when retracted, can be bent arbitrarily, and occupies a small space.

[0149] See also Fig.19 The first substructure 515 includes a first carrier frame 515a and a first running wheel 515b connected to each other. The first carrier frame 515a is connected to the base body 507. The first running wheel 515b is rotatably connected to the first carrier frame 515a, that is, the first running wheel 515b is rotatably arranged on the first carrier frame 515a. The number of the first running wheels 515b can be 2, 3, 5, 7, etc., which is not limited in the present application.

[0150] The second substructure 517 includes a second carrier frame 517a and a second running wheel 517b connected to each other. The second carrier frame 517a is connected to the base 507. The second running wheel 517b is rotatably connected to the second carrier frame 517a, that is, the second running wheel 517b is rotatably arranged on the second carrier frame 517a. The number of the second running wheels 517b can be 2, 3, 5, 7, etc., which is not limited in the present application.

[0151] The first running wheel 515b and the second running wheel 517b can be, but are not limited to, bearings, universal wheels, one-way wheels, etc. The first running wheel 515b and the second running wheel 517b are both used to realize the movement of the feeding conveying mechanism 500 on the conveying platform. It can be understood that, compared with not setting running wheels, setting running wheels can reduce the driving force of the movement on the conveying platform of the feeding conveying mechanism 500, thereby saving more electricity. At the same time, the running wheels are rolling friction during the movement process, so the wear amount is small, which is conducive to long-term use.

[0152] Please refer to Fig. 20 , the first chuck 509 is rotatably connected to the base body 507, and the first chuck 509 can be rotatably connected to the base body 507 through the shaft section 510 connected to the base body 507. The second chuck 511 is fixedly connected to the base body 507. The first chuck 509 has a first clamping end A1 for clamping the workpiece 2000, and the second chuck 511 has a second clamping end A2 for clamping the workpiece 2000. The feeding conveying mechanism 500 has a clamping state and a non-clamping state. When the feeding conveying mechanism 500 is in the clamping state, the distance between the first clamping end A1 and the second clamping end A2 is a first distance. When the feeding conveying mechanism 500 is in the non-clamping state, the distance between the first clamping end A1 and the second clamping end A2 is a second distance, and the first distance is smaller than the second distance.

[0153] Further, part of the second chuck 511 is arranged in the first slideway 107. The first slideway 107 is a guide for the clamping assembly 501, so that the clamping assembly 501 moves along the first slideway 107 after clamping the workpiece 2000. It is understandable that during the movement of the feed conveying mechanism 500 clamping the workpiece 2000 on the loading support layer 105, it is necessary to ensure that the movement of the feed conveying mechanism 500 does not deviate from the target path, otherwise the workpiece 2000 may not be accurately transferred to the target station. In this embodiment, the second chuck 511 of the feed conveying mechanism 500 is at least partially accommodated in the first slideway 107 formed by the loading support layer 105, so that the movement of the second chuck 511 can be limited by the loading support layer 105, thereby achieving the purpose of preventing the feed conveying mechanism 500 from deviating from the target path and ensuring that the workpiece 2000 is accurately transferred to the target station.

[0154] Please refer to Fig.21 The first clamping drive assembly 503 is connected to the first clamping head 509. The first clamping drive assembly 503 is used to drive the first clamping head 509 to rotate so that the first clamping end A1 of the first clamping head 509 is close to the second clamping end A2 of the second clamping head 511.

[0155] like Fig.21As shown, the first clamping drive assembly 503 includes a first piston, which abuts against the other end of the first clamping end A1 on the first clamping head 509 and drives the first clamping end A1 of the first clamping head 509 to approach the second clamping end A2 of the second clamping head 511. Specifically, the first clamping head 509 is rotatably connected to the seat body 507 through the shaft section 510. The seat body 507 has a receiving cavity B1 and a first through hole B2. The first clamping drive assembly 503 is received in the receiving cavity B1. The first through hole B2 is connected to the receiving cavity B1 and is used to introduce the fluid into the receiving cavity B1. The portion of the first clamping head 509 away from the first clamping end A1 is accommodated in the receiving cavity B1 and connected to the first clamping drive assembly 503. The first clamping drive assembly 503 is used to move in the receiving chamber B1 under the action of the fluid and drive the first clamp 509 to rotate, so that the end of the first clamp 509 away from the first clamping drive assembly 503 is close to the second clamp 511. In other words, when the fluid is introduced into the receiving chamber B1, the pressure in the receiving chamber B1 continues to rise, thereby prompting the first piston to move and press the part of the first clamp 509 away from the first clamping end A1, so that the first clamp 509 will rotate, and the first clamping end A1 will gradually move closer to the second clamping end A2 of the second clamp 511 during the rotation process, and finally the clamping operation is achieved. Among them, the fluid can be gas (pneumatic drive) or liquid (hydraulic drive), which is not limited here.

[0156] Of course, there are other feasible implementations, which are not described in detail here.

[0157] Please refer to Fig.21 , the clamping assembly 501 also includes an elastic member 521. The elastic member 521 can be, but is not limited to, a spring. The opposite ends of the elastic member 521 are respectively in contact with the first chuck 509 and the seat body 507. The elastic member 521 is used to provide an elastic force to the first chuck 509 in a direction away from the second chuck 511, that is, when the feed conveying mechanism 500 is in a clamping state, the elastic member 521 is in a compressed state, and the elastic member 521 is used to provide the feed conveying mechanism 500 with a force to convert the clamping state to a non-clamping state. Specifically, after the feed conveying mechanism 500 clamps the workpiece 2000 to the target workstation, the workpiece 2000 needs to be released, and at this time, the first chuck 509 and the second chuck 511 need to be loosened. The specific implementation principle is: reduce the fluid pressure in the accommodating chamber B1 so that the torque applied by the elastic member 521 to the first chuck 509 is greater than the torque of the first clamping drive assembly 503 on the first chuck 509, and the first chuck 509 rotates in the opposite direction, that is, the first clamping end A1 of the first chuck 509 moves in the direction away from the second clamping end A2 of the second chuck 511, thereby releasing the workpiece 2000.

[0158] It can be understood that the elastic member 521 can force the first clamping end A1 of the first clamping chuck 509 and the second clamping end A2 of the second clamping chuck 511 to open to a larger angle, that is, the spacing between the first clamping end A1 and the second clamping end A2 is larger, and the larger spacing is conducive to the next clamping of the workpiece 2000.

[0159] Please refer to Fig.21 , the first clamp 509 has a first groove B3. The seat body 507 has a second groove B4, and the first groove B3 and the second groove B4 are arranged opposite to each other. The elastic member 521 is arranged in the first groove B3 and the second groove B4. Among them, the shapes of the first groove B3 and the second groove B4 can be but not limited to circular grooves, elliptical grooves, etc., which should be determined according to the shape of the elastic member 521. It can be understood that the elastic member 521 is arranged in the first groove B3 and the second groove B4, so as to ensure that the elastic member 521 will not fall off from the feeding conveying mechanism 500 during the telescopic process, which is conducive to the continuous clamping operation.

[0160] Please refer to Fig. 20 The base body 507 has a mounting hole B5, and a connecting member (such as a bolt) can be inserted into the mounting hole B5. The first substructure 515 and the second substructure 517 can be fixedly connected to the base body 507 through one or more connecting members.

[0161] Optionally, the number of mounting holes B5 is multiple, and the so-called multiple means that the number is greater than or equal to two, and specifically can be but not limited to 2, 3, 5, etc. The first substructure 515 and the second substructure 517 can be fixed to the base 507 through any one of the multiple mounting holes B5. It can be understood that by providing multiple mounting holes B5, the relative position of the base 507 and the moving structure 513 can be adjusted. Further optionally, the arrangement direction of the multiple mounting holes B5 is parallel to the direction from the first chuck 509 to the second chuck 511, that is, the multiple mounting holes B5 are provided at different heights of the base 507, so that it can be adapted to clamp the workpiece 2000 at different heights.

[0162] Optionally, the mounting hole B5 passes through opposite sides of the base body 507, and the first substructure 515 and the second substructure 517 share one mounting hole B5, that is, one mounting hole B5 can simultaneously fix the first substructure 515 and the second substructure 517. Such a setting can reduce the number of openings of the mounting hole B5 and thus reduce the opening time.

[0163] The structure of the feeding mechanism 300 is described below with reference to the accompanying drawings.

[0164] See also Fig. 22 and Fig.23 The feeding mechanism 300 includes a first workbench 301, an in-place detection component 305 and a first lifting component 307 disposed on the first workbench 301. The in-place detection component 305 is used to detect whether the workpiece 2000 is present. At least a portion of the first lifting component 307 is retracted relative to the table surface of the first workbench 301 to lift or release the workpiece 2000. Optionally, the first lifting component 307 is located at the waiting position 104.

[0165] For details, please refer to Fig.23 The first workbench 301 is a horizontally arranged table. The table surface of the first workbench 301 is the top surface of the table. The in-place detection component 305 is arranged on the bottom surface of the table. The in-place detection component 305 includes a rotating pressing plate 308 and a sensor 309. One end of the rotating pressing plate 308 is arranged corresponding to the first slideway 107, and the other end of the rotating pressing plate 308 is opposite to the sensor 309 and is arranged at a distance.

[0166] The middle section of the rotating pressing plate 308 is rotatably connected to the first workbench 301. When the workpiece 2000 is transferred to the waiting position 104, the slide column 2001 of the workpiece 2000 abuts against one end of the rotating pressing plate 308, pushing the rotating pressing plate 308 to rotate, and the other end of the rotating pressing plate 308 abuts against the sensor 309. Optionally, the sensor 309 is a pressure sensor. The sensor 309 senses the impact of the other end of the rotating pressing plate 308 and detects that the workpiece 2000 has arrived at the waiting position 104. The sensor 309 is electrically connected to the controller. After receiving the sensing signal of the sensor 309, the controller controls the feeding conveying mechanism 500 to return to the initial position, and controls the processing conveying mechanism 900 to clamp the workpiece 2000 and convey the workpiece 2000.

[0167] Furthermore, the rotating pressing plate 308 is arc-shaped. The slide post 2001 of the workpiece 2000 abuts against the outer arc surface of the rotating pressing plate 308, and the slide post 2001 of the workpiece 2000 slides along the outer arc surface of the rotating pressing plate 308 during the process of continuing to move forward, so that the rotating pressing plate 308 does not hinder the movement of the workpiece 2000 and can accurately detect whether the workpiece 2000 has reached the waiting position 104.

[0168] See also Fig.24, the first lifting assembly 307 includes a first lifting drive assembly 311 and a first lift rod 313. The first lift rod 313 passes through the surface of the first workbench 301. Under the action of the first lifting drive assembly 311, the first lift rod 313 extends out of the surface of the first workbench 301 or retracts below the surface of the first workbench 301. Specifically, the surface of the first workbench 301 is formed by the top surface of the horizontally arranged first table plate, and the first lifting drive assembly 311 is arranged on the bottom surface of the first table plate. The first table plate is provided with a second through hole 315. The first lift rod 313 is arranged along the Z-axis direction and is at least partially arranged in the second through hole 315. The first lifting drive assembly 311 includes but is not limited to a cylinder. The first lifting drive assembly 311 can drive the first lift rod 313 to extend and retract along the Z-axis direction, so that the first lift rod 313 extends out of the top surface of the first table plate through the second through hole 315, or retracts to a position lower than the top surface of the first table plate.

[0169] It can be understood that there are two first lifting assemblies 307 , and the two first lifting assemblies 307 are respectively disposed on both sides of the first slideway 107 to simultaneously lift up and put down the workpiece 2000 .

[0170] See also Fig.25 The processing mechanism 700 includes a second workbench 303 and a second lifting assembly 317 disposed on the second workbench 303. The surface of the second workbench 303 is connected to the surface of the first workbench 301. At least a portion of the second lifting assembly 317 is retracted relative to the surface of the second workbench 303 to lift or release the workpiece 2000. Optionally, the second lifting assembly 317 is located at the processing position 106.

[0171] See also Fig.25 , the second lifting assembly 317 includes a second lifting drive assembly 319 and a second lift rod 321. The second lift rod 321 passes through the surface of the second workbench 303. Under the action of the second lifting drive assembly 319, the second lift rod 321 extends out of the surface of the second workbench 303 or retracts below the surface of the second workbench 303. Specifically, the surface of the second workbench 303 is formed by the top surface of the second horizontally arranged table plate, and the second lifting drive assembly 319 is arranged on the bottom surface of the second table plate. The second table plate is provided with a third through hole 322. The second lift rod 321 is arranged along the Z-axis direction and is at least partially arranged in the third through hole 322. The second lifting drive assembly 319 includes but is not limited to a cylinder. The second lifting drive assembly 319 can drive the second lift rod 321 to extend and retract along the Z-axis direction, so that the second lift rod 321 extends out of the top surface of the second table plate through the third through hole 322, or retracts to a position lower than the top surface of the second table plate.

[0172] There are two second lifting assemblies 317 , and the two second lifting assemblies 317 are respectively disposed on two opposite sides of the second slideway 109 .

[0173] See also Fig.26 , the processing and conveying mechanism 900 includes at least one clamp 901. The clamp 901 is arranged toward the table surface of the first workbench 301. The clamp 901 is used to clamp the workpiece 2000 lifted by the first lifting assembly 307. The processing and conveying mechanism 900 is used to convey the workpiece 2000 to the table surface of the second workbench 303, and place the workpiece 2000 on the second lifting assembly 317. Subsequently, the second lifting assembly 317 retracts to place the workpiece 2000 on the table surface of the second workbench 303, after the workpiece 2000 is processed. The second lifting assembly 317 lifts the workpiece 2000 to facilitate the clamp 901 of the processing conveying mechanism 900 to clamp the workpiece 2000, and sends the workpiece 2000 back to the waiting position 104 of the feeding mechanism 300. The first lifting mechanism on the waiting position 104 lifts the workpiece 2000, the clamp 901 of the processing conveying mechanism 900 moves out, the first lifting mechanism on the waiting position 104 retracts, and the workpiece 2000 is located on the waiting position 104. The loading conveying mechanism then sends the workpiece 2000 back to the loading support layer 105 of the loading rack 101.

[0174] The structure of the processing and conveying mechanism 900 is described below with reference to the accompanying drawings.

[0175] See also Fig.26 The processing and conveying mechanism 900 further includes a clamping drive assembly 903 and a conveying drive assembly (not shown). The clamping drive assembly 903 is used to drive the fixture 901 to clamp or release the workpiece 2000. The clamping drive assembly 903 and the fixture 901 will be described in detail later. The conveying drive assembly is used to drive the fixture 901 to move.

[0176] For details, please refer to Figure 1 , a plurality of support rails 907 extending along the X-axis direction may be provided on the surfaces of the first workbench 301 and the second workbench 303. The two ends of the fixture 901 along the Y-axis direction are slidably connected to the two support rails 907 respectively. On the one hand, the support rails 907 are used to suspend the fixture 901 on the surfaces of the first workbench 301 and the second workbench 303, and can effectively control the position of the fixture 901 in the Z-axis direction; on the other hand, they can serve as a guide for the fixture 901 to move along the Y-axis. The transmission drive assembly includes, but is not limited to, a combination of a motor and a conveyor belt, a combination of a motor and a chain, and the like. The transmission drive assembly is used to push the fixture 901 to move along the support rails 907, so that the fixture 901 can move back and forth between the feeding mechanism 300 and the processing mechanism 700.

[0177] Of course, in other embodiments, the transmission drive assembly includes a motor and a one-way bending chain. One end of the one-way bending chain is connected to the motor, and the other end is connected to the clamp 901. Since the one-way bending chain can only bend toward the inside, but not toward the outside, the outside of the one-way bending chain is directed toward the table surface of the second workbench 303. When the motor drives the one-way bending chain to move forward toward the X-axis, the one-way bending chain stretches and forms a structure similar to a support rod, so that the clamp 901 can be pushed to move along the X-axis.

[0178] The processing and conveying mechanism 900 includes a plurality of fixtures 901. For example, three fixtures 901 are included. Each fixture 901 can simultaneously convey a plurality of workpieces 2000, for example, simultaneously conveying two workpieces 2000. The processing and conveying mechanism 900 can convey six workpieces 2000 at a time, which greatly increases the processing efficiency of the workpieces 2000 and improves the degree of automation. There are a plurality of conveying drive components, and the plurality of conveying components simultaneously drive the plurality of fixtures 901 to move synchronously along the X-axis.

[0179] The controller is electrically connected to the first lifting drive assembly 311, the second lifting drive assembly 319, the clamping drive assembly 903 and the conveying drive assembly. When the workpiece 2000 is placed on the feeding mechanism 300, the controller is used to control the first lifting drive assembly 311 to drive the first lifting rod 313 of the feeding mechanism 300 to lift the workpiece 2000, control the clamping drive assembly 903 to drive the fixture 901 to clamp the workpiece 2000, control the conveying drive assembly to drive the fixture 901 to move the workpiece 2000 to the processing mechanism 700, control the second lifting drive assembly 319 to drive the second lifting rod 321 on the processing mechanism 700 to lift and control the clamping drive assembly 903 to drive the fixture 901 to release the workpiece 2000, and control the second lifting drive assembly 319 to drive the second lifting rod 321 on the processing mechanism 700 to retract, so as to place the workpiece 2000 on the processing mechanism 700.

[0180] After the workpiece 2000 is processed, the controller is also used to control the second lifting drive component 319 to drive the second lift rod 321 on the processing mechanism 700 to lift and control the clamping drive component 903 to drive the fixture 901 to clamp the workpiece 2000, and control the conveying drive component to drive the fixture 901 to move the workpiece 2000 to the feeding mechanism 300, and control the first lifting drive component 311 to drive the first lift rod 313 of the feeding mechanism 300 to lift, and control the clamping drive component 903 to drive the fixture 901 to release the workpiece 2000, and control the first lifting drive component 311 to drive the first lift rod 313 on the processing mechanism 700 to retract, so as to place the workpiece 2000 on the feeding mechanism 300.

[0181] The structure of the clamp 901 of the processing conveying mechanism 900 is described below by way of example with reference to the accompanying drawings.

[0182] See also Fig. 27 The clamp 901 includes a clamping plate 909 and a cylinder assembly 911.

[0183] The clamping plate 909 includes a first surface and a second surface that are disposed opposite to each other. For ease of description, the length direction of the clamping plate 909 is defined as the Y-axis direction, the width direction of the clamping plate 909 is defined as the X-axis direction, and the thickness direction of the clamping plate 909 is defined as the Z-axis direction. The arrow direction is the positive direction. When the device where the processing conveying mechanism 900 is located is located on the ground, in this embodiment, the first surface is the surface facing away from the ground, and the second surface is the surface facing the ground. Of course, in other embodiments, the first surface is the surface facing the ground, and the second surface is the surface facing away from the ground.

[0184] See also Fig.28 and Fig.29 The cylinder assembly 911 includes a clamping module 913, a cylinder body 915 and a rotating module 917. The cylinder body 915 is disposed on the first surface of the clamping plate 909. The axial direction of the cylinder body 915 is the Z-axis direction.

[0185] One end of the clip module 913 is disposed in the cylinder body 915. The other end of the clip module 913 passes through the clamping plate 909 and is disposed opposite to the first surface. The clip module 913 can be raised and lowered relative to the cylinder body 915, and is used to cooperate with the clamping plate 909 to clamp the workpiece 2000 or release the workpiece 2000. One end of the rotation module 917 is disposed in the cylinder body 915 and engages with the clip module 913 in the rotation direction. The other end of the rotation module 917 is located outside the cylinder body 915. It should be noted that the axial direction described in this application is along the Z-axis direction, and the rotation direction is the direction around the Z-axis.

[0186] See also Fig.30The clamping drive assembly 903 includes a rotation drive assembly 919. The rotation drive assembly 919 is connected to the other end of the rotation module 917 and is used to drive the rotation module 917 to rotate, so as to drive the clamping module 913 to rotate to the clamping area or move away from the clamping area. The clamping area is the area where the workpiece 2000 is placed.

[0187] The processing and conveying mechanism 900 provided in the present application is provided with a cylinder assembly 911 that can be lifted and lowered along the axial direction and can be rotated around the axial direction. The cylinder assembly 911 cooperates with the clamp 909 to form a clamp 901, thereby realizing functions such as turning the clamp 901, clamping the workpiece 2000 or releasing the workpiece 2000, and can realize the clamping of the workpiece 2000 with a high degree of automation, thereby improving the processing efficiency of the workpiece 2000.

[0188] Optionally, the gripping drive assembly 903 further includes a lifting drive assembly (not shown). The lifting drive assembly is connected to the cylinder 915. The lifting drive assembly is used to change the air pressure difference in the cylinder 915 to drive the clip module 913 to rise and fall along the axial direction of the cylinder 915.

[0189] Optionally, the controller is electrically connected to the lifting drive assembly and the rotation drive assembly 919. The controller is used to control the rotation drive assembly 919 to drive the other end of the clamping module 913 to rotate to face the clamping area and control the lifting drive assembly to drive the other end of the clamping module 913 close to the clamping plate 909 to clamp the workpiece 2000. The controller is also used to control the lifting drive assembly to drive the other end of the clamping module 913 away from the clamping plate 909 to release the workpiece 2000, and control the rotation drive assembly 919 to drive the other end of the clamping module 913 to move out of the position facing the clamping area.

[0190] The structure of the cylinder assembly 911 is described below with reference to the accompanying drawings.

[0191] In general technology, the cylinder assembly 911 can realize telescopic movement along the axial direction of the cylinder body 915, and this telescopic movement can drive the workpiece 2000 to move back and forth along a straight line. In some automated equipment, it is necessary to drive the workpiece 2000 to first rise and then rotate, or to rise and fall while rotating. When the traditional cylinder assembly 911 encounters this situation, it is also necessary to set a rotating device outside the cylinder assembly 911 that can drive the workpiece 2000 to rotate. This leads to the complexity of the structure of the entire automated device and the risk of performance stability. The present application can be effectively applied to driving the workpiece 2000 to first rise and fall and then rotate, or to rise and fall while rotating, or to rotate first and then rise and fall, etc. by making innovative improvements to the cylinder assembly 911.

[0192] Optionally, the cylinder assembly 911 is a driving cylinder of the processing conveying mechanism 900 , and the workpiece 2000 driven by the cylinder assembly 911 includes but is not limited to the workpiece 2000 and the like.

[0193] See also Fig.31 and Fig.32 The cylinder body 915 has a fourth through hole 923, a cylinder body inner cavity 924 and a fifth through hole 925 which are sequentially connected along the axial direction.

[0194] The first end of the clip module 913 is disposed in the inner cavity 924 of the cylinder body, and the second end of the clip module 913 extends to the outside of the cylinder body 915 through the fourth through hole 923. The second end of the clip module 913 is connected to the workpiece 2000. Optionally, the cylinder assembly 911 is used as a driving assembly of the fixture 901 of the processing conveying mechanism 900, and the cylinder assembly 911 is used to realize the clamping action and the releasing action of the fixture 901.

[0195] Optionally, the clip module 913 can slide along the inner wall of the cylinder cavity 924 under the action of external force to drive the workpiece 2000 to rise and fall in the axial direction.

[0196] The first end of the rotating module 917 is disposed in the inner cavity 924 of the cylinder body and is engaged with the first end of the clip module 913 in the rotating direction. The second end of the rotating module 917 extends to the outside of the cylinder body 915 through the fifth through hole 925 .

[0197] Optionally, the rotation module 917 can rotate axially under the action of the rotation drive assembly 919.

[0198] Optionally, the rotation direction is a circumferential direction around the axial direction, that is, a rotation direction around the axial direction. The first end of the rotation module 917 described in the present application is engaged with the first end of the clip module 913 in the rotation direction, which means that the rotation module 917 will be subject to resistance from the clip module 913 when rotating around the axial direction. When the rotation torque of the rotation module 917 is greater than the resistance of the clip module 913, the rotation module 917 can drive the clip module 913 to rotate synchronously around the axial direction.

[0199] The cylinder assembly 911 provided in the embodiment of the present application, by arranging a clip module 913 and a rotation module 917 axially in the cylinder body 915, and arranging the rotation module 917 to engage with the clip module 913 in the rotation direction, not only can the clip module 913 be lifted and lowered relative to the cylinder body 915 under the action of an external force to realize the lifting and lowering drive of the cylinder assembly 911 in the axial direction, but also can make the rotation module 917 rotate relative to the cylinder body 915 under the external force. Since the rotation module 917 is engaged with the clip module 913, the rotation module 917 can also drive the clip module 913 to rotate together with the rotation module 917 while rotating, thereby realizing the rotation drive function of the cylinder assembly 911 around the axial direction. In summary, the cylinder assembly 911 provided in the present application improves the structure, realizes that the structure is relatively simple and occupies a small space, and can also realize the axial telescopic movement and rotation of the cylinder assembly 911 around the axial direction, so that the cylinder assembly 911 has more movement forms and increases the function of the cylinder assembly 911.

[0200] It can be understood that the inner cavity 924 of the cylinder body provides a receiving space for the first end of the clip module 913 and the first end of the rotating module 917, so the inner space of the inner cavity 924 of the cylinder body is relatively large, and the fourth through hole 923 and the fifth through hole 925 are through holes extending out of the cylinder body 915 provided by the clip module 913 and the rotating module 917, respectively. In this embodiment, the inner diameter of the fourth through hole 923 is smaller than the inner diameter of the inner cavity 924 of the cylinder body, and the inner diameter of the fifth through hole 925 is equal to or larger than the inner diameter of the inner cavity 924 of the cylinder body, so as to facilitate the installation of the clip module 913 in the inner cavity 924 of the cylinder body through the fifth through hole 925. Of course, in other embodiments, the inner diameter of the fourth through hole 923 may be greater than or equal to the inner diameter of the inner cavity 924 of the cylinder body. The inner diameter of the fifth through hole 925 may be smaller than the inner diameter of the inner cavity 924 of the cylinder body.

[0201] Optionally, the material of the cylinder body 915 includes but is not limited to aluminum alloy, carbon steel, stainless steel, etc.

[0202] See also Fig.31 and Fig.32, the clamping module 913 includes a cylinder rod 927 and a lifting clamping piece 929. One end of the cylinder rod 927 is disposed in the inner cavity 924 of the cylinder body. The other end of the cylinder rod 927 extends out of the cylinder body 915 through the fourth through hole 923 and is connected to the lifting clamping piece 929 disposed outside the cylinder body 915. The extension direction of the lifting clamping piece 929 is perpendicular to or intersects with the extension direction of the cylinder rod 927. The lifting clamping piece 929 is used to rotate with the rotation of the cylinder rod 927, and cooperate with the clamping plate 909 to clamp or release the workpiece 2000 when the cylinder rod 927 moves axially. The lifting clamping piece 929 is opposite to the first surface of the clamping plate 909. The clamping plate 909 is disposed between the lifting clamping piece 929 and the cylinder body 915. If the workpiece 2000 is disposed between the lifting clamping piece 929 and the clamping plate 909. When the lifting clamp 929 approaches the rotating rod with the cylinder rod 927, the distance between the lifting clamp 929 and the clamping plate 909 decreases to clamp the workpiece 2000. When the lifting clamp 929 moves away from the rotating rod with the cylinder rod 927, the distance between the lifting clamp 929 and the clamping plate 909 increases to release the workpiece 2000.

[0203] It should be noted that the “connection” mentioned in the present application may refer to a direct contact connection between workpieces 2000 and 2000 , or may refer to an indirect connection between workpieces 2000 via an intermediate workpiece 2000 .

[0204] Optionally, the material of the cylinder rod 927 includes but is not limited to ordinary carbon steel, carbon steel with hard chrome plating on the surface, stainless steel, etc., so that the cylinder rod 927 has better rigidity, corrosion resistance and wear resistance.

[0205] For further information, see Fig.31 and Fig.32 The cylinder assembly 911 further includes a first sealing member 931. The first sealing member 931 is sealed between the inner wall of the fourth through hole 923 and the outer peripheral surface of the cylinder rod 927.

[0206] Optionally, the first sealing member 931 is a sealing ring, which can also be called a sealing plug. The material of the first sealing member 931 includes but is not limited to silicone, rubber, nitrile rubber, chloroprene rubber, ethylene propylene rubber, etc.

[0207] Since the cylinder rod 927 can move or rotate axially relative to the first seal 931, the first seal 931 is a dynamic seal between the cylinder body 915 and the cylinder rod 927. The connection between the first seal 931 and the cylinder body 915 includes but is not limited to integral molding, riveting, threaded connection, etc.

[0208] Optionally, the material of the cylinder rod 927 includes but is not limited to aluminum alloy, carbon steel, stainless steel, etc.

[0209] See also Fig.31and Fig.32 , the rotating module 917 includes a rotating rod 933 and a rotating piece 935. One end of the rotating rod 933 is arranged in the inner cavity 924 of the cylinder body. The other end of the rotating rod 933 extends out of the cylinder body 915 through the fifth through hole 925 and is connected to the rotating piece 935 arranged outside the cylinder body 915. The extending direction of the rotating piece 935 intersects or is perpendicular to the axial direction of the rotating rod 933. The rotating piece 935 is connected to the rotating driving assembly 919. The rotating piece 935 is used to swing under the action of the rotating assembly to drive the rotating rod 933 to rotate. Optionally, the rotating piece 935 can rotate around under the action of a motor, a cylinder, etc., and the rotating piece 935 drives the rotating rod 933 to rotate during the rotation process. One end of the rotating rod 933 is engaged with one end of the cylinder rod 927 in the rotation direction. The rotating rod 933 rotates under the drive of the rotating piece 935 to drive the cylinder rod 927 to rotate.

[0210] The present application does not impose any specific limitation on the rotatable angle of the rotating rod 933 .

[0211] Optionally, the material of the rotating rod 933 includes but is not limited to ordinary carbon steel, carbon steel with hard chrome plating on the surface, stainless steel, etc., so that the rotating rod 933 has better rigidity, corrosion resistance and wear resistance.

[0212] See also Fig.31 and Fig.32 The cylinder assembly 911 further includes a second sealing member 937. Optionally, the second sealing member 937 is sealed between the inner wall of the fifth through hole 925 and the outer peripheral surface of the rotating rod 933.

[0213] Optionally, the second sealing member 937 is a sealing ring, which can also be called a sealing plug. The material of the second sealing member 937 includes but is not limited to silicone, rubber, nitrile rubber, chloroprene rubber, ethylene propylene rubber, etc.

[0214] Since the rotating rod 933 can rotate relative to the second sealing member 937, the second sealing member 937 is a dynamic seal between the cylinder body 915 and the cylinder rod 927. The connection between the second sealing member 937 and the cylinder body 915 includes, but is not limited to, integral molding, riveting, threaded connection, etc. Optionally, the outer peripheral surface of the rotating rod 933 in contact with the second sealing member 937 is a cylindrical surface, so that the rotating rod 933 can rotate relative to the second sealing member 937.

[0215] Optionally, the second sealing member 937 includes a sealing bearing and a sealing ring sleeved on the periphery of the sealing bearing, wherein the sealing bearing is integrally formed with the rotating rod 933 or is sealed and enclosed on the periphery of the rotating rod 933, and the rotating rod 933 can rotate relative to the sealing bearing. The sealing bearing and the sealing ring realize a sealed connection between the fifth through hole 925 and the rotating rod 933.

[0216] One end of the rotating rod 933 is engaged with one end of the cylinder rod 927 in the rotation direction. Specifically, one end of the rotating rod 933 and one end of the cylinder rod 927 can be directly engaged and connected in the rotation direction or engaged and connected through an intermediate connecting piece. When the rotating rod 933 rotates under the action of an external force, the rotating rod 933 drives the cylinder rod 927 to rotate, and the cylinder rod 927 drives the driven component to rotate.

[0217] One end of the rotating rod 933 and one end of the cylinder rod 927 can move relative to each other in the axial direction. In other words, when the cylinder rod 927 is lifted or lowered axially relative to the cylinder body 915 , the rotating rod 933 can be fixed in the axial direction relative to the cylinder body 915 .

[0218] The driving method of the cylinder rod 927 along the axial direction of the cylinder body 915 described in the present application includes but is not limited to the following driving methods.

[0219] Optional, see Fig.31 and Fig.32 , the clip module 913 also includes a second piston 939. The second piston 939 is disposed in the inner cavity 924 of the cylinder body. One end of the second piston 939 is sleeved on the periphery of the cylinder rod 927 or embedded in the cylinder rod 927. The second piston 939 is fixedly connected to the cylinder rod 927 as a whole. The outer peripheral surface of the other end of the second piston 939 is slidably connected to the inner wall of the inner cavity 924 of the cylinder body. The outer peripheral surface of the second piston 939 is sealed and fitted to the inner wall of the inner cavity 924 of the cylinder body. When the second piston 939 slides along the inner wall of the inner cavity 924 of the cylinder body under the action of external force, the second piston 939 drives the cylinder rod 927 to move axially along the inner cavity 924 of the cylinder body, and the cylinder rod 927 performs lifting motion in the cylinder body 915, and drives the workpiece 2000 to perform lifting motion.

[0220] Optionally, when one end of the second piston 939 is embedded in the cylinder rod 927, the second piston 939 can be sleeved on the periphery of the rotating rod 933. In other words, the rotating rod 933, the second piston 939 and the cylinder rod 927 are nested in sequence. The second piston 939 and the cylinder rod 927 are interference fit so that the second piston 939 and the cylinder rod 927 move together in the axial direction. The second piston 939 is slidably connected to the rotating rod 933 in the axial direction. The second piston 939 can rotate together with the rotating rod 933 in the rotation direction.

[0221] It can be understood that in the axial direction, the central axis of the cylinder rod 927 is colinear with the central axis of the rotating rod 933. The inner cavity 924 of the cylinder body has a top wall and a bottom wall arranged opposite to each other in the axial direction. The second piston 939 can move back and forth between the top wall and the bottom wall under the action of an external force, thereby realizing that the second piston 939 drives the cylinder body 915 to move axially relative to the rotating rod 933.

[0222] The present application implements the back-and-forth movement of the second piston 939 in the cylinder cavity 924 including but not limited to the following implementations.

[0223] Optionally, the peripheral side wall of the cylinder body 915 is further provided with a sixth through hole 926 and a seventh through hole 928. The sixth through hole 926 and the seventh through hole 928 both penetrate the peripheral side wall of the cylinder body 915 and communicate with the cylinder body cavity 924. The sixth through hole 926 and the seventh through hole 928 are respectively located on opposite sides of the second piston 939 in the axial direction of the cylinder body cavity 924.

[0224] Furthermore, the cylinder assembly 911 further includes an air pressure regulating module (not shown). The air pressure regulating module includes a first air pipe and a second air pipe. The first air pipe is connected to the sixth through hole 926, and the second air pipe is connected to the seventh through hole 928. The air pressure regulating module is used to supply air to the sixth through hole 926 or the seventh through hole 928, so that the second piston 939 moves axially along the inner cavity 924 of the cylinder body.

[0225] The sixth through hole 926 is close to the top wall of the inner cavity 924 of the cylinder body, and the seventh through hole 928 is close to the bottom wall of the inner cavity 924 of the cylinder body. A first chamber is formed between the second piston 939 and the top wall, and a second chamber is formed between the second piston 939 and the bottom wall. When the air pressure regulating module supplies air to the sixth through hole 926, the air pressure of the first chamber is greater than the air pressure of the second chamber, so that the second piston 939 moves toward the bottom wall, and the second piston 939 drives the cylinder rod 927 away from the rotating rod 933, but the cylinder rod 927 will not separate from the rotating rod 933. When the air pressure regulating module supplies air to the seventh through hole 928, the air pressure of the second chamber is greater than the air pressure of the first chamber, so that the second piston 939 moves toward the top wall, and the second piston 939 drives the cylinder rod 927 close to the rotating rod 933. In this way, the cylinder rod 927 drives the workpiece 2000 to rise and fall.

[0226] Of course, in other embodiments, the air pressure regulating module evacuates air from the seventh through hole 928 to enable the second piston 939 to move toward the bottom wall, and the second piston 939 drives the cylinder rod 927 away from the rotating rod 933. The air pressure regulating module evacuates air from the sixth through hole 926 to enable the second piston 939 to move toward the top wall, and the second piston 939 drives the cylinder rod 927 to approach the rotating rod 933.

[0227] The present application does not make any specific limitation on the structure of the engagement between the rotating rod 933 and the cylinder rod 927 , including but not limited to the following implementations.

[0228] In a first possible implementation, see Fig.31 and Fig.32 , the rotating rod 933 is engaged with the cylinder rod 927 through the second piston 939. The second piston 939 is sleeved on the periphery of the rotating rod 933. The second piston 939 and the rotating rod 933 move relative to each other in the axial direction. The second piston 939 is engaged with the rotating rod 933 in the rotation direction. The rotation of the rotating rod 933 drives the second piston 939 to rotate. The second piston 939 and the cylinder rod 927 have an interference fit, and the second piston 939 drives the cylinder rod 927 to move in the rotation direction. In other words, the second piston 939 not only drives the cylinder rod 927 to rise and fall in the axial direction, and then drives the lifting clamp 929 to clamp or release the workpiece; the second piston 939 also rotates the electric cylinder rod 927 in the rotation direction, and then drives the lifting clamp 929 to rotate.

[0229] Optional, see Fig.29 The outer circumference of the rotating rod 933 is provided with at least one angular portion 941. The second piston 939 is provided with at least one concave corner portion 943. The concave corner portion 943 cooperates with the angular portion 941 so that the second piston 939 and the rotating rod 933 are engaged in the rotating direction.

[0230] In a second possible implementation, see Fig.33 and Fig.34 , a portion of the second piston 939 is sleeved on the periphery of the rotating rod 933. A portion of the second piston 939 is sleeved on the periphery of the cylinder rod 927. The rotating rod 933 is directly engaged with the cylinder rod 927. The cylinder rod 927 can move away from or close to the rotating rod 933 in the axial direction. The cylinder rod 927 and the rotating rod 933 move synchronously in the rotation direction.

[0231] For details, please refer to Fig.33 and Fig.34 The outer peripheral surface of the rotating rod 933 is provided with at least one angular portion 941. The cylinder rod 927 is provided with at least one concave corner portion 943. The concave corner portion 943 cooperates with the angular portion 941 so that the rotating rod 933 and the cylinder rod 927 are engaged in the rotating direction.

[0232] Optional, see Fig.34The cylinder rod 927 includes a first end face 9271 and a second end face 9272 which are arranged opposite to each other in the axial direction. The first end face 9271 is located in the cylinder body cavity 924, and the second end face 9272 is located outside the cylinder body 915. The outer peripheral surface of the cylinder rod 927 is connected between the first end face 9271 and the second end face 9272. At least one concave corner portion 943 is close to the first end face 9271.

[0233] See also Fig.34 The rotating rod 933 has a third end face 9331 and a fourth end face 9332 which are arranged opposite to each other in the axial direction. The third end face 9331 is located in the inner cavity 924 of the cylinder body, and the fourth end face 9332 is located outside the cylinder body 915. At least one corner portion 941 is provided on the third end face 9331.

[0234] See also Fig.35 and Fig.36 , the first end face 9271 is provided with a first groove 9273, and the end portion where the third end face 9331 of the rotating rod 933 is located is arranged in the first groove 9273. The inner wall of the first groove 9273 includes a non-cylindrical concave corner portion 943, and the shape of the concave corner portion 943 is a complementary shape to the shape of the angular portion 941. Due to the presence of the concave corner portion 943 and the angular portion 941, the rotating rod 933 cannot rotate axially relative to the cylinder rod 927, so the rotating rod 933 drives the cylinder rod 927 to rotate together. Optionally, the third end face 9331 of the rotating rod 933 and the bottom surface of the first groove 9273 can be fitted or spaced apart, and the present application does not limit this. In this embodiment, the cylinder rod 927 can move relative to the rotating rod 933 in the axial direction. In other embodiments, the cylinder rod 927 moves together with the rotating rod 933 in the axial direction.

[0235] The present application does not specifically limit the number and shape of the corner portions 941. Optionally, the number of the corner portions 941 is at least two. The present application does not limit the shape of the corner portions 941, and the corner portions 941 can be acute-angled corner portions, right-angled corner portions, obtuse-angled corner portions, and arc-shaped corner portions.

[0236] In a third possible implementation, see Fig.35 and Fig.36 The outer circumference of the cylinder rod 927 is provided with at least one angular portion 941, and the rotating rod 933 is provided with at least one concave corner portion 943. The concave corner portion 943 cooperates with the angular portion 941 so that the rotating rod 933 and the cylinder rod 927 are engaged in the rotation direction. This embodiment can refer to the structure of the rotating rod 933 and the structure of the cylinder rod 927 in the previous embodiment. The difference from the previous embodiment is that in this embodiment, please refer to Fig.37The first end surface 9271 of the cylinder rod 927 is provided with a second groove 9333 , and the end portion where the third end surface 9331 of the rotating rod 933 is located is arranged in the second groove 9333 .

[0237] In yet another embodiment, the corner portion 941 is protruded from the first end surface 9271 of the cylinder rod 927 , and the third end surface 9331 of the rotating rod 933 is provided with a first groove, wherein the first groove is used to accommodate the corner portion 941 .

[0238] In other embodiments, the corner portion 941 is protruded from the third end surface 9331 of the rotating rod 933 , and the first end surface 9271 of the cylinder rod 927 is provided with a first groove, wherein the first groove is used to accommodate the corner portion 941 .

[0239] In combination with any of the above-mentioned embodiments, the present application includes but is not limited to the following embodiments for the structure of the corner portion 941 .

[0240] Optional, see Fig.29 , the angular portion 941 includes at least one first fitting plane 945. The concave corner portion 943 includes at least one second fitting plane 947. The first fitting plane 945 fits with the second fitting plane 947. The first fitting plane 945 is parallel to the axial direction of the cylinder rod 927; or, the angle at which the first fitting plane 945 intersects with the axial direction of the cylinder rod 927 is less than 90°.

[0241] Take the case where the corner portion 941 is provided at the end where the third end face 9331 of the rotating rod 933 is located. For example, the corner portion 941 is formed by connecting a plane and an arc surface, and the plane is parallel to the axial direction of the cylinder rod 927. At this time, the outer peripheral surface of the end where the third end face 9331 of the rotating rod 933 is located includes at least a plane and an arc surface. The contour line of the third end face 9331 includes a straight line and an arc line.

[0242] The corner portion 941 is formed by connecting two planes. At this time, the outer peripheral surface of the end where the third end face 9331 of the rotating rod 933 is located includes at least two planes. The two planes are arranged opposite to each other or intersecting. The two planes are parallel to the axial direction of the cylinder rod 927. The outer peripheral surface of the end where the third end face 9331 of the rotating rod 933 is located is a triangular cylinder, a quadrilateral cylinder, a pentagonal cylinder, a hexagonal cylinder, etc. The contour line of the third end face 9331 includes a triangle, a quadrilateral, a pentagon, a hexagon, etc.

[0243] The corner portion 941 is formed by connecting two planes. At this time, the outer peripheral surface of the end where the third end surface 9331 of the rotating rod 933 is located includes at least two planes. The two planes intersect with the axial direction of the cylinder rod 927.

[0244] The corner portion 941 is formed by connecting at least two arc-shaped surfaces. The outer peripheral surface of the end portion where the third end surface 9331 of the rotating rod 933 is located is an elliptical cylinder, etc. The contour line of the third end surface 9331 includes an ellipse, etc.

[0245] In the present application, the clamping plate 909 is rectangular in shape. A plurality of cylinder assemblies 911 are arranged on the clamping plate 909 along the Y-axis direction and are all close to the edge of the clamping plate 909. When the lifting clamp 929 is in a non-operating state, the lifting clamp 929 extends along the Y-axis direction. When the lifting clamp 929 is in an operating state, the lifting clamp 929 rotates 90° around the Z-axis direction and away from the edge of the clamp 909.

[0246] The application scenarios of the cylinder assembly 911 provided in the present application include but are not limited to the following scenarios: the cylinder assembly 911 is used to clamp the workpiece 2000, wherein the incoming direction of the workpiece 2000 is the first direction, and the extension direction of the lifting clamp 929 is the second direction, wherein the second direction is perpendicular to the first direction, and optionally, the lifting clamp 929 is in a relaxed state, and the cylinder rod 927 is away from the rotating rod 933. The rotating rod 933 is driven to rotate by controlling the rotating piece 935 through external force, so as to drive the cylinder rod 927 to rotate and the lifting clamp 929 to rotate to the first direction, and the lifting clamp 929 faces the side where the workpiece 2000 is located. When a part of the workpiece 2000 is arranged between the lifting clamp 929 and the clamp 909, the air pressure regulating module supplies air to the seventh through hole 928, so that the air pressure in the second chamber is greater than the air pressure in the first chamber, and the piston 939 drives the cylinder rod 927 to move toward the rotating rod 933, so that the lifting clamp 929 is close to the clamp 909, thereby clamping the workpiece 2000; the cylinder assembly 911 and the clamp are driven by external force to move the workpiece 2000 to the processing position 106, and the air pressure regulating module supplies air to the fourth through hole 923, so that the air pressure in the first chamber is greater than the air pressure in the second chamber, and the piston 939 drives the cylinder rod 927 away from the rotating rod 933, so that the lifting clamp 929 is away from the clamp 909, thereby loosening the workpiece 2000; then the rotating piece 935 is controlled by external force to drive the rotating rod 933 to rotate, so as to drive the cylinder rod 927 to rotate and the lifting clamp 929 to rotate to the second direction, thereby releasing the workpiece 2000.

[0247] It can be understood that the above is only an example of an application scenario. During the process of clamping the workpiece 2000, the lifting clamp 929 can be rotated to the first direction first, and then the lifting clamp 929 can be in a relaxed state. Alternatively, the lifting clamp 929 can be rotated while being in a relaxed state. After the workpiece 2000 is located between the lifting clamp 929 and the clamp 909, the workpiece 2000 can be clamped.

[0248] The structure of the rotation drive assembly 919 is described below with reference to the accompanying drawings.

[0249] Optional, see Fig.31 The rotation drive assembly 919 further includes a connecting piece 949, a push rod 951 and a push rod cylinder 953. One end of the connecting piece 949 is rotatably connected to one end of the rotating piece 935 away from the rotating rod 933, and the other end of the connecting piece 949 is fixedly connected to the push rod 951. The push rod 951 is connected to the push rod cylinder 953. The push rod cylinder 953 is used to push the push rod 951 and the connecting piece 949 along the extension direction (Y-axis direction) of the push rod 951. The connecting piece 949 drives the rotating piece 935 to rotate, so as to drive the rotating rod 933, the cylinder rod 927 and the lifting clamp 929 to rotate.

[0250] Optional, see Fig.31 The connecting piece 949 is provided with a strip hole 955. The extending direction of the strip hole 955 intersects or is perpendicular to the extending direction of the push rod 951. Specifically, the extending direction of the strip hole 955 is the X-axis direction. The end of the rotating piece 935 away from the rotating rod 933 is slidably connected to the inner wall of the strip hole 955.

[0251] Specifically, when the push rod cylinder 953 pushes the push rod 951 and the connecting plate 949 to move along the positive direction of the Y axis for a certain distance, the rotating plate 935 is driven by the connecting plate 949 to rotate about 90° around the Z axis. The rotating plate 935 is transmitted through the rotating rod 933 and the cylinder rod 927 to drive the lifting clamp 929 to rotate about 90° around the Z axis, thereby rotating the lifting clamp 929 from a non-working state to a working state.

[0252] During the rotation of the rotating piece 935, one end of the rotating piece 935 away from the rotating rod 933 slides along the strip hole 955 to absorb the increased length of the rotating piece 935 along the X-axis direction during the rotation process to prevent the rotating piece 935 from getting stuck during the rotation process.

[0253] Optional, see Fig.31, the number of the push rod cylinder 953, the push rod 951, the connecting plate 949 and the cylinder assembly 911 are all multiple. The multiple push rod cylinders 953 include a first push rod cylinder 957 and a second push rod cylinder 959. The multiple push rods 951 include a first push rod 961 and a second push rod 963. The first push rod cylinder 957 is connected to the first push rod 961. The second push rod cylinder 959 is connected to the second push rod 963. The first push rod 961 and the second push rod 963 are both arranged side by side along the Y-axis direction. The first push rod cylinder 957 is connected to the first push rod 961 through the first set of plates 965, and the first push rod cylinder 957 and the first push rod 961 are arranged side by side. The first push rod cylinder 957 pushes the first set of plates 965 to reciprocate along the Y-axis direction under the push of gas, thereby driving the first push rod 961 to reciprocate along the Y-axis direction. Similarly, the second push rod cylinder 959 is connected to the second push rod 963 through the second set of plates 967, and the second push rod cylinder 959 is arranged side by side with the second push rod 963. The second push rod cylinder 959 pushes the second set of plates 967 to reciprocate along the Y-axis direction under the impetus of gas, thereby driving the second push rod 963 to reciprocate along the Y-axis direction.

[0254] See also Fig.38 , the first push rod 961 and the second push rod 963 both drive the multiple cylinder assemblies 911 to move. The present application takes two cylinder assemblies 911 as a group to clamp the workpiece 2000 as an example. Of course, in other embodiments, three, four, etc. cylinder assemblies 911 can be a group. The first push rod 961 and the second push rod 963 drive the two groups of cylinder assemblies 911 to move. Of course, in other embodiments, the first push rod 961 and the second push rod 963 drive one, three, etc. groups of cylinder assemblies 911 to move together. In this embodiment, the two groups of cylinder assemblies 911 are respectively the first cylinder assembly 969, the second cylinder assembly 971, the third cylinder assembly 973 and the fourth cylinder assembly 975 arranged in sequence in the opposite direction of the Y axis. The multiple connecting pieces 949 include a first connecting piece 977, a second connecting piece 979, a third connecting piece 981 and a fourth connecting piece 983.

[0255] Optionally, the first cylinder assembly 969 is connected to the first push rod 961 via the first connecting piece 977. The second cylinder assembly 971 is connected to the second push rod 963 via the second connecting piece 979. The third cylinder assembly 973 is connected to the first push rod 961 via the third connecting piece 981. The fourth cylinder assembly 975 is connected to the second push rod 963 via the fourth connecting piece 983.

[0256] The first cylinder assembly 969 and the third cylinder assembly 973 move synchronously under the action of the first push rod 961 and the first push rod cylinder 957. The second cylinder assembly 971 and the fourth cylinder assembly 975 move synchronously under the action of the second push rod 963 and the second push rod cylinder 959. The movement direction of the first push rod cylinder 957 with the first push rod 961 is opposite to the movement direction of the second push rod cylinder 959 with the second push rod 963. The lifting and lowering clip 929 of the first cylinder assembly 969 and the lifting and lowering clip 929 of the second cylinder assembly 971 are placed in the same direction. The first push rod 961 drives the lifting and lowering clip 929 of the first cylinder assembly 969 and the lifting and lowering clip 929 of the second cylinder assembly 971 to rotate synchronously in the same direction, for example, counterclockwise, through the first connecting piece 977 and the third connecting piece 981. The second push rod 963 drives the lifting clamp 929 of the second cylinder assembly 971 and the lifting clamp 929 of the fourth cylinder assembly 975 to rotate synchronously in the same direction, for example, clockwise, through the second connecting piece 979 and the fourth connecting piece 983. In the non-working state, the placement direction of the lifting clamp 929 of the first cylinder assembly 969 is opposite to the placement direction of the lifting clamp 929 of the second cylinder assembly 971. After rotation, the lifting clamp 929 of the first cylinder assembly 969, the second cylinder assembly 971, the third cylinder assembly 973 and the fourth cylinder assembly 975 are all rotated to the X-axis direction and face the direction of the workpiece 2000 to clamp the workpiece 2000.

[0257] Of course, in other embodiments, the lifting clamp 929 of the first cylinder assembly 969 and the lifting clamp 929 of the second cylinder assembly 971 are placed in the same direction, and the first push rod 961 can drive the lifting clamp 929 of the first cylinder assembly 969 and the lifting clamp 929 of the second cylinder assembly 971 to rotate synchronously to the direction of the incoming workpiece 2000 through the first connecting piece 977 and the second connecting piece 979 respectively.

[0258] The lifting clamp 929 of the third cylinder assembly 973 and the lifting clamp 929 of the fourth cylinder assembly 975 are placed in the same direction, which is opposite to the placement direction of the lifting clamp 929 of the first cylinder assembly 969. The second push rod 963 can drive the lifting clamp 929 of the third cylinder assembly 973 and the lifting clamp 929 of the fourth cylinder assembly 975 to rotate synchronously to the direction of the incoming workpiece 2000 through the third connecting piece 981 and the fourth connecting piece 983 respectively.

[0259] Understandable, see Fig.39The conveying mechanism 900 includes a plurality of clamping plates 909 and a connecting plate 910 connected between two adjacent clamping plates 909. Among them, one clamping plate 909 can be provided with four cylinder assemblies 911. In this embodiment, the conveying mechanism 900 can be provided with three clamping plates 909. In other embodiments, the conveying mechanism 900 can be provided with two, four clamping plates 909, and so on.

[0260] The above is part of the implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications are also considered to be within the scope of protection of the present application.

Claims

1. A workpiece processing auxiliary device, characterized in that: include: The feeding mechanism comprises a feeding frame and a feeding drive assembly, wherein the feeding frame comprises a plurality of feeding support layers, the feeding support layers are used to place workpieces, and the feeding drive assembly is used to drive the feeding frame to rise and fall; A feeding mechanism, wherein the feeding end of the feeding mechanism is connected to the discharging end of the loading mechanism, the feeding mechanism comprises a first workbench, an in-place detection component and a first lifting component arranged on the first workbench, the in-place detection component is used to detect whether the workpiece is present; at least a portion of the first lifting component is retracted relative to the table surface of the first workbench to lift or release the workpiece; A feeding conveying mechanism, wherein the loading mechanism and the feeding mechanism are both provided with slideways, the feeding conveying mechanism is slidably connected to the slideways, and the feeding conveying mechanism is used to transfer the workpiece on the loading support layer to the feeding mechanism, and to transfer the workpiece on the feeding mechanism to the loading support layer; a processing mechanism, wherein a feeding end of the processing mechanism is connected to a discharging end of the feeding mechanism; and A processing and conveying mechanism, wherein the processing and conveying mechanism is arranged on the feeding mechanism and the processing mechanism, the processing and conveying mechanism comprises at least one clamp, the clamp is arranged toward the table top of the first workbench, the clamp is used to clamp the workpiece lifted by the first lifting assembly, and the processing and conveying mechanism is used to transfer the workpiece on the feeding mechanism to the processing mechanism or to transfer the workpiece on the processing mechanism to the feeding mechanism.

2. The workpiece processing auxiliary device according to claim 1, characterized in that: The workpiece processing auxiliary device also includes a first controller, which is used to control the loading drive component to drive the target loading support layer on the loading rack to align with the feeding mechanism, and control the feeding conveying mechanism to transfer the workpiece on the loading support layer to the feeding mechanism, and control the processing conveying mechanism to transfer the workpiece on the feeding mechanism to the processing mechanism, and control the processing conveying mechanism to transfer the processed workpiece from the processing mechanism to the feeding mechanism, and control the feeding conveying mechanism to transfer the workpiece from the feeding mechanism to the target loading support layer; and control the loading rack to rise or fall so that the loading support layer adjacent to the target loading support layer is aligned with the feeding mechanism.

3. The workpiece processing auxiliary device according to claim 1, characterized in that: The feeding drive assembly includes a feeding drive member, a scissors member and a force transmission member; the scissors member includes a first arm and a second arm that are cross-arranged and rotatably connected; the force transmission member includes a moving member and a connecting rod member, the connecting rod member includes a first connecting rod and a second connecting rod, the moving member is connected to the feeding drive member, the two ends of the first connecting rod are respectively rotatably connected to the moving member and the first arm, the two ends of the second connecting rod are respectively rotatably connected to the moving member and the second arm, the moving member is used to drive the connecting rod member to open or close under the drive of the feeding drive member, and the connecting rod member is used to drive the scissors member to open or close after opening or closing.

4. The workpiece processing auxiliary device according to claim 1, characterized in that: The feed conveying mechanism includes a clamping assembly and a first clamping drive assembly and a second clamping drive assembly connected to the clamping assembly, the clamping assembly includes a base body, a first chuck and a second chuck, the first chuck is rotatably connected to the base body, the second chuck is rotatably connected or fixedly connected to the base body, one end of the first chuck approaches or moves away from one end of the second chuck under the action of the first clamping drive assembly, and the second clamping drive assembly is used to drive the clamping assembly to move along the slideway.

5. The workpiece processing auxiliary device according to claim 1, characterized in that: The processing mechanism includes a second workbench and a second lifting assembly arranged on the second workbench, the table top of the second workbench is connected to the table top of the first workbench, at least part of the second lifting assembly is extended relative to the table top of the second workbench to lift or release the workpiece; the second lifting assembly includes a second lifting drive assembly and a second lift rod, the second lift rod passes through the table top of the second workbench, and the second lift rod extends out of the table top of the second workbench or retracts under the table top of the second workbench under the action of the second lifting drive assembly; The processing conveying mechanism is used to convey the workpiece to the table surface of the second workbench and place the workpiece on the second lifting assembly.

6. The workpiece processing auxiliary device according to claim 2, characterized in that: The processing and conveying mechanism includes a clamping plate, a cylinder assembly and a rotation driving assembly; the clamping plate includes a first surface and a second surface arranged opposite to each other; the cylinder assembly includes a clamping module, a cylinder body and a rotation module, the cylinder body is arranged on the first surface of the clamping plate, one end of the clamping module is arranged in the cylinder body, and the other end of the clamping module passes through the clamping plate and is arranged opposite to the first surface, the clamping module can be raised and lowered relative to the cylinder body, and is used to form a clamp with the clamping plate to clamp the object to be clamped or release the object to be clamped; one end of the rotation module is arranged in the cylinder body and engages with the clamping module in the rotation direction, and the other end of the rotation module is located outside the cylinder body; the rotation driving assembly is connected to the other end of the rotation module, and is used to drive the rotation module to rotate, so as to drive the clamping module to rotate to the area to be clamped or move away from the area to be clamped, and the clamping area is the area where the object to be clamped is placed.

7. The workpiece processing auxiliary device according to claim 6, characterized in that: The processing and conveying mechanism further includes a lifting drive assembly, the lifting drive assembly is connected to the cylinder body, and the lifting drive assembly is used to change the air pressure difference in the cylinder body to drive the clamping module to lift and lower along the axial direction of the cylinder body; the workpiece processing auxiliary device further includes a second controller, the second controller is electrically connected to the lifting drive assembly and the rotation drive assembly, and the second controller is used to control the rotation drive assembly to drive the other end of the clamping module to rotate to face the clamping area and control the lifting drive assembly to drive the other end of the clamping module to approach the clamping plate to clamp the object to be clamped; The second controller is also used to control the lifting drive assembly to drive the other end of the clamping module away from the clamping plate to release the object to be clamped, and control the rotating drive assembly to drive the other end of the clamping module to move out of the position facing the clamping area.

8. The workpiece processing auxiliary device according to claim 7, characterized in that: The cylinder body has a first through hole, a cylinder inner cavity and a second through hole which are sequentially connected along the axial direction; the clip module includes a cylinder rod and a lifting clip, one end of the cylinder rod is arranged in the cylinder inner cavity, the other end of the cylinder rod extends out of the cylinder body through the first through hole and is connected to the lifting clip, and the lifting clip is opposite to the first surface of the clamping plate; the rotating module includes a rotating rod and a rotating piece, one end of the rotating rod is arranged in the cylinder inner cavity, the other end of the rotating rod extends out of the cylinder body through the second through hole and is connected to the rotating piece, the rotating piece is connected to the rotating driving assembly, one end of the rotating rod is engaged with one end of the cylinder rod in the rotating direction, and when the rotating driving assembly drives the rotating piece and the rotating rod to rotate, the rotating rod drives the cylinder rod to rotate; The cylinder assembly further includes a first seal and a second seal. The first seal is sealed between the inner wall of the first through hole and the outer peripheral surface of the cylinder rod. The second seal is sealed between the inner wall of the second through hole and the outer peripheral surface of the rotating rod.

9. The workpiece processing auxiliary device according to claim 8, characterized in that: The clip module further includes a piston, which is disposed in the inner cavity of the cylinder body and sleeved on the outer periphery of the cylinder rod. The outer circumference of the piston is slidably connected to the inner circumference of the inner cavity of the cylinder body, and the piston drives the cylinder rod to move axially along the inner cavity of the cylinder body. The circumferential side wall of the cylinder body is also provided with a first through hole and a second through hole, both of which penetrate the circumferential side wall of the cylinder body and are connected to the inner cavity of the cylinder body, and the first through hole and the second through hole are respectively located on opposite sides of the piston in the axial direction of the inner cavity of the cylinder body; the lifting drive assembly includes an air pressure regulating module, which is connected to the first through hole and the second through hole, and the air pressure regulating module is used to supply air to the first through hole or the second through hole, so that the piston moves axially along the inner cavity of the cylinder body to drive the cylinder rod to rise and fall.

10. The workpiece processing auxiliary device according to claim 8 or 9, characterized in that: The rotation drive assembly also includes a connecting piece, a push rod and a push rod cylinder, one end of the connecting piece is rotatably connected to an end of the rotating piece away from the rotating rod, the other end of the connecting piece is fixedly connected to the push rod, the push rod is connected to the push rod cylinder, the push rod cylinder is used to push the push rod and the connecting piece to move along the extension direction of the push rod, the connecting piece drives the rotating piece to rotate, so as to drive the rotating rod, the cylinder rod and the lifting clamp to rotate; The connecting piece is provided with a strip hole, the extension direction of the strip hole intersects or is perpendicular to the extension direction of the push rod, and one end of the rotating piece away from the rotating rod is slidably connected to the inner wall of the strip hole.

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