A workpiece transfer pallet, a manipulator, and a pallet-manipulator assembly

Abstract

The present invention belongs to the field of workpiece transfer equipment, and specifically relates to a workpiece transfer pallet, a manipulator and a pallet-manipulator assembly, wherein the pallet comprises a pallet body and a workpiece locking mechanism, the pallet body is provided with a workpiece positioning structure, the workpiece locking mechanism comprises a locking portion and an elastic member, the locking portion is provided with a locking structure cooperating with the workpiece, the elastic member drives the locking structure to lock the workpiece on the positioning structure, the locking portion is provided with an unlocking matching structure for cooperating with the manipulator to overcome the elastic force of the elastic member and thereby unlock the workpiece, the manipulator comprises a hand for grasping the workpiece, the hand is provided with an unlocking trigger portion for cooperating with the unlocking matching structure to drive the locking portion to unlock, the positioning structure and the locking portion on the pallet can be used to reliably position the workpiece, and the manipulator can conveniently grasp the workpiece by cooperating with the unlocking trigger portion and the unlocking matching structure.

Description

Technical Field

[0001] The invention belongs to the field of workpiece transfer equipment, and in particular relates to a workpiece transfer pallet, a manipulator and a pallet-manipulator assembly. Background Art

[0002] When transferring workpieces in industrial production, corresponding workpiece transfer pallets are often used to assist the conveyor line in transferring the workpieces, so as to achieve the positioning and placement of the workpieces on the conveyor line. Specifically, a positioning structure is provided on the workpiece transfer pallet, and the positioning structure is used to limit the placement position of the workpiece on the workpiece transfer pallet.

[0003] In some cases, there is a risk of the workpiece detaching from the positioning structure during operation. For example, some workpieces need to be flipped over during transportation. In this regard, in order to ensure that the workpiece does not fall off the workpiece transfer pallet during transportation, a workpiece locking mechanism will be integrated on the workpiece transfer pallet. For example, a carrier disclosed in a Chinese utility model patent with authorization announcement number CN215036876U and authorization announcement date of December 7, 2021, includes a carrier plate, and a receiving groove is provided on the carrier plate for placing the workpiece to be transferred and limiting the workpiece. In order to prevent the workpiece from escaping from the receiving groove, a clamping assembly is also provided on the carrier plate around the receiving groove. The clamping assembly includes a base, a slide seat and an elastic member. The base is connected to the carrier plate, and the slide seat includes a slider, which is movably connected to the base, and the slider is The moving direction is parallel to the surface of the carrier plate, and the surface of the slider facing the driving member has an inclined surface, and there is an angle between the inclined surface and the surface of the carrier plate. The elastic member is compressed between the outer edge of the carrier plate and the slider, and the compression direction of the elastic member is the same as the moving direction of the slider. When in use, the driving member pushes the slider away from the accommodating groove, so that the slider compresses the elastic member to store energy, and then the workpiece is placed in the accommodating groove. When the driving member is released, the elastic member pushes the slider toward the accommodating groove to clamp the workpiece to be processed, thereby realizing the positioning and locking of the workpiece on the carrier.

[0004] Such a carrier can achieve reliable placement of the workpiece to be transferred on the carrier, and prevent the workpiece from detaching from the positioning structure during transportation. However, in actual production, after the workpiece is transported to the corresponding workstation with the pallet (carrier), it is necessary to use a robot to grab the workpiece from the pallet. At this time, the carrier with a locking structure in the above-mentioned prior art has a technical problem that it is difficult for the robot to grab the workpiece, and the carrier in the prior art has a technical problem that it cannot meet the requirements of both ensuring that the workpiece is stably and reliably positioned on the pallet and being able to be easily grabbed by the robot. Summary of the invention

[0005] The purpose of the present invention is to provide a pallet-robot assembly to solve the technical problem in the prior art that the pallet-robot assembly cannot achieve both stable and reliable positioning of the workpiece on the pallet and convenient grasping of the workpiece by the robot when transferring and grasping the workpiece. The purpose of the present invention is also to provide a workpiece transfer pallet used by the above pallet-robot assembly, and a robot used by the above pallet-robot assembly.

[0006] To achieve the above purpose, the technical solution of the workpiece transfer pallet provided by the present invention is:

[0007] A workpiece transfer pallet comprises a pallet body having a positioning structure for positioning a workpiece to be transferred, the workpiece transfer pallet also comprising a workpiece locking mechanism, the workpiece locking mechanism comprising a locking portion and an elastic member driving the locking portion to lock the workpiece, the locking portion being provided with a locking structure for cooperating with the workpiece, the locking structure comprising a tightening portion for tightening the workpiece from the side of the workpiece and / or a clamping claw for clamping the workpiece along a set direction, the set direction being the direction in which the workpiece is separated from the positioning structure, the locking portion being further provided with an unlocking mating structure for cooperating with a manipulator for grasping the workpiece to overcome the elastic force of the elastic member and thereby unlock the workpiece; the unlocking mating structure is a sliding mating structure and / or a roller that can contact the manipulator to generate a component force for unlocking the workpiece.

[0008] The beneficial effect is: the workpiece to be transferred is placed on the pallet and the positioning structure is used to position the workpiece. The locking part is in the locking position driven by the elastic member, and the workpiece to be transferred is locked on the pallet through the tightening part and / or the claw to prevent the workpiece from escaping from the positioning structure during transportation. When the workpiece transfer pallet carrying the workpiece arrives at the position of the robot, the robot moves toward the workpiece to clamp the workpiece. During the movement toward the workpiece, the robot cooperates with the unlocking matching structure on the locking part to generate a component force on the locking part to unlock the workpiece. This component force overcomes the elastic force of the elastic member and pushes the locking part to the unlocking position, so that the workpiece to be transferred can be easily grasped by the robot.

[0009] As a further improvement, the tightening portion and the claw are relatively fixed or are an integral structure.

[0010] The beneficial effect is that the tightening part and the claw are relatively fixed or are an integrated structure so that the tightening part and the claw can move synchronously, thereby being able to synchronously achieve locking and unlocking of the workpiece to be transferred. Based on this, there is no need to set multiple unlocking matching structures on the locking part, which simplifies the structure of the locking part and further simplifies the structure of the workpiece transfer pallet.

[0011] As a further improvement, the locking portion cooperates with the disk guide along a direction perpendicular to the set direction.

[0012] The beneficial effect is that the locking part cooperates with the disk guide in a direction perpendicular to the set direction, so that the distance between the locking position and the unlocking position of the locking part is the shortest. When the robot clamps the workpiece, the locking part can respond at the fastest speed and be driven to the unlocking position.

[0013] As a further improvement, the locking part is mounted on one side of the positioning structure so as to be reciprocatingly swingable, with the swing axis being perpendicular to the set direction.

[0014] The beneficial effect is that the locking part is installed on the disk body by adopting a reciprocating swinging installation method. Compared with the guided moving installation, such an installation structure occupies less space and has a simpler structure, so that the workpiece transfer pallet has a simpler structure.

[0015] As a further improvement, the elastic member is a torsion spring.

[0016] The beneficial effect is that the locking part is rotatably mounted on the disk body to form a hinge structure with the disk body, and based on such a structure, the elastic member is selected as a torsion spring so that the elastic member can be easily arranged between the locking part and the disk body.

[0017] As a further improvement, a tongue is provided on the locking portion, an end of the tongue is inclined toward a side away from the positioning structure, and the sliding fitting structure is formed by at least a portion of a surface of the tongue on a side close to the positioning structure.

[0018] The beneficial effect is that a sliding fit structure is formed on the locking part by molding a lock tongue, and the sliding fit structure is specifically a sliding fit surface, which makes the sliding fit structure easier to mold and avoids excessive wear when the manipulator cooperates with the sliding fit structure.

[0019] As a further improvement, there are more than two claws, which are arranged on both sides of the tightening portion.

[0020] The beneficial effect is: more than two claws are provided to cooperate with the workpiece to be transferred to ensure that the locking part can be stably locked with the workpiece to be transferred; at the same time, the claws are distributed on both sides of the tightening part so that the force applied to the locking part when it is unlocked by force is located between the claws on both sides, thereby ensuring that the unlocking force can synchronously push each claw away from the workpiece to be transferred.

[0021] In order to solve the above technical problems, the technical solution of the manipulator provided by the present invention is:

[0022] A robot arm is used to cooperate with a workpiece transfer pallet. The robot arm includes a hand, and a grasping structure for grasping the workpiece is provided on the inner side of the hand. The workpiece transfer pallet is the above-mentioned workpiece transfer pallet. The hand is provided with an unlocking trigger part for cooperating with the unlocking cooperation structure to drive the locking part to unlock.

[0023] The beneficial effect is: the workpiece transfer pallet positions the workpiece to be transferred through the positioning structure, and stably and reliably locks the workpiece to be transferred on the positioning structure through the locking mechanism, thereby realizing stable and reliable transportation of the workpiece to be transferred; when the workpiece transfer pallet carries the workpiece to the position of the manipulator, the manipulator moves toward the workpiece to clamp the workpiece; in the process of moving toward the workpiece, the unlocking trigger part on the manipulator cooperates with the unlocking matching structure on the locking part to generate a component force on the locking part to unlock the workpiece, and this component force overcomes the elastic force of the elastic part to push the locking part to the unlocking position, so that the manipulator can easily clamp the workpiece on the workpiece transfer pallet.

[0024] As a further improvement, the unlocking trigger portion is arranged at the end and / or the back of the hand.

[0025] The beneficial effect is that arranging the unlocking trigger part at the end and / or the back of the hand ensures that the manipulator has a simpler structure.

[0026] As a further improvement, the unlocking trigger portion includes an inclined surface arranged on the back of the hand, and the inclined surface is inclined from the end of the hand to the other end in a direction away from the inner side surface.

[0027] The beneficial effect is: in order to ensure that the manipulator has sufficient structural strength, the hand of the manipulator is often set to a variable-size structure with an inclined surface. Based on this, the unlocking trigger structure of the inclined surface structure is integrated on the hand, and the unlocking trigger structure is formed on the hand while ensuring that the hand of the manipulator has sufficient structural strength.

[0028] As a further improvement, the gripping structure includes a hook-shaped portion capable of hooking and cooperating with the bottom of the workpiece.

[0029] The beneficial effect is that the grasping structure has a hook-claw structure, which cooperates with the bottom of the workpiece by hooking the hook-claw structure, thereby preventing the workpiece from slipping off the manipulator when being grasped, and ensuring stable and reliable grasping of the manipulator.

[0030] In order to solve the above technical problems, the technical solution of the tray-manipulator assembly provided by the present invention is:

[0031] A pallet-robot assembly comprises a workpiece transfer pallet and a robot, wherein the workpiece transfer pallet is the above-mentioned workpiece transfer pallet, and the robot is a robot adapted for use with the above-mentioned workpiece transfer pallets.

[0032] The beneficial effect is: when transporting materials, the workpiece to be transported is placed on the pallet and the positioning structure is used to position the workpiece. The locking part is in the locking position driven by the elastic member, and the workpiece to be transported is locked on the pallet through the tightening part and / or the claw to prevent the workpiece from escaping from the positioning structure during transportation. When the workpiece transfer pallet carrying the workpiece arrives at the position of the manipulator, the manipulator moves toward the workpiece to clamp the workpiece. In the process of moving toward the workpiece, the manipulator cooperates with the unlocking matching structure on the locking part to generate a component force on the locking part to unlock the workpiece. This component force overcomes the elastic force of the elastic member and pushes the locking part to the unlocking position, so that the manipulator can easily clamp the workpiece on the workpiece transfer pallet. That is, such a pallet-manipulator assembly can achieve stable positioning of the workpiece to be transported on the pallet while facilitating clamping by the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of the tray-manipulator assembly embodiment 1 of the present invention;

[0034] Figure 2 It is a schematic cross-sectional structural diagram of the tray-manipulator assembly embodiment 1 of the present invention along a direction perpendicular to the front-rear direction;

[0035] Figure 3 It is a schematic diagram of the state structure of the manipulator of the tray-manipulator assembly embodiment 1 of the present invention pushing the locking plate to the unlocking position;

[0036] Figure 4 This is a schematic diagram of the state of the manipulator of the tray-manipulator assembly embodiment 1 of the present invention clamping an electrical component;

[0037] Figure 5 It is a partial structural schematic diagram of a pallet in Embodiment 2 of the pallet-manipulator assembly of the present invention;

[0038] Figure 6 It is a structural schematic diagram of a hinge structure composed of a locking plate and a mounting plate in Embodiment 2 of a tray-manipulator assembly in the present invention;

[0039] Figure 7 for Figure 6 A left view of the hinge structure formed by the middle locking plate and the mounting plate;

[0040] Figure 8 for Figure 6 A front view of the hinge structure formed by the middle locking plate and the mounting plate;

[0041] Fig. 9 for Figure 6 A bottom view of the hinge structure formed by the middle locking plate and the mounting plate;

[0042] Description of reference numerals:

[0043] 1. Electrical components; 2. Tray; 3. Manipulator; 4. Plate; 5. Positioning slot; 6. Locking plate; 7. Spring plunger; 8. Notch; 9. Tongue; 10. Claw; 11. Left jaw; 12. Right jaw; 13. Base; 14. Circuit board; 15. Step notch; 16. Hook; 17. Inclined surface; 18. Locking plate; 19. Mounting plate; 20. Mounting hole; 21. Tongue; 22. Claw. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention, that is, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0045] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0046] It should be noted that relational terms such as "first" and "second" that may appear are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, terms such as "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, elements defined by the sentence "including a...", etc., do not exclude the process or method that includes the elements.

[0047] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" that may appear should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0048] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the term "provided with" that may appear should be understood in a broad sense. For example, the object "provided with" may be a part of the body, or may be arranged separately from the body and connected to the body, and the connection may be a detachable connection or an inseparable connection. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] The present invention is further described in detail below in conjunction with embodiments.

[0050] A specific embodiment 1 of the tray-manipulator assembly provided by the present invention, in which the workpiece to be transported is an electrical component 1 with a circuit board fixed on the side, is taken as an example to introduce the structure and working mode of the tray-manipulator assembly in the present invention, as follows:

[0051] The structure of the embodiment 1 of the tray-manipulator assembly provided in this embodiment is as follows Figure 1 As shown, it includes a tray 2 and a manipulator 3. The tray 2 has a tray body composed of a plate body 4, and the plate body 4 has a positioning structure for limiting the placement position of the electrical component 1 on the tray 2. In this embodiment, the positioning structure is a positioning groove 5 adapted to the shape of the electrical component 1.

[0052] Since the transportation process of the electrical component 1 involves the flipping of the tray 2, in order to prevent the electrical component 1 from falling out of the positioning groove 5, a locking mechanism is also integrated on the tray 2. The locking mechanism locks the electrical component 1 in the positioning groove 5 to prevent the electrical component 1 from falling out of the positioning groove 5. Specifically, the locking mechanism includes a locking part and an elastic member that applies force to the locking part so that the locking part is locked with the electrical component 1. In this embodiment, the locking part is a locking plate 6, and the elastic member is a spring plunger 7. A notch 8 is provided on the groove wall of the positioning groove 5, and the locking plate 6 is installed in the notch 8 through the spring plunger 7. Specifically, one end of the spring plunger 7 is fixed to the groove wall opposite to the notch 8 and the positioning groove 5, and the other end is connected to the locking plate 6.

[0053] In this embodiment, the locking plate 6 is mounted on the plate body 4 through two spring plungers 7, and the two spring plungers 7 are arranged at intervals in the front-to-back direction. In other embodiments, the number of spring plungers can be adaptively increased or decreased, and can be greater than two, or only one can be provided. The elastic member is selected from the spring plunger 7, and the guiding cooperation between the locking plate 6 and the plate body 4 is achieved by the guiding cooperation of the two parts of the spring plunger 7 itself in the axial direction.

[0054] like Figure 1 and Figure 2 As shown, the locking plate 6 specifically includes a tongue piece 9 and claws 10 located on both sides of the tongue piece 9. The locking plate 6 is hooked and matched with the electrical component 1 through the claws 10, and the tongue piece 9 is inclined in the direction away from the positioning groove 5. Figure 2 As shown, under the push of the spring plunger 7, the plate surface of the locking plate 6 facing the electrical component 1 can fit with the side surface of the electrical component 1 to apply thrust to the electrical component 1. As for the number of claws, in other embodiments, there may be more than two or only one.

[0055] The structure of the robot 3 is as follows Figure 1 and Figure 2 As shown, the manipulator 3 has a hand, which specifically includes a left clamp 11 and a right clamp 12. The opposite sides of the left clamp 11 and the right clamp 12 have a grasping structure for grasping the electrical component 1. Specifically, as shown in Figure 2 As shown, since the electrical component 1 structurally includes a base 13 with a rectangular cross section perpendicular to the front-to-back direction, and a circuit board 14 is provided on the left side of the base 13 in the middle of the up-down direction, the grasping structure includes a step-shaped notch 15 provided at the right lower end of the left clamping jaw 11, and a hook 16 provided on the right clamping jaw 12, and the back side of the hook 16, that is, the right side side, is an inclined surface 17 inclined from bottom to top to right. The step-shaped notch 15 and the hook 16 cooperate to form a grasping structure of the manipulator 3 for grasping a workpiece.

[0056] When transporting materials, the locking plate 6 is pushed in the direction away from the positioning groove 5 to make way for the positioning groove 5, and the electrical component 1 is placed in the positioning groove 5 to realize the positioning and placement of the electrical component 1 on the tray 2. Then, the locking plate 6 is pushed by the spring plunger 7 to reach the locking position where it is locked with the electrical component 1. Figure 1 and Figure 2 As shown. In this position, the locking plate 6 is facing the plate surface of the positioning groove 5, and the pressing part of the locking plate applies a thrust to the electrical component 1 in the left-right direction. This thrust increases the friction between the electrical component 1 and the groove wall of the positioning groove 5. This friction increases the difficulty of the electrical component 1 to escape from the positioning groove 5. At the same time, the claw 10 is hooked and cooperated with the upper end surface of the electrical component 1. Through the cooperation of the claw 10 and the pressing part, the electrical component 1 is locked in the positioning groove 5. After the electrical component 1 arrives at the position of the robot 3 with the tray 2, the robot 3 moves from top to bottom to clamp the electrical component 1. During this movement, as shown in FIG. Figure 3 As shown, the inclined surface 17 of the right clamping jaw 12 acts as an unlocking trigger part to cooperate with the surface of the tongue piece 9 of the locking plate 6 facing the positioning groove 5. The surface of the tongue piece 9 facing the positioning groove 5 acts as an unlocking matching structure. In the process of cooperating with the inclined surface 17, the downward pressure applied by the right clamping jaw 12 to the locking plate 6 can generate a rightward component force on the unlocking matching structure. Under the action of this component force, the locking plate 6 is pushed to the unlocking position to release the locking match with the electrical component 1 until the manipulator 3 clamps the electrical component 1. After the manipulator 3 completes the clamping of the electrical component 1, as shown in FIG. Figure 4As shown, the hook 16 of the right clamp 12 is hooked and matched with the right bottom of the base 13 of the electrical component 1, and the left clamp 11 is pressed on the upper left corner of the base 13 through the step-shaped notch 15, so as to achieve a clamping fit with the electrical component 1 while preventing the manipulator 3 from damaging the circuit board 14 of the electrical component 1, and then the manipulator is moved up to remove the electrical component 1 from the positioning groove 5. In this embodiment, the manipulator 3 cooperates with the workpiece through the hook 16, which can reliably prevent the workpiece from slipping out of the manipulator during the process of clamping the workpiece, thereby achieving reliable clamping. In other embodiments, on the premise of ensuring that the workpiece does not slip, the grasping structure may not have a hook-shaped structure to simplify the structure of the manipulator and improve the convenience of manipulator manufacturing.

[0057] The surface of the tongue piece 9 facing the positioning groove 5 cooperates with the manipulator 3, so that the unlocking cooperation structure is a sliding cooperation structure, specifically a sliding cooperation surface. As for the size of the cooperation area between the inclined surface 17 and the surface of the tongue piece 9 facing the positioning groove 5, the surface of the tongue piece 9 facing the positioning groove 5 can be made to cooperate with the inclined surface 17 as a whole, so that the surface of the tongue piece 9 facing the positioning groove 5 forms a sliding cooperation structure. Of course, the surface of the tongue piece 9 facing the positioning groove 5 can also be partially cooperated with the inclined surface 17, so that the surface of the tongue piece 9 facing the positioning groove 5 forms a sliding cooperation structure.

[0058] A specific embodiment 2 of the tray-manipulator assembly provided by the present invention, in this embodiment, as Figure 5 and Figure 6 As shown, the locking part is reciprocatingly mounted on the plate body 4. Specifically, the locking part is a locking plate 18, and the locking plate 18 is movably mounted on the plate body 4 through a mounting plate 19. Figure 6 , Figure 7 and Figure 8 As shown, the locking plate 18 is hinged with the mounting plate 19 to form a hinge structure, and the elastic member that applies force to the locking part to drive it to remain in the locked position is a torsion spring (not shown in the figure) that is inserted into the hinge shaft of the hinge structure. Figure 6 and Fig. 9 As shown, a mounting hole 20 is provided on the mounting plate 19. When installing, the mounting plate 19 is fixed to the bottom surface of the notch 8 by inserting screws or bolts into the mounting hole 20. The locking plate 18 has a tongue 21 and a claw 22. Unlike the locking plate in Example 1, the angle between the two parts of the claw 22 of the locking plate in this embodiment is an obtuse angle. When locked, the claw 22 only hooks and cooperates with the upper end surface of the electrical component 1 through the claw part. The tongue 21 is inclined away from the positioning structure, so that the tongue 21 toward the side of the positioning structure constitutes an unlocking matching structure that cooperates with the unlocking trigger part of the manipulator. In other embodiments, the elastic member can also be a compression spring arranged between the mounting plate and the locking plate.

[0059] The specific embodiment 3 of the tray-manipulator assembly provided by the present invention is different from the above embodiments mainly in that, in the above embodiments, the unlocking matching structure of the sliding matching structure is a sliding matching surface. In this embodiment, the middle part of the locking plate is bent in the direction away from the positioning structure, and a slot for the right clamping jaw to be inserted from top to bottom is formed between the bent part and the workpiece to be transported, and the inclined surface of the right clamping jaw is matched with the upper edge of the bent part. In this embodiment, the upper edge of the bent part forms a linear sliding matching structure.

[0060] The specific embodiment 4 of the tray-manipulator assembly provided by the present invention is different from the above embodiments mainly in that, in the above embodiments, the unlocking matching structure is a sliding matching structure. In this embodiment, a roller is provided on the locking plate, and the rotation axis of the roller extends in the front-to-back direction. The roller acts as an unlocking matching structure to match the unlocking trigger part of the manipulator.

[0061] The specific embodiment 5 of the tray-manipulator assembly provided by the present invention differs from the embodiment 1 mainly in that, in this embodiment, the locking plate is installed in the notch by being guided and moved in the left and right directions by a guide rail, and the elastic member is a compression spring arranged between the locking plate and the bottom of the groove of the positioning structure facing the notch.

[0062] The specific embodiment 6 of the tray-manipulator assembly provided by the present invention differs from the embodiment 1 mainly in that, in this embodiment, the locking plate is installed in the notch by being guided and moved in the left and right directions by a guide rail, the inner cavity of the notch is C-shaped, and the elastic member is a tension spring arranged between the locking plate and the closing wall of the notch.

[0063] The specific embodiment 7 of the tray-manipulator assembly provided by the present invention is different from the above embodiments mainly in that, in this embodiment, the positioning structure is a spaced-apart column fixed on the plate body, and the columns enclose a position for placing the workpiece.

[0064] The specific embodiment 8 of the pallet-manipulator assembly provided by the present invention is different from the above-mentioned embodiments mainly in that, in this embodiment, the corresponding positioning structure is adaptively set in combination with the specific structure of the workpiece to be transferred. If there is a groove at the bottom of the workpiece, the positioning structure is set as a positioning protrusion on the plate body. If the workpiece has a hole structure, the positioning structure is designed as a positioning column on the main body.

[0065] The specific embodiment 9 of the tray-robot assembly provided by the present invention is different from the above embodiments mainly in that, in the above embodiments, the unlocking trigger part is an inclined surface arranged on the hand of the robot, while in the present embodiment, the unlocking trigger part is a push rod fixed on the hand of the robot and extending in the up and down directions, and unlocking is achieved by pushing the sliding matching structure or roller downward by the push rod.

[0066] The specific embodiment 10 of the pallet-manipulator assembly provided by the present invention is different from the above-mentioned embodiments mainly in that, in the above-mentioned embodiments, the locking part is a component, while in the present embodiment, the locking part is composed of multiple independent components, each of which has a tightening part, or a claw, or both a tightening part and a claw.

[0067] The embodiment of the workpiece transfer pallet provided by the present invention is the pallet described in any one of the embodiments 1-10 of the above-mentioned pallet-manipulator assembly, which will not be described in detail here.

[0068] The embodiment of the robot provided by the present invention, the embodiment of the robot is the robot recorded in any one of the embodiments 1-10 of the above-mentioned tray-robot assembly, and will not be described in detail here.

[0069] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions recorded in the aforementioned embodiments without creative work, or replace some of the technical features therein with equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A workpiece transfer tray, comprising a tray body, the tray body having a positioning structure for positioning a workpiece to be transferred, the workpiece transfer tray also comprising a workpiece locking mechanism, the workpiece locking mechanism comprising a locking portion and an elastic member driving the locking portion to lock the workpiece, the locking portion being provided with a locking structure for cooperating with the workpiece, wherein: The locking structure includes a clamping portion for clamping the workpiece from the side of the workpiece and / or a claw for clamping the workpiece along a set direction. There are more than two claws, which are arranged on both sides of the clamping portion. The set direction is the direction in which the workpiece disengages from the positioning structure. The locking portion is also provided with an unlocking cooperation structure for cooperating with a robot that grabs the workpiece to overcome the elastic force of the elastic member and thereby unlock the workpiece; the unlocking cooperation structure is a sliding cooperation structure that can contact the robot to generate a component force for unlocking the workpiece. A tongue is provided on the locking portion, and the end of the tongue is inclined toward a side away from the positioning structure. The sliding cooperation structure is composed of at least a portion of the surface of the tongue on a side close to the positioning structure.

2. The workpiece transfer pallet according to claim 1, characterized in that: The tightening portion and the clamping claw are relatively fixed or are an integral structure.

3. The workpiece transfer pallet according to claim 2, characterized in that: The locking portion cooperates with the disc body guide along a direction perpendicular to the setting direction.

4. The workpiece transfer pallet according to claim 2, characterized in that: The locking part is mounted on one side of the positioning structure so as to be reciprocatingly swingable, and the swing axis is perpendicular to the setting direction.

5. The workpiece transfer pallet according to claim 4, characterized in that: The elastic member is a torsion spring.

6. A workpiece transfer tray, comprising a tray body, the tray body having a positioning structure for positioning the workpiece to be transferred, the workpiece transfer tray also comprising a workpiece locking mechanism, the workpiece locking mechanism comprising a locking part and an elastic member driving the locking part to lock the workpiece, the locking part being provided with a locking structure for cooperating with the workpiece, characterized in that: The locking structure includes a tightening portion for tightening the workpiece from the side of the workpiece and / or a claw that clamps the workpiece along a set direction. The tightening portion applies a thrust to the workpiece to increase the difficulty of the workpiece escaping from the positioning structure. The set direction is the direction in which the workpiece escapes from the positioning structure. The locking portion is also provided with an unlocking cooperation structure for cooperating with a manipulator that grabs the workpiece to overcome the elastic force of the elastic member and thereby unlock the workpiece; the unlocking cooperation structure is a roller that can contact the manipulator to generate a component force for unlocking the workpiece, and the manipulator is provided with a push rod extending in the up and down directions, and unlocking is achieved by the push rod pushing the roller downward.

7. A manipulator for cooperating with a workpiece transfer tray, the manipulator comprising a hand, the inner side of the hand is provided with a grasping structure for grasping the workpiece, wherein: The workpiece transfer pallet is the workpiece transfer pallet described in any one of claims 1-5, and the hand is provided with an unlocking trigger part for cooperating with the unlocking cooperation structure to drive the locking part to unlock, and the unlocking trigger part includes an inclined surface provided on the back of the hand, and the inclined surface is inclined from the end of the hand to the other end in a direction away from the inner side surface, and the inclined surface slidably cooperates with the tongue piece to realize the unlocking of the claw.

8. The robot according to claim 7, characterized in that: The gripping structure comprises a hook-shaped portion capable of hooking and cooperating with the bottom of the workpiece.

9. A pallet-manipulator assembly, comprising a workpiece transfer pallet and a manipulator, characterized in that: The workpiece transfer pallet is the workpiece transfer pallet described in any one of claims 1-6, and the manipulator is the manipulator adapted to the workpiece transfer pallet described in any one of claims 7-8.

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