A workpiece picking and repositioning device

Abstract

The present invention relates to a workpiece picking and positioning device, which includes a left grasping and positioning component, a right grasping component, and a positioning component. The workpiece is initially placed in a positioning tooling. The left grasping and positioning component first grasps the workpiece in the positioning tooling, rotates and positions it, and then transfers the workpiece to the positioning component. The positioning component drives the workpiece to change its orientation. The right grasping component grasps the workpiece that has been positioned in the positioning component and transfers it back to the positioning tooling. The workpiece picking and positioning device of the present invention has a reasonable structural design. The two components can achieve multiple positionings, which can meet the more complex workpiece turning and positioning requirements and conform to the production requirements.

Description

Technical Field

[0001] The present invention relates to the field of mechanical equipment, and particularly relates to a workpiece picking and positioning device. Background Art

[0002] Due to the welding process requirements, the moving contact component workpiece needs to be temporarily transferred from the production line to the positioning device, and can only return to the production line after being positioned. The existing method for picking and positioning the workpiece is that the clamp cylinder first grabs the workpiece, and then the X / Y / Z cylinders act respectively to grab the workpiece to the transition position for positioning. The clamp cylinder at the transition position fixes the workpiece, and the rotary cylinder rotates to rotate the workpiece by a certain angle, and then it is translated to the next station position by the rodless cylinder. At this time, the circular line moves one station position, and then the clamp cylinder clamps the workpiece, and the X / Y / Z cylinders at the next position act respectively to place the workpiece at the finished product welding position. The defect of this method is that the cylinders act successively, and the moving cylinder needs to act in place before the next cylinder can act, without parallel connection. The workpiece moving method is single, and the workpiece only rotates once in the middle, rotating as a whole, and the rest are all single translations. It is difficult to achieve a more complex rotation of the workpiece and cannot be realized. Summary of the Invention

[0003] In view of the above defects existing in the prior art, the present invention provides a workpiece picking and positioning device, and the specific technical solution is as follows:

[0004] A workpiece picking and positioning device includes a left grabbing and positioning component, a right grabbing component, and a positioning component. The workpiece is initially placed in the positioning tooling. The left grabbing and positioning component first grabs the workpiece in the positioning tooling for rotation and positioning, and then transfers the workpiece to the positioning component. The positioning component drives the workpiece to change its orientation. The right grabbing component grabs the workpiece that has been positioned in the positioning component and transfers it back to the positioning tooling.

[0005] As a preferred solution of the present invention, the left grabbing and positioning component includes a first X-axis driving end, a first X-axis connecting rod, an execution mounting block, a first Y-axis driving end, a first Y-axis connecting rod, and an execution grabbing mechanism. One end of the first X-axis connecting rod is connected to the first X-axis driving end, and the other end of the first X-axis connecting rod is connected to the execution mounting block. The execution mounting block is used to mount the execution grabbing mechanism. The execution grabbing mechanism grabs the workpiece. The middle of the first X-axis connecting rod is movably sleeved with the first Y-axis driving end, and the first Y-axis connecting rod is movably sleeved in the first Y-axis driving end.

[0006] As a preferred solution of the present invention, the execution grabbing mechanism includes a clamp mounting plate, a first clamp cylinder, and a second clamp cylinder. The clamp mounting plate is installed below the execution mounting block, and the first clamp cylinder and the second clamp cylinder are installed separately below the clamp mounting plate. The first clamp cylinder clamps one end of the workpiece, and the second clamp cylinder clamps the other end of the workpiece.

[0007] As a preferred embodiment of the present invention, the left gripping and positioning component further includes a gripping position cam groove plate, a first cam bearing, a rotating plate and a rotating shaft. The first Y-axis driving end laterally grips the cam groove plate. The gripping position cam groove plate is provided with a first cam groove. The first cam bearing is movably placed in the first cam groove. The first cam bearing is installed at one end of the rotating plate. One end of the rotating plate is installed with the rotating shaft. The rotating shaft is rotatably installed on the clamp mounting plate. The lower end of the rotating shaft is connected to the first clamp cylinder.

[0008] As a preferred embodiment of the present invention, the positioning component includes a second Y-axis driving end, a second Y-axis connecting rod, a cam groove block, a second cam bearing, a swing arm, a sliding seat, a bottom plate, a rotating cylinder and a workpiece clamping mechanism. The second Y-axis connecting rod is movably sleeved inside the second Y-axis driving end. The cam groove block is installed in front of the second Y-axis driving end. A transverse cam groove is provided in front of the cam groove block. The second cam bearing is movably placed in the transverse cam groove. The second cam bearing is installed at one end of the swing arm. The swing arm is L-shaped. The middle of the swing arm is hinged to the fixed seat. The other end of the swing arm is connected to the sliding seat. The sliding seat is slidably installed above the bottom plate. The rotating cylinder and the workpiece clamping mechanism are installed on the sliding seat.

[0009] As a preferred embodiment of the present invention, the workpiece clamping mechanism includes a moving contact clamping cylinder and a bimetal clamping cylinder. The moving contact clamping cylinder clamps the moving contact. The bimetal clamping cylinder clamps the bimetal. The rotating cylinder drives the bimetal clamping cylinder to rotate 90 degrees.

[0010] As a preferred embodiment of the present invention, the workpiece clamping mechanism further includes a support seat and an inclined cylinder. The support seat is installed above the sliding seat. The inclined cylinder is installed above the support seat. The inclined cylinder drives the moving contact clamping cylinder to approach the bimetal clamping cylinder.

[0011] As a preferred embodiment of the present invention, a bearing seat is installed above the sliding seat. A positioning plate is rotatably installed above the bearing seat. The rotating cylinder is installed on the front side of the positioning plate. The third cam bearing is installed at the right end of the positioning plate. A positioning cam groove plate is installed above the bottom plate. The positioning cam groove plate is provided with an inclined second cam groove. The third cam bearing is placed in the second cam groove.

[0012] As a preferred embodiment of the present invention, the workpiece is a moving contact assembly. The moving contact assembly includes a moving contact, a flexible connection and a bimetal.

[0013] As a preferred embodiment of the present invention, the positioning tooling is provided with a semi-finished product station and a finished product welding station. The workpiece is initially placed in the semi-finished product station inside the positioning tooling. The left gripping and positioning component grips the workpiece inside the positioning tooling and transfers it to the positioning component. The positioning component drives the workpiece to change its orientation. The right gripping component grips the workpiece that has been reoriented inside the positioning component and transfers it back to the finished product welding station of the positioning tooling.

[0014] Beneficial effects: The workpiece picking and positioning device of the present invention has a reasonable structural design. The left grasping and positioning component first grasps the workpiece in the positioning tooling, rotates and positions it, and then transfers the workpiece to the positioning component. The positioning component drives the workpiece to change its orientation. The two components can achieve multiple positionings, which can meet the more complex requirements of workpiece turning and positioning and conform to the production requirements. Brief Description of the Drawings

[0015] Figure 1 is the overall three-dimensional view of the present invention;

[0016] Figure 2 is the side view of the present invention;

[0017] Figure 3 is the three-dimensional view of the workpiece of the present invention;

[0018] Figure 4 is the three-dimensional view of the left grasping and positioning component of the present invention;

[0019] Figure 5 is the three-dimensional view of the left grasping and positioning component of the present invention with some parts hidden;

[0020] Figure 6 is the three-dimensional view of the positioning component of the present invention;

[0021] Figure 7 is the three-dimensional view of the positioning component of the present invention from another perspective;

[0022] Figure 8 is the three-dimensional view of the positioning component of the present invention with some parts hidden;

[0023] Figure 9 is the three-dimensional view of the workpiece clamping mechanism of the present invention;

[0024] Figure 10 is the three-dimensional view of the positioning tooling of the present invention. Detailed Embodiments

[0025] The following further describes the detailed embodiments of the present invention with reference to the drawings:

[0026] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the position or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0027] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] As Figure 1-3 shown, a workpiece picking and positioning device includes a left grasping and positioning component 1, a right grasping component 2, and a positioning component 3. The workpiece 4 is initially placed in the positioning tooling 5. The left grasping and positioning component 1 first grasps the workpiece in the positioning tooling and rotates and positions it, and then transfers the workpiece 4 to the positioning component 3. The positioning component 3 drives the workpiece to change its orientation. The right grasping component 2 grasps the workpiece that has been positioned in the positioning component 3 and transfers it back to the positioning tooling 5. The workpiece 4 is preferably a moving contact component, and the moving contact component includes a moving contact 41, a flexible connection 42, and a bimetallic strip 43.

[0029] As Figure 4-5 shown, the left grasping and positioning component 1 includes a first X-axis driving end 11, a first X-axis connecting rod 12, an execution mounting block 13, a first Y-axis driving end 14, a first Y-axis connecting rod 15, and an execution grasping mechanism 16. One end of the first X-axis connecting rod 12 is connected to the first X-axis driving end 11, and the other end of the first X-axis connecting rod 12 is connected to the execution mounting block 13. The execution mounting block 13 is used to mount the execution grasping mechanism 16. The execution grasping mechanism 16 grasps the workpiece 4. The middle of the first X-axis connecting rod 12 is movably sleeved with the first Y-axis driving end 14, and the first Y-axis connecting rod 15 is movably sleeved inside the first Y-axis driving end 14. The first X-axis driving end 11 and the first Y-axis driving end 14 can be directly driven by a cylinder to move, and finally drive the execution mounting block 13 and the execution grasping mechanism 16 to move along the X and Y axes.

[0030] Specifically, the execution grasping mechanism 16 includes a clamp mounting plate 161, a first clamp cylinder 162, and a second clamp cylinder 163. The clamp mounting plate 161 is mounted below the execution mounting block 13, and the first clamp cylinder 162 and the second clamp cylinder 163 are mounted separately below the clamp mounting plate 161. The first clamp cylinder 162 clamps one end of the workpiece 4. Specifically, the first clamp cylinder 161 clamps the moving contact 41, and the second clamp cylinder 163 clamps the other end of the workpiece 4. Specifically, the second clamp cylinder 163 clamps the bimetallic strip 43.

[0031] Specifically, the left grabbing and shifting assembly 1 also includes a grabbing position cam slot plate 17, a first cam bearing 18, a rotating plate 19 and a rotating shaft 110. The first Y-axis driving end 14 is located on the side of the grabbing position cam slot plate 17. A first cam slot 17a is provided in the grabbing position cam slot plate 17. The first cam bearing 18 is movably placed in the first cam slot 17a. The first cam bearing 18 is installed at one end of the rotating plate 19. The rotating shaft 110 is installed at one end of the rotating plate 19. The rotating shaft 110 is rotatably installed on the clamp mounting plate 161. The lower end of the rotating shaft 20 passes through the clamp mounting plate 161 and is connected to the first clamp cylinder 162. When the first cam bearing 18 moves in the first cam slot 17a, it drives the rotating shaft 110 to rotate. The rotating shaft 20 drives the first clamp cylinder 162 to rotate. The first clamp cylinder 162 drives the moving contact to rotate and change its position.

[0032] The structure of the right grabbing assembly 2 is similar to that of the left grabbing displacement assembly 1, that is, the right grabbing assembly 2 also includes the above-mentioned first X-axis driving end 11, the first X-axis connecting rod 12, the execution mounting block 13, the first Y-axis driving end 14, the first Y-axis connecting rod 15, and the execution grabbing mechanism 16. The difference is that the right grabbing assembly 2 does not have the grabbing position cam slot plate 17, the first cam bearing 18, the rotating plate 19, and the rotating shaft 20 that rotate the first clamping cylinder 161.

[0033] like Figure 6-7 As shown, the displacement assembly 3 includes a second Y-axis driving end 31, a second Y-axis connecting rod 32, a cam groove block 33, a second cam bearing 34, a swing arm 35, a sliding seat 36, a base plate 37, a rotating cylinder 38 and a workpiece clamping mechanism 39. The second Y-axis driving end 31 is movably fitted with the second Y-axis connecting rod 32, the cam groove block 33 is installed in front of the second Y-axis driving end 31, a transverse cam groove is provided in front of the cam groove block 33, and the second cam bearing 34 is movably placed in the transverse cam groove. 34 is installed at one end of the swing arm 35. The swing arm 35 is L-shaped. The middle part of the swing arm 35 is hinged to the fixed base 6. The other end of the swing arm 35 is connected to the sliding base 36. The sliding base 36 is slidably installed above the base plate 37 through the cooperation of the slider and the slide rail. The rotating cylinder 38 and the workpiece clamping mechanism 39 are installed on the sliding base 36. The second Y-axis driving end 31 can be directly driven by the cylinder to move. The second Y-axis driving end 31 drives the swing arm 35 to swing through the cam slot block 33, and the swing arm 35 drives the sliding base 36 to move left and right.

[0034] like Figure 8-9As shown in the figure, the workpiece clamping mechanism 39 includes a movable contact clamping cylinder 391 and a bimetal clamping cylinder 392. The movable contact clamping cylinder 391 clamps the movable contact, and the bimetal clamping cylinder 392 clamps the bimetal. The rotary cylinder 38 drives the bimetal clamping cylinder 392 to rotate 90 degrees, so that the bimetal completes a 90-degree displacement. In addition, the workpiece clamping mechanism 39 further includes a support seat 393 and an inclined cylinder 394. The support seat 393 is installed above the sliding seat, and the inclined cylinder 394 is installed above the support seat 393. The inclined cylinder drives the movable contact clamping cylinder 391 to approach the bimetal clamping cylinder 392 to adapt to the displacement of the bimetal. A bearing seat 310 is installed above the sliding seat 36, and a displacement plate 311 is rotatably installed above the bearing seat 310. The rotary cylinder 38 is installed on the front side of the displacement plate 311, and a third cam bearing 313 is installed at the right end of the displacement plate 311. A displacement cam groove plate 314 is installed above the bottom plate 37. The displacement cam groove plate 314 is provided with an inclined second cam groove. The third cam bearing 313 is placed in the second cam groove. When the sliding seat 36 moves to the right, the third cam bearing 313 is driven by the second cam groove to rotate the displacement plate 311, and the displacement plate 311 drives the bimetal clamping cylinder 392 to rotate, changing the relative angular position relationship between the bimetal and the movable contact.

[0035] As Figure 10 shown in the figure, the positioning tooling 5 is provided with a semi-finished product station 51 and a finished product welding station 52. The positioning tooling 5 is placed on a production line (not shown). The workpiece 4 is initially placed in the semi-finished product station 51 inside the positioning tooling 5. When the positioning tooling 5 is at the previous station, the left grasping and displacement assembly 1 grasps the workpiece inside the positioning tooling 5 and transfers it to the displacement assembly 3. The displacement assembly drives the workpiece to change its orientation. At this time, the positioning tooling 5 is transported to the next station, and the right grasping assembly grasps the displaced workpiece inside the displacement assembly and transfers it back to the finished product welding station of the positioning tooling.

[0036] The advantages of the workpiece picking and displacing device of the present invention are as follows:

[0037] ⑴ Both the left grasping and displacement assembly 1 and the displacement assembly 3 use the structure of a cam bearing cooperating with a cam groove, so as to realize a certain angle of turning and action conversion while the movable end is moving, which can make the movable contact assembly complete multi-directional displacement and meet the actual production requirements;

[0038] ⑵ The structural design of each component is reasonable, the beat is optimized and they cooperate with each other, reducing the time for producing one finished product.

[0039] The above content is a further detailed description of the present invention in combination with specific preferred embodiments. It cannot be determined that the specific implementation of the present invention is only limited to these descriptions. For those of ordinary skill in the technical field to which the present invention belongs, without departing from the concept of the present invention, several simple deductions or substitutions can still be made, which should all be regarded as belonging to the protection scope of the present invention.

Claims

1. A workpiece picking and positioning device, characterized in that: It includes a left grasping and indexing component, a right grasping component, and an indexing component. The workpiece is initially placed in a positioning fixture. The left grasping and indexing component first grasps the workpiece in the positioning fixture, rotates and indexes it, and then transfers the workpiece to the indexing component. The indexing component drives the workpiece to change its orientation. The right grasping component grasps the workpiece that has been indexed in the indexing component and transfers it back to the positioning fixture. The indexing component includes a second Y-axis driving end, a second Y-axis connecting rod, a cam groove block, a second cam bearing, a swing arm, a sliding seat, a bottom plate, a rotary cylinder, and a workpiece clamping mechanism. The second Y-axis connecting rod is movably sleeved inside the second Y-axis driving end. The cam groove block is installed in front of the second Y-axis driving end. A transverse cam groove is provided in front of the cam groove block. The second cam bearing is movably placed in the transverse cam groove. The second cam bearing is installed at one end of the swing arm. The swing arm is L-shaped. The middle of the swing arm is hinged to a fixed seat. The other end of the swing arm is connected to the sliding seat. The sliding seat is slidably installed above the bottom plate. The rotary cylinder and the workpiece clamping mechanism are installed on the sliding seat.

2. The workpiece picking and repositioning device according to claim 1, characterized in that: The left grasping and indexing component includes a first X-axis driving end, a first X-axis connecting rod, an execution mounting block, a first Y-axis driving end, a first Y-axis connecting rod, and an execution grasping mechanism. The first X-axis driving end is connected to one end of the first X-axis connecting rod. The other end of the first X-axis connecting rod is connected to the execution mounting block. The execution mounting block is used to mount the execution grasping mechanism. The execution grasping mechanism grasps the workpiece. The middle of the first X-axis connecting rod is movably sleeved with the first Y-axis driving end. The first Y-axis connecting rod is movably sleeved inside the first Y-axis driving end.

3. A workpiece picking and repositioning device according to claim 2, characterized in that: The execution grasping mechanism includes a clamp mounting plate, a first clamp cylinder, and a second clamp cylinder. The clamp mounting plate is installed below the execution mounting block. The first clamp cylinder and the second clamp cylinder, which are spaced apart, are installed below the clamp mounting plate. The first clamp cylinder clamps one end of the workpiece, and the second clamp cylinder clamps the other end of the workpiece.

4. The workpiece picking and positioning device according to claim 3, characterized in that: The left grasping and indexing component further includes a grasping position cam groove plate, a first cam bearing, a rotating plate, and a rotating shaft. The grasping position cam groove plate is installed on the side of the first Y-axis driving end. A first cam groove is provided in the grasping position cam groove plate. The first cam bearing is movably placed in the first cam groove. The first cam bearing is installed at one end of the rotating plate. A rotating shaft is installed at one end of the rotating plate. The rotating shaft is rotatably installed on the clamp mounting plate. The lower end of the rotating shaft is connected to the first clamp cylinder.

5. A workpiece picking and positioning device according to claim 1, characterized in that: The workpiece clamping mechanism includes a moving contact clamping cylinder and a bimetal clamping cylinder. The moving contact clamping cylinder clamps the moving contact, and the bimetal clamping cylinder clamps the bimetal. The rotary cylinder drives the bimetal clamping cylinder to rotate 90 degrees.

6. The workpiece picking and positioning device according to claim 5, characterized in that: The workpiece clamping mechanism further includes a support seat and an inclined cylinder. The support seat is installed above the sliding seat. The inclined cylinder is installed above the support seat. The inclined cylinder drives the moving contact clamping cylinder to approach the bimetal clamping cylinder.

7. The workpiece picking and positioning device according to claim 1, wherein: A bearing seat is installed above the sliding seat. A indexing plate is rotatably installed above the bearing seat. The rotary cylinder is installed on the front side of the indexing plate. The third cam bearing is installed at the right end of the indexing plate. A indexing cam groove plate is installed above the bottom plate. The indexing cam groove plate is provided with an inclined second cam groove. The third cam bearing is placed in the second cam groove.

8. A workpiece picking and positioning device according to claim 1, characterized in that: The workpiece is a moving contact assembly. The moving contact assembly includes a moving contact, a flexible connection, and a bimetal.

9. A workpiece picking and positioning device according to claim 1 or 8, characterized in that: The positioning tooling is provided with a semi-finished product station and a finished product welding station. The workpiece is initially placed at the semi-finished product station in the positioning tooling. The left grabbing and shifting assembly grabs the workpiece in the positioning tooling and transfers it to the shifting assembly. The shifting assembly drives the workpiece to change its orientation. The right grabbing assembly grabs the shifted workpiece in the shifting assembly and transfers it back to the finished product welding station of the positioning tooling.

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