Workpiece gripping device, gripping module, workpiece transfer device and feeding system

Abstract

The application discloses a workpiece grabbing device, a grabbing module, a workpiece transferring device and a feeding system. The workpiece grabbing device comprises a support plate, a driving assembly, a first transmission assembly arranged on the support plate along a first direction, the first transmission assembly comprising a first transmission member and a second transmission member rotating synchronously, the first transmission member being in transmission connection with the driving assembly, a second transmission assembly arranged on the support plate along a second direction, the second transmission assembly being in transmission connection with the second transmission member to convert the rotary motion of the first transmission member into the translational motion, a lifting device driving the support plate to move along the first direction, the second transmission member moving synchronously with the support plate, the first transmission member remaining in transmission connection with the driving assembly, and a grabbing mechanism arranged on the second transmission assembly, the second transmission assembly driving the grabbing mechanism to reciprocate along the second direction to clamp the workpiece. According to the workpiece grabbing device, the time-consuming manual operation is reduced, the workpiece can be avoided, the work is stable, and the production efficiency is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation equipment, in particular to a workpiece grabbing device, a grabbing module, a workpiece transfer device and a feeding system. BACKGROUND

[0002] In the related art, the workpiece production is packaged, boxed and other work, most of which is realized by manual operation. Manual operation is difficult to adapt to the production rhythm, and is prone to operation difficulties and other situations. The operation intensity is increased, the time consumption is long, and the production efficiency is low. SUMMARY

[0003] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, one object of the present application is to provide a workpiece grabbing device, which reduces the time consumption of manual operation and can avoid workpieces, work smoothly and has high production efficiency.

[0004] Another object of the present application is to provide a grabbing module having the workpiece grabbing device.

[0005] Still another object of the present application is to provide a workpiece transfer device having the grabbing module.

[0006] Still another object of the present application is to provide a feeding system having the workpiece transfer device.

[0007] The workpiece grabbing device according to the embodiment of the present application comprises a support plate, a driving assembly, a first transmission assembly arranged along a first direction on the support plate, the first transmission assembly comprising a first transmission member and a second transmission member rotating synchronously, the first transmission member being in transmission connection with the driving assembly, a second transmission assembly arranged along a second direction on the support plate, the first direction being perpendicular to the second direction, the second transmission assembly being in transmission connection with the second transmission member to convert the rotary motion of the first transmission member into translational motion, a lifting device driving the support plate to move along the first direction, the second transmission member moving synchronously with the support plate, the first transmission member maintaining transmission connection with the driving assembly when the support plate moves, and a grabbing mechanism arranged on the second transmission assembly, the second transmission assembly driving the grabbing mechanism to reciprocate along the second direction to clamp a workpiece.

[0008] According to the workpiece grabbing device provided by the embodiment of the application, the first transmission assembly is arranged on the support plate in the first direction, the second transmission assembly is arranged on the support plate in the second direction, the first transmission assembly drives the second transmission assembly to move in translation, the grabbing mechanism on the second transmission assembly is enabled to move back and forth in the second direction, the grabbing mechanism can clamp the workpiece, the workpiece can move in the second direction, the time-consuming of manual operation is reduced, the workpiece grabbing device can adapt to the efficient production rhythm, and the automatic production of the assembly line is realized, the first transmission assembly and the second transmission assembly occupy small space, and the utilization rate of space is effectively improved; the lifting device drives the support plate to move in the first direction, the second transmission member moves synchronously with the support plate, the first transmission member remains in transmission connection with the driving assembly, the second transmission assembly can avoid the workpiece, and the workpiece and the second transmission assembly are prevented from colliding and being damaged, the normal use of the grabbing module is ensured, the driving assembly, the first transmission member and the second transmission member are kept in transmission connection with the second transmission assembly at all times, vibration and other problems caused by reconnection are avoided, the workpiece grabbing device works stably, the grabbing module works more efficiently, and the production efficiency is improved.

[0009] In addition, the workpiece grabbing device provided by the above-mentioned embodiment of the application can further have the following additional technical features.

[0010] According to the workpiece grabbing device provided by some embodiments of the application, the first transmission assembly further includes a connecting shaft, the first transmission member and the second transmission member are arranged at two ends of the connecting shaft respectively, the connecting shaft is arranged through the support plate and moves synchronously with the support plate, the connecting shaft is slidably connected with the first transmission member in the axial direction of the connecting shaft, the second transmission member is fixedly arranged on the connecting shaft, and the first transmission member and the second transmission member rotate coaxially with the connecting shaft.

[0011] According to some embodiments of the application, the first transmission member and the second transmission member are bevel gears.

[0012] According to some embodiments of the application, the support plate is provided with a support seat, the second transmission assembly includes a third transmission member, the third transmission member is arranged on the support seat, the third transmission member is in transmission connection with the second transmission member, a fourth transmission member is arranged on the support seat, the fourth transmission member and the third transmission member rotate coaxially, and a fifth transmission member is in transmission connection with the fourth transmission member to drive the fifth transmission member to move back and forth in the second direction.

[0013] According to some embodiments of the application, the fourth transmission member is a gear, the fifth transmission member is a rack, and the gear drives the rack to move back and forth in the second direction in rotation.

[0014] According to some embodiments of the present application, the second transmission assembly further comprises a guide assembly, the guide assembly comprises a first guide rail arranged on the support plate and a sliding block matched with the first guide rail, the first guide rail extends along the second direction, and the fifth transmission member is connected with the sliding block to enable the second transmission assembly to reciprocate along the second direction.

[0015] According to some embodiments of the present application, the grabbing mechanism comprises a first clamping jaw arranged at one end of the second transmission assembly, and the first clamping jaw is used to clamp the workpiece in the second direction.

[0016] According to some embodiments of the present application, the support plate, the first transmission assembly, the second transmission assembly and the grabbing mechanism are two, and the two support plates, the two first transmission assemblies, the two second transmission assemblies and the two grabbing mechanisms are spaced apart along a third direction, and the third direction is perpendicular to the first direction and the second direction.

[0017] According to some embodiments of the present application, the driving assembly comprises a first motor, a transmission shaft driven to rotate by the first motor, and a transmission gear arranged on the transmission shaft and in transmission connection with the first transmission member.

[0018] According to some embodiments of the present application, the workpiece grabbing device further comprises a bottom plate, the support plate is arranged on the bottom plate, the driving assembly and the lifting device are arranged on a side of the bottom plate away from the support plate, and the first transmission member is rotatably arranged on the bottom plate, and the lifting device drives the support plate to move relative to the bottom plate along the first direction.

[0019] According to some embodiments of the present application, one of the bottom plate and the support plate is provided with a guide column extending along the second direction, and the other is provided with a guide hole matched with the guide column.

[0020] According to some embodiments of the present application, the grabbing module comprises a grabbing device and the workpiece grabbing device according to the embodiments of the present application, the workpiece grabbing device is spaced apart from the grabbing device, the workpiece grabbing device is used to move the workpiece between a first preset position and a third preset position, the grabbing device is used to move the workpiece between the first preset position and a second preset position, and the second preset position, the first preset position and the third preset position are arranged in sequence in the second direction.

[0021] According to some embodiments of the present application, the grabbing device comprises a translation driving assembly and a clamping assembly, and the translation driving assembly drives the clamping assembly to reciprocate along the second direction.

[0022] According to some embodiments of the present application, when the workpiece grabbing device comprises a base plate, the support plate and the translation driving assembly are arranged on the same side of the base plate, and the grabbing device further comprises a support seat, the clamping assembly is arranged on the support seat, and the support seat and the translation driving assembly are in transmission connection so as to enable the support seat to reciprocate on the base plate along the second direction.

[0023] According to some embodiments of the present application, the translation driving assembly comprises a second motor arranged on the base plate, two belt pulleys spaced apart in the second direction, and a belt arranged around the belt pulleys, the belt pulleys are rotatably arranged on the base plate, the second motor is in transmission connection with one of the belt pulleys, and the support seat is arranged on the belt and moves synchronously with the belt.

[0024] According to some embodiments of the present application, the clamping assembly comprises a second clamping jaw for clamping the workpiece in the second direction, and a pusher arranged on the support seat, the second clamping jaw is connected with the pusher, and the pusher is used to drive the second clamping jaw to move along the second direction.

[0025] According to some embodiments of the present application, the grabbing module comprises two support assemblies arranged on two sides of the moving direction of the grabbing device respectively, each of the support assemblies comprises a support member and a plurality of support wheels rotatably arranged on the support member and spaced apart along the second direction.

[0026] According to some embodiments of the present application, the workpiece is provided with a positioning member, and the grabbing module comprises a positioning guide assembly, the positioning guide assembly comprises a guide groove for accommodating the positioning member, the guide groove extends along the second direction, and the positioning guide assembly comprises two spaced-apart vertical plates, and the gap between the two vertical plates forms the guide groove.

[0027] The workpiece transfer device according to the embodiments of the present application comprises a base, a lifting mechanism arranged on the base, a grabbing module according to the embodiments of the present application arranged on the lifting mechanism to adjust the height of the grabbing module, and a mechanical hand for transferring the workpiece out of or to the lifting mechanism.

[0028] According to some embodiments of the present application, the lifting mechanism comprises a support plate on which the grabbing module is arranged, and a power assembly arranged on the base and used to drive the support plate to reciprocate along the first direction.

[0029] According to some embodiments of the present application, the power assembly comprises a third motor arranged on the base, a screw rod extending along the first direction, one end of the screw rod being in driving connection with the third motor, a screw nut being arranged on the screw rod, the support plate being connected with the screw nut, and / or a third guide rail being arranged on the base and being in cooperation with the support plate, the third guide rail extending along the first direction.

[0030] According to some embodiments of the present application, the robot hand comprises a mechanical arm, a mechanical gripper being arranged on one end of the mechanical arm, the mechanical gripper comprising a mounting plate, a linear driving device and two clamping blocks, the two clamping blocks being arranged on the mounting plate and being movable towards or away from each other, the linear driving device being arranged on the mounting plate and driving the clamping blocks to move, the two clamping blocks being used for clamping or releasing the workpiece.

[0031] According to some embodiments of the present application, a clamping mechanism is arranged on the clamping block, the clamping mechanism being used for clamping the workpiece, the clamping mechanism comprising a first pressing device being arranged on the clamping block and comprising a first cylinder and a first pressing block, the first cylinder being capable of driving the first pressing block to move, and a second pressing device being arranged on the clamping block and comprising a second cylinder and a second pressing block, the second cylinder being capable of driving the second pressing block to rotate around the second cylinder, the first pressing block and the second pressing block being arranged in a direction perpendicular to the arrangement direction of the two clamping blocks to clamp the workpiece.

[0032] According to some embodiments of the present application, a clamping mechanism is arranged on the clamping block, the clamping mechanism being used for clamping the workpiece, the clamping mechanism comprising a support block, the support block on each of the two clamping blocks being located on a side of the two clamping blocks close to each other, and a first pressing device, the first pressing device on each of the two clamping blocks being located on a side of the two clamping blocks close to each other and comprising a first cylinder and a first pressing block, the first cylinder being capable of driving the first pressing block to move towards or away from the support block to clamp the workpiece.

[0033] According to some embodiments of the present application, the robot hand comprises a visual detection device, the visual detection device being arranged on the mounting plate and being used for detecting the workpiece.

[0034] According to some embodiments of the present application, the workpiece transfer device further comprises a placement table, the placement table being arranged on the base and being higher than the upper end surface of the lifting mechanism, the placement table being used for temporarily storing the workpiece.

[0035] According to some embodiments of the present application, the workpiece transfer device further comprises a walking assembly, the walking assembly being arranged on the bottom of the base.

[0036] The feeding system according to an embodiment of the present application comprises: a temporary storage platform for storing the workpieces to be processed and / or the workpieces processed; a magazine platform for storing a magazine, the workpieces being adapted to be placed in the magazine; a workpiece transfer device according to an embodiment of the present application, the workpiece transfer device transferring the workpieces between the temporary storage platform and the magazine platform.

[0037] According to some embodiments of the present application, the workpiece transfer device comprises: a first transfer device for transferring the workpieces to or out of the temporary storage platform; and a second transfer device for transferring the magazine to or out of the magazine platform.

[0038] According to some embodiments of the present application, the first transfer device and the second transfer device each comprise a walking assembly and a conveying table arranged on the walking assembly, the conveying table being used for conveying the workpieces or the magazine.

[0039] Additional aspects and advantages of the present application will be given, partially in the following description, partially become obvious from the following description, or be learned by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0040] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description, taken in conjunction with the accompanying drawings, in which:

[0041] Figure 1 is a structural schematic diagram of a feeding system according to an embodiment of the present application;

[0042] Figure 2 is a top view of the feeding system according to an embodiment of the present application;

[0043] Figure 3 is a structural schematic diagram of a feeding system according to an embodiment of the present application;

[0044] Figure 4 is a structural schematic diagram of a processing device, a feeding and discharging device and a magazine transfer device according to an embodiment of the present application;

[0045] Figure 5 is a structural schematic diagram of a workpiece transfer device according to an embodiment of the present application;

[0046] Figure 6 is a structural schematic diagram of a grabbing module from one angle according to an embodiment of the present application;

[0047] Figure 7 is a structural schematic diagram of a grabbing module from another angle according to an embodiment of the present application;

[0048] Figure 8 is a sectional view of a grabbing module according to an embodiment of the present application;

[0049] Figure 9 is Figure 8 is an enlarged structural schematic view of A in the middle circle;

[0050] Figure 10 is a structural schematic view of a workpiece grabbing device according to an embodiment of the present application;

[0051] Figure 11 is a partial structural schematic view of a workpiece grabbing device according to an embodiment of the present application;

[0052] Figure 12 is a structural schematic view of a grabbing device according to an embodiment of the present application;

[0053] Figure 13 is a structural schematic view of a lifting mechanism according to an embodiment of the present application;

[0054] Figure 14 is a structural schematic view of a mechanical gripper according to some embodiments of the present application;

[0055] Figure 15 is a structural schematic view of a mechanical gripper according to other embodiments of the present application;

[0056] Figure 16 is a structural schematic view of a feeding and discharging device according to an embodiment of the present application;

[0057] Figure 17 is a structural schematic view of one angle of a positioning table according to an embodiment of the present application;

[0058] Figure 18 is a structural schematic view of another angle of a positioning table according to an embodiment of the present application;

[0059] Figure 19 is a partial structural schematic view of a positioning table according to an embodiment of the present application;

[0060] Figure 20 is a structural schematic view of a bin transfer device according to an embodiment of the present application;

[0061] Figure 21 is a structural schematic view of a workpiece according to an embodiment of the present application.

[0062] Reference signs:

[0063] workpiece grabbing device 100; grabbing module 200; workpiece transfer device 300; feeding system 400; feeding and discharging device 500; feeding and discharging system 600; processing equipment 700;

[0064] Support plate 10; support 101; guide hole 102;

[0065] Drive assembly 11; first motor 111; transmission shaft 112; transmission gear 113;

[0066] First transmission assembly 12; first transmission member 121; second transmission member 122; connecting shaft 123;

[0067] Second transmission assembly 13; third transmission member 131; fourth transmission member 132; fifth transmission member 133; guide assembly 134; first guide rail 135; sliding block 136; connecting member 167;

[0068] Lifting device 14;

[0069] Grabbing mechanism 15; first clamping jaw 151;

[0070] Bottom plate 16; guide column 161; guide bearing 162; second guide rail 163;

[0071] Grabbing device 20;

[0072] Translation drive assembly 21; second motor 211; pulley 212; belt 213;

[0073] Clamping assembly 22; second clamping jaw 221; pusher 222; adapter plate 223;

[0074] Support seat 23; clamp 231;

[0075] Support assembly 24; support member 241; support wheel 242;

[0076] Positioning guide assembly 25; guide groove 251; vertical plate 252;

[0077] Base 30; third guide rail 31; placement table 32;

[0078] Lifting mechanism 40; supporting plate 41; power assembly 42; third motor 421; lead screw 422; lead screw nut 423;

[0079] Mechanical hand 50; mechanical arm 51; mechanical clamping jaw 52; mounting plate 53; linear drive device 54; clamping block 55; visual detection device 56; fourth motor 541; screw rod assembly 542; first gear 543; second gear 544; cross beam 551;

[0080] Clamping mechanism 60; first pressing device 61; second pressing device 62; support block 63; pressing plate device 64; first cylinder 611; first pressing block 612; second cylinder 621; second pressing block 622; fourth guide rail 631; third cylinder 641; third pressing block 642;

[0081] Temporary storage platform 71; silo platform 72; first transfer device 73; second transfer device 74; silo transfer device 75; workpiece 711; positioning component 712; silo 721; walking assembly 731; conveyor 732; storage station 751;

[0082] Support platform 80; Placement space 81;

[0083] Positioning platform 90; Positioning base plate 91;

[0084] Clamping device 92; First pneumatic clamp 921; Second pneumatic clamp 922;

[0085] Conveying device 93; drive motor 931; conveying component 932; output shaft 933; coupling 934. Detailed Implementation

[0086] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0087] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0088] In the description of this invention, "first feature" and "second feature" may include one or more of the features, "multiple" means two or more, "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features being in contact through another feature between them, and "above," "over," and "on top" the second feature may include the first feature being directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher horizontal level than the second feature.

[0089] The workpiece gripping device 100 according to an embodiment of the present invention is described below with reference to the accompanying drawings.

[0090] Reference Figures 5-11As shown, the grabbing module 200 according to the embodiment of the application comprises the material grabbing device 20 and the workpiece grabbing device 100 according to the embodiment of the application, the workpiece grabbing device 100 is spaced apart from the material grabbing device 20, the workpiece grabbing device 100 is used to move the workpiece 711 between the first preset position and the third preset position, and the material grabbing device 20 is used to move the workpiece 711 between the first preset position and the second preset position. The second preset position, the first preset position and the third preset position are arranged in sequence in the second direction (for example, the left-right direction shown in Figure 6 FIG. 1). Thus, the workpiece 711 can be moved by the workpiece grabbing device 100 and the material grabbing device 20 respectively, the different movement requirements of the workpiece 711 on the second preset position, the first preset position and the third preset position are met, and the occupied space required for the grabbing module 200 to directly move the workpiece 711 from the third preset position to the second preset position is reduced.

[0091] The workpiece grabbing device 100 according to the embodiment of the application can comprise a support plate 10, a driving assembly 11, a first transmission assembly 12, a second transmission assembly 13 and a grabbing mechanism 15.

[0092] Specifically, the first transmission assembly 12 is arranged on the support plate 10 along a first direction (for example, the up-down direction shown in Figure 8 FIG. 1), the first transmission assembly 12 comprises a first transmission member 121 and a second transmission member 122 which rotate synchronously, the first transmission member 121 is in transmission connection with the driving assembly 11, so that the driving assembly 11 can drive the first transmission assembly 12 to move. The second transmission assembly 13 is arranged on the support plate 10 along a second direction, the first direction and the second direction are perpendicular, the second transmission assembly 13 is in transmission connection with the second transmission member 122, can convert the rotary motion of the first transmission member 121 into translational motion, and the grabbing mechanism 15 is arranged on the second transmission assembly 13, so that the second transmission assembly 13 can drive the grabbing mechanism 15 to reciprocate along the second direction, the grabbing mechanism 15 can clamp the workpiece 711, so that the workpiece 711 can move along the second direction, and the occupied space required for the first transmission assembly 12 and the second transmission assembly 13 is reduced, the space utilization is effectively improved.

[0093] Therefore, when the driving assembly 11 works, the driving assembly 11 can drive the first transmission member 121 to rotate, the first transmission member 121 and the second transmission member 122 rotate synchronously to drive the second transmission member 122 to rotate, the second transmission member 122 and the second transmission assembly 13 are in transmission connection to drive the second transmission assembly 13 to move along the second direction, so that the second transmission assembly 13 and the grabbing mechanism 15 on the second transmission assembly 13 reciprocate along the second direction, so that the grabbing mechanism 15 can reciprocate along the second direction to clamp the workpiece 711, and the workpiece 711 moves along the second direction, which reduces the time-consuming of manual operation, can adapt to the efficient production rhythm, realizes the automatic production of the assembly line, is favorable for improving the production efficiency and reducing the production cost.

[0094] In addition, as shown in the drawings, Figures 5-8 The workpiece grabbing device 100 can further include a lifting device 14, the lifting device 14 drives the support plate 10 to move along the first direction, so that the second transmission assembly 13 on the support plate 10 can move along the first direction with the support plate 10. When the grabbing device 20 drives the workpiece 711 to move, the second transmission assembly 13 can move along the first direction with the support plate 10, and the second transmission assembly 13 can avoid the workpiece 711 to avoid collision with the second transmission assembly 13 and damage, to ensure normal use of the grabbing module 200. For example, the lifting device 14 can be a pneumatic cylinder, an electric cylinder or a hydraulic cylinder.

[0095] Meanwhile, the second transmission member 122 can move synchronously with the support plate 10, so that the second transmission member 122 can keep in transmission connection with the second transmission assembly 13, and the first transmission member 121 can keep in transmission connection with the driving assembly 11 when the support plate 10 moves. Therefore, when the support plate 10 moves, it is ensured that the driving assembly 11, the first transmission member 121 and the second transmission member 122 and the second transmission assembly 13 are always in transmission connection, to avoid vibration caused by reconnection and other problems, to ensure reliable transmission connection, stable work of the workpiece grabbing device 100, and the second transmission assembly 13 and the lifting device 14 can work at the same time, so that the grabbing module 200 works more efficiently, which is favorable for improving the production efficiency.

[0096] It should be noted that the third preset position is the initial position of the workpiece 711, the first preset position is the position of the workpiece 711 after the workpiece grabbing device 100 moves, and the second preset position is the position of the workpiece 711 after the grabbing device 20 moves.

[0097] In addition, for the convenience of description, the directions such as "upper", "lower", "left", "right", "front" and "back" in the application are based on the direction relationship shown in the drawings, and are not limited to the direction in the actual application process.

[0098] According to the workpiece grabbing device 100 of the embodiment of the present application, the first transmission assembly 12 is arranged on the support plate 10 along the first direction, the second transmission assembly 13 is arranged on the support plate 10 along the second direction, the first transmission assembly 12 drives the second transmission assembly 13 to move in translation, the second transmission assembly 13 on which the grabbing mechanism 15 moves back and forth along the second direction, the grabbing mechanism 15 can clamp the workpiece 711, so that the workpiece 711 can move along the second direction, reducing the time-consuming of manual operation, adapting to the efficient production rhythm, realizing the automatic production of the assembly line, and the first transmission assembly 12 and the second transmission assembly 13 occupy small space, effectively improving the space utilization; the lifting device 14 drives the support plate 10 to move along the first direction, the second transmission part 122 moves synchronously with the support plate 10, the first transmission part 121 keeps in transmission connection with the driving assembly 11, so that the second transmission assembly 13 can avoid the workpiece 711, avoiding the collision between the workpiece 711 and the second transmission assembly 13 to cause damage, ensuring the normal use of the grabbing module 200, and ensuring that the driving assembly 11 and the first transmission part 121, the second transmission part 122 and the second transmission assembly 13 are always in transmission connection, avoiding the vibration caused by reconnection and other problems, the workpiece grabbing device 100 works stably, the grabbing module 200 works more efficiently, and the production efficiency is improved.

[0099] According to the workpiece grabbing device 100 of the embodiment of the present application, the first transmission assembly 12 is arranged on the support plate 10 along the first direction, the second transmission assembly 13 is arranged on the support plate 10 along the second direction, the first transmission assembly 12 drives the second transmission assembly 13 to move in translation, the second transmission assembly 13 on which the grabbing mechanism 15 moves back and forth along the second direction, the grabbing mechanism 15 can clamp the workpiece 711, so that the workpiece 711 can move along the second direction, reducing the time-consuming of manual operation, adapting to the efficient production rhythm, realizing the automatic production of the assembly line, and the first transmission assembly 12 and the second transmission assembly 13 occupy small space, effectively improving the space utilization; the lifting device 14 drives the support plate 10 to move along the first direction, the second transmission part 122 moves synchronously with the support plate 10, the first transmission part 121 keeps in transmission connection with the driving assembly 11, so that the second transmission assembly 13 can avoid the workpiece 711, avoiding the collision between the workpiece 711 and the second transmission assembly 13 to cause damage, ensuring the normal use of the grabbing module 200, and ensuring that the driving assembly 11 and the first transmission part 121, the second transmission part 122 and the second transmission assembly 13 are always in transmission connection, avoiding the vibration caused by reconnection and other problems, the workpiece grabbing device 100 works stably, the grabbing module 200 works more efficiently, and the production efficiency is improved.

[0100] In some embodiments of the present application, as Figure 8 AndFigure 9 As shown, the first transmission assembly 12 further comprises a connecting shaft 123, the first transmission member 121 and the second transmission member 122 are respectively arranged at two ends of the connecting shaft 123, the first transmission member 121 and the second transmission member 122 are coaxially rotatable with the connecting shaft 123, which ensures the reliable rotation of the first transmission member 121 and the second transmission member 122, and the structure is simple. The connecting shaft 123 is arranged in the support plate 10, and the connecting shaft 123 moves synchronously with the support plate 10, the connecting shaft 123 is slidably connected with the first transmission member 121 in the axial direction of the connecting shaft 123 (for example, the up-down direction shown in the figure) Figure 8 The second transmission member 122 is fixedly arranged on the connecting shaft 123. Thus, when the support plate 10 moves in the first direction, the second transmission member 122 is fixedly arranged on the connecting shaft 123, the transmission connection between the second transmission member 122 and the driving assembly 11 is maintained, the connecting shaft 123 can drive the first transmission member 121 to move in the first direction, the transmission connection between the first transmission member 121 and the second transmission assembly 13 is maintained, which ensures the reliable transmission connection between the driving assembly 11, the first transmission member 121, the second transmission member 122 and the second transmission assembly 13, avoids vibration caused by repeated separation and connection, is beneficial to prolong the service life of the driving assembly 11, the first transmission assembly 12 and the second transmission assembly 13, the workpiece grabbing device 100 works stably, and the structure is simple, which is beneficial to reduce the production cost.

[0101] In some embodiments, the connecting shaft 123 can be a special-shaped shaft, the first transmission member 121 is provided with a special-shaped hole matched with the special-shaped shaft, and the special-shaped shaft can be matched with the special-shaped hole, which ensures the reliable connection between the connecting shaft 123 and the first transmission member 121, and ensures the sliding of the connecting shaft 123 in the axial direction of the connecting shaft 123, the structure is simple, and it is beneficial to reduce the production cost of the workpiece grabbing device 100. For example, the connecting shaft 123 can be a spline shaft, a flat key shaft or a semicircular key shaft, etc.

[0102] According to some embodiments of the present application, as shown in Figures 6-11 The first transmission member 121 and the second transmission member 122 can be bevel gears, which facilitates the transmission connection between the first transmission assembly 12 in the first direction and the second transmission assembly 13 in the second direction, is beneficial to reduce the occupied space required by the first transmission assembly 12 and the second transmission assembly 13, and effectively improves the space utilization. In addition, the bevel gear meshing transmission can make the first transmission assembly 12 and the second transmission assembly 13 work stably, which ensures the reliable movement of the second transmission assembly 13 and low noise.

[0103] In some embodiments, as shown in Figures 8-11As shown, the support plate 10 is provided with a support 101, the second transmission assembly 13 includes a third transmission member 131, a fourth transmission member 132 and a fifth transmission member 133, the third transmission member 131 and the fourth transmission member 132 can be arranged on the support 101, so as to facilitate the fixation of the positions of the third transmission member 131 and the fourth transmission member 132, and avoid the movement of the third transmission member 131 and the fourth transmission member 132 to cause unstable movement and the like. The third transmission member 131 is in transmission connection with the second transmission member 122, the fourth transmission member 132 is coaxially rotatable with the third transmission member 131, and the fifth transmission member 133 is in transmission connection with the fourth transmission member 132. Thus, when the second transmission member 122 rotates, the second transmission member 122 drives the third transmission member 131 to rotate in transmission connection with the third transmission member 131, the coaxial rotation of the third transmission member 131 and the fourth transmission member 132 drives the fourth transmission member 132 to rotate, and the fourth transmission member 132 drives the fifth transmission member 133 to reciprocate along the second direction in transmission connection with the fifth transmission member 133, so as to realize the reciprocating movement of the grabbing mechanism 15 along the second direction, facilitate the clamping of the workpiece 711, and enable the workpiece 711 to move along the second direction. The second transmission assembly 13 has simple structure and reliable transmission, and is conducive to reducing the production cost of the workpiece grabbing device 100. For example, the third transmission member 131 and the fourth transmission member 132 can be coaxially connected bevel gears and circular gears.

[0104] In some embodiments of the application, as shown in Figure 9 and Figure 11 As shown, the fourth transmission member 132 can be a gear, and the fifth transmission member 133 can be a rack. The rotation of the gear can drive the rack to reciprocate along the second direction, so as to facilitate the conversion of the rotary motion of the first transmission member 121 into translational motion. The fourth transmission member 132 and the fifth transmission member 133 have simple structure and reliable transmission connection, and are conducive to reducing the production cost of the workpiece grabbing device 100.

[0105] In some embodiments, as shown in Figure 6 , Figures 8-11 As shown, the second transmission assembly 13 further includes a guide assembly 134, the guide assembly 134 includes a first guide rail 135 and a sliding block 136, the first guide rail 135 is arranged on the support plate 10, the sliding block 136 is matched with the first guide rail 135, the first guide rail 135 extends along the second direction, and the fifth transmission member 133 is connected with the sliding block 136. When the second transmission assembly 13 reciprocates along the second direction, the second transmission assembly 13 can limit the movement direction of the second transmission assembly 13 through the cooperation of the sliding block 136 and the first guide rail 135, so as to ensure that the fifth transmission member 133 is not easy to deviate during movement, and the movement of the grabbing mechanism 15 along the second direction is reliable.

[0106] In some embodiments, as shown in Figure 8 and Figure 9As shown, the fifth transmission member 133 and the sliding block 136 can be connected through the connecting member 167, which is conducive to reducing the complexity of the structure of the fifth transmission member 133 and the sliding block 136 and reducing the production cost of the workpiece grabbing device 100.

[0107] According to some embodiments of the present application, as Figures 6-11 As shown, the grabbing mechanism 15 includes a first clamping jaw 151 arranged at one end of the second transmission assembly 13, which can be used to clamp the workpiece 711 in the second direction, facilitating clamping of the workpiece 711 and ensuring reliable clamping of the workpiece 711.

[0108] In embodiments of the present application, the specific structure of the first clamping jaw 151 can be set according to actual conditions.

[0109] For example, in some embodiments, the first clamping jaw 151 can include a clamping jaw air cylinder for controlling the clamping and opening of the clamping jaw to achieve clamping and loosening of the workpiece 711. A push-pull rod is connected to the clamping jaw air cylinder, and a first transmission rod and a second transmission rod are arranged on the push-pull rod, respectively. One end of the first transmission rod and the second transmission rod is connected to the push-pull rod, the other end of the first transmission rod and the second transmission rod extends in a direction away from each other, and the push-pull rod and the first transmission rod, the push-pull rod and the second transmission rod are hinged. The other end of the first transmission rod and the second transmission rod is respectively provided with a clamping piece. When the clamping jaw air cylinder pulls the push-pull rod to move linearly in a direction close to the clamping jaw air cylinder, since the push-pull rod and the first transmission rod, the second transmission rod are hinged, in order to meet the linear movement, the two clamping pieces will move in a direction close to each other, thereby achieving clamping of the workpiece 711 by the first clamping jaw 151; when the clamping jaw air cylinder pushes the push-pull rod to move linearly in a direction away from the clamping jaw air cylinder, in order to meet the linear movement, the two clamping pieces will move in a direction away from each other, thereby achieving loosening of the workpiece 711 by the first clamping jaw 151.

[0110] In some embodiments, as Figure 6 , Figure 7 , Figure 10 and Figure 11 As shown, the first clamping jaw 151 can include multiple groups (greater than or equal to two) of clamping jaw air cylinders to facilitate grabbing of the workpiece 711 and ensure reliable movement of the workpiece 711.

[0111] In some embodiments of the present application, as Figures 6-8 , Figure 10 As shown, the support plate 10, the first transmission assembly 12, the second transmission assembly 13 and the grabbing mechanism 15 can all be two, and the two support plates 10, the two first transmission assemblies 12, the two second transmission assemblies 13 and the two grabbing mechanisms 15 are all arranged along a third direction (for example Figure 8The third direction is perpendicular to the first direction and the second direction, the two clamping mechanisms 15 facilitate clamping of the workpiece 711, and the two support plates 10 can support and move the two second transmission assemblies 13, ensuring stable clamping of the workpiece 711 and reliable movement of the workpiece 711.

[0112] According to some embodiments of the present application, as shown in Figures 7-10 The driving assembly 11 includes a first motor 111 and a transmission shaft 112, the first motor 111 drives the transmission shaft 112 to rotate, the transmission shaft 112 is provided with a transmission gear 113, and the transmission gear 113 is in transmission connection with the first transmission member 121. Thus, when the first motor 111 works, the first motor 111 drives the transmission shaft 112 to rotate, the transmission shaft 112 drives the transmission gear 113 to rotate, the transmission gear 113 is in transmission connection with the first transmission member 121 and drives the first transmission member 121 to rotate, thereby realizing work of the first transmission assembly 12. The driving assembly 11 has a simple structure and is conducive to reducing the production cost of the workpiece clamping device 100. For example, the first motor 111 can drive the transmission shaft 112 to rotate through belt transmission or gear transmission.

[0113] In some embodiments in which the support plate 10, the first transmission assembly 12, the second transmission assembly 13 and the clamping mechanism 15 are two, as shown in Figure 6 、 Figure 8 and Figure 10 The two ends of the transmission shaft 112 are provided with transmission gears 113, the two transmission gears 113 are in transmission connection with the two first transmission members 121 respectively, ensuring reliable movement of the two second transmission assemblies 13 and realizing the same movement distance, thereby ensuring stable clamping of the workpiece 711.

[0114] In some embodiments of the present application, as shown in Figures 6-9 The workpiece clamping device 100 further includes a bottom plate 16, the support plate 10 can be arranged on the bottom plate 16, and the first transmission member 121 is rotatably arranged on the bottom plate 16, facilitating support and positioning of the support plate 10 and the first transmission member 121. The driving assembly 11 and the lifting device 14 are arranged on the side of the bottom plate 16 away from the support plate 10, the lifting device 14 drives the support plate 10 to move along the first direction relative to the bottom plate 16, ensuring reliable movement of the support plate 10, and the bottom plate 16 can separate the second transmission assembly 13 from the driving assembly 11 and the lifting device 14. When the workpiece clamping device 100 works, the driving assembly 11 and the lifting device 14 do not affect the normal work of the second transmission assembly 13, and do not touch and damage the workpiece 711, ensuring reliable work of the workpiece clamping device 100.

[0115] According to some embodiments of the present application, as shown in Figure 9 、 Figure 10 and Figure 11As shown in the drawings, the bottom plate 16 is provided with a guide column 161 extending in the second direction, and the support plate 10 is provided with a guide hole 102, which cooperates with the guide column 161. When the support plate 10 moves in the first direction, the support plate 10 can be guided by the cooperation of the guide hole 102 and the guide column 161, avoiding the movement of the support plate 10 from deviating, and ensuring the reliable movement of the support plate 10.

[0116] Of course, the guide column 161 can also be arranged on the support plate 10. Specifically, the support plate 10 is provided with a guide column 161 extending in the second direction, and the bottom plate 16 is provided with a guide hole 102 cooperating with the guide column 161, which is also within the protection scope of the present application.

[0117] In some embodiments, as shown in the drawings, Figure 9 、 Figure 10 and Figure 11 The workpiece grabbing device 100 can include a guide bearing 162 located on the bottom plate 16, and the guide column 161 cooperates with the guide bearing 162, so that the guide column 161 moves more smoothly, ensuring the smooth movement of the support plate 10 in the first direction, avoiding jamming, and ensuring the reliable movement of the support plate 10.

[0118] In some embodiments of the present application, as shown in the drawings, Figure 6 、 Figure 8 、 Figure 9 and Figure 12 The grabbing device 20 includes a translation driving assembly 21 and a clamping assembly 22. The translation driving assembly 21 drives the clamping assembly 22 to reciprocate in the second direction, so that the clamping assembly 22 can clamp the workpiece 711, and the clamping assembly 22 can move the workpiece 711 between the first predetermined position and the second predetermined position, meeting the movement requirement of the workpiece 711, reducing the time-consuming of manual operation, and being able to adapt to the efficient production rhythm, realizing the automatic production of the assembly line, and being beneficial to improve the production efficiency.

[0119] According to some embodiments of the present application, as shown in the drawings, Figure 6 、 Figure 8 Figure 9 and Figure 12As shown in the drawings, when the workpiece grabbing device 100 comprises the base plate 16, the support plate 10 and the translation driving assembly 21 are arranged on the same side of the base plate 16, which facilitates the workpiece clamping of the grabbing mechanism 15 and the clamping assembly 22, and when the translation driving assembly 21 works, the support plate 10 can move in the first direction, thereby facilitating the workpiece on the clamping assembly 22 to avoid. The grabbing device 20 further comprises a support seat 23, and the clamping assembly 22 can be arranged on the support seat 23. The support seat 23 and the translation driving assembly 21 are in transmission connection, and the translation driving assembly 21 can make the support seat 23 reciprocate on the base plate 16 in the second direction, so as to realize the reciprocating movement of the clamping assembly 22 in the second direction, and make the clamping assembly 22 move reliably. The support seat 23 facilitates the storage and protection of the clamping assembly 22, and is beneficial to improve the service life of the clamping assembly 22.

[0120] In some embodiments of the present application, as shown in Figure 6 、 Figure 8 、 Figure 9 and Figure 12 , the translation driving assembly 21 comprises a second motor 211, two belt pulleys 212 and a belt 213. The second motor 211 is arranged on the base plate 16, and the belt pulleys 212 are rotatably arranged on the base plate 16, which facilitates the fixation of the second motor 211 and the belt pulleys 212, and avoids the movement of the second motor 211 and the belt pulleys 212. The two belt pulleys 212 are spaced apart in the second direction, and the belt 213 is arranged around the belt pulleys 212. The second motor 211 is in transmission connection with one of the belt pulleys 212, and the support seat 23 is arranged on the belt 213 and moves synchronously with the belt 213. Thus, when the second motor 211 works, the second motor 211 can drive one of the belt pulleys 212 to rotate, and the rotation of the belt pulley 212 can drive the belt 213 and the other belt pulley 212 to move, so that the belt 213 can drive the support seat 23 on the belt 213 to move, realizing the reciprocating movement of the clamping assembly 22 in the second direction, ensuring reliable movement, and the translation driving assembly 21 is simple in structure, which is beneficial to reduce the production cost of the grabbing device 20.

[0121] In some embodiments, as shown in Figure 8 and Figure 9 , the support seat 23 can be provided with a clamp 231, and the clamp 231 is fixed with the belt 213. The clamp 231 can fix the support seat 23 on the belt 213, ensuring reliable connection between the support seat 23 and the belt 213, and preventing the support seat 23 and the belt 213 from moving.

[0122] According to some embodiments of the present application, as shown in Figure 6 、 Figure 8 、 Figure 12As shown, the bottom plate 16 can be provided with a second guide rail 163 extending along a second direction, and the support seat 23 is slidably arranged on the second guide rail 163. When the support seat 23 reciprocates along the second direction, the support seat 23 can define the moving direction of the support seat 23 through cooperation with the second guide rail 163, so that the movement of the support seat 23 is not prone to deviation, and the clamping assembly 22 can reliably move along the second direction.

[0123] In some embodiments of the present application, as Figure 6 With Figure 12 As shown, the clamping assembly 22 includes a second clamping jaw 221 and a pusher 222. The second clamping jaw 221 is used to clamp the workpiece 711 in the second direction, and the pusher 222 is arranged on the support seat 23. For example, the pusher 222 can be a pneumatic cylinder, an electric cylinder, or a linear motor. The second clamping jaw 221 is connected with the pusher 222. The second clamping jaw 221 is convenient for clamping the workpiece 711, so that the workpiece 711 is reliably clamped and is not prone to falling. In addition, the pusher 222 can drive the second clamping jaw 221 to move along the second direction, so that the second clamping jaw 221 can avoid the workpiece, and the occupied space of the translation driving assembly 21 can be effectively reduced.

[0124] In embodiments of the present application, the specific structure of the second clamping jaw 221 can be set according to actual conditions.

[0125] For example, in some embodiments, the second clamping jaw 221 can include a clamping jaw cylinder used to control the clamping and opening of the clamping jaw, so as to clamp and release the workpiece 711. A push-pull rod is connected and arranged on the clamping jaw cylinder. A first transmission rod and a second transmission rod are respectively arranged on the push-pull rod. One end of the first transmission rod and the second transmission rod is connected with the push-pull rod. The other end of the first transmission rod and the second transmission rod extends in a direction away from each other. The push-pull rod and the first transmission rod, and the push-pull rod and the second transmission rod are hinged. The other end of the first transmission rod and the second transmission rod is respectively provided with a clamping piece. When the clamping jaw cylinder pulls the push-pull rod to move linearly in a direction close to the clamping jaw cylinder, since the push-pull rod and the first transmission rod, and the second transmission rod are hinged, in order to meet the linear movement, the two clamping pieces move in a direction close to each other, so as to realize the clamping of the workpiece 711 by the second clamping jaw 221. When the clamping jaw cylinder pushes the push-pull rod to move linearly in a direction away from the clamping jaw cylinder, in order to meet the linear movement, the two clamping pieces move in a direction away from each other, so as to release the workpiece 711 by the second clamping jaw 221.

[0126] In some embodiments, as Figure 8 With Figure 12As shown, there can be multiple second grippers 221. Multiple second grippers 221 are connected by an adapter plate 223, which enables the simultaneous driving of multiple second grippers 221 and them to have the same moving distance, ensuring that the workpiece 711 is firmly clamped and the driving is reliable.

[0127] In embodiments of the present invention, the number of second grippers 221 can be flexibly set according to actual conditions. For example, the number of second grippers 221 can be as follows: Figure 12 The number shown is two, but it can also be three, four, five, six or more, all of which are within the protection scope of this invention.

[0128] According to some embodiments of the present invention, such as Figure 6 , Figure 8 and Figure 9 As shown, the gripping module 200 includes two support components 24, and the two support components 24 are respectively located in the moving direction of the gripping device 20 (e.g., Figure 6 On both sides (as shown in the left and right directions), the support assembly 24 can support the workpiece 711 to ensure reliable movement of the workpiece 711.

[0129] In addition, such as Figure 6 , Figure 8 and Figure 9 As shown, the support assembly 24 includes a support member 241 and multiple (two or more) support wheels 242. The multiple support wheels 242 are rotatably disposed on the support member 241 and are spaced apart along the second direction. The workpiece 711 can cooperate with the support wheels 242. The multiple support wheels 242 facilitate the movement and support of the workpiece 711, making the movement of the workpiece 711 smoother and avoiding scratches to the workpiece 711.

[0130] In some embodiments of the present invention, such as Figures 6-8 , Figure 21 As shown, the workpiece 711 is provided with a positioning element 712. The gripping module 200 includes a positioning guide assembly 25, which includes a guide groove 251 for accommodating the positioning element 712. The guide groove 251 extends along a second direction. When the gripping module 200 moves the workpiece 711, the positioning element 712 can move within the guide groove 251, ensuring reliable movement of the workpiece 711 and preventing it from shifting. For example, positioning elements 712 can be provided on both sides of the workpiece 711 to ensure reliable movement of the workpiece 711 and prevent it from shifting.

[0131] In addition, such as Figures 6-8As shown, the positioning and guiding assembly 25 can include two vertically arranged spacers 252, a gap between the two spacers 252 can form a guiding groove 251, and the two spacers 252 can limit the position of the positioning member 712 to avoid deviation of the positioning member 712, thereby ensuring reliable movement of the workpiece 711, and the positioning and guiding assembly 25 has a simple structure, which is conducive to reducing the production cost of the grabbing device 20.

[0132] In some embodiments, as shown in Figure 21 As shown, the workpiece 711 can include an aluminum cover plate, a circuit board and a backing plate stacked together by the positioning member 712, i.e., the workpiece 711 is a stack produced by a stack production line. For example, the positioning member 712 can be a pin.

[0133] The workpiece transfer device 300 according to the embodiment of the present application includes a base 30, a lifting mechanism 40 and a grabbing module 200 according to the embodiment of the present application, and the grabbing module 200 is used to grab the workpiece 711.

[0134] Specifically, as shown in Figure 5 The grabbing module 200 is arranged on the lifting mechanism 40, the lifting mechanism 40 is arranged on the base 30, the height of the grabbing module 200 can be adjusted by the lifting mechanism 40, which facilitates the grabbing module 200 to grab workpieces 711 of different heights, the workpiece 711 is easier to grab, and the automatic production of the assembly line can be realized, which is conducive to improving the production efficiency.

[0135] In addition, as shown in Figure 5 The workpiece transfer device 300 further includes a robot 50, which can transfer the workpiece 711 from the lifting mechanism 40 or transfer the workpiece 711 to the lifting mechanism 40, thereby avoiding manual transfer of the workpiece 711, reducing the time-consuming of manual operation, and avoiding problems such as different materials of the workpiece 711 or correct or incorrect placement of the workpiece 711 caused by manual fatigue operation, which can adapt to efficient production rhythm, realize automatic production of the assembly line, and is conducive to improving the production efficiency. For example, the robot 50 can be a six-axis robot, which can realize multi-directional movement of the workpiece 711 and meet different position requirements.

[0136] Since the grabbing module 200 according to the embodiment of the application has the beneficial technical effects described above, the workpiece transfer device 300 according to the embodiment of the application has the following advantages. The first driving assembly 12 is arranged on the support plate 10 in the first direction, the second driving assembly 13 is arranged on the support plate 10 in the second direction, the first driving assembly 12 drives the second driving assembly 13 to move in translation, the grabbing mechanism 15 on the second driving assembly 13 moves back and forth in the second direction, the grabbing mechanism 15 can clamp the workpiece 711, the workpiece 711 can move in the second direction, the time-consuming of manual operation is reduced, the efficient production rhythm can be adapted, the automatic production of the assembly line is realized, the first driving assembly 12 and the second driving assembly 13 occupy small space, and the space utilization is effectively improved. The lifting device 14 drives the support plate 10 to move in the first direction, the second driving member 122 moves synchronously with the support plate 10, the first driving member 121 remains in driving connection with the driving assembly 11, the second driving assembly 13 can avoid the workpiece 711, collision between the workpiece 711 and the second driving assembly 13 is avoided, the grabbing module 200 is ensured to be used normally, the driving assembly 11 and the first driving member 121, the second driving member 122 and the second driving assembly 13 are always in driving connection, reconnection is avoided, vibration and other problems are avoided, the workpiece grabbing device 100 works stably, the grabbing module 200 works more efficiently, and the production efficiency is improved.

[0137] In some embodiments of the application, as shown in Figure 5 With Figure 13 As shown, the lifting mechanism 40 includes a supporting plate 41 and a power assembly 42, the grabbing module 200 is arranged on the supporting plate 41, the supporting plate 41 can support the grabbing module 200, the power assembly 42 is arranged on the base 30, the power assembly 42 is used for driving the supporting plate 41 to move back and forth in the first direction, so that the grabbing module 200 can move back and forth in the first direction, the height of the grabbing module 200 is adjusted, and the structure is simple, which is beneficial to reduce the production cost of the workpiece transfer device 300.

[0138] According to some embodiments of the application, for example Figure 13As shown, the power assembly 42 comprises a third motor 421 and a lead screw 422, the third motor 421 is arranged on the base 30, the lead screw 422 extends along the first direction, one end of the lead screw 422 is in transmission connection with the third motor 421, the lead screw 422 is provided with a lead screw nut 423, the supporting plate 41 is connected with the lead screw nut 423. Therefore, when the third motor 421 works, the third motor 421 can drive the lead screw 422 to rotate, the rotation of the lead screw 422 can drive the lead screw nut 423 to move along the first direction of the lead screw 422, so that the lead screw nut 423 can drive the supporting plate 41 to move along the first direction, ensuring that the supporting plate 41 moves reliably and stably, and the structure is simple, which is beneficial to reduce the production cost of the workpiece transferring device 300. For example, the third motor 421 can be a servo motor.

[0139] In some embodiments, as shown in Figure 13 The third motor 421 is provided with a first synchronous gear, the lead screw 422 is provided with a second synchronous gear, the first synchronous gear is in meshing transmission with the second synchronous gear, thereby the third motor 421 can drive the first synchronous gear to rotate, the first synchronous gear drives the second synchronous gear to rotate in meshing transmission with the second synchronous gear, so that the second synchronous gear can drive the lead screw 422 to rotate, ensuring reliable connection and simple transmission connection structure.

[0140] In some embodiments of the present application, as shown in Figure 5 And Figure 13 The base 30 is provided with a third guide rail 31, the third guide rail 31 cooperates with the supporting plate 41, the third guide rail 31 extends along the first direction, when the supporting plate 41 moves along the first direction, the supporting plate 41 can limit the moving direction of the supporting plate 41 through cooperation with the third guide rail 31, ensuring that the supporting plate 41 is not easy to deviate during movement, and the supporting plate 41 moves reliably along the first direction.

[0141] In some embodiments of the present application, as shown in Figure 5 And Figure 16 The mechanical hand 50 comprises a mechanical arm 51 and a mechanical clamp jaw 52, the mechanical clamp jaw 52 is arranged at one end of the mechanical arm 51, the mechanical clamp jaw 52 can clamp the workpiece 711, realizing the movement of the workpiece 711.

[0142] In addition, as shown in Figure 14 And Figure 15As shown, the mechanical gripper 52 can include a mounting plate 53, a linear drive device 54, and two clamping blocks 55, the two clamping blocks 55 are arranged on the mounting plate 53 and are movable in the direction of approaching and moving away from each other, the linear drive device 54 is arranged on the mounting plate 53 and can drive the clamping blocks 55 to move, so that the two clamping blocks 55 can clamp or release the workpiece 711, realize the movement of the workpiece 711, and the mechanical gripper 52 has simple structure, which is conducive to reducing the production cost of the workpiece transfer device 300, and the mechanical gripper 52 has the function of self-adapting to the size of the workpiece 711, which meets the requirement of grabbing workpieces 711 of different sizes.

[0143] In some embodiments, as shown in Figure 14 With Figure 15 As shown, the clamping blocks 55 can be multiple (greater than or equal to two), and the multiple clamping blocks 55 are connected by a cross beam to ensure that the multiple clamping blocks 55 can move simultaneously, ensure reliable clamping of the workpiece 711, and ensure stable clamping of the workpiece 711.

[0144] In some embodiments, as shown in Figure 14 With Figure 15 As shown, the linear drive device 54 can include a fourth motor 541 and a screw assembly 542, the screw assembly 542 is provided with a first gear 543, the fourth motor 541 is provided with a second gear 544, the first gear 543 and the second gear 544 are meshed with each other, so that the fourth motor 541 can drive the screw assembly 542 to rotate, the two ends of the screw assembly 542 are in transmission connection with the two clamping blocks 55, and the transmission connection between the fourth motor 541 and the screw assembly 542 can drive the screw assembly 542 to rotate, so that the screw assembly 542 can drive the two clamping blocks 55 to be movable in the direction of approaching and moving away from each other, realize the grabbing and releasing of the workpiece 711, and the linear drive device 54 has simple structure and stable movement. For example, the linear drive device 54 can also be a gas cylinder or an electric cylinder.

[0145] In some specific embodiments, the linear drive device 54 can be a double-rod gas cylinder, and the two clamping blocks 55 can be located at the two ends of the output rod of the double-rod gas cylinder, so as to facilitate the driving of the two clamping blocks 55 to be movable in the direction of approaching and moving away from each other, and the structure is simple and the two clamping blocks 55 move stably.

[0146] In some embodiments, as shown in Figure 14 With Figure 15 As shown, the two sides of the mounting plate 53 can be provided with fourth guide rails 631, and the fourth guide rails 631 cooperate with the two clamping blocks 55, when the two clamping blocks 55 move in the direction of approaching and moving away from each other, the two clamping blocks 55 can be limited in movement direction through the cooperation of the fourth guide rails 631, so as to ensure that the two clamping blocks 55 do not easily deviate during movement, and the movement of the two clamping blocks 55 is more reliable and stable.

[0147] According to some embodiments of the present application, as Figure 14 As shown in Figure 15 The clamping mechanism 60 can be arranged on the clamping block 55, and the clamping mechanism 60 is used for clamping the workpiece 711, so that the workpiece 711 is reliably clamped and is not easy to fall off.

[0148] In the embodiments of the present application, the specific structure of the clamping mechanism 60 can be set according to actual conditions.

[0149] For example, in some embodiments, as Figure 14 The clamping mechanism 60 includes a first pressing device 61 and a second pressing device 62, the first pressing device 61 and the second pressing device 62 are arranged on the clamping block 55, and the first pressing device 61 and the second pressing device 62 can be used for clamping the workpiece 711, so that the workpiece 711 is reliably clamped.

[0150] In addition, as Figure 14 The first pressing device 61 includes a first cylinder 611 and a first pressing block 612, the first cylinder 611 can drive the first pressing block 612 to move, the second pressing device 62 includes a second cylinder 621 and a second pressing block 622, the first pressing block 612 and the second pressing block 622 are arranged in a direction perpendicular to the arrangement direction of the two clamping blocks 55, and the first pressing block 612 and the second pressing block 622 can be used for clamping the workpiece 711, so that the workpiece 711 is reliably clamped and is not easy to fall off.

[0151] At the same time, the second cylinder 621 can drive the second pressing block 622 to rotate around the second cylinder 621, when the workpiece 711 is clamped, the second cylinder 621 can drive the second pressing block 622 to avoid the workpiece 711, after the clamping block 55 clamps the workpiece 711, the second cylinder 621 can drive the second pressing block 622 and the first pressing block 612 to be arranged in a direction perpendicular to the arrangement direction of the two clamping blocks 55, so as to clamp the workpiece 711, the workpiece 711 is conveniently clamped, and the workpiece 711 is reliably clamped.

[0152] For example, in some embodiments, as Figure 15As shown, the clamping mechanism 60 comprises a support block 63 and a first pressing device 61, the support block 63 is located on each of the two clamping blocks 55 at a side close to each other, the first pressing device 61 is located on each of the two clamping blocks 55 at a side close to each other, and the first pressing device 61 comprises a first cylinder 611 and a first pressing block 612, the first cylinder 611 can drive the first pressing block 612 to move towards or away from the support block 63, and the clamping of the workpiece 711 can be realized by the first pressing block 612 and the support block 63, so as to ensure the reliable clamping of the workpiece 711 and avoid the falling of the workpiece 711, and the clamping mechanism 60 has a simple structure and is conducive to reducing the production cost of the clamping mechanism 60.

[0153] In some embodiments of the present application, as Figure 14 With Figure 15 As shown, the manipulator 50 can comprise a visual detection device 56, the visual detection device 56 is located on the mounting plate 53, the visual detection device 56 can detect the workpiece 711, facilitate the detection and recording of the material of the workpiece 711 or the front and back of the workpiece 711, and facilitate subsequent operations and facilitate the tracking of the workpiece 711. For example, the visual detection device 56 can be a CCD camera.

[0154] In some embodiments, the workpiece 711 can be provided with an identification code, and the visual detection device 56 can identify the identification code to determine whether the moving workpiece 711 is the required moving workpiece 711, so as to facilitate the differentiation of the workpiece 711 and avoid manual code scanning, realize automatic production of the assembly line, and be conducive to improving production efficiency.

[0155] According to some embodiments of the present application, as Figure 5 As shown, the workpiece transfer device 300 further comprises a placement table 32, the placement table 32 is arranged on the base 30 and is higher than the upper end surface of the lifting mechanism 40, and the placement table 32 can temporarily store the workpiece 711. Therefore, when the front and back of the workpiece 711 are placed differently, the manipulator 50 can place the workpiece 711 on the placement table 32 to flip the workpiece 711, so as to ensure that the front and back of the workpiece 711 are consistent, the front and back of the workpiece 711 are adjusted conveniently and accurately, and the problem of low production efficiency caused by manually flipping the workpiece 711 one by one is avoided, the high production rhythm can be adapted, automatic production of the assembly line is realized, and the production efficiency is improved.

[0156] For example, after the manipulator 50 picks up the workpiece 711, if it is detected that the workpiece 711 is a reverse side, the manipulator 50 places the workpiece 711 on the placement table 32 from above the placement table 32, and the manipulator 50 moves to below the placement table 32 to pick up the workpiece 711, and then transfers the workpiece 711 to the lifting mechanism 40, thereby realizing the overturning of the workpiece 711; if it is detected that the workpiece 711 is a front side, the manipulator 50 directly transfers the workpiece 711 to the lifting mechanism 40, thereby realizing the automatic production of the assembly line, which is conducive to improving the production efficiency.

[0157] In some embodiments of the present application, as shown in Figure 5 The workpiece transfer device 300 further comprises a walking assembly 731 arranged at the bottom of the base 30. The walking assembly 731 can move the position of the workpiece transfer device 300, so that the workpiece transfer device 300 can transfer workpieces 711 at different positions, thereby realizing the automatic production of the assembly line and being conducive to improving the production efficiency. For example, the walking assembly 731 can be an AGV trolley.

[0158] In some embodiments, the walking assembly 731 can use a two-dimensional code for navigation. The two-dimensional code can set the walking position of the walking assembly 731, form a walking path of the walking assembly 731, ensure the reliable movement of the walking assembly 731, and ensure the accurate movement position of the walking assembly 731.

[0159] The feeding system 400 according to the embodiments of the present application comprises a temporary storage platform 71, a bin platform 72, and the workpiece transfer device 300 according to the embodiments of the present application. The workpiece transfer device 300 can transfer the workpieces 711.

[0160] Specifically, as shown in Figures 1-3 The temporary storage platform 71 can store workpieces 711 to be processed and / or workpieces 711 that have been processed, so as to facilitate the storage of the workpieces 711 and ensure that the workpieces 711 are stored neatly. The bin platform 72 can store a bin 721. The workpieces 711 can be placed in the bin 721. The bin 721 can store the workpieces 711. The bin platform 72 can store the bin 721, so as to ensure that the bin 721 is stored neatly. In addition, the workpiece transfer device 300 can transfer the workpieces 711 between the temporary storage platform 71 and the bin platform 72, so that the workpieces 711 can be transferred between the temporary storage platform 71 and the bin 721 on the bin platform 72 by the workpiece transfer device 300. This avoids manual transfer of the workpieces 711, reduces the time-consuming of manual operation, and avoids errors in the placement of workpieces 711 of different materials or workpieces 711 of front and reverse sides caused by manual fatigue operation. This can adapt to the efficient production rhythm, realize the automatic production of the assembly line, and be conducive to improving the production efficiency.

[0161] In some embodiments in which the workpiece 711 is provided with the positioning member 712, the workpieces 711 are arranged in a stack on the temporary platform 71, and the workpieces 711 are arranged in a forward-reverse stack, so that the workpieces 711 are conveniently stored, and the positioning member 712 is prevented from being damaged by contacting the opposite workpiece 711.

[0162] Since the workpiece transfer device 300 according to the embodiments of the present application has the beneficial technical effects described above, the feeding system 400 according to the embodiments of the present application has the following beneficial effects. The first transmission assembly 12 is arranged on the support plate 10 in the first direction, the second transmission assembly 13 is arranged on the support plate 10 in the second direction, the first transmission assembly 12 drives the second transmission assembly 13 to move in translation, the second transmission assembly 13 is driven to move in the second direction in reciprocation by the grabbing mechanism 15, the grabbing mechanism 15 can clamp the workpiece 711, the workpiece 711 can move in the second direction, the time-consuming of manual operation is reduced, the production rhythm can be adapted to high efficiency, the automatic production of the assembly line is realized, the first transmission assembly 12 and the second transmission assembly 13 occupy small space, and the space utilization is effectively improved; the support plate 10 is driven to move in the first direction by the lifting device 14, the second transmission member 122 moves synchronously with the support plate 10, the first transmission member 121 remains in transmission connection with the driving assembly 11, so that the second transmission assembly 13 can avoid the workpiece 711, the workpiece 711 is prevented from being damaged by colliding with the second transmission assembly 13, the normal use of the grabbing module 200 is ensured, the driving assembly 11 and the first transmission member 121, the second transmission member 122 and the second transmission assembly 13 are always in transmission connection, reconnection is avoided, and problems such as vibration are avoided, the workpiece grabbing device 100 works stably, the grabbing module 200 works more efficiently, and the production efficiency is improved.

[0163] In some embodiments in which the workpiece 711 is arranged in the hopper 721, the position of the workpiece 711 in the hopper 721 is the third preset position, the position of the workpiece 711 after being moved by the workpiece grabbing device 100 is the first preset position, at least part of the workpiece 711 is arranged in the hopper 721 when the workpiece 711 is arranged in the first preset position, and the position of the workpiece 711 on the lifting mechanism 40 is the second preset position. Therefore, the workpiece 711 can be taken out from the hopper 721 and placed on the lifting mechanism 40 by the grabbing module 200, or the workpiece 711 on the lifting mechanism 40 can be placed in the hopper 721 by the grabbing module 200, the workpiece 711 is grabbed, and the production efficiency is improved.

[0164] According to some embodiments of the present application, as Figures 1-3As shown, the feeding system 400 includes a first transfer device 73 and a second transfer device 74. The first transfer device 73 can transfer the workpiece 711 to or from the temporary platform 71. The second transfer device 74 can transfer the magazine 721 to or from the magazine platform 72. The cooperation of the first transfer device 73 and the second transfer device 74 can meet the production of the workpiece 711 on different production lines, meet different use requirements, and have strong adaptability.

[0165] In some embodiments of the present application, as shown in Figure 17 As shown, the first transfer device 73 and the second transfer device 74 each include a walking assembly 731 and a conveying table 732. The conveying table 732 is arranged on the walking assembly 731 and is used to convey the workpiece 711 or the magazine 721. The first transfer device 73 and the second transfer device 74 can move the workpiece 711 or the magazine 721 into or out of the first transfer device 73 and the second transfer device 74. The first transfer device 73 and the second transfer device 74 can move through the walking assembly 731, so that the first transfer device 73 and the second transfer device 74 can transfer the workpiece 711 or the magazine 721. This reduces the time-consuming of manual operation, reduces the labor of manual labor, realizes the automatic production of the assembly line, and is beneficial to improve the production efficiency. For example, the conveying table 732 can be a conveying roller or a conveying wheel.

[0166] In some embodiments, as shown in Figures 1-3 As shown, the conveying table 732 of the first transfer device 73 can convey the workpiece 711 in height, so as to facilitate the placement of the workpiece 711 on the temporary platform 71.

[0167] In some embodiments, as shown in Figures 1-3 As shown, the conveying table 732 of the first transfer device 73 can convey the workpiece 711 in a horizontal plane, so as to facilitate the placement of the workpiece 711 on the magazine platform 72.

[0168] The feeding and discharging device 500 according to the embodiments of the present application includes a support table 80 and a grabbing module 200. The grabbing module 200 is the grabbing module 200 according to the above-mentioned embodiments of the present application. The grabbing module 200 is arranged on the support table 80 and is used to grab the workpiece 711, realize the movement of the workpiece 711, reduce the time-consuming of manual operation, adapt to the efficient production rhythm, realize the automatic production of the assembly line, be beneficial to improve the production efficiency, and reduce the production cost.

[0169] In addition, as shown in Figure 4 and Figure 16As shown, the feeding and discharging device 500 further comprises a positioning table 90 and a mechanical arm 50, the positioning table 90 and the mechanical arm 50 are arranged on the support table 80, the workpiece 711 can be transferred to the positioning table 90 by the grabbing module 200, the positioning table 90 can position the workpiece 711 at a preset position, ensuring the accurate positioning of the workpiece 711, the mechanical arm 50 can transfer the workpiece 711 at the preset position on the positioning table 90 out of the positioning table 90, realizing the transfer of the workpiece 711, and the position of the mechanical arm 50 grabbing the workpiece 711 can be ensured by the positioning table 90, facilitating the grabbing of the mechanical arm 50, which is conducive to reducing the machining error of the workpiece 711, and realizing unmanned feeding and discharging, realizing the automatic production of the assembly line, and being conducive to improving the production efficiency.

[0170] According to some embodiments of the present application, as Figure 17 、 Figure 19 and Figure 21 shown, one side of the workpiece 711 is provided with a positioning piece 712, the positioning table 90 comprises a positioning bottom plate 91 and a clamping device 92, the positioning bottom plate 91 is arranged on the support table 80, and the clamping device 92 is arranged on the positioning bottom plate 91, the positioning bottom plate 91 facilitates supporting the clamping device 92, the clamping device 92 can clamp the positioning piece 712, so that the positioning piece 712 can be fixed in position under the clamping action of the clamping device 92, realizing the positioning of the workpiece 711, so that the workpiece 711 can be located at a preset position, the positioning of the workpiece 711 is more reliable and accurate, and is not prone to deviation.

[0171] In some embodiments, as Figure 17 and Figure 19 shown, one side of the positioning table 90 away from the clamping device 92 (for example, the left side shown in Figure 17 ) is provided with a guide groove 251, the guide groove 251 is used for accommodating the positioning piece 712, and the guide groove 251 extends along the second direction, when the workpiece 711 is transferred to the positioning table 90 by the grabbing module 200, the positioning piece 712 can move in the guide groove 251, ensuring the reliable movement of the workpiece 711 and being not prone to deviation.

[0172] In some embodiments, as Figure 17 、 Figure 19 and Figure 21 shown, the positioning piece 712 can be two, the two positioning pieces 712 are located at two ends of one side of the workpiece 711, the clamping device 92 can comprise a first air clamp 921 and a second air clamp 922, the first air clamp 921 and the second air clamp 922 are spaced apart in the length direction of the positioning bottom plate 91 (for example, the left-right direction shown in Figure 17 ), the first air clamp 921 and the second air clamp 922 can clamp the two positioning pieces 712 respectively, realizing the positioning of the two ends of the workpiece 711, ensuring the reliable positioning of the workpiece 711, and the clamping device 92 has a simple structure, which is conducive to reducing the production cost of the feeding and discharging device 500.

[0173] In some embodiments of the present application, as shown in Figures 17-19 The positioning table 90 further comprises a conveying device 93 arranged on the positioning base plate 91, which can convey the workpiece 711 on the grabbing module 200 to a preset position, the workpiece 711 moves stably, the movement of the workpiece 711 is accurate, the time-consuming of manual operation is reduced, the automatic production of the assembly line is realized, and the production efficiency is improved.

[0174] In some embodiments of the present application, as shown in Figures 17-19 The conveying device 93 can comprise a driving motor 931 and conveying members 932, the driving motor 931 is arranged on the positioning base plate 91, and the conveying members 932 are two, which are arranged in parallel and at intervals, the clamping device 92 is located between the two conveying members 932, and the conveying members 932 are driven by the driving motor 931. Thus, when the driving motor 931 works, the driving motor 931 can drive the two conveying members 932 to move, so that the workpiece 711 can move stably and accurately on the positioning table 90, and the clamping device 92 can clamp the positioning piece 712 conveniently, the conveying device 93 has a simple structure, and the manufacturing cost of the feeding and discharging device 500 is reduced. For example, the conveying members 932 can be conveying belts or conveying wheels.

[0175] In some embodiments of the present application, as shown in Figure 18 The positioning base plate 91 is provided with a lifting device 14, and the conveying device 93 is arranged on the lifting device 14, and the lifting device 14 can drive the conveying device 93 to move in the first direction. Thus, when the conveying device 93 conveys the workpiece 711, the lifting device 14 can drive the conveying device 93 to move in the first direction, so that the workpiece 711 on the conveying device 93 can move in the first direction with the conveying device 93, and the workpiece 711 can approach or move away from the clamping device 92, which can facilitate the clamping of the workpiece 711 by the clamping device 92, and can avoid the workpiece 711 being scratched by the friction between the moving workpiece 711 and the clamping device 92.

[0176] In some embodiments in which the conveying device 93 comprises the driving motor 931, as shown in Figures 17-19As shown, the conveying device 93 can include two output shafts 933 and a coupling 934, the driving motor 931 is in driving connection with one end of one of the output shafts 933, the two output shafts 933 are connected through the coupling 934, and the two conveying members 932 are connected with the two output shafts 933 respectively. Thus, when the lifting device 14 is working, the conveying member 932 can be ensured to be connected with the driving motor 931 through the coupling 934, the connection is reliable, and the synchronous rotation and lifting of the two conveying members 932 can be realized, and the smooth transmission of the workpiece 711 is ensured. For example, the driving motor 931 and the output shaft 933 can be in driving connection through a gear or a belt.

[0177] According to some embodiments of the present application, as Figure 18 As shown, the positioning base plate 91 is provided with a guide column 161 extending along the second direction, and the conveying device 93 is provided with a guide hole 102, which cooperates with the guide column 161. When the conveying device 93 moves along the first direction, the conveying device 93 can be guided through the cooperation of the guide hole 102 and the guide column 161, so as to avoid the deviation of the movement of the conveying device 93, and ensure the reliable movement of the conveying device 93.

[0178] Of course, the guide column 161 can also be arranged on the conveying device 93. Specifically, the conveying device 93 is provided with a guide column 161 extending along the second direction, and the positioning base plate 91 is provided with a guide hole 102 cooperating with the guide column 161, which is also within the protection scope of the present application.

[0179] In some embodiments, as Figure 9 , Figure 10 and Figure 11 As shown, the positioning table 90 can include a guide bearing 162, which is located on the positioning base plate 91, and the guide column 161 cooperates with the guide bearing 162, so as to make the movement of the guide column 161 more smooth, ensure the smooth movement of the conveying device 93 along the first direction, avoid the jamming, and ensure the reliable movement of the conveying device 93.

[0180] According to some embodiments of the present application, as Figure 17 and Figure 18 As shown, the positioning table 90 includes a support assembly 24, the support assembly 24 is two, and the two support assemblies 24 are respectively arranged on the two sides of the conveying device 93, the support assembly 24 includes a support member 241 and a plurality of (equal to or more than two) support wheels 242, the plurality of support wheels 242 are rotatably arranged on the side of the support member 241 facing the conveying device 93, and the plurality of support wheels 242 are in the conveying direction (for example Figure 17The workpiece 711 can be located on the conveying device 93 and the supporting wheel 242, so that the conveying device 93 and the supporting wheel 242 limit the workpiece 711, ensure reliable movement of the workpiece 711, and the workpiece 711 can cooperate with the supporting wheel 242, the plurality of supporting wheels 242 are in contact with the workpiece 711, and scratch of the workpiece 711 can be avoided.

[0181] In some embodiments in which the clamping mechanism 60 comprises the first pressing device 61, as shown in Figure 15 the clamping mechanism 60 further comprises a pressing plate device 64, the pressing plate device 64 is arranged on the mounting plate 53, the pressing plate device 64 and the first pressing device 61 are arranged on the mounting plate 53 in a spaced manner, the pressing plate device 64 comprises a third cylinder 641 and a third pressing block 642, the third cylinder 641 is arranged on the mounting plate 53, the third pressing block 642 is connected with the third cylinder 641, the third cylinder 641 can drive the third pressing block 642 to move in a direction towards or away from the workpiece 711, so that the third pressing block 642 can press or release the workpiece 711, and the third pressing block 642 can press the workpiece 711 when clamping the workpiece 711, so as to ensure flatness of the workpiece 711 and ensure accurate positioning of the workpiece 711.

[0182] In some specific embodiments, as shown in Figure 15 when the mechanical arm 51 drives the mechanical clamp jaw 52 to grab the workpiece, the two clamping blocks 55 first move away from each other, when the supporting block 63 on the clamping block 55 moves below the workpiece 711, the two clamping blocks 55 move towards each other, so that the edge of the workpiece 711 is supported on the supporting block 63, then the first pressing device 61 clamps the workpiece 711, and the third pressing block 642 of the pressing plate device 64 presses the workpiece 711, so as to ensure flatness of the workpiece 711 on the mechanical clamp jaw 52 and stable clamping of the workpiece 711.

[0183] In some embodiments of the present application, as shown in Figure 15 the pressing plate device 64 can be two, the two pressing plate devices 64 are arranged opposite on the mounting plate 53, so as to facilitate the third pressing block 642 to press the two sides of the workpiece 711, ensure flatness of the workpiece 711 as a whole, and ensure accurate positioning of the workpiece 711.

[0184] According to some embodiments of the present application, as shown in Figure 16 the feeding and discharging device 500 further comprises a lifting mechanism 40, the lifting mechanism 40 is arranged on the supporting table 80, and the grabbing module 200 is arranged on the lifting mechanism 40, so that the height of the grabbing module 200 can be adjusted through the lifting mechanism 40, the grabbing module 200 can grab workpieces 711 of different heights, the workpiece 711 is more convenient to grab, automatic production of a flow line can be realized, and production efficiency is improved.

[0185] In some embodiments of the present application, as shown in Figure 16 The support table 80 has a placement space 81 below the positioning table 90, which is used to place the material bin 721 for placing the workpiece 711, and the material bin 721 accommodates the workpiece 711, and the workpiece 711 can be placed in the placement space 81 through the material bin 721. The workpiece 711 in the material bin 721 can be grabbed by the grabbing module 200 to the positioning table 90, which facilitates the sequential grabbing of the workpiece 711 and avoids transporting a single workpiece 711, thereby achieving automatic production of the assembly line and improving production efficiency.

[0186] According to some embodiments of the present application, as shown in Figure 16 The bottom wall of the placement space 81 is provided with a conveying table 732 for supporting and conveying the material bin 721, which facilitates the placement of the material bin 721 and facilitates the conveying of the material bin 721 into or out of the placement space 81, thereby facilitating the replacement of the material bin 721, reducing the time-consuming manual operation, reducing the labor of the workers, achieving automatic production of the assembly line, and improving production efficiency.

[0187] In some embodiments of the present application, as shown in Figure 16 The feeding and discharging device 500 further comprises a walking assembly 731 arranged at the bottom of the support table 80, which can move the position of the feeding and discharging device 500 to satisfy the feeding and discharging of the workpiece 711 at different positions, achieve automatic production of the assembly line, and improve production efficiency.

[0188] The feeding and discharging system 600 according to the embodiments of the present application comprises the feeding system 400, the machining equipment 700, and the feeding and discharging device 500 according to the embodiments of the present application.

[0189] Specifically, as shown in Figure 1 , Figure 2 and Figure 4 The machining equipment 700 is used to machine the workpiece 711 to be machined, and the feeding and discharging device 500 can provide the workpiece 711 to be machined to the machining equipment 700 and transfer the machined workpiece 711, which facilitates the feeding and discharging of the machining equipment 700, and the feeding system 400 can provide the workpiece 711 to be machined to the feeding and discharging device 500 and transfer the machined workpiece 711 on the feeding and discharging device 500, thereby achieving automatic production of the assembly line and improving production efficiency. For example, the machining equipment 700 can be a drilling machine.

[0190] In some embodiments, the processing equipment 700 can record and transmit the processing information of the workpiece 711 on the processing equipment 700, so as to facilitate the processing and backup of the workpiece 711.

[0191] According to some embodiments of the present invention, such as Figure 1 , Figure 2 , Figure 4 and Figure 20 As shown, the loading and unloading system 600 also includes a hopper transfer device 75, which can move the hopper 721 between the hopper platform 72 and the loading and unloading device 500, so as to provide the loading and unloading device 500 with workpieces 711 to be processed and transfer the workpieces 711 already processed on the loading and unloading device 500, thereby realizing automated production on the assembly line and improving production efficiency.

[0192] In addition, such as Figure 4 and Figure 20 As shown, the silo transfer device 75 can be provided with at least two storage stations 751, and each storage station 751 is provided with a conveyor 732. The conveyor 732 is used to transfer the silo 721, which facilitates the movement of the silo 721 into or out of the silo transfer device 75, reducing the time spent on manual operation and reducing the labor force. Furthermore, by providing at least two storage stations 751 on the silo transfer device 75, it is convenient to realize the position conversion of at least two silos 721 on the silo platform 72 and the silo transfer device 75, and on the loading and unloading device 500 and the silo transfer device 75, which facilitates the realization of automated production line and helps to improve production efficiency.

[0193] The following describes in detail a loading and unloading system 600 according to a specific embodiment of the present invention with reference to the accompanying drawings. It is to be understood that the following description is merely illustrative and should not be construed as limiting the invention. In this description, the raw material silo is an empty silo, meaning that no workpieces 711 are placed in the silo 721; the cooked material silo is a full silo, meaning that the silo 721 is filled with workpieces 711; raw material refers to unprocessed workpieces 711; and cooked material refers to processed workpieces 711.

[0194] When the loading and unloading system 600 uses a stacking + hopper loading and unloading configuration, refer to... Figures 1-4As shown, the raw material is transported by the first transfer device 73 in the form of a stack from the upper production line to the temporary storage platform 71, and the raw material is sequentially placed into the raw material bin parked on the bin platform 72 by the workpiece transfer device 300, while the workpiece transfer device 300 reads the identification code on the surface of the raw material to identify whether the material number is consistent, and the raw material with the same material number is placed into the same bin 721. After the bin 721 is full, the system calls the bin transfer device 75 to dock with the bin platform 72 at the two-dimensional code in front of the bin platform 72, and the raw material bin is transferred from the bin platform 72 to the bin transfer device 75 through the conveying table 732 on the bin platform 72 and the conveying table 732 on the bin transfer device 75, and waits for the call of the loading and unloading device 500.

[0195] After the raw material in the bin 721 on the loading and unloading device 500 has been completely replaced by the clinker, one of the storage stations 751 of the bin transfer device 75 carries the raw material bin to dock with the loading and unloading device 500. The bin transfer device 75 and the loading and unloading device 500 transport the clinker bin of the loading and unloading device 500 to the empty storage station 751 of the bin transfer device 75 through the conveying table 732, and then the bin transfer device 75 reverses the direction to transport the raw material bin to the placement space 81 of the loading and unloading device 500 through the conveying table 732.

[0196] The loading and unloading device 500 takes out the raw material from the bin 721 through the grabbing module 200 of the loading and unloading device 500 and places it on the lifting mechanism 40 of the loading and unloading device 500, and lifts the plate material to the docking position with the positioning table 90 through the lifting mechanism 40. The grabbing module 200 grabs the raw material and pushes part of the raw material to the positioning table 90, and the raw material can be transported along the guide groove 251 to the preset position by the conveying device 93, the clamping device 92 clamps and positions the two positioning pieces 712 on the raw material, and the raw material is placed on the processing equipment 700 by the mechanical hand 50, and the processing equipment 700 processes the raw material. After the raw material is processed, the mechanical hand 50 of the loading and unloading device 500 grabs the clinker from the processing equipment 700 and places it on the lifting mechanism 40, and the lifting mechanism 40 lowers with the clinker to the position emptied by taking out the raw material, and the grabbing module 200 of the loading and unloading device 500 pushes the clinker into the raw material bin. In this way, all the raw material in the raw material bin is replaced by clinker.

[0197] The clinker bin on the bin transfer device 75 is transported to the corresponding station on the bin platform 72, and the clinker in the clinker bin is sequentially taken out by the workpiece transfer device 300 and placed on the temporary storage platform 71 in the form of a stack. After a certain amount of clinker is placed on the temporary storage platform 71, it is transported by the first transfer device 73 to the feeding port of the lower production line.

[0198] When the loading and unloading system 600 is in the form of a bin, refer to Figures 1-4As shown, the raw meal is directly placed in the raw meal bin from the discharge port of the upper production line, the raw meal bin is placed on the second transfer device 74, and after the raw meal bin is filled, the second transfer device 74 transports the raw meal bin to the bin platform 72. At the same time, the clinker bin on the bin transfer device 75 will be transported to the corresponding station of the bin platform 72, and then the second transfer device 74 will transfer the clinker bin to the feeding port of the lower production line for feeding. Other processes can refer to the above feeding and discharging forms, which will not be described here.

[0199] The workpiece grabbing device 100, the grabbing module 200, the workpiece transfer device 300, the feeding system 400, the feeding and discharging system 600, and the feeding and discharging device 500 according to the embodiments of the present application have other configurations and operations known to those skilled in the art, which will not be described in detail here.

[0200] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, can be electrically connected; can be directly connected, can be indirectly connected through an intermediate medium, or can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0201] In the description of the present application, the description of the terms "embodiment", "specific embodiment", "example" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0202] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A workpiece gripping device, characterized in that, include: Support plate; Driver components; A first transmission assembly is disposed on the support plate along a first direction. The first transmission assembly includes a first transmission member and a second transmission member that rotate synchronously. The first transmission member is connected to the drive assembly in a transmission manner. The second transmission assembly is disposed on the support plate along the second direction, the first direction and the second direction are perpendicular, and the second transmission assembly and the second transmission member are connected to each other to convert the rotational motion of the first transmission member into translational motion. A lifting device drives the support plate to move along the first direction, and the second transmission component moves synchronously with the support plate. When the support plate moves, the first transmission component remains in transmission connection with the driving assembly. A gripping mechanism is provided on the second transmission assembly, and the second transmission assembly drives the gripping mechanism to reciprocate along the second direction to clamp the workpiece; A base plate, the support plate is disposed on the base plate, the drive assembly and the lifting device are both disposed on the side of the base plate away from the support plate, the first transmission member is rotatably disposed on the base plate, and the lifting device drives the support plate to move relative to the base plate in the first direction.

2. The workpiece gripping device according to claim 1, characterized in that, The first transmission assembly further includes: A connecting shaft is provided, with the first transmission member and the second transmission member respectively disposed at both ends of the connecting shaft. The connecting shaft passes through the support plate and moves synchronously with the support plate. The connecting shaft and the first transmission member are slidably connected in the axial direction of the connecting shaft. The second transmission member is fixed to the connecting shaft. Both the first transmission member and the second transmission member rotate coaxially with the connecting shaft.

3. The workpiece gripping device according to claim 2, characterized in that, Both the first and second transmission components are bevel gears.

4. The workpiece gripping device according to claim 1, characterized in that, The support plate is provided with a support, and the second transmission assembly includes: A third transmission component is disposed on the support and is connected to the second transmission component in a transmission manner; The fourth transmission component is disposed on the support, and the fourth transmission component and the third transmission component rotate coaxially. The fifth transmission component is connected to the fourth transmission component to drive the fifth transmission component to reciprocate along the second direction.

5. The workpiece gripping device according to claim 4, characterized in that, The fourth transmission component is a gear, and the fifth transmission component is a rack. The rotation of the gear drives the rack to reciprocate along the second direction.

6. The workpiece gripping device according to claim 4, characterized in that, The second transmission assembly also includes: The guide assembly includes a first guide rail disposed on the support plate and a slider cooperating with the first guide rail. The first guide rail extends along the second direction. The fifth transmission member is connected to the slider so that the second transmission assembly reciprocates along the second direction.

7. The workpiece gripping device according to claim 1, characterized in that, The grasping mechanism includes: A first gripper is disposed at one end of the second transmission assembly, and the first gripper is used to grip the workpiece in the second direction.

8. The workpiece gripping device according to claim 1, characterized in that, There are two of each of the following: the support plate, the first transmission assembly, the second transmission assembly, and the gripping mechanism. The two support plates, the two first transmission assemblies, the two second transmission assemblies, and the two gripping mechanisms are all spaced apart along a third direction, which is perpendicular to both the first and second directions.

9. The workpiece gripping device according to claim 1, characterized in that, The driving component includes: First motor; A drive shaft is provided, which is driven to rotate by the first motor. A drive gear is provided on the drive shaft, and the drive gear is connected to the first transmission component.

10. The workpiece gripping device according to claim 1, characterized in that, One of the base plate and the support plate is provided with a guide post extending along the second direction, and the other is provided with a guide hole that cooperates with the guide post.

11. A grasping module, characterized in that, include: Material handling device; According to any one of claims 1-10, the workpiece gripping device is spaced apart from the material gripping device, the workpiece gripping device is used to move the workpiece between a first preset position and a third preset position, and the material gripping device is used to move the workpiece between the first preset position and a second preset position, wherein the second preset position, the first preset position and the third preset position are arranged sequentially in the second direction.

12. The grasping module according to claim 11, characterized in that, The material gripping device includes a translation drive component and a clamping component, wherein the translation drive component drives the clamping component to reciprocate along the second direction.

13. The grasping module according to claim 12, characterized in that, When the workpiece gripping device includes a base plate, the support plate and the translation drive assembly are located on the same side of the base plate. The gripping device further includes: A support base, wherein the clamping assembly is disposed on the support base, and the support base and the translation drive assembly are connected in a transmission manner to enable the support base to reciprocate along the second direction on the base plate.

14. The grasping module according to claim 13, characterized in that, The translation drive component includes: The second motor is located on the base plate; Two pulleys spaced apart in the second direction and a belt wound around the pulleys, the pulleys being rotatably mounted on the base plate, the second motor being drivenly connected to one of the pulleys, and the support seat being mounted on the belt and moving synchronously with the belt.

15. The grasping module according to claim 13, characterized in that, The clamping assembly includes: The second gripper is used to grip the workpiece in the second direction; A pusher is provided on the support base, and the second gripper is connected to the pusher. The pusher is used to drive the second gripper to move along the second direction.

16. The grasping module according to claim 11, characterized in that, The grasping module includes: The support assembly comprises two components, which are respectively located on both sides of the moving direction of the material gripping device. Each support assembly includes a support member and multiple support wheels, which are rotatably mounted on the support member and spaced apart along the second direction.

17. The grasping module according to claim 11, characterized in that, The workpiece is provided with a positioning element, and the gripping module includes: A positioning guide assembly includes a guide groove for receiving the positioning element, the guide groove extending along a second direction, and the positioning guide assembly includes two spaced-apart uprights, the gap between the two uprights forming the guide groove.

18. A workpiece transfer device, characterized in that, include: Base; A lifting mechanism, which is disposed on the base; The gripping module according to any one of claims 11-17 is disposed on the lifting mechanism to adjust the height of the gripping module; A robotic arm for transferring the workpiece from or to the lifting mechanism.

19. The workpiece transfer device according to claim 18, characterized in that, The lifting mechanism includes: The pallet, wherein the gripping module is disposed on the pallet; A power assembly, located on the base, is used to drive the pallet to reciprocate along the first direction.

20. The workpiece transfer device according to claim 19, characterized in that, The power assembly includes: A third motor is mounted on the base. A lead screw extends along the first direction, one end of the lead screw is connected to the third motor for transmission, a lead screw nut is provided on the lead screw, and the support plate is connected to the lead screw nut; And / or, the base is provided with a third guide rail that cooperates with the tray, the third guide rail extending along the first direction.

21. The workpiece transfer device according to claim 18, characterized in that, The robotic arm includes: robotic arm; A mechanical gripper is disposed at one end of the robotic arm. The mechanical gripper includes a mounting plate, a linear drive device, and two gripping blocks. The two gripping blocks are movably disposed on the mounting plate in directions toward and away from each other. The linear drive device is disposed on the mounting plate and drives the gripping blocks to move. The two gripping blocks are used to grip or release the workpiece.

22. The workpiece transfer device according to claim 21, characterized in that, The clamping block is provided with a clamping mechanism, which is used to clamp the workpiece. The clamping mechanism includes: A first pressing device is disposed on the clamping block and includes a first cylinder and a first pressing block. The first cylinder can drive the first pressing block to move. The second clamping device is disposed on the clamping block and includes a second cylinder and a second pressing block. The second cylinder can drive the second pressing block to rotate around the second cylinder. The first pressing block and the second pressing block are arranged in a direction perpendicular to the arrangement direction of the two clamping blocks to clamp the workpiece.

23. The workpiece transfer device according to claim 21, characterized in that, The clamping block is provided with a clamping mechanism, which is used to clamp the workpiece. The clamping mechanism includes: Support blocks, the support blocks on the two clamping blocks are respectively located on the side of the two clamping blocks closest to each other; The first clamping device, located on one side of each of the two clamping blocks respectively and including a first cylinder and a first pressing block, wherein the first cylinder can drive the first pressing block to move toward or away from the support block to clamp the workpiece.

24. The workpiece transfer device according to claim 21, characterized in that, The robotic arm includes: A visual inspection device is located on the mounting plate and is used to inspect the workpiece.

25. The workpiece transfer device according to claim 18, characterized in that, The workpiece transfer device further includes: A placement platform is provided on the base and above the upper surface of the lifting mechanism, and the placement platform is used to temporarily store the workpiece.

26. The workpiece transfer device according to claim 18, characterized in that, Also includes: A walking assembly is located at the bottom of the base.

27. A feeding system, characterized in that, include: A temporary storage platform is used to store the workpieces to be processed and / or the workpieces that have already been processed; A silo platform for storing silos, wherein the workpiece is adapted to be placed in the silo; The workpiece transfer device according to any one of claims 18-26 transfers the workpiece between the temporary storage platform and the hopper platform.

28. The feeding system according to claim 27, characterized in that, The feeding system includes: A first transfer device is used to transfer the workpiece to or from the temporary storage platform. The second transfer device is used to transfer the silo to or out of the silo platform.

29. The feeding system according to claim 28, characterized in that, Both the first and second transfer devices include a walking component and a conveyor table disposed on the walking component, the conveyor table being used to transfer the workpiece or the hopper.

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