Workpiece transfer tooling

Abstract

The application discloses a workpiece transfer tool, and relates to the technical field of workpiece transfer equipment, which comprises a connecting mechanism, a first driving mechanism, a second driving mechanism, a third driving mechanism, a fourth driving mechanism and a fifth driving mechanism; the connecting mechanism can be detachably connected to a workpiece; the first driving mechanism drives the connecting mechanism to deflect relative to a pipeline; the second driving mechanism drives the first driving mechanism to move linearly on the outer side of the pipeline in a direction away from or close to the outer surface of the pipeline; the third driving mechanism drives the fourth driving mechanism and the second driving mechanism to move linearly on the outer side of the pipeline in a direction parallel to the axial direction of the pipeline; the fourth driving mechanism drives the second driving mechanism to deflect on the outer side of the pipeline in a direction away from or close to the outer surface of the pipeline; and the fifth driving mechanism drives the third driving mechanism to rotate on the outer side of the pipeline along an axis perpendicular to the outer surface of the pipeline. The workpiece transfer tool provided by the application is convenient for transferring workpieces along a complex transfer path and improves work efficiency.

Description

Technical Field

[0001] This invention relates to the field of workpiece transfer equipment technology, and more particularly to a workpiece transfer fixture. Background Technology

[0002] In environments with high temperature, high pressure, low temperature, low pressure, dust, noise, odor, radioactivity, or other toxic pollution, as well as in confined workspaces, direct manual operation is dangerous or simply impossible. However, the use of robotic arms and other equipment can partially or completely replace humans in safely completing tasks, thereby improving working conditions.

[0003] For automated transfer and loading / unloading operations of workpieces exposed in the field of view, the paths are usually relatively simple and the working space is relatively large. The workpieces being installed or removed are often exposed in the field of view, and the workpieces themselves do not need to go through complex movement paths to be transferred. However, some important workpieces need to be set as irregular shapes and installed inside closed components such as pipes or spheres. The workpieces need to be put into or taken out through the process holes of the closed components. Because the loading and unloading movement channel space of such workpieces is narrow, the workpieces need to be repeatedly rotated and translated to be taken out or put into the machine. The transfer path is more complex, and traditional robotic arms are difficult to achieve multi-degree-of-freedom movement of the workpieces. The transfer of workpieces takes a long time and affects work efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a workpiece transfer fixture to solve the problems existing in the prior art, facilitate the transfer of workpieces with complex transfer paths, and improve work efficiency.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] This invention provides a workpiece transfer fixture, including a connecting mechanism, a first driving mechanism, a second driving mechanism, a third driving mechanism, a fourth driving mechanism, and a fifth driving mechanism. The connecting mechanism is used to detach a workpiece connected to a process hole. The first driving mechanism is connected to the connecting mechanism and can drive the connecting mechanism and the workpiece to deflect synchronously relative to a pipe. The second driving mechanism is connected to the first driving mechanism and can drive the first driving mechanism and the connecting mechanism to move synchronously in a linear direction away from or near the outer surface of the pipe on the outside of the pipe. The third driving mechanism is connected to the second driving mechanism and can drive the second driving mechanism, the first driving mechanism, and the connecting mechanism to move synchronously in a linear direction away from or near the outer surface of the pipe on the outside of the pipe. The outer side moves synchronously in a linear direction parallel to the axial direction of the pipe; the fourth drive mechanism is connected to both the second and third drive mechanisms and can drive the second drive mechanism, the first drive mechanism, and the connecting mechanism to rotate synchronously on the outer side of the pipe in a direction away from or close to the outer surface of the pipe, and the third drive mechanism can drive the fourth drive mechanism and the second drive mechanism to move synchronously in a linear direction; the fifth drive mechanism is connected to the third drive mechanism and can drive the fourth drive mechanism, the third drive mechanism, the second drive mechanism, the first drive mechanism, and the connecting mechanism to rotate synchronously on the outer side of the pipe along an axis perpendicular to the outer surface of the pipe.

[0007] Preferably, the connecting mechanism includes a connecting frame, a clamping component, and an unlocking component. The connecting frame is connected to the first driving mechanism. The clamping component is disposed on the connecting frame and can clamp the workpiece. The unlocking component is disposed on the connecting frame and can control the clamping component to release the workpiece.

[0008] Preferably, the connecting frame is U-shaped, and the clamping assembly includes two sleeves fixedly arranged in parallel within the connecting frame. Each sleeve has locking blocks at both ends that slide through opposite side arms of the connecting frame. Each sleeve has an elastic component inside both ends. Each locking block is slidably disposed within the sleeve, with one end extending beyond the side arm. Each locking block can slide inwards into the sleeve and compress the corresponding elastic component, and the restoring force of each elastic component has the capacity to push the corresponding locking block outwards from the sleeve. The clamping assembly further includes locking bolts disposed on the outer walls of the two side arms; the locking blocks at both ends of each sleeve can extend out of the corresponding side arm and are used to support two lugs at one end of the workpiece respectively, and the locking bolts on the two side arms are used to limit the two lugs at one end of the workpiece to clamp the workpiece; the unlocking assembly is disposed between the two sleeves and connected to each locking block, and the unlocking assembly can push each locking block to slide into the corresponding sleeve to release the workpiece from clamping.

[0009] Preferably, the unlocking assembly includes an unlocking screw and two unlocking components. The unlocking screw is arranged parallel between the two sleeves and is rotatably connected to the two side arms. The two unlocking components are threaded onto both ends of the unlocking screw and can abut against the opposite sides of the two sleeves. A limiting component fixedly connected to the connecting frame is rotatably connected in the middle of the unlocking screw. The two unlocking components are respectively connected to the locking blocks on the two side arms. Both ends of the unlocking screw are driving ends and can extend out of the two side arms respectively. The driving ends are used to rotate the unlocking screw under the drive of an external drive and to make the two unlocking components move towards each other under the guidance of the two sleeves to drive each locking block to slide into the sleeve.

[0010] Preferably, the first driving mechanism includes a first support frame, a guide frame, and a first driving member. One end of the first support frame is connected to the second driving mechanism, and the other end is fixedly connected to the guide frame. The guide frame includes a movable frame and two opposing and spaced-apart arc-shaped guide plates. The two arc-shaped guide plates are fixedly connected to the first support frame and have arc-shaped guide grooves on their opposing side surfaces. The movable frame is disposed between the two arc-shaped guide plates and slidably connected to the two arc-shaped guide grooves. The movable frame is fixedly connected to the connecting mechanism. The first driving member is disposed on the first support frame, and its free end is movably connected to the movable frame. The first driving member can adjust its length to drive the movable frame and the connecting mechanism to slide along the arc-shaped guide grooves for synchronous deflection.

[0011] Preferably, the second driving mechanism includes a second support frame and a second driving member. The second support frame is connected to both the third driving mechanism and the fourth driving mechanism. The first driving mechanism is slidably disposed on the second support frame, and the second driving member is disposed on the second support frame and connected to the first driving mechanism. The second driving member can drive the first driving mechanism to move linearly relative to the second support frame in a direction away from or close to the outer surface of the pipe.

[0012] Preferably, the third driving mechanism includes a third support frame and a third driving member. The third support frame is connected to the fourth driving mechanism, the fifth driving mechanism, and the second driving mechanism. The third driving member is disposed on the third support frame and connected to the fourth driving mechanism and the second driving mechanism. The third driving member is capable of driving the second driving mechanism and the fourth driving mechanism to move linearly along a direction parallel to the axial direction of the pipe outside the pipe.

[0013] Preferably, it further includes two force sensors respectively disposed on the third drive mechanism and the fourth drive mechanism, wherein the fourth drive mechanism is capable of adjusting its own length to drive the second drive mechanism to deflect on the outside of the pipe in a direction away from or close to the outer surface of the pipe.

[0014] Preferably, the fifth drive mechanism includes a mounting plate and a support base; the mounting plate and the support base are rotatably connected along an axis perpendicular to the outer surface of the pipe, the mounting plate is used to be fixedly connected to the pipe, the third drive mechanism is disposed on the support base, and the support base can rotate relative to the mounting plate and drive the third drive mechanism to rotate synchronously.

[0015] Preferably, it further includes a control mechanism and a walking mechanism. The control mechanism is communicatively connected to and controls the first drive mechanism, the second drive mechanism, the third drive mechanism, the fourth drive mechanism, and the force sensor. The fifth drive mechanism can be mounted on the walking mechanism.

[0016] The present invention achieves the following technical effects compared to the prior art:

[0017] The workpiece transfer fixture provided by this invention connects to the workpiece at the process hole via a connecting mechanism, and adopts a detachable connection method for easy transfer. The connecting mechanism, under the action of the first driving mechanism, drives the workpiece to rotate synchronously relative to the pipe. The second driving mechanism drives the first driving mechanism and the connecting mechanism to move synchronously linearly on the outside of the pipe in a direction away from or near the outer surface of the pipe. The third driving mechanism drives the fourth driving mechanism, the second driving mechanism, the first driving mechanism, and the connecting mechanism to move synchronously linearly on the outside of the pipe in a direction parallel to the pipe's axial direction. The fourth driving mechanism drives the second driving mechanism, the first driving mechanism, and the connecting mechanism to deflect synchronously on the outside of the pipe in a direction away from or near the outer surface of the pipe. The fifth driving mechanism drives the fourth driving mechanism, the third driving mechanism, the second driving mechanism, the first driving mechanism, and the connecting mechanism to rotate synchronously on the outside of the pipe along an axis perpendicular to the outer surface of the pipe. Thus, by setting the first, second, third, fourth, and fifth driving mechanisms, the entire workpiece transfer fixture has multiple degrees of freedom, enabling repeated rotation and translation of the workpiece, realizing the transfer of workpieces with complex paths, and improving efficiency. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A schematic diagram of the workpiece transfer fixture provided in Embodiment 1 in its usage state;

[0020] Figure 2 This is a front view of the workpiece transfer fixture provided in Embodiment 1 under its usage state;

[0021] Figure 3 This is a schematic diagram of the connection structure provided in Embodiment 1;

[0022] Figure 4 This is a connection diagram of the first driving mechanism and the connecting mechanism provided in Embodiment 1;

[0023] Figure 5 A schematic diagram showing the connection between the first driving mechanism, the connecting mechanism, and the workpiece provided in Embodiment 1;

[0024] Figure 6 This is a schematic diagram of the structure of the second drive mechanism provided in Embodiment 1;

[0025] Figure 7 A schematic diagram of the third drive mechanism provided in Embodiment 1;

[0026] Figure 8 This is a half-sectional structural diagram of the fifth drive mechanism provided in Embodiment 1.

[0027] Icons: 1-Workpiece transfer fixture; 10-Connecting mechanism; 11-Connecting frame; 111-Side arm; 12-Clamping assembly; 121-Sleeve; 1211-Slide groove; 122-Locking block; 1221-Sliding pin; 123-Elastic component; 124-Locking bolt; 13-Unlocking assembly; 131-Unlocking screw; 1311-Drive end; 132-Unlocking component; 133-Limiting component; 20-First driving mechanism; 21-First support frame; 211-Sleeve block; 212-First slider; 22-Guide frame; 221-Modible frame; 222-Arc-shaped guide plate; 223-Arc-shaped guide groove; 23-First driving component; 30-Second driving mechanism; 31-Second support frame; 32-Second driving component; 321-Second driving motor; 322-Second driving screw; 323-Second slide rail; 40-Third driving mechanism; 41-Third support frame; 411-Third slide rail; 412-Third slider; 42-Third driving component; 421-Third driving electric cylinder; 422-Connecting block; 50-Fourth driving mechanism; 60-Fifth driving mechanism; 61-Mounting plate; 62-Support base; 70-Force sensor; 80-Control mechanism; 2-Workpiece; 3-Pipe; 4-Hanging ear; 5-Process hole. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] The purpose of this invention is to provide a workpiece transfer fixture to solve the problems existing in the prior art, facilitate the transfer of workpieces with complex transfer paths, and improve work efficiency.

[0030] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] Example 1

[0032] This embodiment provides a workpiece transfer fixture 1. Please refer to [link / reference]. Figures 1-8The system includes a connecting mechanism 10, a first driving mechanism 20, a second driving mechanism 30, a third driving mechanism 40, a fourth driving mechanism 50, and a fifth driving mechanism 60. The connecting mechanism 10 is used to disassemble the workpiece 2 connected to the process hole 5. The first driving mechanism 20 is connected to the connecting mechanism 10 and can drive the connecting mechanism 10 and the workpiece 2 to deflect synchronously relative to the pipe 3. The second driving mechanism 30 is connected to the first driving mechanism 20 and can drive the first driving mechanism 20 and the connecting mechanism 10 to move synchronously in a linear direction away from or near the outer surface of the pipe 3. The third driving mechanism 40 is connected to the second driving mechanism 30 and can drive the second driving mechanism 30, the first driving mechanism 20, and the connecting mechanism 10 to deflect synchronously. 0 moves synchronously in a straight line on the outside of pipe 3 in a direction parallel to the axial direction of pipe 3; the fourth drive mechanism 50 is connected to both the second drive mechanism 30 and the third drive mechanism 40, and can drive the second drive mechanism 30, the first drive mechanism 20 and the connecting mechanism 10 to rotate synchronously on the outside of pipe 3 in a direction away from or close to the outer surface of pipe 3, and the third drive mechanism 40 can drive the fourth drive mechanism 50 and the second drive mechanism 30 to move synchronously in a straight line; the fifth drive mechanism 60 is connected to the third drive mechanism 40, and can drive the fourth drive mechanism 50, the third drive mechanism 40, the second drive mechanism 30, the first drive mechanism 20 and the connecting mechanism 10 to rotate synchronously on the outside of pipe 3 along an axis perpendicular to the outer surface of pipe 3.

[0033] The workpiece 2 is connected to the process hole 5 via the connecting mechanism 10, and the connection is detachable for easy transfer. The connecting mechanism 10, under the action of the first driving mechanism 20, causes the workpiece 2 to rotate synchronously relative to the pipe 3. The second driving mechanism 30 drives the first driving mechanism 20 and the connecting mechanism 10 to move synchronously linearly on the outside of the pipe 3 in a direction away from or close to the outer surface of the pipe 3. The third driving mechanism 40 drives the fourth driving mechanism 50, the second driving mechanism 30, the first driving mechanism 20, and the connecting mechanism 10 to move synchronously linearly on the outside of the pipe 3 in a direction parallel to the axial direction of the pipe 3. The fourth driving mechanism 50 drives the second driving mechanism 30, the first driving mechanism 20, and the connecting mechanism 10 to move synchronously linearly on the outside of the pipe 3 in a direction parallel to the axial direction of the pipe 3. Mechanism 20 and connecting mechanism 10 deflect synchronously on the outside of pipe 3 in a direction away from or close to the outer surface of pipe 3; the fifth driving mechanism 60 drives the fourth driving mechanism 50, the third driving mechanism 40, the second driving mechanism 30, the first driving mechanism 20 and the connecting mechanism 10 to rotate synchronously on the outside of pipe 3 along an axis perpendicular to the outer surface of pipe 3; thus, by setting the first driving mechanism 20, the second driving mechanism 30, the third driving mechanism 40, the fourth driving mechanism 50 and the fifth driving mechanism 60, the entire workpiece transfer fixture 1 has multiple degrees of freedom, which can complete the repeated rotation and translation of workpiece 2, realize the transfer of workpiece 2 with complex path and improve efficiency.

[0034] Specifically, during the use of the entire workpiece transfer fixture 1, please refer to... Figure 2 It can be set above the pipe 3. The first drive mechanism 20 drives the connecting mechanism 10 and the workpiece 2 to deflect vertically; the second drive mechanism 30 drives the first drive mechanism 20 and the connecting mechanism 10 to move up and down vertically; the third drive mechanism 40 drives the fourth drive mechanism 50, the second drive mechanism 40, the first drive mechanism 20 and the connecting mechanism 10 to move linearly on the surface of the pipe 3; the fourth drive mechanism 50 drives the second drive mechanism 30, the first connecting mechanism 20 and the connecting mechanism 10 to deflect vertically; the fifth drive mechanism 60 drives the fourth drive mechanism 50, the third drive mechanism 40, the second drive mechanism 30, the first drive mechanism 20 and the connecting mechanism 10 to rotate around a vertical axis.

[0035] In the optional solutions of this embodiment, a more preferred option is described in the following description: Figure 3 and Figure 4 The connecting mechanism 10 includes a connecting frame 11, a clamping assembly 12, and an unlocking assembly 13. The connecting frame 11 is connected to the first driving mechanism 20. The clamping assembly 12 is disposed on the connecting frame 11 and can clamp the workpiece 2. The unlocking assembly 13 is disposed on the connecting frame 11 and can control the clamping assembly 12 to release the workpiece 2. By setting the clamping assembly 12 and the unlocking assembly 13, it is convenient to achieve a detachable connection of the workpiece 2.

[0036] In the optional solutions of this embodiment, a more preferred option is described in the following description: Figure 3The connecting frame 11 is U-shaped. The clamping assembly 12 includes two sleeves 121 fixedly arranged in parallel within the connecting frame 11. Each sleeve 121 has locking blocks 122 at both ends that slide through the opposite side arms 111 of the connecting frame 11. Each sleeve 121 has an elastic member 123 at both ends. Each locking block 122 is slidably arranged within the sleeve 121 and has one end that can extend out of the side arm 111. Each locking block 122 can slide inward into the sleeve 121 and compress the corresponding elastic member 123. The restoring force of each elastic member 123 has a tendency to push the corresponding locking block 122 outward from the sleeve 121. The clamping assembly 12 also includes locking bolts 124 disposed on the outer walls of the two side arms 111. Specifically, the locking blocks 122 at both ends of each sleeve 121 can extend out of the corresponding side arm 111 and are used to support the two lugs 4 at one end of the workpiece 2 respectively. The locking bolts 124 on the two side arms 111 are used to limit the two lugs 4 at one end of the workpiece 2 to clamp the workpiece 2. The unlocking component 13 is disposed between the two sleeves 121 and is connected to each locking block 122. The unlocking component 13 can push each locking block 122 to slide into the corresponding sleeve 121 to release the workpiece 2. Each locking block 122 can extend out of the side arm 111 again to support the workpiece 2 under the restoring force of the corresponding elastic component 123, or extend out of the side arm 111 again to support the workpiece 2 with the help of the unlocking component 13.

[0037] Specifically, each elastic component 123 can be configured as a spring. One end of each elastic component 123 is fixedly connected to the inner end of the corresponding locking block 122, and the other end is fixedly connected to the middle part of the sleeve 121. Thus, when the locking block 122 slides inward, it can squeeze the elastic component 123. There are four locking bolts 124, two of which are set on the outer side of one side arm 122. The two sleeves 121 and four locking blocks 122 are set together to facilitate the connection of the two hanging ears 4 at one end of the workpiece 2. The locking blocks 122 support the lower side of the hanging ears 4, and the locking bolts 124 abut against the upper outer side of the hanging ears 4 away from the side arm 111 to limit the connection and improve the stability of the connection. The part of each locking block 122 that can extend out of the side arm 122 can fully contact the hanging ears 4 to increase the support area.

[0038] In the optional solutions of this embodiment, a more preferred option is described in the following description: Figure 3The unlocking assembly 13 includes an unlocking screw 131 and two unlocking components 132. The unlocking screw 131 is arranged parallel between two sleeves 121 and is rotatably connected to two side arms 111. The two unlocking components 132 are threaded onto both ends of the unlocking screw 131 and can abut against the opposite sides of the two sleeves 121. The unlocking screw 131 is rotatably connected to a limiting member 133 fixedly connected to the connecting frame 11. The two unlocking components 132 are respectively connected to the locking blocks 122 on the two side arms 111. Both ends of the unlocking screw 131 are driving ends 1311 and can extend out of the two side arms 111 respectively. The driving ends 1311 are used to drive the unlocking screw under the drive of an external drive. The lever 131 rotates, causing the two unlocking members 132 to move towards each other under the guidance of the two sleeves 121, thereby driving each locking block 122 to slide into the sleeve 121. Correspondingly, each sleeve 121 has a sliding groove 1211 on both side walls at both ends, and each locking block 122 has a sliding pin 1221 on both sides of its inner end. The sliding pin 1221 on the inner side of each locking block 122 can extend out of the sliding groove 1211 and abut against the side of the unlocking member 132 near the limiting member 133. Thus, when the two unlocking members 132 move towards each other, they can drive each locking block 122 to slide inward. When the two unlocking members 132 move outward, the locking block 122 can slide outward and re-extend from the side arm 111 under the restoring force of the corresponding elastic member 123.

[0039] Specifically, the unlocking component 132 can be set as a nut, and the limiting component 133 can be set as a limiting block fixedly connected to the connecting frame 11 to limit the movement of the unlocking component 132. The driving end 1311 can be set as a hexagonal nut and driven to rotate by an internal hex wrench, thereby driving the entire unlocking screw 131 to rotate. The threads on the unlocking screw 131 on both sides of the limiting component 133 have opposite directions, so that the two unlocking components 132 can move towards each other or away from each other.

[0040] In the optional solutions of this embodiment, a more preferred option is described in the following description: Figure 4 and Figure 5The first drive mechanism 20 includes a first support frame 21, a guide frame 22, and a first drive member 23. One end of the first support frame 21 is connected to the second drive mechanism 30, and the other end is fixedly connected to the guide frame 22. The guide frame 22 includes a movable frame 221 and two opposing and spaced arc-shaped guide plates 222. The two arc-shaped guide plates 222 are fixedly connected to the first support frame 21, and arc-shaped guide grooves 223 are provided on their opposing side surfaces. The movable frame 221 is disposed between the two arc-shaped guide plates 222 and slidably connected to the two arc-shaped guide grooves 223. The movable frame 221 is fixedly connected to the connecting mechanism 10. The first drive member 23 is disposed on the first support frame 21, and the free end of the first drive member 23 is movably connected to the movable frame 221. The first driving component 23 can adjust its own length to drive the movable frame 221 and the connecting mechanism 10 to slide along the arc-shaped guide groove 223 for synchronous deflection. Specifically, the connecting frame 11 of the connecting mechanism 10 is fixedly connected to the movable frame 221 by bolts. The two sides of the movable frame 221 are slidably connected to the arc-shaped guide groove 223 by guide bolts. The arc-shaped guide plate 222 is fixedly connected to the first support frame 21 by locking bolts. By setting the arc-shaped guide plate 222 and the arc-shaped guide groove 223, the movement path of the connecting mechanism 10 is optimized, so that the movement path of the workpiece 2 is arc-shaped. Compared with multiple linear translation movements, the arc-shaped path can save the space required for the movement of the workpiece 2, reduce the risk of interference with the loading and unloading channel wall, and improve the reliability and efficiency of loading and unloading.

[0041] Specifically, the first driving member 23 is configured as a driving electric cylinder. One end of the first driving member 23 is fixedly connected to the first support frame 21, and the other end is hinged to the movable frame 221. The first driving member 23 can change its own length to drive the movable frame 221 to move and drive the connecting mechanism 10 to slide synchronously. In addition, it should be noted that the first driving member 23 can also be configured as other mechanisms that can change their own length, such as a hydraulic telescopic cylinder, as long as it can drive the movable frame 221 to move.

[0042] In the optional solutions of this embodiment, a more preferred option is described in the following description: Figure 6 The second drive mechanism 30 includes a second support frame 31 and a second drive member 32. The second support frame 31 is connected to both the third drive mechanism 40 and the fourth drive mechanism 50. The first drive mechanism 20 is slidably disposed on the second support frame 31. The second drive member 32 is disposed on the second support frame 31 and connected to the first drive mechanism 20. The second drive member 32 can drive the first drive mechanism 20 to move linearly relative to the second support frame 31 in a direction away from or close to the outer surface of the pipe 3.

[0043] Specifically, the second driving component 32 is configured to include a second driving motor 321 and a second driving screw 322. The second driving motor 321 is fixedly mounted on the second support frame 31, and the second driving screw 322 is rotatably mounted on the second support frame 31. The second support frame 31 is also provided with second slide rails 323 on both sides. The first support frame 21 is fixedly mounted with a sleeve block 211 that is threadedly connected to the second driving screw 322. The first support frame 21 is also provided with a first slider 212 that slides in cooperation with the second slide rails 323. The second driving motor 321 drives the second driving screw 322 to rotate and drives the first support frame 21 to slide along the second slide rails 323 through the sleeve block 211. In addition, the second driving component 32 can also be configured with other structures, such as an electric or hydraulic telescopic mechanism, as long as it can drive the first driving mechanism 20 to move linearly, and is not limited to the above-mentioned structure.

[0044] In the optional solutions of this embodiment, a more preferred option is described in the following description: Figure 7 The third drive mechanism 40 includes a third support frame 41 and a third drive member 42. The third support frame 41 is connected to the fourth drive mechanism 50, the fifth drive mechanism 60 and the second drive mechanism 30. The third drive member 42 is disposed on the third support frame 41 and is connected to the fourth drive mechanism 50 and the second drive mechanism 30. The third drive member 42 can drive the second drive mechanism 30 and the fourth drive mechanism 50 to move linearly on the outside of the pipe 3 in a direction parallel to the axial direction of the pipe 3.

[0045] Specifically, the third driving component 42 is configured to include a third driving electric cylinder 421, a connecting block 422, and a driving plate. The third support frame 41 includes a third slide rail 411 and a third slider 412 slidably disposed on the third slide rail 411. The driving plate is fixedly connected to the connecting block 422 and each slider 411. The upper surface of the driving plate is hinged to the fourth driving mechanism 50 and the second support frame 31. The driving end of the third driving electric cylinder 421 is hinged to the connecting block 422. The third driving electric cylinder 421 extends and retracts linearly and drives the driving plate, the second driving mechanism 30, and the fourth driving mechanism 50 to move linearly under the cooperation of the third slider 412 and the third slide rail 411 through the connecting block 422. Furthermore, a force sensor 70 can be installed at the driving end of the third driving electric cylinder 421 to monitor whether the sliding driving process is obstructed. In addition, the third driving component 42 can also be configured with other structures, such as a hydraulic telescopic mechanism, as long as it can drive the second driving mechanism 30 and the fourth driving mechanism 50 to move linearly, and is not limited to the above-mentioned structures.

[0046] In the optional solutions of this embodiment, a more preferred option is described in the following description: Figure 2The fourth drive mechanism 50 is equipped with a force sensor 70. The fourth drive mechanism 50 can adjust its length to drive the second drive mechanism 30 to deflect in a direction away from or close to the outer surface of the pipe 3. Specifically, the fourth drive mechanism 50 is configured as a telescopic electric cylinder, with one end hinged to the third drive mechanism 40 and the other end hinged to the second drive mechanism 30 through the force sensor 70. By telescopically driving the second drive mechanism 30 to deflect, the workpiece is driven to deflect synchronously through the first drive mechanism 20 and the connecting mechanism 10. When the workpiece 2 is obstructed, the value of the force sensor 70 increases, which facilitates the monitoring of whether the workpiece 2 is obstructed. Together with the force sensor 70 on the third drive mechanism 40, the obstruction status of the entire workpiece transfer fixture 1 is monitored. In addition, the fourth drive mechanism 50 can also be configured as other telescopic structures, such as a hydraulic telescopic mechanism, as long as it can drive the second drive mechanism 30 to deflect, and is not limited to the above-mentioned structures.

[0047] In the optional solutions of this embodiment, a more preferred option is described in the following description: Figure 8 The fifth drive mechanism 60 includes a mounting plate 61 and a support base 62. The mounting plate 61 and the support base 62 are rotatably connected along an axis perpendicular to the outer surface of the pipe 3. The mounting plate 61 is fixedly connected to the pipe 3. The third drive mechanism 40 is disposed on the support base 62. The support base 62 can rotate relative to the mounting plate 61 and drive the third drive mechanism 40 to rotate synchronously. Specifically, the mounting plate 61 and the support base 62 are rotatably connected by bearings. The support base 62 is manually driven to rotate relative to the mounting plate 61. The mounting plate 61 can be bolted to the flange on the pipe 3, and the support base 62 can be bolted to the third drive mechanism 40.

[0048] More preferably, the fifth drive mechanism 60 can also be configured as a conventional electrically controlled rotary drive mechanism, which saves manpower and is easy to control.

[0049] In the optional scheme of this embodiment, more preferably, the workpiece transfer fixture 1 provided in this embodiment further includes a control mechanism 80 and a walking mechanism. The control mechanism 80 is communicatively connected to and controls the first drive mechanism 20, the second drive mechanism 30, the third drive mechanism 40, the fourth drive mechanism 50 and the force sensor 70. The fifth drive mechanism 60 can be set on the walking mechanism. By setting the control mechanism 80, the actions of the relevant mechanisms can be controlled, and the monitoring signal of the force sensor 70 can be received in time to determine whether the movement is obstructed, so as to stop in time. The walking mechanism facilitates the transportation of the entire workpiece transfer fixture 1.

[0050] Specifically, the control mechanism 80 is configured as a control cabinet, which can be fixedly mounted on the drive plate of the third drive mechanism 40, facilitating communication with the drive parts of the first drive mechanism 20, the second drive mechanism 30, the third drive mechanism 40 and the fourth drive mechanism 50; the walking mechanism can be directly configured as a trolley, facilitating the transfer and handling of the entire workpiece transfer fixture 1.

[0051] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A workpiece transfer fixture, characterized in that: include: A connecting mechanism for disassembling a workpiece connected to a process hole; A first driving mechanism is connected to the connecting mechanism and is capable of driving the connecting mechanism and the workpiece to deflect synchronously relative to the pipeline. The second driving mechanism is connected to the first driving mechanism and is capable of driving the first driving mechanism and the connecting mechanism to move synchronously in a straight line on the outside of the pipe in a direction away from or close to the outer surface of the pipe. The third drive mechanism is connected to the second drive mechanism and is capable of driving the second drive mechanism, the first drive mechanism and the connecting mechanism to move synchronously in a linear direction parallel to the axial direction of the pipe on the outside of the pipe. The fourth drive mechanism is connected to both the second drive mechanism and the third drive mechanism, and is capable of driving the second drive mechanism, the first drive mechanism, and the connecting mechanism to deflect synchronously on the outside of the pipe in a direction away from or close to the outer surface of the pipe; and the third drive mechanism is capable of driving the fourth drive mechanism to move linearly synchronously with the second drive mechanism. The fifth drive mechanism is connected to the third drive mechanism and is capable of driving the fourth drive mechanism, the third drive mechanism, the second drive mechanism, the first drive mechanism and the connecting mechanism to rotate synchronously on the outside of the pipe along an axis perpendicular to the outer surface of the pipe. The connecting mechanism includes a connecting frame, a clamping component, and an unlocking component. The connecting frame is connected to the first driving mechanism. The clamping component is disposed on the connecting frame and can clamp the workpiece. The unlocking component is disposed on the connecting frame and can control the clamping component to release the workpiece. The connecting frame is U-shaped. The clamping assembly includes two sleeves fixedly arranged in parallel within the connecting frame. Each sleeve has locking blocks at both ends that slide through opposite side arms of the connecting frame. Each sleeve has an elastic component inside both ends. Each locking block is slidably arranged inside the sleeve and has one end that can extend out of the side arm. Each locking block can slide inward into the sleeve and compress the corresponding elastic component. The restoring force of each elastic component has a tendency to push the corresponding locking block outward from the sleeve. The clamping assembly also includes locking bolts on the outer walls of the two side arms. The locking blocks at both ends of each sleeve can extend out of the corresponding side arm and are used to support two lugs at one end of the workpiece. The locking bolts on the two side arms are used to limit the two lugs at one end of the workpiece to clamp the workpiece. The unlocking component is disposed between the two sleeves and connected to each of the locking blocks. The unlocking component can push each of the locking blocks to slide into the corresponding sleeve to release the workpiece.

2. The workpiece transfer fixture according to claim 1, characterized in that: The unlocking assembly includes an unlocking screw and two unlocking components. The unlocking screw is arranged parallel between the two sleeves and is rotatably connected to the two side arms. The two unlocking components are threaded onto both ends of the unlocking screw and can abut against the opposite sides of the two sleeves. A limiting component that is fixedly connected to the connecting frame is rotatably connected to the middle of the unlocking screw. The two unlocking components are respectively connected to the locking blocks on the two side arms. Both ends of the unlocking screw are driving ends and can extend out of the two side arms respectively. The driving ends are used to rotate the unlocking screw under the drive of the external drive, and to make the two unlocking parts move towards each other under the guidance of the two sleeves so as to drive each locking block to slide into the sleeve.

3. The workpiece transfer fixture according to claim 1, characterized in that: The first driving mechanism includes a first support frame, a guide frame, and a first driving component. One end of the first support frame is connected to the second driving mechanism, and the other end is fixedly connected to the guide frame. The guide frame includes a movable frame and two opposing and spaced-apart arc-shaped guide plates. The two arc-shaped guide plates are fixedly connected to the first support frame, and arc-shaped guide grooves are provided on their opposing side surfaces. The movable frame is disposed between the two arc-shaped guide plates and slidably connected to the two arc-shaped guide grooves. The movable frame is fixedly connected to the connecting mechanism. The first driving component is disposed on the first support frame, and the free end of the first driving component is movably connected to the movable frame. The first driving member can adjust its own length to drive the movable frame and the connecting mechanism to slide along the arc-shaped guide groove for synchronous deflection.

4. The workpiece transfer fixture according to claim 1, characterized in that: The second drive mechanism includes a second support frame and a second drive member. The second support frame is connected to both the third drive mechanism and the fourth drive mechanism. The first drive mechanism is slidably disposed on the second support frame. The second drive member is disposed on the second support frame and connected to the first drive mechanism. The second drive member can drive the first drive mechanism to move linearly relative to the second support frame in a direction away from or close to the outer surface of the pipe.

5. The workpiece transfer fixture according to claim 1, characterized in that: The third driving mechanism includes a third support frame and a third driving component. The third support frame is connected to the fourth driving mechanism, the fifth driving mechanism, and the second driving mechanism. The third driving component is disposed on the third support frame and connected to the fourth driving mechanism and the second driving mechanism. The third driving component can drive the second driving mechanism and the fourth driving mechanism to move linearly on the outside of the pipe in a direction parallel to the axial direction of the pipe.

6. The workpiece transfer fixture according to claim 1, characterized in that: It also includes two force sensors respectively disposed on the third drive mechanism and the fourth drive mechanism. The fourth drive mechanism is capable of adjusting its own length to drive the second drive mechanism to deflect on the outside of the pipe in a direction away from or close to the outer surface of the pipe.

7. The workpiece transfer fixture according to claim 1, characterized in that: The fifth drive mechanism includes a mounting plate and a support base; the mounting plate and the support base are rotatably connected along an axis perpendicular to the outer surface of the pipe; the mounting plate is used to be fixedly connected to the pipe; the third drive mechanism is disposed on the support base; the support base can rotate relative to the mounting plate and drive the third drive mechanism to rotate synchronously.

8. The workpiece transfer fixture according to claim 6, characterized in that: It also includes a control mechanism and a walking mechanism. The control mechanism is communicatively connected to and controls the first drive mechanism, the second drive mechanism, the third drive mechanism, the fourth drive mechanism, and the force sensor. The fifth drive mechanism can be mounted on the walking mechanism.

Images