Conveyor

Abstract

The present application discloses a conveying device for conveying workpieces, comprising a workbench and a conveying mechanism. The workbench comprises at least one lifting assembly, at least part of which is retractable relative to the workbench surface to lift or release the workpiece. The conveying mechanism is arranged on the workbench surface, and the conveying mechanism comprises at least one clamp, which is arranged on the side where the workbench surface is located, and the clamp is used to clamp the workpiece lifted by the lifting assembly, and the conveying mechanism is used to convey the workpiece. The present application provides a conveying device capable of improving the workpiece processing efficiency.

Description

Technical Field

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

[0002] In industry, conveying devices are commonly used to clamp and convey workpieces. How to achieve a high degree of automation in clamping and conveying 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 conveying device capable of improving workpiece processing efficiency.

[0004] A conveying device provided in an embodiment of the present application is used to convey a workpiece, comprising:

[0005] A workbench, the workbench comprising at least one lifting assembly, at least a portion of which is retractable relative to a tabletop of the workbench to lift or release the workpiece; and

[0006] A conveying mechanism, wherein the conveying mechanism is arranged on the table top of the workbench, the conveying mechanism comprises at least one clamp, the clamp is arranged on the side where the table top of the workbench is located, the clamp is used to clamp the workpiece lifted by the lifting assembly, and the conveying mechanism is used to transport the workpiece.

[0007] In a possible embodiment, the workbench includes a feeding mechanism and a processing mechanism connected to each other, and the conveying mechanism is used to clamp the workpiece on the feeding mechanism and convey it to the processing mechanism, and is also used to clamp the workpiece on the processing mechanism and convey it to the feeding mechanism; the lifting assembly is arranged on the feeding mechanism, or the lifting assembly is arranged on the processing mechanism, or both the feeding mechanism and the processing mechanism are provided with the lifting assembly.

[0008] In a possible embodiment, the lifting assembly includes a lifting drive assembly and a lift rod, the lift rod passes through the table top of the workbench, and the lift rod extends out of the table top of the workbench or retracts under the table top of the workbench under the action of the lifting drive assembly; the conveying mechanism also includes a clamping drive assembly and a conveying drive assembly, the clamping drive assembly is used to drive the fixture to clamp or release the workpiece, and the conveying drive assembly is used to drive the fixture to move.

[0009] In a possible embodiment, at least one of the lifting components includes a first lifting component provided on the feeding mechanism and a second lifting component provided on the processing mechanism, the first lifting component includes a first lifting rod and a first lifting drive component, and the second lifting component includes a second lifting rod and a second lifting drive component; the conveying device also includes a first controller, the first controller is electrically connected to the first lifting drive component, the second lifting drive component, the clamping drive component and the conveying drive component, the first controller is used to control the first lifting drive component to drive the first lifting rod of the feeding mechanism to lift the workpiece, and control the clamping drive component to drive the fixture to clamp the workpiece, and control the conveying drive component to drive the fixture to move the workpiece to the processing mechanism, and control the second lifting drive component to drive the second lifting rod on the processing mechanism to lift and control the clamping drive component to drive the fixture to release the workpiece, and control the second lifting drive component to drive the second lifting rod on the processing mechanism to retract, so as to place the workpiece on the processing mechanism.

[0010] In a possible embodiment, the conveying mechanism includes a clamping plate, a cylinder assembly and a rotation drive 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, 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 or release the workpiece; 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 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 clamping module to rotate to or move away from the clamping area to be clamped, and the clamping area is the area where the workpiece is placed.

[0011] In a possible implementation, the 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 clip module to rise and fall along the axial direction of the cylinder body.

[0012] In a possible embodiment, the conveying mechanism also includes a second controller, which is electrically connected to the lifting drive assembly and the rotating drive assembly, and the second controller is used to control the rotating 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 workpiece; 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 workpiece, 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.

[0013] In a possible embodiment, the cylinder body has a first through hole, a cylinder body cavity and a second through hole that are sequentially connected along the axial direction; the clamp module includes a cylinder rod and a lifting clamp, one end of the cylinder rod is arranged in the cylinder body 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 clamp, and the lifting clamp is opposite to the first surface of the clamp to form the clamp; the rotation module includes a rotating rod and a rotating plate, one end of the rotating rod is arranged in the cylinder body 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 plate, the rotating plate is connected to the rotation drive assembly, one end of the rotating rod is engaged with one end of the cylinder rod in the rotation direction, and when the rotation drive assembly drives the rotating plate and the rotating rod to rotate, the rotating rod drives the cylinder rod to rotate.

[0014] In a possible implementation manner, the cylinder assembly further includes a first seal and a second seal, wherein the first seal is sealed between the inner wall of the first through hole and the outer circumferential surface of the cylinder rod, and the second seal is sealed between the inner wall of the second through hole and the outer circumferential surface of the rotating rod;

[0015] The clip module also includes a piston, which is arranged in the inner cavity of the cylinder body, one end of the piston is sleeved on the periphery of the cylinder rod or embedded in the cylinder rod, and the outer peripheral surface of the other end of the piston is slidably connected to the inner wall of the inner cavity of the cylinder body; the peripheral side wall of the cylinder body is also provided with a first through hole and a second through hole 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 cylinder assembly also 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 drives the cylinder rod to move axially along the inner cavity of the cylinder body; the piston drives the cylinder rod to move in the rotation direction; the piston is sleeved on the periphery of the rotating rod, and the piston is engaged with the rotating rod in the rotation direction.

[0016] In a possible embodiment, the rotation drive assembly also includes a connecting plate, a push rod and a push rod cylinder, one end of the connecting plate is rotatably connected to the end of the rotating plate away from the rotating rod, the other end of the connecting plate 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 plate along the extension direction of the push rod, the connecting plate drives the rotating plate to rotate, so as to drive the rotating rod, the cylinder rod and the lifting clamp to rotate; the connecting plate is provided with a strip hole, the extension direction of the strip hole is intersecting or perpendicular to the extension direction of the push rod, and the end of the rotating plate away from the rotating rod is slidably connected to the inner wall of the strip hole.

[0017] The conveying device provided in the embodiment of the present application is provided with a lifting component on the workbench for conveying the workpiece. When the conveying mechanism clamps the workpiece on the workbench or the conveying mechanism places the workpiece on the table top of the workbench, the lifting component can support the workpiece to enable the clamp of the conveying mechanism to clamp the workpiece or to enable the clamp of the conveying mechanism to place the workpiece and then withdraw the clamp. In this way, the conveying mechanism can quickly and accurately clamp the workpiece and can accurately place the workpiece at the processing position. In the process of clamping and placing the workpiece, the forces sent and received by the workpiece are gentle to reduce the risk of collision of the workpiece and improve the processing efficiency and yield of the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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.

[0019] Figure 1 It is a schematic diagram of the structure of a conveying device for conveying a workpiece provided in an embodiment of the present application;

[0020] Figure 2 yes Figure 1 A schematic structural diagram of the conveying device shown;

[0021] Figure 3 yes Figure 1 A side view of the conveyor shown;

[0022] Figure 4 yes Figure 2 A cross-sectional view of the jacking assembly shown;

[0023] Figure 5 is a cross-sectional view of a first jacking assembly provided in an embodiment of the present application;

[0024] Figure 6 is a cross-sectional view of a second lifting assembly provided in an embodiment of the present application;

[0025] Figure 7 yes Figure 3 A partial exploded schematic diagram of the transmission mechanism shown;

[0026] Figure 8 yes Figure 3 A partial top view of the transmission mechanism shown;

[0027] Fig. 9 yes Figure 7 A perspective view of the cylinder assembly shown;

[0028] Fig.10 yes Fig. 9 An exploded view of the first cylinder assembly is shown;

[0029] Fig.11 yes Fig. 9 A cross-sectional view of the first cylinder assembly shown in a relaxed state;

[0030] Fig.12 yes Fig. 9 A cross-sectional view of the first cylinder assembly shown in a clamped state;

[0031] Fig.13 yes Fig. 9 A cross-sectional view of the second cylinder assembly shown in a clamped state;

[0032] Fig.14 yes Fig.13 A partial schematic diagram of the cylinder assembly shown;

[0033] Fig.15 yes Fig.14 The structural schematic diagram of the cylinder rod end shown;

[0034] Fig.16 yes Fig.14 A schematic structural diagram of the end of the rotating rod shown;

[0035] Fig.17 yes Fig. 9 A cross-sectional view of the third cylinder assembly shown in a clamped state;

[0036] Fig.18 yes Figure 3 A partial top view of the transmission mechanism shown;

[0037] Fig.19 yes Figure 3 A top view of the conveying mechanism is shown. DETAILED DESCRIPTION

[0038] 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.

[0039] 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.

[0040] See also Figure 1 The present application provides a conveying device 3000 for conveying a workpiece 2000 , wherein the workpiece 2000 includes but is not limited to a circuit board, etc. The conveying device 3000 includes a workbench 902 and a processing conveying mechanism 900 moving relative to the workbench 902 .

[0041] The workbench 902 has a tabletop disposed opposite to the ground. The processing conveying mechanism 900 is disposed on the tabletop of the workbench 902 to convey the workpiece 2000. For ease of description, the conveying direction of the workpiece 2000 is defined as the X-axis direction. The height direction of the tabletop is the Z-axis direction.

[0042] See also Figure 2 , the workbench 902 includes at least one lifting assembly 904. It can be understood that the number of the lifting assemblies 904 described in the present application is one or more. At least part of the lifting assembly 904 is extended relative to the table surface of the workbench 902 to lift or release the workpiece 2000. Specifically, the extension direction of the lifting assembly 904 is the Z-axis direction.

[0043] See also Figure 3 The processing and conveying mechanism 900 includes at least one clamp 901. The clamp 901 is arranged on the side where the table surface of the workbench 902 is located. The clamp 901 is used to clamp the workpiece 2000 lifted by the lifting assembly 904 and release the clamped workpiece 2000 at the processing position 106. The processing and conveying mechanism 900 is used to convey the clamped workpiece 2000.

[0044] When the workpiece 2000 is transported on the table, since the bottom surface of the workpiece 2000 is closely attached to the table, it is difficult for the processing and conveying mechanism 900 to clamp the workpiece 2000 with the fixture 901 on the table. In the embodiment of the present application, a lifting assembly 904 is arranged on the table, and when the processing and conveying mechanism 900 needs to clamp the workpiece 2000, it extends out of the table to lift the workpiece 2000, and a clamping position is formed between the workpiece 2000 and the table, so that the fixture 901 of the processing and conveying mechanism 900 can quickly and accurately clamp the workpiece 2000 and convey the workpiece 2000 through the clamping position. When the processing conveying mechanism 900 needs to put down the workpiece 2000, the workpiece 2000 may be moved during the clamping and extraction process, thereby making it impossible to place the workpiece 2000 in the correct position, or causing the workpiece 2000 to collide with other positions and cause damage to the workpiece 2000. In the embodiment of the present application, a lifting component 904 is arranged to extend out of the table to lift up the workpiece 2000 that needs to be placed, so as to form a extraction position between the workpiece 2000 and the table, so that the clamp 901 of the processing conveying mechanism 900 can pass through the extraction position to extract the clamp 901, and then retract the lifting component 904 below the table, and the workpiece 2000 will descend with the lifting component 904 until it is placed on the table.

[0045] The conveying device 3000 provided in the embodiment of the present application is configured with a lifting assembly 904 on a workbench 902 for conveying a workpiece 2000. When the processing conveying mechanism 900 clamps the workpiece 2000 on the workbench 902 or the processing conveying mechanism 900 places the workpiece 2000 on the table surface of the workbench 902, the lifting assembly 904 can support the workpiece 2000 so that the clamp 901 of the processing conveying mechanism 900 clamps the workpiece 2000 or the clamp 901 of the processing conveying mechanism 900 can be placed on the workpiece 2000 and the clamp 901 can be withdrawn. In this way, the processing conveying mechanism 900 can quickly and accurately clamp the workpiece 2000 and can accurately place the workpiece 2000 at the processing position 106. In the process of clamping and placing the workpiece 2000, the forces sent and received by the workpiece 2000 are gentle, so as to reduce the risk of the workpiece 2000 being hit and improve the processing efficiency and yield of the workpiece 2000.

[0046] The specific structure of the workbench 902 is described below with reference to the accompanying drawings.

[0047] See also Figure 2 The workbench 902 includes a feeding mechanism 300 and a processing mechanism 700 connected to each other.

[0048] The feeding mechanism 300 and the processing mechanism 700 are arranged along the positive direction of the X-axis. The feeding mechanism 300 has a feeding table. The processing mechanism 700 has a processing table. The feeding table and the processing table are spliced ​​together to form the table of the workbench 902.

[0049] For ease of description, the end of the feeding mechanism 300 close to the processing mechanism 700 is defined as the discharging end, and the end of the feeding mechanism 300 away from the processing mechanism 700 is defined as the feeding end. The end of the processing mechanism 700 close to the feeding mechanism 300 is defined as the feeding end, and the end of the processing mechanism 700 away from the feeding mechanism 300 is the discharging end.

[0050] See also Figure 1 , the processing and conveying mechanism 900 is used to clamp the workpiece 2000 on the feeding mechanism 300 and convey it to the processing mechanism 700, and is also used to clamp the workpiece 2000 on the processing mechanism 700 and convey it to the feeding mechanism 300. Specifically, the processing and conveying mechanism 900 clamps the workpiece 2000 from the discharge end of the feeding mechanism 300, and conveys the workpiece 2000 to the processing position 106 of the processing mechanism 700, and then places the workpiece 2000 and returns to the initial position to wait. After the workpiece 2000 is processed in the processing mechanism 700, the specific processing procedures include but are not limited to punching. The processing and conveying mechanism 900 moves from the initial position to the processing position 106 and clamps the workpiece 2000 from the processing position 106, and conveys the workpiece 2000 to the discharge end of the feeding mechanism 300.

[0051] Optionally, the lifting assembly 904 is provided at the feeding mechanism 300, or the lifting assembly 904 is provided at the processing mechanism 700, or both the feeding mechanism 300 and the processing mechanism 700 are provided with the lifting assembly 904. Specifically, the lifting assembly 904 is provided at the discharge end of the feeding mechanism 300 and / or the lifting assembly 904 is provided at the processing position 106 of the processing mechanism 700.

[0052] Optional, see Figure 1 and Figure 2 , a first slideway 107 is provided on the feeding table of the feeding mechanism 300, and a second slideway 109 is provided on the processing table of the processing mechanism 700. The first slideway 107 is connected to the second slideway 109, and both extend along the X-axis direction. The workpiece 2000 is attached to the table of the workbench 902 and at least one slide column 2001 is provided. The size of the slide column 2001 matches the size of the first slideway 107 and the second slideway 109. Optionally, the number of slide columns 2001 on the workpiece 2000 is two, and the two slide columns 2001 are arranged along the X-axis and are both provided on the slideway (the first slideway 107 or the second slideway 109). When the processing conveying mechanism 900 clamps the workpiece 2000 and moves, the slide column 2001 slides along the first slideway 107 and the second slideway 109, so that the workpiece 2000 moves linearly along the X-axis direction.

[0053] The structure of the lifting assembly 904 is described in detail below with reference to the accompanying drawings.

[0054] See also Figure 4 , the lifting assembly 904 includes a lifting drive assembly 906 and a lift rod 908. The lift rod 908 passes through the table top of the workbench 902. Under the action of the lifting drive assembly 906, the lift rod 908 extends out of the table top of the workbench 902 or retracts below the table top of the workbench 902. Specifically, the table top of the workbench 902 is formed by the top surface of a horizontally arranged table plate, and the lifting drive assembly 906 is arranged on the bottom surface of the table plate. The table plate is provided with a through hole. The lift rod 908 is arranged along the Z-axis direction and is at least partially arranged in the through hole. The lifting drive assembly 906 includes but is not limited to a cylinder. The lifting drive assembly 906 can drive the lift rod 908 to extend and retract along the Z-axis direction, so that the lift rod 908 extends out of the top surface of the table plate through the through hole, or retracts to a level below the top surface of the table plate.

[0055] In the present application, two lifting assemblies 904 are grouped together. The two lifting assemblies 904 are respectively arranged on two pairs of sides of the slideway along the Y-axis direction, so that the two lifting assemblies 904 can lift the workpiece 2000 on both sides of the slideway.

[0056] See also Figure 4 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.

[0057] The transmission drive assembly is used to drive the clamp 901 to move.

[0058] For details, please refer to Figure 1 , a plurality of support rails 907 extending along the X-axis direction may be provided on the table surface of the workbench 902. 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 table surface of the workbench 902, 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.

[0059] 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 workbench 902. 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.

[0060] 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.

[0061] In this embodiment, please refer to Figure 5 and Figure 6 The lifting assembly 904 includes a first lifting assembly 307 and a second lifting assembly 317. The first lifting assembly 307 is disposed on the feeding mechanism 300. The first lifting assembly 307 includes a first lifting rod 313 and a first lifting driving assembly 311. The second lifting assembly 317 is disposed on the processing mechanism 700. The second lifting assembly 317 includes a second lifting rod 321 and a second lifting driving assembly 319.

[0062] See also Figure 5 , the first push rod 313 passes through the table top of the workbench of the feeding mechanism 300. Under the action of the first lifting drive assembly 311, the first push rod 313 extends out of the table top of the workbench of the feeding mechanism 300 or retracts below the table top of the workbench of the feeding mechanism 300. Specifically, the table top of the workbench of the feeding mechanism 300 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 first through hole 315. The first push rod 313 is arranged along the Z-axis direction, and at least partially arranged in the first 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 push rod 313 to extend and retract along the Z-axis direction, so that the first push rod 313 extends out of the top surface of the first table plate through the first through hole 315, or retracts to a level lower than the top surface of the first table plate.

[0063] 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 lower the circuit board.

[0064] See also Figure 6, the second push rod 321 passes through the table top of the workbench of the processing mechanism 700. The second push rod 321 extends out of the table top of the workbench of the processing mechanism 700 or retracts below the table top of the workbench of the processing mechanism 700 under the action of the second lifting drive assembly 319. Specifically, the table top of the workbench of the processing mechanism 700 is formed by the top surface of the second table plate arranged horizontally, 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 second through hole 322. The second push rod 321 is arranged along the Z-axis direction, and at least partially arranged in the second 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 push rod 321 to extend and retract along the Z-axis direction, so that the second push rod 321 extends out of the top surface of the second table plate through the second through hole 322, or retracts to a level lower than the top surface of the second table plate.

[0065] 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 .

[0066] The conveying device 3000 further includes a controller (not shown). 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 (not shown). When the workpiece 2000 is placed on the feeding mechanism 300, the controller is used to control the first lifting drive component 311 to drive the first lifting rod 313 of the feeding mechanism 300 to lift the workpiece 2000, 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 processing mechanism 700, and control the second lifting drive component 319 to drive the second lifting rod 321 on the processing mechanism 700 to lift and control the clamping drive component 903 to drive the fixture 901 to release the workpiece 2000, and control the second lifting drive component 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.

[0067] 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.

[0068] The structure of the processing and conveying mechanism 900 is described below by way of example with reference to the accompanying drawings.

[0069] See also Figure 7 The clamp 901 includes a clamping plate 909 and a cylinder assembly 911.

[0070] See also Figure 8 The clamping drive assembly 903 includes a rotation drive assembly 919 .

[0071] 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.

[0072] See also Fig. 9 and Fig.10 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.

[0073] See also Fig. 9 and Fig.10, 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.

[0074] 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.

[0075] 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.

[0076] Optionally, the clamping drive assembly 903 further includes a lifting drive assembly. 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.

[0077] The controller is electrically connected to the lifting drive assembly (not shown) 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.

[0078] The structure of the cylinder assembly 911 is described below with reference to the accompanying drawings.

[0079] A cylinder assembly 911 provided in an embodiment of the present application can be applied to a driving device. The moving end of the cylinder assembly 911 is connected to the workpiece 2000, and the cylinder assembly 911 transmits the movement that it can achieve to the workpiece 2000 to drive the workpiece 2000 to move together. In general technology, the cylinder assembly 911 can achieve 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. For 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 that can drive the workpiece 2000 to rotate outside the cylinder assembly 911, so that the entire automated device has a complicated structure and performance stability. There are also risks. The present application can be effectively applied to driving the workpiece 2000 to rise and fall first 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.

[0080] Optionally, the cylinder assembly 911 is a driving cylinder of a conveying assembly, and the workpiece 2000 driven by the cylinder assembly 911 includes but is not limited to workpieces 2000 such as circuit boards.

[0081] See also Fig.11 and Fig.12 The cylinder body 915 has a third through hole 923, a cylinder body inner cavity 924 and a fourth through hole 925 which are sequentially connected along the axial direction.

[0082] See also Fig.11 and Fig.12 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 third 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.

[0083] 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.

[0084] 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 fourth through hole 925 .

[0085] Optionally, the rotation module 917 can rotate axially under the action of the rotation drive assembly 919.

[0086] 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.

[0087] 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.

[0088] Understandable, see Fig.11 and Fig.12 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 third through hole 923 and the fourth 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 third through hole 923 is smaller than the inner diameter of the inner cavity 924 of the cylinder body, and the inner diameter of the fourth 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 fourth through hole 925. Of course, in other embodiments, the inner diameter of the third 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 fourth through hole 925 may be smaller than the inner diameter of the inner cavity 924 of the cylinder body.

[0089] Optionally, the material of the cylinder body 915 includes but is not limited to aluminum alloy, carbon steel, stainless steel, etc.

[0090] See also Fig.11 and Fig.12, 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 third 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 933 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 933 with the cylinder rod 927, the distance between the lifting clamp 929 and the clamping plate 909 increases to release the workpiece 2000.

[0091] 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 .

[0092] 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.

[0093] For further information, see Fig.11 and Fig.12 The cylinder assembly 911 further includes a first sealing member 931. The first sealing member 931 is sealed between the inner wall of the third through hole 923 and the outer peripheral surface of the cylinder rod 927.

[0094] 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.

[0095] 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.

[0096] Optionally, the material of the cylinder rod 927 includes but is not limited to aluminum alloy, carbon steel, stainless steel, etc.

[0097] See also Fig.11 and Fig.12 , 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 fourth 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.

[0098] The present application does not impose any specific limitation on the rotatable angle of the rotating rod 933 .

[0099] 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.

[0100] See also Fig.11 and Fig.12 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 fourth through hole 925 and the outer peripheral surface of the rotating rod 933.

[0101] 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.

[0102] 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.

[0103] 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 fourth through hole 925 and the rotating rod 933.

[0104] 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.

[0105] 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 .

[0106] 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.

[0107] Optional, see Fig.11 and Fig.12 , the clip module 913 also includes a piston 939. The piston 939 is arranged in the inner cavity 924 of the cylinder body. One end of the piston 939 is sleeved on the periphery of the cylinder rod 927 or embedded in the cylinder rod 927. The piston 939 is fixedly connected to the cylinder rod 927 as a whole. The outer peripheral surface of the other end of the piston 939 is slidably connected to the inner wall of the inner cavity 924 of the cylinder body. The outer peripheral surface of the piston 939 is sealed and fitted to the inner wall of the inner cavity 924 of the cylinder body. When the piston 939 slides along the inner wall of the inner cavity 924 of the cylinder body under the action of external force, the 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.

[0108] Optionally, when one end of the piston 939 is embedded in the cylinder rod 927, the piston 939 can be sleeved on the periphery of the rotating rod 933. In other words, the rotating rod 933, the piston 939 and the cylinder rod 927 are nested in sequence. The piston 939 and the cylinder rod 927 are interference fit so that the piston 939 and the cylinder rod 927 move together in the axial direction. The piston 939 is slidably connected to the rotating rod 933 in the axial direction. The piston 939 can rotate together with the rotating rod 933 in the rotation direction.

[0109] 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 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 piston 939 drives the cylinder body 915 to move axially relative to the rotating rod 933.

[0110] The present application implements the back-and-forth movement of the piston 939 in the cylinder cavity 924 including but not limited to the following implementations.

[0111] Optional, see Fig.11 and Fig.12 The peripheral side wall of the cylinder body 915 is further provided with a fifth through hole 926 and a sixth through hole 928. The fifth through hole 926 and the sixth through hole 928 both penetrate the peripheral side wall of the cylinder body 915 and communicate with the cylinder body cavity 924. The fifth through hole 926 and the sixth through hole 928 are respectively located on opposite sides of the piston 939 in the axial direction of the cylinder body cavity 924.

[0112] 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 fifth through hole 926, and the second air pipe is connected to the sixth through hole 928. The air pressure regulating module is used to supply air to the fifth through hole 926 or the sixth through hole 928, so that the piston 939 moves axially along the inner cavity 924 of the cylinder body.

[0113] The fifth through hole 926 is close to the top wall of the inner cavity 924 of the cylinder body, and the sixth 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 piston 939 and the top wall, and a second chamber is formed between the piston 939 and the bottom wall. When the air pressure regulating module supplies air to the fifth through hole 926, the air pressure of the first chamber is greater than the air pressure of the second chamber, so that the piston 939 moves toward the bottom wall, and the 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 sixth through hole 928, the air pressure of the second chamber is greater than the air pressure of the first chamber, so that the piston 939 moves toward the top wall, and the 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.

[0114] Of course, in other embodiments, the air pressure regulating module evacuates the sixth through hole 928 to enable the piston 939 to move toward the bottom wall, and the piston 939 drives the cylinder rod 927 away from the rotating rod 933. The air pressure regulating module evacuates the fifth through hole 926 to enable the piston 939 to move toward the top wall, and the piston 939 drives the cylinder rod 927 to approach the rotating rod 933.

[0115] 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.

[0116] In a first possible implementation, see Fig.11 and Fig.12 , the rotating rod 933 is engaged with the cylinder rod 927 through the piston 939. The piston 939 is sleeved on the periphery of the rotating rod 933. The piston 939 and the rotating rod 933 move relative to each other in the axial direction. The piston 939 is engaged with the rotating rod 933 in the rotation direction. The rotation of the rotating rod 933 drives the piston 939 to rotate. The piston 939 and the cylinder rod 927 have an interference fit, and the piston 939 drives the cylinder rod 927 to move in the rotation direction. In other words, the 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 piston 939 also rotates the electric cylinder rod 927 in the rotation direction, and then drives the lifting clamp 929 to rotate.

[0117] Optional, see Fig.10 The outer circumferential surface of the rotating rod 933 is provided with at least one angular portion 941. The 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 piston 939 and the rotating rod 933 are engaged in the rotating direction.

[0118] In a second possible implementation, see Fig.13 and Fig.14 , a portion of the piston 939 is sleeved on the periphery of the rotating rod 933. A portion of the 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.

[0119] For details, please refer to Fig.15 and Fig.16 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.

[0120] Optional, see Fig.14The 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.

[0121] See also Fig.14 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.

[0122] See also Fig.15 and Fig.16 , 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.

[0123] 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-angle corner portions 941, right-angle corner portions 941, obtuse-angle corner portions 941, and arc-shaped corner portions 941.

[0124] In a third possible implementation, see Fig.17, 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, the first end face 9271 of the cylinder rod 927 is provided with a second groove 9333, and the end of the rotating rod 933 where the third end face 9331 is located is arranged in the second groove 9333.

[0125] 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 .

[0126] 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 .

[0127] 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 .

[0128] Optional, see Fig.10 , 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°.

[0129] 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.

[0130] 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.

[0131] 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.

[0132] 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.

[0133] 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.

[0134] 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 circuit board, wherein the incoming direction of the circuit board 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 circuit board is located. When a part of the circuit board is arranged between the lifting clamp 929 and the clamp 909, the air pressure regulating module supplies air to the sixth 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 circuit board; the cylinder assembly 911 and the clamp are driven by external force to move the circuit board to the processing position 106, and the air pressure regulating module supplies air to the fifth through hole 926, 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 circuit board; and 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 circuit board.

[0135] It can be understood that the above is only an example of an application scenario. In the process of clamping the circuit board, it can also be rotated to the first direction first, and then the lifting clamp 929 can be in a relaxed state, or the lifting clamp 929 can be rotated while being in a relaxed state, and after the circuit board is located between the lifting clamp 929 and the clamp 909, the circuit board can be clamped.

[0136] The structure of the rotation drive assembly 919 is described below with reference to the accompanying drawings.

[0137] Optional, see Fig.18 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.

[0138] Optional, see Fig.18The 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.

[0139] 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.

[0140] 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.

[0141] Optional, see Fig.18 , 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 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.

[0142] See also Fig.18, 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.

[0143] Optional, see Fig.12 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.

[0144] See also Fig.18 , 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. Among them, the movement direction of the first push rod 961 brought by the first push rod cylinder 957 is opposite to the movement direction of the second push rod cylinder 959 brought by 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.

[0145] 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.

[0146] 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.

[0147] Understandable, see Fig.19 The 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.

[0148] 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 conveying device for conveying workpieces, characterized in that: include: A workbench, the workbench comprising at least one jacking assembly, at least a portion of which is telescopic relative to a tabletop of the workbench to jack up or release the workpiece; and A conveying mechanism, wherein the conveying mechanism is arranged on the table surface of the workbench, and the conveying mechanism is used to convey the workpiece; the conveying mechanism includes at least one clamp, and the clamp is arranged on the side where the table surface of the workbench is located, and the clamp is used to clamp the workpiece lifted by the lifting assembly, and the clamp includes a clamping plate and a cylinder assembly, and the cylinder assembly includes a clamping module, a cylinder body and a rotating module, and the cylinder body is arranged on the first surface of the clamping plate, and 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 clamping module can slide along the inner wall of the cylinder inner cavity under the action of external force to drive the workpiece to rise and fall along the axial direction; the clamping module includes a cylinder rod and A lifting clamp, one end of the cylinder rod is arranged in the inner cavity of the cylinder body, and the other end of the cylinder rod extends out of the cylinder body through the first through hole and is connected to the lifting clamp, and the lifting clamp is opposite to the first surface of the clamp to form the clamp; the rotating module includes a rotating rod and a rotating piece, one end of the rotating rod is arranged in the inner cavity of the cylinder body, 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 drive component, one end of the rotating rod is engaged with one end of the cylinder rod in the rotation direction, and when the rotating drive component drives the rotating piece and the rotating rod to rotate, the rotating rod drives the cylinder rod to rotate.

2. The conveying device according to claim 1, characterized in that The workbench includes a feeding mechanism and a processing mechanism connected to each other. The conveying mechanism is used to clamp the workpiece on the feeding mechanism and convey it to the processing mechanism, and is also used to clamp the workpiece on the processing mechanism and convey it to the feeding mechanism. The lifting component is arranged on the feeding mechanism, or the lifting component is arranged on the processing mechanism, or the feeding mechanism and the processing mechanism are both provided with the lifting component.

3. The conveying device according to claim 2, characterized in that The lifting assembly includes a lifting drive assembly and a lift rod, the lift rod passes through the table top of the workbench, and the lift rod extends out of the table top of the workbench or retracts under the table top of the workbench under the action of the lifting drive assembly; the conveying mechanism also includes a clamping drive assembly and a conveying drive assembly, the clamping drive assembly is used to drive the fixture to clamp or release the workpiece, and the conveying drive assembly is used to drive the fixture to move.

4. The conveying device according to claim 3, characterized in that At least one of the lifting components includes a first lifting component provided on the feeding mechanism and a second lifting component provided on the processing mechanism, the first lifting component includes a first lifting rod and a first lifting drive component, and the second lifting component includes a second lifting rod and a second lifting drive component; the conveying device also includes a first controller, the first controller is electrically connected to the first lifting drive component, the second lifting drive component, the clamping drive component and the conveying drive component, the first controller is used to control the first lifting drive component to drive the first lifting rod of the feeding mechanism to lift the workpiece, and control the clamping drive component to drive the fixture to clamp the workpiece, and control the conveying drive component to drive the fixture to move the workpiece to the processing mechanism, and control the second lifting drive component to drive the second lifting rod on the processing mechanism to lift and control the clamping drive component to drive the fixture to release the workpiece, and control the second lifting drive component to drive the second lifting rod on the processing mechanism to retract, so as to place the workpiece on the processing mechanism.

5. The conveying device according to any one of claims 1 to 4, characterized in that: The conveying mechanism includes a rotation drive assembly; the clamping plate includes a first surface and a second surface arranged opposite to each other; 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, and 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 or release the workpiece; one end of the rotating module is arranged in the cylinder body and engages with the clamping module in the rotation direction, and the other end of the rotating module is located outside the cylinder body; the rotation drive assembly is connected to the other end of the rotating module, and is used to drive the rotating module to rotate, so as to drive the clamping module to rotate to or move away from the clamping area to be clamped, and the clamping area is the area where the workpiece is placed.

6. The conveying device according to claim 5, characterized in that The conveying mechanism also includes a lifting drive assembly, which is connected to the cylinder body and is used to change the air pressure difference in the cylinder body to drive the clip module to rise and fall along the axial direction of the cylinder body; a plurality of support rails are arranged on the table top of the workbench, and the two ends of the clamp are respectively slidably connected to two of the support rails.

7. The conveying device according to claim 6, characterized in that The conveying mechanism also includes a second controller, which is electrically connected to the lifting drive assembly and the rotating drive assembly. The second controller is used to control the rotating 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 workpiece; 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 workpiece, 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 conveying device according to claim 6, characterized in that The cylinder assembly further includes a first seal and a second seal, wherein the first seal is sealed between the inner wall of the first through hole and the outer peripheral surface of the cylinder rod, and the second seal is sealed between the inner wall of the second through hole and the outer peripheral surface of the rotating rod; The clip module also includes a piston, which is arranged in the inner cavity of the cylinder body, one end of the piston is sleeved on the periphery of the cylinder rod or embedded in the cylinder rod, and the outer peripheral surface of the other end of the piston is slidably connected to the inner wall of the inner cavity of the cylinder body; the peripheral side wall of the cylinder body is also provided with a first through hole and a second through hole 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 cylinder assembly also 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 drives the cylinder rod to move axially along the inner cavity of the cylinder body; the piston drives the cylinder rod to move in the rotation direction; the piston is sleeved on the periphery of the rotating rod, and the piston is engaged with the rotating rod in the rotation direction.

9. The conveying device according to claim 1 or 8, characterized in that: The rotation driving assembly also includes a connecting plate, a push rod and a push rod cylinder, one end of the connecting plate is rotatably connected to the end of the rotating plate away from the rotating rod, and the other end of the connecting plate is fixedly connected to the push rod, the push rod is connected to the push rod cylinder, and the push rod cylinder is used to push the push rod and the connecting plate along the extension direction of the push rod, and the connecting plate drives the rotating plate to rotate, so as to drive the rotating rod, the cylinder rod and the lifting clamp to rotate; the connecting plate is provided with a strip hole, the extension direction of the strip hole is intersecting or perpendicular to the extension direction of the push rod, and the end of the rotating plate away from the rotating rod is slidably connected to the inner wall of the strip hole; the number of clamps is multiple, and the transmission mechanism also includes a connecting plate connected between two adjacent clamps.

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