An automated and adjustable workpiece transfer pick-and-place fixture

Abstract

The present invention discloses an automated adjustable workpiece transfer pick-up and place jig, which belongs to the technical field of electronic product production and processing. An automated adjustable workpiece transfer pick-up and place jig, comprising a transfer table and a circulating conveyor frame, wherein a first transfer slot is provided on one side of the transfer table. In order to solve the problem that the pneumatic structure can only be applied to workpieces with smaller volume and mass, and the workpiece shapes in the actual production process are diverse, a single grasping structure will have limitations when used and cannot adapt to structures of different shapes, before grasping the parts, the photosensitive structure at the bottom of the fixture will collect the position information of the grasped object, and the reflective point mark below the area where the parts are placed will be blocked and cannot reflect the light source to the photosensitive structure. The photosensitive structure will analyze the external structure of the part according to the shape of the non-reflected area. After obtaining the external shape data, the pick-up and place jig can be operated to complete the grasping of the part.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic product production and processing, and in particular to an automated and adjustable workpiece transfer pick-and-place fixture. Background Art

[0002] Various pick-and-place jigs are often required in the production, processing, and testing of precision functional components and parts of electronic products (such as mobile phones, display screens, smart terminal products, etc.);

[0003] Application number 202123212553.8 discloses an automatic picking and placing fixture for precision workpieces, which is used for automatic picking and placing of small-sized precision hollow parts. It can realize suspended non-destructive picking and placing, and can avoid damage to such parts during picking and placing. It has the advantages of high degree of automation and high product precision.

[0004] In the above patent, a pneumatic structure is used to realize the grabbing and moving operation of the workpiece, but this method is only applicable to workpieces with smaller volume and mass. Moreover, the shape of the workpieces in the actual production process is diverse. A single grabbing structure will have limitations when used and cannot adapt to structures of different shapes. Therefore, it does not meet the existing needs, and an automated adjustable workpiece transfer and placement fixture is proposed. Summary of the Invention

[0005] The purpose of the present invention is to provide an automated and adjustable workpiece transfer pick-up and placement fixture. Before grabbing a part, a photosensitive structure at the bottom of the fixture will collect the position information of the object to be grabbed. The reflective point mark below the area where the part is placed is blocked and cannot reflect the light source to the photosensitive structure. The photosensitive structure analyzes the external structure of the part based on the shape of the non-reflected area. After obtaining the external shape data, the pick-up and placement fixture can be operated to complete the grabbing of the part, which can solve the problems in the prior art.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an automated adjustable workpiece transfer and pick-up fixture, comprising a transfer table and a circulating conveyor frame, wherein a first transfer groove is provided on one side of the transfer table, and a second transfer groove is provided on the other side of the transfer table, transmission rollers are provided inside the first transfer groove and the second transfer groove, and a workpiece crawler is provided on the outer surface of the transmission roller, and a pick-up and placement fixture is provided on all four sides of the circulating conveyor frame, and there are four pick-up and placement fixtures, and the circulating conveyor frame comprises a T-shaped bracket, a toothed crawler and a damping pulley, and the damping pulley is provided on the top of the T-shaped bracket, and the toothed crawler is rotatably connected to the T-shaped bracket through the damping pulley, and the outer surface of the toothed crawler is provided with a transfer sleeve, and the outer surface of the transfer sleeve is provided with a joint connecting rod, and the pick-up and placement fixture is connected to the transfer sleeve through the joint connecting rod.

[0007] Preferably, both ends of the transfer table are provided with end motor slots, and the interior of the end motor slots is provided with a drive motor and a transmission assembly. The drive motor is connected to the transmission roller through the transmission assembly, and the outer surface of the workpiece crawler is provided with reflective dot marks, and the reflective dot marks are distributed in an array.

[0008] Preferably, the pick-and-place fixture includes a hydraulic cylinder, a deformable suspension rail, a magnetic motor and a jaw claw. The deformable suspension rail is arranged below the hydraulic cylinder, the jaw claw is arranged below the magnetic motor, and an inner rail frame is arranged on the inner side of the deformable suspension rail. The inner rail frame is connected to the deformable suspension rail by screws.

[0009] Preferably, outer rail brackets are provided on all four sides of the inner rail frame, and the outer rail brackets and the inner rail frame are arranged as an integrated structure. The deformable suspended rail includes an inner rail and an outer rail, and a deformable slide groove is provided between the inner rail and the outer rail. A lifting push rod is provided between the inner rail frame and the hydraulic cylinder, and the lifting push rod is telescopically connected to the hydraulic cylinder.

[0010] Preferably, a photosensitive module is provided at the bottom of the inner rail frame, and the photosensitive module is located just above the workpiece crawler.

[0011] A shift slide is provided between the magnetic motor and the jaw jaw, and the magnetic motor is connected to the deformation slide through the shift slide. Preferably, the jaw jaw comprises a lower cone, an upper cone and a deformation rubber sleeve, and the deformation rubber sleeve is provided on the outer surfaces of the lower cone and the upper cone.

[0012] Preferably, a metal elastic shaft is provided on the inner surface of the deformable rubber sleeve, and two ends of the metal elastic shaft are respectively connected to the lower cone and the upper cone.

[0013] Preferably, the lower cone and the upper cone are both configured as hollow structures, a piston pull rod is provided inside the lower cone, and a limiting sleeve is provided inside the upper cone.

[0014] Preferably, the piston pull rod extends to the interior of the limiting sleeve, and a spring is provided between the piston pull rod and the limiting sleeve.

[0015] Preferably, a suspension shaft partition is provided at one end of the shift slide rod, and the shift slide rod and the suspension shaft partition are connected via a bearing.

[0016] Preferably, the suspension shaft partition is connected to the upper cone by screws, and an electromagnet is provided on the surface of the bottom of the suspension shaft partition. The electromagnet is located on the top of the limiting sleeve, and the electromagnet is electrically connected to the shift slide rod.

[0017] Preferably, a retaining sleeve is provided at the other end of the shift slide rod, and the shift slide rod is rotationally connected to the magnetic motor via the retaining sleeve shaft.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention places the required workpiece above the transfer trough on either side of the transfer table, and realizes the conveying operation of the parts through the rollers and crawler structure above the transfer trough, while the transfer trough on the other side controls the crawler to convey in the opposite direction. When the parts are conveyed to the predetermined position, the pick-up and place fixture will grab the parts for transfer. Before grabbing the parts, the photosensitive structure at the bottom of the fixture will collect the position information of the grabbing object. The reflective point mark below the area where the parts are placed is blocked and cannot reflect the light source to the photosensitive structure. The photosensitive structure analyzes the external structure of the parts according to the shape of the non-reflective area. After obtaining the external shape data, the pick-up and place fixture can be operated to complete the grabbing of the parts. Then the pick-up and place fixture carrying the parts moves along the circulating conveyor frame to the top of the transfer trough on the other side and places the parts on the crawler surface.

[0020] 2. In the present invention, a total of four jaw claws are installed under the deformable suspension rail, and an independent magnetic motor is provided above each jaw claw. The magnetic motor can be used to control the shift slide between the two to rotate, and the rotating shift slide can move in the deformable slide inside the deformable suspension rail. The deformable slide as a whole is a curved closed-loop structure, which is composed of four outer points and four inner points. The outer points and the inner points are connected by curves, wherein the outer points represent the maximum grasping diameter of the jaw claw, and the inner points represent the minimum grasping diameter of the jaw claw. By adjusting the movement in different directions, adaptive grasping of workpieces of different shapes can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is the overall front view of the present invention;

[0022] Figure 2 It is an overall side view of the present invention;

[0023] Figure 3 This is a schematic structural diagram of the circulating conveyor frame of the present invention;

[0024] Figure 4 This is a schematic diagram of the workpiece crawler structure of the present invention;

[0025] Figure 5 It is a schematic diagram of the pick-and-place fixture structure of the present invention;

[0026] Figure 6 This is a schematic diagram of the exploded structure of the pick-and-place fixture of the present invention;

[0027] Figure 7 This is a schematic diagram of the bottom structure of the pick-and-place fixture of the present invention;

[0028] Figure 8 It is a schematic diagram of the structure of the pick-and-place fixture of the present invention;

[0029] Figure 9 This is a schematic diagram of the jaw structure of the present invention;

[0030] Figure 10 Schematic diagram of the photosensitive feedback of the present invention.

[0031] Figure: 1, transfer plate; 2, circulating conveyor frame; 3, transmission roller; 4, pick-and-place fixture; 5, workpiece crawler; 101, first transfer trough; 102, second transfer trough; 103, end position motor slot; 1031, drive motor; 1032, transmission assembly; 201, T-shaped bracket; 202, toothed crawler; 203, damping pulley; 204, adapter sleeve; 205, joint connecting rod; 401, hydraulic cylinder; 402, deformable suspension rail; 403, magnetic motor; 40 4. Jaw jaws; 4011. Lifting push rod; 4021. Inner rail frame; 4022. Photosensitive module; 4023. Outer rail bracket; 4024. Deformable slide; 4031. Retaining sleeve; 4032. Shifting slide; 4033. Electromagnet; 4034. Suspension shaft partition; 4041. Lower cone; 4042. Upper cone; 4043. Deformable rubber sleeve; 4044. Metal elastic shaft; 4045. Piston pull rod; 4046. Limit sleeve; 501. Reflective dot mark. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0033] See also Figure 1-4, an embodiment of the present invention provides: an automated adjustable workpiece transfer pick-up and place fixture, comprising a transfer table 1 and a circulating conveyor frame 2, a first transfer groove 101 is provided on one side of the transfer table 1, a second transfer groove 102 is provided on the other side of the transfer table 1, a transmission roller 3 is provided inside the first transfer groove 101 and the second transfer groove 102, a workpiece crawler 5 is provided on the outer surface of the transmission roller 3, a pick-up and place fixture 4 is provided on all four sides of the circulating conveyor frame 2, the circulating conveyor frame 2 comprises a T-shaped bracket 201, a toothed crawler 202 and a damping pulley 203, and the damping pulley 203 is provided on the top of the T-shaped bracket 201 The tooth track 202 is rotatably connected to the T-shaped bracket 201 through the damping pulley 203. The outer surface of the tooth track 202 is provided with an adapter sleeve 204, and the outer surface of the adapter sleeve 204 is provided with a joint connecting rod 205. The pick-up and place fixture 4 is connected to the adapter sleeve 204 through the joint connecting rod 205. Both ends of the turntable 1 are provided with end motor slots 103, and the interior of the end motor slots 103 is provided with a drive motor 1031 and a transmission component 1032. The drive motor 1031 is connected to the transmission roller 3 through the transmission component 1032. The outer surface of the workpiece track 5 is provided with reflective dot marks 501, and the reflective dot marks 501 are distributed in an array.

[0034] Place the required workpiece above the transfer slot on either side of the transfer table 1, and realize the part conveying operation through the roller and crawler structure above the transfer slot, while the transfer slot on the other side controls the crawler to convey in the opposite direction. When the part is conveyed to the predetermined position, the pick-up and place fixture 4 will grab the part for transfer. Before grabbing the part, the photosensitive structure at the bottom of the fixture will collect the position information of the grasped object. The reflective dot mark 501 below the area where the part is placed is blocked and cannot reflect the light source to the photosensitive structure. The photosensitive structure analyzes the external structure of the part according to the shape of the non-reflected area. After obtaining the external shape data, the pick-up and place fixture 4 can be operated to complete the grasping of the part. Then the pick-up and place fixture 4 carrying the part moves along the circulating conveyor frame 2 to the top of the transfer slot on the other side and places the part on the crawler surface.

[0035] See also Figure 5-8The pick-and-place fixture 4 includes a hydraulic cylinder 401, a deformable suspension rail 402, a magnetic motor 403 and a jaw claw 404. The deformable suspension rail 402 is arranged below the hydraulic cylinder 401, and the jaw claw 404 is arranged below the magnetic motor 403. An inner rail frame 4021 is arranged on the inner side of the deformable suspension rail 402. The inner rail frame 4021 is connected to the deformable suspension rail 402 by screws. Outer rail brackets 4023 are arranged around the inner rail frame 4021. The outer rail bracket 4023 and the inner rail frame 4021 are arranged as an integrated structure. The deformable suspension rail 40 2 includes an inner track and an outer track, a deformable chute 4024 is provided between the inner track and the outer track, a lifting push rod 4011 is provided between the inner track frame 4021 and the hydraulic cylinder 401, and the lifting push rod 4011 is telescopically connected to the hydraulic cylinder 401. A photosensitive module 4022 is provided at the bottom of the inner track frame 4021, and the photosensitive module 4022 is located directly above the workpiece crawler 5. A shift slide 4032 is provided between the magnetic motor 403 and the jaw claw 404, and the magnetic motor 403 is connected to the deformable chute 4024 through the shift slide 4032.

[0036] A total of four jaw claws 404 are installed below the deformable suspension rail 402, and each jaw claw 404 is equipped with an independent magnetic motor 403 above. The magnetic motor 403 can control the shift slide 4032 between the two to rotate, and the rotating shift slide 4032 can move in the deformable slide 4024 inside the deformable suspension rail 402. The deformable slide 4024 is a curved closed-loop structure as a whole, which is composed of four outer points and four inner points. The outer points and the inner points are connected by curves, wherein the outer points represent the maximum grasping diameter of the jaw claw 404, and the inner points represent the minimum grasping diameter of the jaw claw 404. Through different directional movement adjustments, adaptive grasping of workpieces of different shapes can be achieved.

[0037] See also Figure 9The jaws 404 include a lower cone 4041, an upper cone 4042 and a deformable rubber sleeve 4043. The deformable rubber sleeve 4043 is arranged on the outer surfaces of the lower cone 4041 and the upper cone 4042. The inner surface of the deformable rubber sleeve 4043 is provided with a metal elastic shaft 4044. The two ends of the metal elastic shaft 4044 are respectively connected to the lower cone 4041 and the upper cone 4042. The lower cone 4041 and the upper cone 4042 are both arranged as hollow structures. A piston pull rod 4045 is arranged inside the lower cone 4041, and a limiting sleeve 4046 is arranged inside the upper cone 4042. The piston pull rod 4045 extends to the inside of the limiting sleeve 4046. A spring is provided between the stopper rod 4045 and the limiting sleeve 4046. A suspension shaft partition 4034 is provided at one end of the shift slide 4032. The shift slide 4032 and the suspension shaft partition 4034 are connected by a bearing. The suspension shaft partition 4034 is connected to the upper cone 4042 by a screw. An electromagnet 4033 is provided on the surface of the bottom of the suspension shaft partition 4034. The electromagnet 4033 is located at the top of the limiting sleeve 4046. The electromagnet 4033 is electrically connected to the shift slide 4032. A retaining sleeve 4031 is provided at the other end of the shift slide 4032. The shift slide 4032 is rotationally connected to the magnetic motor 403 via the retaining sleeve 4031.

[0038] The narrow openings between the lower cone 4041 and the upper cone 4042 are opposite, and the wide openings are toward the two ends, and the deformable rubber sleeve 4043 is wrapped around the outer surfaces of the two, so that an hourglass-shaped structure can be formed. The upper cone 4042 and the suspension shaft partition 4034 are fixed to each other. When in use, the power on and off operations of the electromagnet 4033 are controlled. When the electromagnet 4033 is energized, a magnetic force is generated. At this time, the piston pull rod 4045 inside the limiting sleeve 4046 is affected by the magnetic force and moves toward the electromagnet 4033, so that the lower cone 4041 can be lifted up. When the electromagnet 4033 is de-energized, the piston pull rod 4045 loses the influence of the magnetic force, and the spring structure between the limiting sleeve 4046 and the piston pull rod 4045 pushes the lower cone 4041 back to its original position.

[0039] During the stretching process of the lower cone 4041, the deformable rubber sleeve 4043 covering the surface of the cone will also change along with the cone. The deformable rubber sleeve 4043 can reduce the friction between the workpiece and the fixture. The deformable rubber sleeve 4043 fits with the metal elastic shaft 4044 on the inner surface, and the two ends of the metal elastic shaft 4044 are respectively connected to the lower cone 4041 and the upper cone 4042. In this way, the metal elastic shaft 4044 can control the shape change of the deformable rubber sleeve 4043 while also playing a solid role.

[0040] A method for using an automated adjustable workpiece transfer pick-and-place fixture comprises the following steps:

[0041] Step 1: Place the required workpiece on the transfer trough on either side of the transfer table 1. The parts are conveyed by the rollers and crawler structure above the transfer trough, while the transfer trough on the other side controls the crawler to convey in the opposite direction.

[0042] Step 2: When the part is transported to the predetermined location, it will be grabbed by the pick-and-place fixture 4 for transfer. Before grabbing the part, the photosensitive module 4022 at the bottom of the fixture will collect the position information of the grasped object. The reflective dot 501 below the area where the part is placed is blocked and cannot reflect light to the photosensitive module 4022. The photosensitive module 4022 analyzes the external structure of the part based on the shape of the non-reflective area.

[0043] Step 3: After obtaining the shape data, the hydraulic cylinder 401 controls the deformable suspension rail 402 to descend, while the jaws 404 move and adjust along the slide groove inside the deformable suspension rail 402, and then controls the lower cone 4041 to descend. After contacting the edge of the part, the lower cone 4041 is controlled to pull up and complete the part grabbing;

[0044] Step 4: The pick-and-place fixture 4 carrying the parts moves along the circulating conveyor frame 2 to the top of the transfer slot on the other side, and the jaw claw 404 moves in the opposite direction, controlling the lower cone 4041 to descend again, and the deformable rubber sleeve 4043 is straightened, so that the parts fall onto the track surface.

[0045] Working principle: Place the required workpiece on the transfer slot on either side of the transfer table 1, and realize the part conveying operation through the roller and crawler structure above the transfer slot, while the transfer slot on the other side controls the crawler to convey in the opposite direction. When the part is conveyed to the predetermined position, it will be grabbed by the pick-up and place fixture 4 for transfer. Before grabbing the part, the photosensitive structure at the bottom of the fixture will collect the position information of the grasped object. The reflective dot mark 501 below the area where the part is placed is blocked and cannot reflect the light source to the photosensitive structure. The photosensitive structure analyzes the external structure of the part according to the shape of the non-reflective area. After obtaining the external shape data, the pick-up and place fixture 4 can be operated to complete the grasping of the part. A total of four jaw claws 404 are installed under the deformable suspension rail 402. An independent magnetic motor 403 is installed above each jaw claw 404. The magnetic motor 403 can be used to control the rotation of the shift slide 4032 between the two. The rotating shift slide 4032 The outer points represent the maximum gripping diameter of the jaws 404, while the inner points represent the minimum gripping diameter of the jaws 404. By adjusting the positions, the workpieces with different shapes can be adaptively gripped. After the positions are adjusted, the hydraulic cylinder 401 controls the deformable suspension rail 402 to descend, and at the same time, the jaws 404 moves and adjusts along the groove inside the deformable suspension rail 402, and then controls the lower cone 4041 to descend. After contacting the edge of the part, the lower cone 4041 is controlled to lift and rise to complete the gripping of the part. Finally, the pick-and-place fixture 4 carrying the part moves along the circulating conveyor 2 to the top of the transfer slot on the other side, and the jaws 404 moves in the opposite direction. The lower cone 4041 is controlled to descend again, and the deformed rubber sleeve 4043 is straightened, so that the parts fall onto the track surface.

[0046] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0047] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An automated adjustable workpiece transfer pick-up and placement fixture, comprising a transfer table (1) and a circulating conveyor frame (2), characterized in that In: A first transfer groove (101) is provided on one side of the transfer table (1), and a second transfer groove (102) is provided on the other side of the transfer table (1). Transmission rollers (3) are provided inside the first transfer groove (101) and the second transfer groove (102). Workpiece crawlers (5) are provided on the outer surface of the transmission rollers (3). Pick-up and placement fixtures (4) are provided on all four sides of the circulating conveyor frame (2). The circulating conveyor frame (2) includes a T-shaped bracket (201), A toothed track (202) and a damping pulley (203), wherein the damping pulley (203) is arranged on the top of the T-shaped bracket (201), the toothed track (202) is rotatably connected to the T-shaped bracket (201) via the damping pulley (203), an adapter sleeve (204) is provided on the outer surface of the toothed track (202), an articulated connecting rod (205) is provided on the outer surface of the adapter sleeve (204), and the pick-and-place fixture (4) is connected to the adapter sleeve (204) via the articulated connecting rod (205); The pick-and-place fixture (4) comprises a hydraulic cylinder (401), a deformable suspension rail (402), a magnetic motor (403) and a jaw claw (404); the deformable suspension rail (402) is arranged below the hydraulic cylinder (401); the jaw claw (404) is arranged below the magnetic motor (403); an inner rail frame (4021) is arranged on the inner side of the deformable suspension rail (402); and the inner rail frame (4021) is connected to the deformable suspension rail (402) by screws; Outer rail brackets (4023) are provided around the inner rail frame (4021), and the outer rail brackets (4023) and the inner rail frame (4021) are provided as an integrated structure. The deformable suspension rail (402) includes an inner rail and an outer rail, and a deformable slide groove (4024) is provided between the inner rail and the outer rail. A lifting push rod (4011) is provided between the inner rail frame (4021) and the hydraulic cylinder (401), and the lifting push rod (4011) is telescopically connected to the hydraulic cylinder (401).

2. The automatic adjustable workpiece transfer pick-and-place fixture according to claim 1, characterized in that: Both ends of the transfer table (1) are provided with end motor slots (103), a driving motor (1031) and a transmission assembly (1032) are provided inside the end motor slots (103), the driving motor (1031) is connected to the transmission roller (3) via the transmission assembly (1032), and the outer surface of the workpiece crawler (5) is provided with reflective dot marks (501), and the reflective dot marks (501) are distributed in an array.

3. The automatic adjustable workpiece transfer pick-and-place fixture according to claim 2, characterized in that: A photosensitive module (4022) is provided at the bottom of the inner rail frame (4021), and the photosensitive module (4022) is located directly above the workpiece crawler (5). A shift slide bar (4032) is provided between the magnetic motor (403) and the jaw claw (404), and the magnetic motor (403) is connected to the deformation slide groove (4024) via the shift slide bar (4032).

4. The automatic adjustable workpiece transfer pick-and-place fixture according to claim 3, characterized in that: The jaw jaw (404) comprises a lower cone (4041), an upper cone (4042) and a deformable rubber sleeve (4043), wherein the deformable rubber sleeve (4043) is arranged on the outer surfaces of the lower cone (4041) and the upper cone (4042).

5. The automatic adjustable workpiece transfer pick-and-place fixture according to claim 4, characterized in that: The inner surface of the deformable rubber sleeve (4043) is provided with a metal elastic shaft (4044), and the two ends of the metal elastic shaft (4044) are respectively connected to the lower cone (4041) and the upper cone (4042).

6. The automatic adjustable workpiece transfer pick-and-place fixture according to claim 5, characterized in that: The lower cone (4041) and the upper cone (4042) are both configured as hollow structures. A piston pull rod (4045) is provided inside the lower cone (4041), and a limiting sleeve (4046) is provided inside the upper cone (4042).

7. The automatic adjustable workpiece transfer pick-and-place fixture according to claim 6, characterized in that: The piston pull rod (4045) extends to the interior of the limiting sleeve (4046), and a spring is provided between the piston pull rod (4045) and the limiting sleeve (4046).

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