Small-part automatic hanging equipment, operation method and production line

Abstract

The present invention provides a small-piece automatic hanging device, an operation method and a production line, including a workbench and a clamping manipulator, a guide slide mechanism is arranged on the workbench, a hanger station and a material tray station are arranged in parallel on the guide slide mechanism, a hanger frame is fixed on the hanger station, a plurality of clamping claws are arrayed on the hanger frame, and an elastic sheet for driving the opening is arranged on the clamping claw; the clamping manipulator has a clamping device, the clamping device includes a locking frame mechanism for locking the hanger frame, and the clamping device also includes an actuator for pushing the elastic sheet to deform and expand the clamping claw. The present invention uses automation to achieve the hanging of small-piece products, improves work efficiency, saves labor costs, and increases economic benefits. A one-to-one pressing and opening and releasing closing operation is adopted to ensure that each clamping claw has a moderate gripping force, and is also conducive to the maintenance and replacement of individual clamping claws, thereby improving the overall clamping rate, and even reaching 100% clamping. The present invention has a high degree of automation through a double-station setting, achieving zero damage to the material.

Description

Technical Field

[0001] The invention belongs to the field of mechanical technology, and relates to a mechanized operation of hanging small parts, in particular to an automatic hanging device for small parts, an operation method and a production line. Background Art

[0002] In the processing and manufacturing industry, since some small products need to undergo processes such as sandblasting and anodizing, after the entire machine is assembled and the plates are placed, the products need to be hung before proceeding to the next process.

[0003] The existing technology uses manual hanging operation. It takes more than 6 seconds for a skilled worker to hang a small item. Nearly 120 small items can be hung on a hanger. Under very smooth conditions, it takes a worker up to 15 minutes to hang a full hanger, so the efficiency is extremely low. In addition, the hanging operation steps are cumbersome and difficult to implement. First, the product must be clamped with a plastic clip, and the direction of the product must be adjusted. Then, the clip of the hanger must be opened by hand, and the product must be placed under the clip to be clamped. This greatly increases the difficulty of the worker's operation and the product is easily hung on the reverse side.

[0004] To solve the problem of low efficiency and high cost of manual hanging. For example, Chinese patent literature has disclosed an electrophoresis hanger for NdFeB magnets and an electrophoresis workpiece loading and unloading device [Chinese Patent No.: CN201911044810.6]. The present invention relates to the field of electrophoretic coating technology, and relates to an electrophoresis hanger for NdFeB magnets and an electrophoresis workpiece loading and unloading device; the present invention includes a fixed bracket and a fixed sheet and a spring sheet arranged on the fixed bracket, one fixed sheet corresponds to one spring sheet for clamping the workpiece, and the length of the spring sheet is greater than the length of the fixed sheet; in the present invention, the workpiece can be clamped by the clamping needles of the fixed sheet and the spring sheet, so that the workpiece is clamped firmly and the disassembly of the workpiece is convenient; the electrophoresis workpiece loading device of the present invention can push the swinging mechanism upward through the upper hanging mechanism, and then place the electrophoresis hanger on the upper hanging mechanism so that it is directly above the swinging mechanism, the upper hanging mechanism can make the workpiece on the swinging mechanism push to the electrophoresis hanger for clamping, and the unloading device can make the hanger after electrophoresis unload the workpiece; the present invention is easy to operate, both loading and unloading can be completed, and it is highly practical.

[0005] In the above technical solution, there are many fragmented parts and the overall structure is relatively complex, which increases the difficulty of manufacturing and assembly, increases the cost and is easy to damage. In addition, the elastic clamping structure adopts an overall drive to open the clamping mouth, so the control accuracy of a single clamping mouth is poor. When clamping small materials as a whole, the clamping force of individual clamping mouths is insufficient, resulting in material leakage. Moreover, fatigue stress is prone to occur after continuous action, resulting in more and more clamping mouths being unable to clamp materials stably. Summary of the invention

[0006] The purpose of the present invention is to address the above-mentioned problems existing in the prior art and to propose an automatic hanging device, operation method and production line for small parts that drives the jaws to open and releases the jaws to close in a one-to-one manner through a pushing structure to ensure the stability of clamping, while cooperating with loading and transfer mechanical equipment to form a complete operation process.

[0007] The purpose of the present invention can be achieved through the following technical solutions: a small piece automatic hanging device, including a workbench and a clamping manipulator,

[0008] The workbench is provided with a guide slide mechanism, a hanger station and a tray station are arranged in parallel on the guide slide mechanism, a hanger frame is fixed on the hanger station, a plurality of clamps are arranged on the hanger frame, and an elastic sheet for driving the opening is arranged on the clamp;

[0009] The clamping manipulator has a clamping device, which includes a locking frame mechanism for locking the hanger frame, and the clamping device also includes an actuator for pushing the elastic sheet to deform and expand the clamping claw.

[0010] In the above-mentioned automatic hanging device for small parts, the guide slide mechanism includes an electric cylinder and at least one guide rail arranged in parallel, the electric cylinder is driven to be connected to a table plate, and the table plate is slidably connected to the guide rail through a slider.

[0011] In the above-mentioned automatic hanging equipment for small parts, the hanging station includes a support frame fixed on the table, a plurality of rotation positioners are arranged on the peripheral side of the support frame, the hanging frame is placed on the support frame and is pressed and fixed by the plurality of rotation positioners.

[0012] In the above-mentioned automatic hanging equipment for small parts, the material tray station includes a loading platform fixed on the table plate, at least two positioning blocks are fixed on the loading platform, and at least two rotary presses are arranged on the peripheral side of the loading platform.

[0013] In the above-mentioned automatic hanging equipment for small parts, a slide rail is fixed on the table plate, a slide seat is fixed on the bottom surface of the loading platform, and the slide seat is clamped on the slide rail to form a sliding connection; a fixed baffle plate is fixed on one side of the loading platform, and a pusher is arranged on the other side of the loading platform, and a movable baffle plate is fixed on the telescopic rod of the pusher, and the movable baffle plate is arranged opposite to the fixed baffle plate, and the clamping direction between the movable baffle plate and the fixed baffle plate is parallel to the slide rail.

[0014] In the above-mentioned automatic hanging equipment for small items, the hanger frame includes a square outer frame, and a plurality of frame rods are arranged in parallel inside the square outer frame. The clamp includes two claw hooks arranged opposite to each other, and the top of the claw hook is connected with a pin installed on the side of the frame rod. The elastic sheet is fixedly connected to the outer side wall of any one of the claw hooks, and an elastic deformation angle is set between the elastic sheet and the claw hook.

[0015] In the above-mentioned automatic hanging equipment for small parts, the claw hook has an L-shaped claw body, the bottom of the L-shaped claw body is bent horizontally to form a hook body, the hook body has a V-shaped forked hook end, the middle groove of the forked hook end is a conical clamping cavity, and the inner wall of the clamping cavity is a circular arc surface.

[0016] In the above-mentioned small-piece automatic hanging device, the clamping device is moved by a mechanical arm in the clamping manipulator, and the clamping device includes a clamping frame;

[0017] The locking frame mechanism comprises two clamping cylinders fixedly mounted on the clamping frame in a relative manner, the telescopic rods of the clamping cylinders are vertically fixedly connected to the clamping members, the two clamping members are provided with clamping notches opposite to each other, and the square outer frame is embedded in the clamping notches to form a matching positioning;

[0018] The actuator includes at least one actuator cylinder fixed on the clamping frame, the telescopic rod of the actuator cylinder is vertically fixed to the actuator plate, a plurality of push plates are arranged in parallel on the bottom surface of the actuator plate, a plurality of push protrusions are arranged on the same side surface of the push plates, the push plates extend into the gaps between the adjacent frame rods, and the plurality of push protrusions correspond one by one with the plurality of elastic plates to form a pushing connection.

[0019] In the above-mentioned automatic hanging equipment for small parts, a plurality of limit plates are arranged vertically in an array on the bottom surface of the clamping frame, a plurality of guide grooves are opened in parallel on the execution plate, a plurality of limit grooves are arranged on the side surface of the push plate, and the limit plates pass through the guide grooves and are correspondingly embedded in the limit grooves to form a resistance limit.

[0020] In the above-mentioned small-part automatic hanging device, a guide slide is fixedly arranged on the bottom surface of the clamping frame, and a guide slide is fixedly arranged on the top surface of the execution plate, and the guide slide is clamped on the guide slide to form a sliding connection.

[0021] The operation method of the small-piece automatic hanging device includes the following steps:

[0022] 1) Transport the entire row of trays filled with small materials to the tray station on the table, and fix them horizontally by the positioning block, and fix them longitudinally by the rotating presser; place the empty hanger rack on the hanger station on the table, and fix them by pressing with the rotating positioner; start the electric cylinder to move the table to the bottom of the clamping manipulator;

[0023] 2) The mechanical arm drives the clamping device to move to the top of the hanger station, and the clamping cylinder drives the clamping part to move relatively inward to clamp and lock the square outer frame of the hanger frame. The execution cylinder drives the execution plate to translate forward so that the push piece pushes the elastic piece through the push protrusion, and the elastic force is used to open the clamping claw, and the rotary positioner rotates outward to release the hanger frame;

[0024] 3) The robotic arm drives the clamping device to carry the empty hanger rack to the top of the tray station, and makes several clamping claws correspond to several small materials in the entire tray one by one. The execution cylinder drives the execution plate to translate in the opposite direction to make the push plate release the elastic plate and reset it, and use the elastic restoring force to close the clamping claws, synchronously clamp the small materials, and finally move the entire tray of small materials through the robotic arm.

[0025] In the operating method of the above-mentioned automatic hanging equipment for small parts, in step 3), after the cylinder drives the push plate to move, the reverse displacement drives the push plate to reset, and the initial position of the push plate is determined by the limit plate. When the limit plate is engaged with the limit groove of the push plate, the limit plate is used to block and realize the precise reset of the push plate.

[0026] In the operating method of the above-mentioned small-piece automatic hanging equipment, in step 3), the end face of the small-piece material has a circular chamfer. When the relative hook body of the clamping claw clamps the end face of the small-piece material, if there is a slight eccentricity, the arc surface of the clamping cavity at the forked hook end contacts the circular chamfer and can be adjusted and straightened by itself.

[0027] A production line includes at least a aligning machine, including the above-mentioned small-piece automatic hanging device, through which the small-piece materials are aligned and placed in an aligning tray, and the aligning tray is manually transferred to the tray station on the workbench.

[0028] Compared with the prior art, the small-piece automatic hanging equipment, operation method and production line have the following beneficial effects:

[0029] 1. The present invention solves the problems of high labor cost, low efficiency, high difficulty and easy error. It uses automation to realize the hanging of small products. The whole hanging process only takes 5 to 6 seconds, and the number is 120, which greatly improves work efficiency, saves labor costs and increases economic benefits.

[0030] 2. The present invention adopts a one-to-one pressing and opening and releasing and closing operation, thereby ensuring that each clamping jaw has a moderate gripping force, and is also conducive to the maintenance and replacement of individual clamping jaws, thereby improving the overall clamping rate and even achieving 100% clamping.

[0031] 3. The present invention has a simple structure, is easy to manufacture and assemble, reduces processing costs, and is easy to maintain.

[0032] 4. The present invention adopts a double-station setting to form an orderly operation process for the overall hanging operation, with a high degree of automation, achieving zero damage to small materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is the overall three-dimensional structure diagram of this small parts automatic hanging equipment.

[0034] Figure 2This is a three-dimensional structural diagram of the workbench in this small parts automatic hanging equipment.

[0035] Figure 3 It is a three-dimensional structural diagram of the hanger frame in the small parts automatic hanging equipment.

[0036] Figure 4 It is a top side stereoscopic structural diagram of the clamping device in the small parts automatic hanging equipment.

[0037] Figure 5 It is a bottom side stereoscopic structural diagram of the clamping device in the small parts automatic hanging equipment.

[0038] Figure 6 This is the overall three-dimensional structure diagram of this production line.

[0039] In the figure, 1, workbench; 2, electric cylinder; 3, guide rail; 4, table; 5, support frame; 6, rotary positioner; 7, loading platform; 8, positioning block; 9, rotary presser; 10, slide rail; 11, fixed baffle; 12, pusher; 13, moving baffle; 14, hanger frame; 14a, square frame; 14b, frame rod; 14c, claw hook; 14d, elastic sheet; 15, mechanical arm; 16, clamping frame; 17, clamping cylinder; 18, clamping part; 19, execution cylinder; 20, execution plate; 21, pushing sheet; 21a, pushing protrusion; 21b, guide slide groove; 22, limit plate; 23, guide slide; 24, arranging machine; 25, arranging disk. DETAILED DESCRIPTION

[0040] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0041] Embodiment 1

[0042] like Figures 1 to 5 As shown, a small piece automatic hanging device comprises a workbench 1 and a clamping manipulator.

[0043] A guide slide mechanism is provided on the workbench 1, a hanger station and a tray station are arranged in parallel on the guide slide mechanism, a hanger frame 14 is fixed on the hanger station, a plurality of clamps are arranged on the hanger frame 14, and an elastic sheet 14d for driving the opening is provided on the clamp;

[0044] The clamping manipulator has a clamping device, which includes a locking frame mechanism for locking the hanger frame 14, and an actuator for pushing the elastic sheet 14d to deform and expand the clamping claws.

[0045] The guide mechanism includes an electric cylinder 2 and at least one guide rail 3 arranged in parallel. The electric cylinder 2 is driven to connect a table 4, and the table 4 is slidably connected to the guide rail 3 through a slider. There are two guide rails 3, with the electric cylinder 2 located in the middle. The two guide rails 3 are symmetrically arranged on both sides of the electric cylinder 2, thereby providing a symmetrical structure to improve the sliding stability. The table 4 is driven by the electric cylinder 2 to slide back and forth along the guide rail 3.

[0046] The hanger station includes a support frame 5 fixed on a table 4, and a plurality of rotary positioners 6 are arranged around the support frame 5. The hanger frame 14 is placed on the support frame 5 and is pressed and fixed by the plurality of rotary positioners 6. The support frame 5 includes two support plates arranged in parallel, and a suspended support position is provided between the two support plates. Four rotary positioners 6 are symmetrically arranged on both sides of the suspended support position. The rotary positioner 6 is specifically a rotary downward pressure cylinder. The hanger frame 14 is mounted on the two support plates, and the rotary positioner 6 rotates and presses the hanger frame 14 to fix it.

[0047] The tray station includes a loading platform 7 fixed on the table 4, at least two positioning blocks 8 are fixed on the loading platform 7, and at least two rotary pressers 9 are arranged on the circumference of the loading platform 7. The positioning blocks 8 are specifically right-angle positioning blocks 8, and two right-angle positioning blocks 8 are relatively fixed on a set of diagonal corners of the square loading platform 7, and arc-shaped avoidance grooves are recessed at the right-angle top ends of the right-angle positioning blocks 8 to avoid right-angle damage to the array tray 25. The rotary presser 9 is specifically a rotary downward pressing cylinder, and the two rotary pressers 9 are relatively fixed on another set of diagonal corners of the square loading platform 7. The array tray 25 is placed between the two positioning blocks 8 of the loading platform 7 to form a horizontal fixation, and then the rotary presser 9 is rotated and presses down the array tray 25 to form a longitudinal fixation.

[0048] A slide rail 10 is fixed on the table 4, a slide seat is fixed on the bottom surface of the loading platform 7, and the slide seat is clamped on the slide rail 10 to form a sliding connection; a fixed baffle plate 11 is fixed on one side of the loading platform 7, and a pusher 12 is set on the other side of the loading platform 7. A movable baffle plate 13 is fixed on the telescopic rod of the pusher 12, and the movable baffle plate 13 is arranged opposite to the fixed baffle plate 11, and the clamping direction between the movable baffle plate 13 and the fixed baffle plate 11 is parallel to the slide rail 10. The pusher 12 is specifically a push cylinder, and the movable baffle plate 13 is pushed by the pusher 12, so that the movable baffle plate 13 contacts and pushes the loading platform 7 until the loading platform 7 is clamped and fixed with the fixed baffle plate 11.

[0049] The hanger frame 14 includes a square outer frame 14a, and a plurality of rack rods 14b are arranged in parallel inside the square outer frame 14a. The clamping claw includes two claw hooks 14c arranged opposite to each other, and the top of the claw hook 14c is connected to the side of the rack rod 14b through a pin, and an elastic sheet 14d is fixedly connected to the outer side wall of any claw hook 14c, and an elastic deformation angle is set between the elastic sheet 14d and the claw hook 14c. By applying an inward thrust to the elastic sheet 14d, the elastic deformation angle is compressed, and the claw hook 14c is deflected outward under the action of the elastic expansion force, so that the clamping opening between the two claw hooks 14c is opened.

[0050] The claw hook 14c has an L-shaped claw body, the bottom of which is bent horizontally to form a hook body, the hook body has a V-shaped forked hook end, the middle groove of the forked hook end is a conical clamping cavity, and the inner wall of the clamping cavity is an arc surface.

[0051] The clamping device is moved by a mechanical arm 15 in the clamping manipulator, and the clamping device includes a clamping frame 16;

[0052] The locking frame mechanism includes two clamping cylinders 17 fixedly mounted on the clamping frame 16 in a relative manner, the telescopic rods of the clamping cylinders 17 are vertically fixedly connected to the clamping members 18, the two clamping members 18 are provided with clamping notches opposite to each other, and the square outer frame 14a is embedded in the clamping notches to form a matching positioning;

[0053] The actuator includes at least one actuator cylinder 19 fixed on the clamping frame 16, and the telescopic rod of the actuator cylinder 19 is vertically fixed to the actuator plate 20. A plurality of push plates 21 are arranged in parallel on the bottom surface of the actuator plate 20, and a plurality of push protrusions 21a are arranged on the same side surface of the plurality of push plates 21. The push plates 21 extend into the gap between the adjacent frame rods 14b, and the plurality of push protrusions 21a correspond one by one with the plurality of elastic plates 14d to form a pushing connection.

[0054] The clamping frame 16 is specifically composed of a parallel mounting plate and an assembly plate through a number of connecting columns. It is installed and connected with the robot arm 15 through the mounting plate. The clamping cylinder 17 and the actuator cylinder 19 are both fixedly mounted on the assembly plate and located between the mounting plate and the assembly plate. The actuator plate 20 is arranged parallel to the lower part of the assembly plate, and the clamping notch of the clamping member 18 extends below the actuator plate 20. The two clamping cylinders 17 are arranged along the X direction, and the number of the actuator cylinders 19 is two and arranged along the Y direction. In this way, the square outer frame 14a is locked and fixed in the X direction, and the clamping jaws are pushed and driven to open in the Y direction so that the two do not interfere with each other.

[0055] A plurality of limit plates 22 are arranged vertically on the bottom surface of the clamping frame 16, a plurality of guide grooves 21b are opened in parallel on the execution plate 20, and a plurality of limit grooves are arranged on the side surface of the push piece 21. The limit plates 22 penetrate the guide grooves 21b and are correspondingly embedded in the limit grooves to form a resistance limit. The guide grooves 21b are perpendicular to the setting orientation of the push piece 21. The limit plates 22 can form a relative sliding action along the guide grooves 21b.

[0056] A guide slide 23 is fixed on the bottom surface of the clamping frame 16, and a guide slide is fixed on the top surface of the execution plate 20, and the guide slide is clamped on the guide slide 23 to form a sliding connection. The guide slide structure provides a guiding function for the execution plate 20 in the reciprocating movement, improves stability, and ensures that the execution action is accurate.

[0057] Compared with the prior art, this small piece automatic hanging device has the following beneficial effects:

[0058] 1. The present invention solves the problems of high labor cost, low efficiency, high difficulty and easy error. It uses automation to realize the hanging of small products. The whole hanging process only takes 5 to 6 seconds, and the number is 120, which greatly improves work efficiency, saves labor costs and increases economic benefits.

[0059] 2. The present invention adopts a one-to-one pressing and opening and releasing and closing operation, thereby ensuring that each clamping jaw has a moderate gripping force, and is also conducive to the maintenance and replacement of individual clamping jaws, thereby improving the overall clamping rate and even achieving 100% clamping.

[0060] 3. The present invention has a simple structure, is easy to manufacture and assemble, reduces processing costs, and is easy to maintain.

[0061] 4. The present invention adopts a double-station setting to form an orderly operation process for the overall hanging operation, with a high degree of automation, achieving zero damage to small materials.

[0062] Embodiment 2

[0063] Based on the first embodiment, the difference of this embodiment is that:

[0064] The operation method of the small-piece automatic hanging device includes the following steps:

[0065] 1) Transport the entire tray 25 filled with small materials to the tray station of the table 4, and fix it horizontally by the positioning block 8, and fix it longitudinally by the rotating press 9; place the empty hanger rack 14 on the hanger station of the table 4, and press it to fix it by the rotating positioner 6; start the electric cylinder 2 to move the table 4 to the bottom of the clamping manipulator;

[0066] 2) The mechanical arm 15 drives the clamping device to move to the top of the hanger station, the clamping cylinder 17 drives the clamping member 18 to move relatively inward to clamp and lock the square outer frame 14a of the hanger frame 14, the execution cylinder 19 drives the execution plate 20 to translate forward so that the push piece 21 pushes the elastic piece 14d through the push protrusion 21a, and the elastic force is used to open the clamping claw, and the rotary positioner 6 rotates outward to release the hanger frame 14;

[0067] 3) The robot arm 15 drives the clamping device to carry the empty hanger rack 14 to the top of the tray station, and makes a plurality of clamping claws correspond to a plurality of small materials in the entire tray 25 one by one. The execution cylinder 19 drives the execution plate 20 to translate in the opposite direction so that the push plate 21 releases the elastic plate 14d and resets, and uses the elastic restoring force to close the clamping claws, synchronously clamp the small materials, and finally move the entire tray of small materials through the robot arm 15.

[0068] In step 3), when the execution cylinder 19 drives the push plate 21 to move, the reverse displacement drives the push plate 21 to reset, and the initial position of the push plate 21 is determined by the limit plate 22. When the limit plate 22 is engaged with the limit groove of the push plate 21, the limit plate 22 is used to block and realize the accurate reset of the push plate 21.

[0069] In step 3), the end face of the small material has a circular chamfer. When the relative hook body of the clamping jaw clamps the end face of the small material, if it is slightly eccentric, the arc surface of the clamping cavity at the forked hook end can be adjusted and corrected by contacting the circular chamfer.

[0070] Embodiment 3

[0071] Based on the first embodiment, the difference of this embodiment is that:

[0072] like Figure 6 As shown, a production line includes at least an alignment machine 24, including the above-mentioned small-piece automatic hanging equipment, and the small-piece materials are aligned by the alignment machine 24 and placed in an alignment tray 25, and the alignment tray 25 is manually transferred to the material tray station of the workbench 1.

[0073] Compared with the existing technology, this production line has the following beneficial effects:

[0074] 1. The present invention solves the problems of high labor cost, low efficiency, high difficulty and easy error. It uses automation to realize the hanging of small products. The whole hanging process only takes 5 to 6 seconds, and the number is 120, which greatly improves work efficiency, saves labor costs and increases economic benefits.

[0075] 2. The present invention adopts a one-to-one pressing and opening and releasing and closing operation, thereby ensuring that each clamping jaw has a moderate gripping force, and is also conducive to the maintenance and replacement of individual clamping jaws, thereby improving the overall clamping rate and even achieving 100% clamping.

[0076] 3. The present invention has a simple structure, is easy to manufacture and assemble, reduces processing costs, and is easy to maintain.

[0077] 4. The present invention adopts a double-station setting to form an orderly operation process for the overall hanging operation, with a high degree of automation, achieving zero damage to small materials.

[0078] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

[0079] Although this article uses more terms such as workbench 1; electric cylinder 2; guide rail 3; table 4; support frame 5; rotary positioner 6; loading platform 7; positioning block 8; rotary presser 9; slide rail 10; fixed baffle 11; pusher 12; moving baffle 13; hanger frame 14; square frame 14a; frame rod 14b; claw hook 14c; elastic sheet 14d; mechanical arm 15; clamping frame 16; clamping cylinder 17; clamping member 18; execution cylinder 19; execution plate 20; pushing sheet 21; pushing protrusion 21a; guide slide 21b; limit plate 22; guide slide 23; aligner 24; aligner plate 25, it does not exclude the possibility of using other terms. These terms are used only to more conveniently describe and explain the essence of the present invention; interpreting them as any additional restrictions is contrary to the spirit of the present invention.

[0080] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. A small piece automatic hanging device, comprising a workbench and a clamping manipulator, characterized in that: The workbench is provided with a guide slide mechanism, a hanger station and a tray station are arranged in parallel on the guide slide mechanism, a hanger frame is fixed on the hanger station, a plurality of clamps are arranged on the hanger frame, and an elastic sheet for driving the opening is arranged on the clamp; The clamping manipulator has a clamping device, the clamping device includes a locking frame mechanism for locking the hanger frame, and the clamping device also includes an actuator for pushing the elastic sheet to deform and expand the clamping claw; The hanger frame includes a square outer frame, a plurality of rack rods are arranged in parallel inside the square outer frame, the clamp includes two claw hooks arranged opposite to each other, the top of the claw hook is connected with a pin installed on the side of the rack rod, the elastic sheet is fixedly connected to the outer side wall of any of the claw hooks, and an elastic deformation angle is set between the elastic sheet and the claw hook; The claw hook has an L-shaped claw body, the bottom of the L-shaped claw body is bent horizontally to form a hook body, the hook body has a V-shaped bifurcated hook end, the middle groove of the bifurcated hook end is a conical material clamping cavity, and the inner wall of the material clamping cavity is an arc surface; The clamping device is moved by a mechanical arm in the clamping manipulator, and the clamping device includes a clamping frame; The locking frame mechanism comprises two clamping cylinders fixedly mounted on the clamping frame in a relative manner, the telescopic rods of the clamping cylinders are vertically fixedly connected to the clamping members, the two clamping members are provided with clamping notches opposite to each other, and the square outer frame is embedded in the clamping notches to form a matching positioning; The actuator includes at least one actuator cylinder fixed on the clamping frame, the telescopic rod of the actuator cylinder is vertically fixed to the actuator plate, a plurality of push plates are arranged in parallel on the bottom surface of the actuator plate, a plurality of push protrusions are arranged on the same side of the push plates, the push plates extend into the gaps between the adjacent rack rods, and the plurality of push protrusions correspond to the plurality of elastic plates one by one to form a push connection; A guide slide is fixedly arranged on the bottom surface of the clamping frame, and a guide slide is fixedly arranged on the top surface of the execution plate. The guide slide is clamped on the guide slide to form a sliding connection.

2. The small-item automatic hanging device according to claim 1, characterized in that: The slide guide mechanism comprises an electric cylinder and at least one guide rail which are arranged in parallel. The electric cylinder is driven to be connected to a table plate, and the table plate is slidably connected to the guide rail via a slider.

3. The small-item automatic hanging device according to claim 2, characterized in that: The hanger station comprises a support frame fixed on the table, a plurality of rotation positioners are arranged on the peripheral side of the support frame, the hanger frame is placed on the support frame and is pressed and fixed by the plurality of rotation positioners.

4. The small-item automatic hanging device according to claim 2, characterized in that: The material tray station comprises a loading platform fixedly mounted on the table plate, at least two positioning blocks are fixedly arranged on the loading platform, and at least two rotary pressers are arranged on the peripheral side of the loading platform.

5. The small-item automatic hanging device according to claim 4, characterized in that: A slide rail is fixed on the table plate, a slide seat is fixed on the bottom surface of the loading platform, and the slide seat is clamped on the slide rail to form a sliding connection; a fixed baffle plate is fixed on one side of the loading platform, and a pusher is arranged on the other side of the loading platform, and a movable baffle plate is fixed on the telescopic rod of the pusher, and the movable baffle plate is arranged opposite to the fixed baffle plate, and the clamping direction between the movable baffle plate and the fixed baffle plate is parallel to the slide rail.

6. The small-item automatic hanging device according to claim 1, characterized in that: A plurality of limit plates are arranged vertically on the bottom surface of the clamping frame, a plurality of guide grooves are opened in parallel on the execution plate, a plurality of limit grooves are arranged on the side surface of the pushing plate, and the limit plates penetrate the guide grooves and are correspondingly embedded in the limit grooves to form a resistance limit.

7. The operating method of the small-item automatic hanging device according to any one of claims 1 to 6, characterized in that: The following steps are involved: 1) Transport the entire row of trays filled with small materials to the tray station on the table, and fix them horizontally by the positioning block, and fix them longitudinally by the rotating presser; place the empty hanger rack on the hanger station on the table, and fix them by pressing with the rotating positioner; start the electric cylinder to move the table to the bottom of the clamping manipulator; 2) The mechanical arm drives the clamping device to move to the top of the hanger station. The clamping cylinder drives the clamping part to move relatively inward to clamp and lock the square outer frame of the hanger frame. The execution cylinder drives the execution plate to translate forward so that the push piece pushes the elastic piece through the push protrusion, and the elastic force is used to open the clamping claw, and the rotary positioner rotates outward to release the hanger frame. 3) The robotic arm drives the clamping device to carry the empty hanger rack to the top of the tray station, and makes several clamping claws correspond to several small materials in the entire tray one by one. The execution cylinder drives the execution plate to move in the opposite direction to make the push plate release the elastic plate and reset it, and use the elastic restoring force to close the clamping claws, synchronously clamp the small materials, and finally move the entire tray of small materials through the robotic arm.

8. The operating method of the small-item automatic hanging device according to claim 7, characterized in that: In step 3), when the cylinder drives the push plate to move, the reverse displacement drives the push plate to reset, and the initial position of the push plate is determined by the limit plate. When the limit plate is engaged with the limit groove of the push plate, the limit plate is used to block and realize the accurate reset of the push plate.

9. The operating method of the small-item automatic hanging device according to claim 8, characterized in that: In step 3), the end face of the small material has a circular chamfer. When the relative hook body of the clamping jaw clamps the end face of the small material, if it is slightly eccentric, the arc surface of the clamping cavity at the forked hook end can be adjusted and corrected by contacting the circular chamfer.

10. A production line, comprising at least a train assembler, characterized in that: It comprises the small-piece automatic hanging device as described in any one of claims 1 to 6, wherein the small-piece materials are arranged in an arrangement by the arrangement machine and placed in an arrangement tray, and the arrangement tray is manually transferred to the tray station of the workbench.

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