Workpiece handling system

Abstract

The application discloses a workpiece carrying system, which comprises clamping pins, two groups of the clamping pins are clamped or loosened on a workpiece to be carried through a clamping mechanism; a clamping frame can be moved along the X, Y and Z axis directions through a lifting mechanism and an XY displacement mechanism; two tool car positioning pins, tool car positioning pin in-place detection pieces and two unlocking push rods are symmetrically arranged at the left and right ends of the clamping frame, a first positioning hole matched with the tool car positioning pin is arranged on the tool car; a delivery car positioning pin, a delivery car positioning pin in-place detection piece are arranged at one end of the clamping frame, a second positioning hole matched with the delivery car positioning pin is arranged on the delivery car; the two unlocking push rods are used for unlocking the workpiece to be carried on the tool car and locking the workpiece on the delivery car; a first following positioning part is arranged at one end of the clamping frame, and a second following positioning part matched with the first following positioning part is arranged at one end of the tool car. The application solves the operation problem that the workpiece with large width is not easy to be aligned with the tool car, saves the labor input cost and improves the carrying efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile assembly, in particular to a workpiece carrying system. BACKGROUND

[0002] In the automobile parts production line, assembly, carrying and other processes are often involved. The carrying process refers to carrying the workpiece assembled on the tooling trolley to the delivery trolley or delivery appliance. The commonly used carrying tool is a mechanical hand. The existing mechanical hand cannot carry the workpiece with a large size (such as the instrument panel in the cockpit, which has a large width of about 1.6m) when the assembly line is in operation. The mechanical hand cannot be gripped until the assembly line is stopped. Because of the large structure width, the mechanical hand cannot be positioned with the assembly tooling trolley. One operating mechanical hand cannot consider whether the clamps at both ends of the mechanical hand are in place. One person needs to walk left and right to operate the clamps on the assembly tooling. At this time, the mechanical hand cannot be fixed, and it is difficult for one person to operate and position the tooling trolley and the delivery trolley. In actual production, more than two people are usually needed to operate the mechanical hand to carry the workpiece, which increases the cost of labor input and reduces the carrying efficiency, and cannot meet the existing workpiece carrying requirements. SUMMARY

[0003] In view of the deficiencies in the prior art, the present application provides a workpiece carrying system.

[0004] The present application discloses a workpiece carrying system, which comprises:

[0005] The two groups of clamping pins are symmetrically installed at the left and right ends of the clamping frame, and the two groups of clamping pins can clamp or release the workpiece to be carried through the clamping mechanism. The upper end of the clamping frame is rotatably installed on the first support, the first support is liftable installed on the second support through the lifting mechanism, and the second support is movably installed on the third support through the XY displacement mechanism.

[0006] The two groups of tooling trolley positioning pins and tooling trolley positioning pin position detection pieces are symmetrically installed at the left and right ends of the clamping frame, and the two sides of the tooling trolley are provided with first positioning holes matched with the tooling trolley positioning pins.

[0007] The delivery trolley positioning pin and the delivery trolley positioning pin position detection piece are fixedly installed at one end of the clamping frame, and the delivery trolley is provided with a second positioning hole matched with the delivery trolley positioning pin.

[0008] Two unlocking push rods are symmetrically installed at the left and right ends of the clamping frame through the unlocking mechanism, when the clamping frame is positioned and aligned with the tooling trolley, the two unlocking push rods can push the two clamping members on the tooling trolley through the unlocking mechanism to take off the workpiece to be carried from the tooling trolley; when the clamping frame is positioned and aligned with the delivery trolley, the two unlocking push rods can push the two clamping plates on the delivery trolley through the unlocking mechanism to clamp the workpiece to be carried on the delivery trolley.

[0009] A first following positioning part is installed at one end of the clamping frame, and one end of the tooling trolley is provided with a second following positioning part matched with the first following positioning part.

[0010] As a further improvement of the present application, the clamping frame comprises a support rod extending along the length direction of the workpiece to be carried.

[0011] The left and right ends of the side of the support rod close to the workpiece to be carried are oppositely provided with the clamping pins through the clamping mechanism, and the two clamping pins can clamp or release the workpiece to be carried under the driving of the clamping mechanism.

[0012] The two tooling trolley positioning pins and the tooling trolley positioning pin in-place detection member, and the two unlocking push rods are symmetrically installed at the left and right ends of the support rod, and the delivery trolley positioning pin and the delivery trolley positioning pin in-place detection member and the first following positioning part are fixedly installed at the left end or the right end of the support rod.

[0013] The side of the support rod away from the workpiece to be carried is fixedly provided with an operation handle, and the top end of the middle part of the support rod is rotatably installed on a first support.

[0014] As a further improvement of the present application, each clamping pin comprises a first clamping pin and a second clamping pin arranged in parallel in the horizontal direction, and the first clamping pin and the second clamping pin are fixedly installed on a connecting plate, and the connecting plate is fixedly installed on the support rod through the clamping mechanism.

[0015] The cross section of the first clamping pin is in the shape of a rhombus, and the cross section of the second clamping pin is in the shape of a circle.

[0016] As a further improvement of the present application, the tooling trolley positioning pin in-place detection member comprises a first contact sensor.

[0017] The axial direction of the positioning pin is perpendicular to the axial direction of the clamping pin; the positioning pin is fixedly installed on the left and right ends of the support rod through a support; the first contact sensor is fixedly installed above the positioning pin on the corresponding side; the probe end of the first contact sensor is flush with the tail of the positioning pin;

[0018] When the clamping frame is aligned with the tool car, the positioning pin is inserted into the first positioning hole on the corresponding end of the tool car; when the positioning pin is completely positioned in the first positioning hole, the probe end of the first contact sensor is compressed under the extrusion of the tool car to indicate that the positioning pin is correctly positioned in the first positioning hole.

[0019] As a further improvement of the present application, the positioning pin detection member includes a second contact sensor;

[0020] The axial direction of the positioning pin is perpendicular to the axial direction of the clamping pin; the positioning pin is fixedly installed on the left and right ends of the support rod through a support; the first contact sensor is fixedly installed above the positioning pin on the corresponding side; the probe end of the first contact sensor is flush with the tail of the positioning pin;

[0021] When the clamping frame is aligned with the tool car, the positioning pin is inserted into the first positioning hole on the corresponding end of the tool car; when the positioning pin is completely positioned in the first positioning hole, the probe end of the first contact sensor is compressed under the extrusion of the tool car to indicate that the positioning pin is correctly positioned in the first positioning hole.

[0022] As a further improvement of the present application, the unlocking push rod includes a push rod and a fixed frame, and the unlocking mechanism includes a telescopic cylinder;

[0023] The push rod is arranged in the vertical direction on the end of the fixed frame close to the workpiece to be transported, the other end of the fixed frame is fixedly installed on the extension end of the telescopic cylinder, and the telescopic cylinder is fixedly installed on the support rod;

[0024] When the clamping frame is aligned with the tool car, the two push rods on both sides can move the clamping members on both sides of the tool car through the telescopic cylinder to remove the workpiece to be transported from the tool car;

[0025] When the clamping frame is positioned and aligned with the delivery vehicle, the push rods on both sides can push the clamping plates on both sides of the delivery vehicle through the telescopic cylinders to clamp the workpiece to be transported on the delivery vehicle.

[0026] As a further improvement of the application, the first following positioning part comprises an L-shaped bracket and a guide wheel part, and the second following positioning part comprises an angle iron;

[0027] The upper end of the vertical section of the L-shaped bracket is fixedly installed at the left end or the right end of the support rod, the horizontal section of the L-shaped bracket extends towards the workpiece to be transported, and the end of the horizontal section away from the vertical section is fixedly installed with the guide wheel part;

[0028] The angle iron is fixedly installed at one end of the tool vehicle and is on the same side as the guide wheel part, and the angle iron and the guide wheel part can realize the following positioning of the clamping frame and the tool vehicle.

[0029] As a further improvement of the application, the XY displacement mechanism comprises a first guide rail group and a second guide rail group arranged in layers, the first guide rail group is arranged along the X-axis direction, and the second guide rail group is arranged along the Y-axis direction;

[0030] The second bracket is slidably installed on the second guide rail group, the second guide rail group is slidably installed on the first guide rail group, and the first guide rail group is fixedly installed on the third bracket.

[0031] As a further improvement of the application, the lifting mechanism comprises a telescopic arm, the telescopic arm is vertically movable through a lifting cylinder, the upper end of the telescopic arm is fixedly connected with the second bracket, and the extending end of the telescopic arm is rotatably connected with the clamping frame through a rotating part.

[0032] As a further improvement of the application, a controller is further included, the plurality of tool vehicle positioning pin in-place detection members and the delivery vehicle positioning pin in-place detection members are respectively electrically connected with the input end of the controller;

[0033] The lifting mechanism, the XY displacement mechanism, and the plurality of clamping mechanisms and the plurality of unlocking mechanisms are respectively electrically connected with the output end of the controller.

[0034] Compared with the prior art, the application has the following advantages:

[0035] The application can realize automatic detection of the alignment of the clamping frame, the tooling trolley and the delivery trolley through the tooling trolley positioning pin, the delivery trolley positioning pin and the tooling trolley positioning pin in-place detection piece and the delivery trolley positioning pin in-place detection piece, and can realize clamping and loosening of the workpiece to be carried through the clamping pin and the clamping mechanism at both ends of the clamping frame, and the clamping pin can automatically judge whether the clamp is installed in place;

[0036] The application can realize one-key unlocking of the workpiece to be carried on the tooling trolley after the clamping frame is aligned with the tooling trolley, so that the clamping pieces on both sides of the tooling trolley loosen the clamping of the workpiece to be carried, and can realize one-key locking of the workpiece to be carried on the delivery trolley after the clamping frame is aligned with the delivery trolley, so that the clamping plates on both sides of the delivery trolley clamp the workpiece to be carried, thereby greatly improving the automation and carrying efficiency of the workpiece to be carried.

[0037] The application can realize accurate positioning of the clamping frame and the tooling trolley through the first traveling positioning part at one end of the clamping frame and the traveling positioning part on the tooling trolley, and can realize single-person operability of workpiece carrying work through the clamping pin, the positioning pins, the positioning pin in-place detection pieces and the like on the clamping frame, thereby solving the operation problem of not being easy to align with the tooling trolley due to the large width of the workpiece, saving labor input cost and improving carrying efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 A structural front view of a workpiece carrying system disclosed by an embodiment of the application is shown in the figure.

[0039] Figure 2 A structural side view of a workpiece carrying system disclosed by an embodiment of the application is shown in the figure.

[0040] Figure 3 A structural top view of a workpiece carrying system disclosed by an embodiment of the application is shown in the figure.

[0041] Figure 4 A front isometric view of a mechanical hand clamp structure of a workpiece carrying system disclosed by an embodiment of the application is shown in the figure.

[0042] Figure 5 A back isometric view of a mechanical hand clamp structure of a workpiece carrying system disclosed by an embodiment of the application is shown in the figure.

[0043] Figure 6 A rear view of a mechanical hand clamp structure of a workpiece carrying system disclosed by an embodiment of the application is shown in the figure.

[0044] Figure 7 A top view of a mechanical hand clamp structure of a workpiece carrying system disclosed by an embodiment of the application is shown in the figure.

[0045] Figure 8 A side view of a mechanical arm clamp structure of a workpiece conveying system according to an embodiment of the present application;

[0046] Figure 9 A structure front view of a tool car of a workpiece conveying system according to an embodiment of the present application;

[0047] Figure 10 A structure side view of a tool car of a workpiece conveying system according to an embodiment of the present application.

[0048] In the figure:

[0049] 11, first support; 12, second support; 13, second guide rail set; 14, first guide rail set; 15, third support;

[0050] 2, mechanical arm clamp; 21, support rod; 211, operation handle; 221, first clamping pin; 222, second clamping pin; 223, connecting plate; 224, clamping mechanism; 225, clamping-in-place detection member; 23, tool car positioning pin; 24, tool car positioning pin-in-place detection member; 25, delivery car positioning pin; 26, delivery car positioning pin-in-place detection member; 27, unlocking push rod; 271, push rod; 272, fixing frame; 273, unlocking mechanism; 274, push rod-in-place detection member; 281, L-shaped support; 282, guide wheel part; 29, cross movable joint;

[0051] 3, tool car; 31, tool car frame; 32, first positioning hole; 33, angle iron;

[0052] 4, delivery car; 5, workpiece to be conveyed; 6, button box. DETAILED DESCRIPTION

[0053] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0054] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for the purpose of description and cannot be understood as indicating or implying relative importance.

[0055] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it 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.

[0056] The present application will be further described in detail below in conjunction with the drawings:

[0057] As Figures 1-3As shown, according to the workpiece carrying system provided by the application, the mechanical hand clamp 2, the lifting mechanism, and the XY displacement mechanism are included, wherein the mechanical hand clamp 2 specifically includes a clamping frame, clamping pins, tool vehicle positioning pins 23, tool vehicle positioning pin in place detection pieces 24, delivery vehicle positioning pins 25, delivery vehicle positioning pin in place detection pieces 26, unlocking push rods 27, and a first accompanying positioning part. Specifically, two groups of clamping pins are symmetrically installed at the left and right ends of the clamping frame, and the two groups of clamping pins can clamp or release the workpiece to be carried through the clamping mechanism 224. The upper end of the clamping frame is rotatably installed on the first support 11, the first support 11 is liftable installed on the second support 12 through the lifting mechanism, the second support 12 is movably installed on the third support 15 through the XY displacement mechanism, two tool vehicle positioning pins 23 and two tool vehicle positioning pin in place detection pieces 24 are symmetrically installed at the left and right ends of the clamping frame, the two sides of the tool vehicle 3 are provided with first positioning holes 32 matched with the tool vehicle positioning pins 23, the delivery vehicle positioning pin 25 and the delivery vehicle positioning pin in place detection piece 26 are fixedly installed at one end of the clamping frame, the second positioning hole matched with the delivery vehicle positioning pin 25 is arranged on the delivery vehicle, and two unlocking push rods 27 are symmetrically installed at the left and right ends of the clamping frame through the unlocking mechanism 273. When the clamping frame is positioned and aligned with the tool vehicle 3, the two unlocking push rods 27 on the two sides can push the two clamping pieces on the tool vehicle 3 through the unlocking mechanism 273 to take the workpiece 5 to be carried off the tool vehicle. When the clamping frame is positioned and aligned with the delivery vehicle, the two unlocking push rods 27 on the two sides can push the two clamping pieces on the delivery vehicle to the middle through the unlocking mechanism 273 to clamp the workpiece 5 to be carried on the delivery vehicle. The first accompanying positioning part is installed at one end of the clamping frame, and one end of the tool vehicle is provided with a second accompanying positioning part matched with the first accompanying positioning part.

[0058] In this embodiment, by installing the first accompanying positioning part at one end of the clamping frame and adding the accompanying positioning part on the tool vehicle 3, the accurate positioning of the clamping frame and the tool vehicle 3 can be realized, and the single-person operability of the workpiece carrying work can be realized by cooperating with the clamping pins on the clamping frame and various positioning pins, various positioning pin in place detection pieces, etc. The operation problem of not being easy to align with the tool vehicle caused by the large width of the workpiece is solved, the labor input cost is saved, and the carrying efficiency is improved.

[0059] Specifically:

[0060] As Figures 1-3As shown, in the above embodiment, preferably, the XY shifting mechanism includes a first guide rail group 14 and a second guide rail group 13 arranged in upper and lower layers. The first guide rail group 14 is arranged along the X-axis direction, and the second guide rail group 13 is arranged along the Y-axis direction. Both the first guide rail group 14 and the second guide rail group 13 are composed of two parallel guide rails. The first guide rail group 14, located on the upper layer, is fixedly installed by a third bracket 15. In this embodiment, the third bracket 15 can be a steel beam or rail located above the production line in the processing plant. The two Y-axis guide rails in the second guide rail group 13 can slide as a whole along the X-axis direction on the first guide rail group 14. The second bracket 12 is fixedly and slidably installed on the second guide rail group 13. In this embodiment, the second bracket 12 can be a mechanical trolley, and the slide rail of the mechanical trolley is slidably installed on the second guide rail group 13.

[0061] In the above embodiments, preferably, the lifting mechanism includes a telescopic arm and a lifting cylinder. The telescopic arm forms a first support 11. The telescopic arm can move up and down in the vertical direction under the drive of the lifting cylinder. The upper end of the telescopic arm is fixedly connected to the second support, i.e., the mechanical trolley. The extended end of the lower end of the telescopic arm is rotatably connected to the clamping frame through a rotating part.

[0062] like Figures 4-8 As shown, in the above embodiment, preferably, the clamping frame includes a support rod 21 extending along the length direction of the workpiece 5 to be transported. The support rod 21 is arranged in a horizontal direction. Two L-shaped connecting plates 223 are symmetrically installed at the left and right ends of the support rod 21 on the side close to the workpiece 5 to be transported. The horizontal section of the connecting plate 223 is parallel to the support rod 21 and connected to the clamping mechanism. The vertical section of the connecting plate 223 is perpendicular to the length direction of the support rod 21. Clamping pins are respectively fixedly installed on the vertical sections of the connecting plates 223 on the corresponding sides. The clamping pins located at the left and right ends of the support rod 21 are arranged opposite to each other to facilitate clamping and releasing of the workpiece 5 to be transported. Two tooling car positioning pins 23 and tooling car positioning pin arrival detection parts 24, and two unlocking push rods 27 are symmetrically installed at the left and right ends of the support rod 21, respectively. The shipping car positioning pin 25 and shipping car positioning pin arrival detection parts 26, and the first accompanying positioning part are fixedly installed at the left or right end of the support rod 21. An operating handle 211 is also fixedly installed on the side of the support rod 21 away from the workpiece 5 to be transported. The top of the middle part of the support rod 21 is rotatably installed on the first bracket 11.

[0063] In the above embodiment, preferably, the mechanical hand clamp 2 further comprises a cross movable joint 29, the middle top end of the support rod 21 is rotatably installed at the bottom of the first support 11 through the cross movable joint 29. The cross movable joint 29 in the embodiment comprises upper and lower disc-shaped connecting plates arranged in parallel, the bottom of the upper disc-shaped connecting plate is provided with two hanging ears downward, the top of the lower disc-shaped connecting plate is provided with two hanging ears downward, the hanging ears of the upper and lower disc-shaped connecting plates are arranged in cross, a pin shaft is installed between the opposite two hanging ears, the upper and lower disc-shaped connecting plates can swing forward and backward through the upper and lower hanging ears and the pin shaft, and a plurality of adjusting bolts are further installed between the upper and lower disc-shaped connecting plates to limit the swing amplitude of the upper and lower disc-shaped connecting plates.

[0064] In the above embodiment, preferably, the rotating part at the lower end of the telescopic arm comprises a rotating bearing, which is arranged between the telescopic arm and the upper disc-shaped connecting plate, and through which the rotating movement of the cross movable joint 29 around the telescopic arm can be realized.

[0065] In the above embodiment, preferably, each side clamping pin comprises a first clamping pin 221 and a second clamping pin 222 arranged in parallel in the horizontal direction, the first clamping pin 221 and the second clamping pin 222 are fixedly installed on the connecting plate 223, the cross section of the first clamping pin 221 is in the shape of a rhombus, and the cross section of the second clamping pin 222 is in the shape of a circle. In the embodiment, the setting interval and length of the first clamping pin 221 and the second clamping pin 222 at the left and right ends of the support rod 21 are matched with the mounting holes at the left and right ends of the workpiece 5 to be carried.

[0066] In the above embodiment, preferably, the two connecting plates 223 are further provided with clamping in place detection members 225, which are preferably third contact sensors, the third contact sensors are arranged in parallel with the clamping pins, when the first clamping pins 221 and the second clamping pins 222 at the two ends of the support rod 21 are clamped in place to the workpiece 5 to be carried, the probe end of the third contact sensor on the two connecting plates 223 is pressed down, at this time, the third contact sensor determines that the first clamping pins 221 and the second clamping pins 222 at the two ends are clamped in place to the workpiece 5 to be carried.

[0067] In the above embodiment, preferably, the jig trolley positioning pin in-place detection member 24 comprises a first contact sensor, in specific installation, a fixed frame in L shape is installed on the left and right ends of the support rod 21, the vertical section of the fixed frame is fixedly connected with the back of the support rod 21 in vertical direction, the horizontal section of the fixed frame is placed above the support rod 21 and extends to the side of the jig trolley 3 or the workpiece to be carried 5, the extending direction is perpendicular to the length direction of the support rod 21. The jig trolley positioning pin 23 is fixedly installed on the end of the horizontal section of the fixed frame, the jig trolley positioning pin 23 is arranged in horizontal direction, and the axial direction of the jig trolley positioning pin 23 is perpendicular to the axial direction of the clamping pin. The first contact sensor is fixedly installed above the jig trolley positioning pin 23 by a bracket, and the probe end of the first contact sensor is flush with the tail of the jig trolley positioning pin 23.

[0068] In actual use, when the clamping frame is aligned with the jig trolley 3, the jig trolley positioning pins 23 at the left and right ends of the support rod 21 are inserted into the corresponding first positioning holes 32 (as shown in FIG. 5) at the two ends of the jig trolley 3. When the jig trolley positioning pins 23 are completely placed in the first positioning holes 32, the probe ends of the two first contact sensors are compressed under the extrusion of the jig trolley 3 to indicate that the jig trolley positioning pins 23 are confirmed to be in place. Figure 9

[0069] In the above embodiment, preferably, the delivery trolley positioning pin in-place detection member 26 comprises a second contact sensor, in specific installation, a fixed frame is fixedly installed on the left end of the support rod 21, the fixed frame is arranged on the inner side of the jig trolley positioning pin 23 on the same side, the delivery trolley positioning pin 25 is fixedly installed on the fixed frame, the delivery trolley positioning pin 25 is arranged in horizontal direction, and the axial direction of the delivery trolley positioning pin 25 is perpendicular to the axial direction of the clamping pin. The second contact sensor is fixedly installed on one side of the delivery trolley positioning pin 25, and the probe end of the second contact sensor is flush with the tail of the delivery trolley positioning pin 25.

[0070] In actual use, when the clamping frame is aligned with the delivery trolley, the delivery trolley positioning pin 25 is inserted into the corresponding second positioning hole, when the delivery trolley positioning pin 25 is completely placed in the second positioning hole, the probe end of the second contact sensor is compressed under the extrusion of the delivery trolley to indicate that the delivery trolley positioning pin 25 is confirmed to be in place.

[0071] In the above embodiment, preferably, the unlocking push rod 27 comprises a push rod 271 and a fixed frame 272, the unlocking mechanism 273 comprises a telescopic cylinder; the push rod 271 is arranged in vertical direction on the end of the fixed frame 272 close to the workpiece to be carried, the other end of the fixed frame 272 is fixedly installed on the extending end of the telescopic cylinder, the telescopic cylinder is fixedly installed on the support rod 21, and the two push rods 27 can move relatively or oppositely by the driving of the corresponding side telescopic cylinder. ​

[0072] In the above embodiment, preferably, the opposite side of the two push rods 271 is flat so as to cooperate with the two side clamps on the shipping vehicle.

[0073] In the above embodiment, preferably, the unlocking push rod 27 further includes two push rod positioning detection elements 274. The two push rod positioning detection elements 274 are symmetrically arranged on both sides of the support rod 21 and are positioned close to the telescopic cylinder. The two push rod positioning detection elements 274 are used to detect whether the push rod 271 is in position. In this embodiment, the two push rod positioning detection elements 274 are both fourth contact sensors.

[0074] In practical use, once the clamping frame is aligned with the tooling carriage 3, the push rods 271 on both sides can move the clamping parts on both sides of the tooling carriage 3 through the telescopic cylinders to remove the workpiece 5 to be transported from the tooling carriage 3, realizing a one-button unlocking function. Once the clamping frame is aligned with the shipping carriage, the push rods 271 on both sides can push the clamping plates on both sides of the shipping carriage towards the center through the telescopic cylinders to clamp the workpiece 5 to be transported onto the shipping carriage, realizing a one-button locking function. This greatly improves the automation and efficiency of transporting the workpiece 5.

[0075] In the above embodiments, preferably, the first accompanying positioning part includes an L-shaped bracket 281 and a guide wheel part 282, and the second accompanying positioning part includes an angle iron 33; wherein, the upper end of the vertical section of the L-shaped bracket 281 is fixedly installed on the left end of the support rod 21, the horizontal section of the L-shaped bracket 281 extends towards the workpiece 5 to be transported, and the guide wheel part 282 is fixedly installed at the end of the horizontal section away from its vertical section; the angle iron 33 is fixedly installed at one end of the tooling carriage 3 and is on the same side as the guide wheel part 282, and the angle iron 33 and the guide wheel part 282 can realize the accompanying positioning of the clamping frame and the tooling carriage 3.

[0076] In actual use, the height of the robotic gripper 2 at its bottom is adjusted by the telescopic arm and the lifting cylinder so that the height of the guide wheel 282 is consistent with the height of the angle iron 33 on the tooling carriage 3. At this time, the guide wheel 282 on the robotic gripper 2 can be aligned with the angle iron 33 and placed on the angle iron 33 to achieve the positioning alignment and passive following of the robotic gripper 2 and the tooling carriage 3.

[0077] like Figures 9-10 As shown, in the above embodiment, the tooling vehicle 3 includes a tooling frame 31. An angle iron 33 extends outward in the horizontal direction from the front upright of the left end of the tooling frame 31. A positioning bracket is vertically installed on the left and right sides of the upper horizontal upright of the tooling frame 31. The positioning bracket is provided with a first positioning hole 32 for the tooling positioning pin 23 to pass through. A steering wheel 34 is also installed at one end of the tooling frame 31.

[0078] In the above embodiment, preferably, a controller is further included, the plurality of first contact sensors, the second contact sensor, the plurality of third contact sensors, and the plurality of fourth contact sensors are electrically connected to input ends of the controller respectively; and the lifting mechanism, the XY displacement mechanism, and the plurality of clamping mechanisms and the plurality of unlocking structures are electrically connected to output ends of the controller respectively. In the embodiment, the controller is arranged to realize automatic positioning of the carrying system, thereby greatly saving labor and improving positioning efficiency and carrying efficiency.

[0079] In the above embodiment, preferably, a button box 6 is further included, the button box 6 in the embodiment is fixedly installed between the two operation handles 211 at the back of the support rod 21 (as shown in Figure 5 The operator can control the lifting mechanism, the XY displacement mechanism, and the plurality of clamping mechanisms and the plurality of unlocking structures through the button box 6.

[0080] The use method of the embodiment is as follows:

[0081] 1) The operator operates the operation handle 211, cooperates with the XY displacement mechanism and the lifting mechanism, moves the mechanical hand clamp 2 to the tool car 3, cooperates the guide wheel part 282 on the mechanical hand clamp 2 with the angle iron 33 on the tool car 3, and realizes following positioning of the mechanical hand clamp 2 and the tool car 3.

[0082] 2) The operator operates the mechanical hand clamp 2, makes the two-side tool car positioning pins 23 on the mechanical hand clamp 2 align with the two-side first positioning holes 33 on the tool car 3, when the first contact sensor detects and confirms the position, the operator controls the two-side clamping pins to clamp the workpiece to be carried 5 through the button box 6, when the third contact sensor detects and confirms that the clamping is in place, the operator controls the unlocking push rod 27 to act through the button box 6, so that the two-side push rods 271 on the unlocking push rod 27 push the two-side clamping members on the tool car 3 to take down the workpiece to be carried 5 from the tool car 3, and complete the one-key unlocking function, when the fourth contact sensor detects that the unlocking is in place, the operator takes out the workpiece to be carried 5 from the tool car 3 through the button box 6.

[0083] 3) The operator operates the operation handle 211, cooperates with the XY displacement mechanism and the lifting mechanism, moves the mechanical hand clamp 2 to the delivery car.

[0084] 4), the operator will locate the shipping car positioning pin 25 on the mechanical hand clamp 2 to the second positioning hole on the shipping car, when the second contact sensor detects the confirmation, the operator controls the unlocking push rod 27 to act through the button box 6, the two side push rods 271 can push the two side clamps on the shipping car to the middle through the telescopic cylinder, so as to clamp the workpiece 5 to be transported on the shipping car, realize one key locking function, when the fourth contact sensor detects the locking in place, the operator releases the two side clamping pins through the button box 6 and takes out the mechanical hand clamp 2 from the shipping car, completes the transport work of the workpiece 5 to be transported.

[0085] The above is only the preferred embodiment of the present application, and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A workpiece handling system, characterized by, The utility model relates to a kind of equipment for carrying workpiece, including: Clamping pin, two groups of the clamping pin are symmetrically installed at the left and right ends of clamping frame, two groups of the clamping pin can be clamped or released by clamping mechanism to be carried workpiece;The upper end of the clamping frame is rotatably installed on the first support, the first support is installed on the second support by lifting mechanism, the second support is movably installed on the third support by XY displacement mechanism; Tool car positioning pin and tool car positioning pin in position detection piece, two tool car positioning pins and tool car positioning pin in position detection piece are symmetrically installed at the left and right ends of the clamping frame, and the two sides of the tool car are provided with first positioning holes matched with the tool car positioning pins; Shipping car positioning pin and shipping car positioning pin in position detection piece, the shipping car positioning pin and the shipping car positioning pin in position detection piece are fixedly installed at one end of the clamping frame, and the shipping car is provided with second positioning holes matched with the shipping car positioning pins; Unlocking push rod, two unlocking push rods are symmetrically installed at the left and right ends of the clamping frame by unlocking mechanism, when the clamping frame is aligned with the tool car positioning, the unlocking push rods on both sides can push the clamping members on both sides of the tool car to the both sides by unlocking mechanism to take the workpiece to be carried from the tool car;When the clamping frame is aligned with the shipping car positioning, the unlocking push rods on both sides can push the clamping plates on both sides of the shipping car to the middle by unlocking mechanism to clamp the workpiece to be carried on the shipping car; First follow-up positioning part, the first follow-up positioning part is installed at one end of the clamping frame, and one end of the tool car is provided with second follow-up positioning part matched with the first follow-up positioning part.

2. The workpiece handling system of claim 1, wherein, The clamping frame includes a support rod extending along the length direction of the workpiece to be carried. The left and right ends of the side of the support rod close to the workpiece to be carried are oppositely provided with the clamping pins by the clamping mechanism, and the clamping pins on both sides can clamp or release the workpiece to be carried under the driving of the clamping mechanism. The tool car positioning pins and the tool car positioning pins in position detection piece, the unlocking push rods are symmetrically installed at the left and right ends of the support rod respectively, and the shipping car positioning pins and the first follow-up positioning part are fixedly installed at the left end or the right end of the support rod. The side of the support rod away from the workpiece to be carried is fixedly provided with an operating handle, and the middle top end of the support rod is rotatably installed on the first support.

3. The workpiece handling system of claim 2, wherein, Each clamping pin includes a first clamping pin and a second clamping pin arranged in parallel in the horizontal direction, and the first clamping pin and the second clamping pin are fixedly installed on a connecting plate, and the connecting plate is fixedly installed on the support rod by the clamping mechanism. The cross section of the first clamping pin is in the shape of a rhombus, and the cross section of the second clamping pin is in the shape of a circle.

4. The workpiece handling system of claim 2, wherein, The tool car positioning pin in position detection piece includes a first contact sensor. The axial direction of the positioning pins is perpendicular to the axial direction of the clamping pins; the positioning pins are fixedly installed on the left and right ends of the support rod through brackets; the first contact sensors are fixedly installed above the positioning pins on the corresponding sides; the probe ends of the first contact sensors are flush with the tail parts of the positioning pins; When the clamping frame is aligned with the delivery vehicle, the positioning pins are inserted into the second positioning holes on the corresponding ends of the delivery vehicle; when the positioning pins are completely placed in the second positioning holes, the probe ends of the second contact sensors are compressed under the extrusion of the delivery vehicle to indicate that the positioning pins are correctly positioned in the second positioning holes.

5. The workpiece handling system of claim 2, wherein, The positioning pin position detection member of the delivery vehicle includes a second contact sensor; The axial direction of the positioning pin is perpendicular to the axial direction of the clamping pin; the positioning pin is fixedly installed on one end of the support rod through a bracket, and the installation height of the positioning pin is lower than that of the positioning pin of the work vehicle; the second contact sensor is fixedly installed on one side of the positioning pin, and the probe end of the second contact sensor is flush with the tail part of the positioning pin; When the clamping frame is aligned with the delivery vehicle, the positioning pin is inserted into the second positioning hole on the corresponding end of the delivery vehicle; when the positioning pin is completely placed in the second positioning hole, the probe end of the second contact sensor is compressed under the extrusion of the delivery vehicle to indicate that the positioning pin is correctly positioned in the second positioning hole.

6. The workpiece handling system of claim 2, wherein, The unlocking push rod includes a push rod and a fixed frame, and the unlocking mechanism includes a telescopic cylinder; The push rod is arranged in the vertical direction on one end of the fixed frame close to the workpiece to be transported, and the other end of the fixed frame is fixedly installed on the extension end of the telescopic cylinder, which is fixedly installed on the support rod; When the clamping frame is aligned with the work vehicle, the two push rods can move the two clamping members on the work vehicle to the left and right through the telescopic cylinder, so as to remove the workpiece to be transported from the work vehicle; When the clamping frame is aligned with the delivery vehicle, the two push rods can push the two clamping plates on the delivery vehicle to the middle through the telescopic cylinder, so as to clamp the workpiece to be transported on the delivery vehicle.

7. The workpiece handling system of claim 2, wherein, The first following positioning part includes an L-shaped bracket and a guide wheel part, and the second following positioning part includes an angle iron; The vertical section of the L-shaped bracket is fixedly installed on the left end or the right end of the support rod, the horizontal section of the L-shaped bracket extends towards the workpiece to be transported, and the end of the horizontal section away from the vertical section is fixedly installed with the guide wheel part; The angle iron is fixedly installed on one end of the work vehicle and is on the same side as the guide wheel part, and the angle iron and the guide wheel part can realize the following positioning of the clamping frame and the work vehicle.

8. The workpiece handling system of claim 1, wherein, The XY displacement mechanism comprises a first guide rail group and a second guide rail group arranged in layers from top to bottom, the first guide rail group is arranged along the X-axis direction, and the second guide rail group is arranged along the Y-axis direction. The second support is slidably mounted on the second guide rail group, the second guide rail group is slidably mounted on the first guide rail group, and the first guide rail group is fixedly mounted on the third support.

9. The workpiece handling system of claim 8, wherein, The lifting mechanism comprises a telescopic arm, the telescopic arm is vertically movable through a lifting cylinder, the upper end of the telescopic arm is fixedly connected with the second support, and the telescopic arm is rotatably connected with the clamping frame through a rotating part.

10. The workpiece handling system of claim 1, wherein, The controller is further provided, and the plurality of jig vehicle positioning pin in-place detection pieces and the shipping vehicle positioning pin in-place detection pieces are respectively electrically connected with the input end of the controller. The lifting mechanism, the XY displacement mechanism, and the plurality of clamping mechanisms and the plurality of unlocking mechanisms are respectively electrically connected with the output end of the controller.

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