Multi-station three-dimensional robot transfer device

Abstract

This invention discloses a multi-station three-dimensional robotic transfer device, including a loading side device, a unloading side device, a crossbar, and a clamping device. Both the loading and unloading side devices include a crossbeam and a drive mechanism. The drive mechanism includes feeding rods located on both sides of the crossbeam. The clamping device includes a control station and a first connecting part and a second connecting part that cooperate with each other. The first connecting part is fixedly connected to one end of the feeding rod, and the second connecting part is fixedly connected to one end of the crossbar. The first connecting part includes a first housing body and a telescopic mechanism. The first housing body has a first pipe, a second pipe, and a cavity. The telescopic mechanism includes a tension ring, a first telescopic shaft, and a second telescopic shaft. The inner wall of the tension ring abuts against the outer wall of the first telescopic shaft, and the outer wall of the tension ring abuts against the inner wall of the second telescopic shaft. This multi-station three-dimensional robotic transfer device can replace manual disassembly and installation of crossbars, improving the efficiency of automated production and reducing the safety risks of manual operation.

Description

Technical Field

[0001] This invention belongs to the field of stamping automation technology, specifically relating to a multi-station three-dimensional robotic arm transfer device. Background Technology

[0002] Currently, with the rapid development of information technology and automation technology, stamping material handling automation technology is becoming increasingly mature, and the degree of automation is constantly improving. However, the segmented feeding rods of existing continuous die handling robots still require manual disassembly of the crossbars during die changes. The entire process consumes a lot of time, and the efficiency of manual operation is low. Furthermore, manual disassembly of the crossbars also poses safety risks, leading to more uncontrollable factors. Summary of the Invention

[0003] In view of this, in order to overcome the shortcomings of the prior art, the purpose of this invention is to provide a multi-station three-dimensional robotic arm transfer device to replace manual disassembly and installation of crossbars, thereby improving the efficiency of automated production and reducing the safety risks of manual operation.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A multi-station three-dimensional robotic arm transfer device includes a loading side device, a unloading side device, and a crossbar connecting the loading side device and the unloading side device. Both the loading side device and the unloading side device include a crossbeam and a drive mechanism. The drive mechanism includes feeding rods located on both sides of the crossbeam. The multi-station three-dimensional robotic arm transfer device also includes a clamping device. The clamping device includes a control station and a first connecting part and a second connecting part that cooperate with each other. The first connecting part is fixedly connected to one end of the feeding rod, and the second connecting part is fixedly connected to one end of the crossbar. The first connecting part includes a first housing body and a telescopic mechanism, with an opening inside the first housing body. The device comprises a first conduit, a second conduit, and a cavity. Both the first and second conduits are connected to the cavity. The telescopic mechanism includes a tension ring, a first telescopic shaft, and a second telescopic shaft. The cavity is used to accommodate the tension ring, the end of the first telescopic shaft near the second telescopic shaft, and the end of the second telescopic shaft near the first telescopic shaft. The centerlines of the tension ring, the first telescopic shaft, and the second telescopic shaft coincide. The tension ring is sleeved on the outer wall of the end of the first telescopic shaft near the second telescopic shaft. The inner wall of the tension ring abuts against the outer wall of the first telescopic shaft, and the outer wall of the tension ring abuts against the inner wall of the second telescopic shaft.

[0006] The clamping device has a first state, a second state, and a third state. When the clamping device is in the first state, the first connecting part and the second connecting part are separated. When the clamping device is in the second state, the first connecting part and the second connecting part are connected, the end of the first telescopic shaft away from the second telescopic shaft is located in the end of the second connecting part near the first connecting part, and there is a gap between the ends of the first shell body and the ends of the second connecting part that are close to each other. When the clamping device is in the third state, the first connecting part and the second connecting part are connected, the end of the first telescopic shaft away from the second telescopic shaft is located in the end of the second connecting part near the first connecting part, and the ends of the first shell body and the ends of the second connecting part that are close to each other are abutted.

[0007] The telescopic mechanism has an extended state and a retracted state. The first pipe is used to introduce a medium into the cavity, causing the first and second telescopic shafts to move simultaneously in a direction away from each other, so that the telescopic mechanism changes from the retracted state to the extended state. The second pipe is used to introduce a medium into the cavity, causing the first and second telescopic shafts to move simultaneously in a direction close to each other, so that the telescopic mechanism changes from the extended state to the retracted state. The control station is used to control the extension or retraction of the first and second telescopic shafts, so that the first telescopic shaft tightens or loosens the second connecting part. The drive mechanism of the present invention includes an X-axis drive mechanism, a Y-axis drive mechanism, and a Z-axis drive mechanism. The X-axis drive mechanism includes feeding rods located on both sides of the crossbeam. The X-axis drive mechanism is used to drive the feeding rods to move along their length direction. The Y-axis drive mechanism is used to drive the X-axis drive mechanism and the feeding rods to move in opposite directions or towards each other on the same horizontal plane. The Z-axis drive mechanism is used to drive the X-axis drive mechanism, the Y-axis drive mechanism, and the feeding rods to rise or fall in a direction perpendicular to the horizontal plane.

[0008] According to some preferred embodiments of the present invention, the first connecting portion further includes a first positioning pin and a positioning pin top block, the first positioning pin extending through the first shell body in a first direction, the first positioning pin being slidably connected to the first shell body, and the length of the first positioning pin being greater than the length of the first shell body along the first direction. In some embodiments of the present invention, the first direction of the first shell body refers to the thickness direction of the first shell body.

[0009] According to some preferred embodiments of the present invention, one end of the first positioning pin is fixedly connected to the positioning pin top block, the positioning pin top block is located at the end of the first housing body near the second telescopic shaft, and the positioning pin top block is fixedly connected to the end of the second telescopic shaft away from the first telescopic shaft; when the telescopic mechanism is in the extended state, the end of the first positioning pin away from the positioning pin top block is located inside the first housing body or flush with the end of the first housing body away from the positioning pin top block. The positioning pin top block is fixedly connected to the second telescopic shaft and also fixedly connected to the first positioning pin, so that the first positioning pin can extend and retract synchronously with the second telescopic shaft, thereby confirming whether the positioning is accurate when the first connecting part and the second connecting part are aligned based on the first positioning pin and the position detection mechanism.

[0010] According to some preferred embodiments of the present invention, a positioning block and a second positioning pin are fixedly disposed at one end of the first shell body near the first telescopic shaft, and the center of the positioning block and the center of the second positioning pin are located in the same vertical direction. The second positioning pin and the positioning block are mainly used to guide the docking in the direction perpendicular to the horizontal plane when the first connecting part and the second connecting part are docked, so as to prevent the first positioning pin from failing to be accurately positioned due to excessive deviation when the first connecting part and the second connecting part are docked.

[0011] According to some preferred embodiments of the present invention, the second connecting portion includes a second housing body, one end of which is fixedly connected to one end of the crossbar. The end of the second housing body away from the crossbar has a first receiving groove, a second receiving groove, and a third receiving groove. The first receiving groove is for the second positioning pin to enter, the second receiving groove is for the positioning block to enter, and the third receiving groove is for the end of the first telescopic shaft away from the second telescopic shaft to enter. In some embodiments of the present invention, during the transition of the clamping device from the first state to the second state, the telescopic mechanism is in the extended state, and the second positioning pin first falls into the first receiving groove, thereby performing a primary positioning of the crossbar and the feeding rod. As the first connecting portion continues to descend, the positioning block enters the second receiving groove to perform a secondary positioning of the crossbar and the feeding rod. These two positioning operations pave the way for precise positioning between the first positioning pin and the pin hole, ensuring the accuracy of the docking between the first connecting portion and the second connecting portion, so that they are located in the same horizontal direction.

[0012] In some embodiments of the present invention, when the first connecting part and the second connecting part are in the second state after docking, there is a small gap between the first shell body and the second shell body. When the control station controls the telescopic mechanism to change from the extended state to the retracted state, the X-axis drive mechanism will drive the feeding rod to move towards the crossbar, thereby gradually reducing the gap until it disappears. During this process, the position of the pull rod relative to the third receiving groove does not change. Specifically, a medium is introduced from the second pipeline, and the driving force of the medium pushes the second telescopic shaft to retract inward. At the same time, the first telescopic shaft retracts inward, and the second telescopic rod retracts inward, which drives the first positioning pin to move outward, eventually entering the corresponding pin hole. When the telescopic mechanism reaches the retracted state, due to the positional relationship between the first telescopic shaft and the third receiving groove, the first telescopic shaft will tighten the second shell body. The control station will ensure that the first pipeline continuously outputs tension, thereby ensuring the stability of the clamping device. At this time, the first connecting part and the second connecting part are in the third state. Furthermore, since a wedge mechanism is formed between the first telescopic shaft, the second telescopic shaft, and the tensioning ring in this invention, the stroke of the second telescopic shaft will be longer than that of the first telescopic shaft. Therefore, before the pull rod tightens the second shell body, the first positioning pin will first complete the precise docking and positioning.

[0013] According to some preferred embodiments of the present invention, the sides of the first and second receiving grooves away from the third receiving groove penetrate the end face of the second shell body away from the crossbar, the top surfaces of the second and third receiving grooves penetrate the top surface of the second shell body, one end of the first receiving groove is connected to one end of the second receiving groove, and the side of the second receiving groove away from the first receiving groove is connected to one side of the third receiving groove; the depth of the first receiving groove is less than the depth of the second receiving groove, and the length of the third receiving groove is greater than the length of the second receiving groove.

[0014] According to some preferred embodiments of the invention, the width of the first receiving groove matches the outer diameter of the second locating pin, the width of the second receiving groove matches the width of the locating block, and the width of the third receiving groove matches the outer diameter of the end of the first telescopic shaft away from the second telescopic shaft.

[0015] According to some preferred embodiments of the present invention, the end of the second housing body away from the crossbar is further provided with a pin hole for the first positioning pin to enter, the pin hole being correspondingly provided with the first positioning pin. This ensures precise docking between the first connecting part and the second connecting part.

[0016] According to some preferred embodiments of the present invention, the cavity includes a first cavity, a second cavity, and a third cavity. The first cavity is connected to a first pipeline, and the third cavity is connected to a second pipeline. The second cavity is formed by the tension ring, the end of the first telescopic shaft near the second telescopic shaft, and the end of the second telescopic shaft near the first telescopic shaft. The tension ring includes a plurality of tension blocks evenly spaced apart, with gaps between adjacent tension blocks. When the telescopic mechanism changes between the retracted state and the extended state, the medium flows between the first cavity and the second cavity through the gaps between adjacent tension blocks. Specifically, when the telescopic mechanism changes from the retracted state to the extended state, the medium enters the first cavity from the first pipeline and enters the second cavity through the gaps between adjacent tension blocks, during which the volumes of both the first cavity and the second cavity continuously increase. When the telescopic mechanism changes from the extended state to the retracted state, the medium in the second cavity enters the first cavity through the gaps between adjacent tension blocks and then flows outward from the first pipeline, during which the volumes of both the first cavity and the second cavity continuously decrease. In some embodiments of the present invention, the gap between adjacent tensioning blocks of the tensioning ring is 2 to 4.2 mm. Regardless of whether the tensioning ring is tightened or expanded, the medium can be guaranteed to flow between the first cavity and the second cavity, preventing the expansion and contraction from jamming and ensuring the smooth operation of the expansion and contraction mechanism.

[0017] According to some preferred embodiments of the present invention, the first telescopic shaft includes a pressure rod, the outer wall of the pressure rod near one end of the second telescopic shaft being configured as a first conical surface, the diameter of the first conical surface gradually increasing from one end away from the second telescopic shaft to the other end; the inner wall of the tensioning ring is configured as a second conical surface, and the first conical surface and the second conical surface cooperate with each other. In some embodiments of the present invention, the included angle between the first conical surface and the end face of the pressure rod near the second telescopic shaft is 45° to 60°, preferably 55°.

[0018] According to some preferred embodiments of the present invention, the second telescopic shaft includes a fixed seat, the fixed seat having a first receiving cavity inside. When the telescopic mechanism is in the extended state, the end of the pressure rod near the second telescopic shaft and the end of the tensioning ring near the fixed seat are received in the first receiving cavity. When the telescopic mechanism is in the retracted state, both the end of the pressure rod near the second telescopic shaft and the tensioning ring are received in the first receiving cavity. The inner wall of the fixed seat is configured as a third conical surface, the diameter of which gradually decreases from the end near the first telescopic shaft to the other end. The outer wall of the tensioning ring is configured as an arcuate surface, and the third conical surface mates with the arcuate surface. The diameter of the third conical surface gradually decreases from the end near the first telescopic shaft to the other end, that is, the diameter of the first receiving cavity gradually decreases from the end near the first telescopic shaft to the other end. This design is to cooperate with the tensioning ring to ensure that, under the driving action of the medium, the tensioning ring can contract or expand in the first receiving cavity, thereby allowing the second telescopic shaft to move within the cavity of the first housing body. In some embodiments of the present invention, the acute angle between the inner wall and the outer wall of the third conical surface of the fixing seat is 5 to 10°, preferably 6°.

[0019] In this invention, the first and second telescopic shafts are connected by a tension ring. The tightening or loosening of the tension ring allows a medium to be introduced into the cavity through the first and second pipes, driving the first and second telescopic shafts to simultaneously extend or retract in opposite directions. Hydraulic control of the telescopic mechanism improves its operational accuracy, ensuring stability even under high loads. Low-pressure control enables the telescopic mechanism to generate greater output force, thereby expanding the function and application range of the first connecting part.

[0020] According to some preferred embodiments of the present invention, the first telescopic shaft further includes a pull rod fixedly connected to the pressure rod. The pull rod includes a first part, a transition part, and a second part. The two ends of the transition part are respectively fixedly connected to one end of the first part and one end of the second part. The outer diameter of the transition part gradually increases from the end near the first part to the other end. The pressure rod includes a third part, a stop ring, and a fourth part. One end of the third part is fixedly connected to one end of the fourth part. The stop ring is fixedly sleeved on the outer wall of the third part near the fourth part. The inner wall of the tensioning ring abuts against the outer wall of the fourth part. The end face of the stop ring near the second part abuts against the end face of the second part. In some embodiments of the present invention, the first telescopic shaft is configured as a split pressure rod and pull rod, which facilitates installation. The outer wall of the fourth part of the pressure rod is configured as a first conical surface.

[0021] According to some preferred embodiments of the invention, the length of the second receiving groove is equal to the distance from the top surface of the first shell body to the bottom of the first part near the transition portion, and the length of the third receiving groove is equal to or greater than the distance from the top surface of the first shell body to the bottom of the first part away from the transition portion.

[0022] According to some preferred embodiments of the present invention, a first boss is provided at the end of the first shell body away from the feed rod, and a second boss is provided at the end of the second shell body away from the crossbar. The thickness of the first boss is equal to the thickness of the second boss, and the number of the first bosses is equal to the number of the second bosses. One first boss and one second boss are located at different horizontal heights, or one first boss and one second boss are located in different vertical directions on the same horizontal plane. The first and second bosses are provided to prevent gaps between the first and second shell bodies due to large-area machining errors.

[0023] According to some preferred embodiments of the present invention, a cover plate is provided on the top surface of the first housing body, the cover plate being located above the positioning block, and the top surface of the positioning block being flush with the bottom surface of the cover plate; when the clamping device is in the third state, the cover plate is used to cover the openings of the second and third receiving grooves. The cover plate is used to prevent foreign objects from entering the second housing body and causing mechanical damage.

[0024] According to some preferred embodiments of the present invention, a position detection mechanism is further provided at one end of the first housing body near the feeding rod, the position detection mechanism being used to detect the position of the first telescopic shaft and / or the second telescopic shaft.

[0025] According to some preferred embodiments of the present invention, two crossbars are provided, each crossbar having a second connecting portion at both ends. The second connecting portion at one end of one crossbar cooperates with a first connecting portion at one end of one feeding rod in the loading side device, and the second connecting portion at the other end of one crossbar cooperates with a first connecting portion at one end of one feeding rod in the unloading side device located on the same side.

[0026] According to some preferred embodiments of the present invention, the second part has a second receiving cavity for accommodating the third part. The outer diameter of the stop ring is larger than the diameter of the second receiving cavity and smaller than or equal to the outer diameter of the second part. The outer diameter of the stop ring is larger than the outer diameter of the end of the fourth part near the third part. The second part of the pull rod is fixedly connected to the third part of the pressure rod. In some embodiments of the present invention, the inner wall of the second part is provided with internal threads, and the outer wall of the third part is provided with external threads. When the third part is accommodated in the second receiving cavity of the second part, the two are threadedly connected. In addition, an anti-loosening set screw is provided between the second part and the third part to prevent loosening between the pull rod and the pressure rod. The stop ring is provided to limit the position of the pull rod after the pressure rod and the pull rod are fixedly connected, further preventing the pull rod from continuing to move inward after the pull rod and the pressure rod are fixedly connected.

[0027] According to some preferred embodiments of the invention, the outer diameter of the fourth part gradually increases from one end near the stop ring to the other end, and the outer diameter of the fourth part near the second telescopic shaft is smaller than the diameter of the first receiving cavity away from the first telescopic shaft; the end of the fourth part away from the stop ring is provided with a first chamfer. The first chamfer can prevent the fourth part from interfering with the bottom of the first receiving cavity of the fixing seat; it can also prevent injury to workers during the processing and installation of the pressure rod.

[0028] According to some preferred embodiments of the present invention, the fixing seat is located in the cavity, the diameter of the cavity is equal to the outer diameter of the fixing seat, the depth of the cavity is greater than the length of the fixing seat, and the depth of the first receiving cavity is less than the length of the fixing seat; a second chamfer is provided at the end of the fixing seat away from the first telescopic shaft, and a third chamfer is provided at the end of the first receiving cavity away from the first telescopic shaft. Setting the depth of the cavity greater than the length of the fixing seat ensures that the fixing seat can move within the cavity under the driving action of the medium, thereby allowing the second telescopic shaft to also move. In some embodiments of the present invention, both the first and third chamfers are rounded corners. The combination of the first and third chamfers helps to further avoid interference between the fourth part and the first receiving cavity as the fourth part gradually approaches the bottom of the first receiving cavity of the fixing seat.

[0029] According to some preferred embodiments of the present invention, a fourth chamfer is provided at the end of the cavity away from the first telescopic shaft. When the telescopic mechanism is in the extended state, a buffer zone is formed between the second chamfer and the fourth chamfer, and the second pipeline is connected to the buffer zone. In some embodiments of the present invention, the second chamfer is a right angle, and the fourth chamfer is a rounded corner. The buffer zone formed between the second and fourth chamfers ensures that when the telescopic mechanism is in the extended state, the medium can enter the buffer zone when it is introduced from the second pipeline, thereby pushing the fixed seat to move closer to the first telescopic shaft. That is, the buffer zone can prevent operational jamming.

[0030] According to some preferred embodiments of the present invention, a sealing base is further included, which is fixedly connected to the first housing body. The sealing base includes, in sequence, a first seat, a second seat, and a third seat, which are fixedly connected. The outer diameter of the first seat is larger than the outer diameter of the second seat, and the outer diameter of the second seat is larger than the outer diameter of the third seat and equal to the diameter of the cavity. The centerlines of the first, second, and third seats coincide. One end of the first seat is flush with the end of the first housing body near the first telescopic shaft. The end face of the third seat away from the second seat abuts against the end face of the tensioning ring near the pressure rod. The third seat and the tensioning ring are always in contact, and the outer wall of the tensioning ring is always in contact with the inner wall of the fixed seat, which ensures that the tensioning ring does not move horizontally left or right when the telescopic mechanism extends or retracts.

[0031] According to some preferred embodiments of the present invention, the second telescopic shaft further includes an extension shaft fixedly connected to the end of the fixed seat away from the first telescopic shaft; the first housing body is also provided with a first through hole and a second through hole, both of which communicate with the cavity; the first seat is located in the first through hole, and the second and third seats are both located in the cavity; the diameter of the first through hole is equal to the outer diameter of the first seat, the diameter of the second through hole is equal to the outer diameter of the extension shaft and smaller than the diameter of the cavity, and the depth of the second through hole is smaller than the length of the extension shaft. The outer diameters of the first, second, and third seats of the sealing base, combined with the diameters of the first through hole and the cavity, ensure that the sealing base is fixedly engaged within the first housing body, preventing any shaking between the sealing base and the first housing body.

[0032] According to some preferred embodiments of the present invention, a third receiving cavity is provided inside the sealing base. The diameter of the third receiving cavity is equal to the outer diameter of the second part, and the depth of the third receiving cavity is greater than the length of the second part. The second part is located within the third receiving cavity. In some embodiments of the present invention, the first telescopic shaft can slide within the third receiving cavity of the sealing base. Specifically, the second part of the first telescopic shaft is always located within the third receiving cavity. Setting the diameter of the third receiving cavity to be equal to the outer diameter of the second part ensures that the entire first telescopic shaft will not wobble or tilt relative to the sealing base. Setting the depth of the third receiving cavity to be greater than the length of the second part ensures that the second part has room to move within the third receiving cavity, thereby enabling the first telescopic shaft to extend and retract.

[0033] According to some preferred embodiments of the present invention, the first conduit includes a first branch and a second branch connected to each other, the first branch being parallel to the depth direction of the cavity, the first branch being perpendicular to the second branch, and the second branch being connected to the first cavity.

[0034] In this invention, when the telescopic mechanism is in the extended state, the end of the fixed seat near the extension shaft abuts against the end of the cavity near the second through hole, and the end of the tension ring near the second telescopic shaft is located in the first receiving cavity; when the telescopic mechanism is in the retracted state, the third seat, the tension ring, the fourth part, and the end of the third part near the fourth part are all located in the first receiving cavity.

[0035] Compared with the prior art, the advantages of the present invention are as follows: The multi-station three-dimensional robotic arm transfer device of the present invention, through the mutual cooperation between the clamping device and the feeding rod and the crossbar respectively, and the setting of the telescopic mechanism in the first connecting part, is conducive to amplifying the output pulling force of the telescopic mechanism, so that the first telescopic shaft tightens the second connecting part, ensuring the stability of operation; and, by using the clamping device to disassemble and install the crossbar, the risks of manual disassembly can be avoided, the time for changing the rod can be reduced, and the efficiency of automated production can be improved. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0037] Figure 1 This is a three-dimensional structural diagram of the multi-station three-dimensional robotic arm transfer device in a preferred embodiment of the present invention;

[0038] Figure 2 for Figure 1 Enlarged view of part A in the middle;

[0039] Figure 3 This is a three-dimensional structural diagram of the first connecting portion from a first perspective in a preferred embodiment of the present invention;

[0040] Figure 4 This is a three-dimensional structural diagram of the first connecting portion from a second perspective in a preferred embodiment of the present invention;

[0041] Figure 5 This is an exploded view of the telescopic mechanism in a preferred embodiment of the present invention;

[0042] Figure 6 This is a three-dimensional structural diagram of the second connecting part in a preferred embodiment of the present invention;

[0043] Figure 7 This is a cross-sectional schematic diagram of the clamping device when the telescopic mechanism is in the extended state in a preferred embodiment of the present invention;

[0044] Figure 8 for Figure 7 Enlarged view of part B in the middle;

[0045] Figure 9 This is a cross-sectional schematic diagram of the clamping device when the telescopic mechanism is in the retracted state in a preferred embodiment of the present invention;

[0046] Figure 10 This is a cross-sectional schematic diagram of the first connecting portion in a preferred embodiment of the present invention;

[0047] The attached figures are labeled as follows:

[0048] Loading side device-100, unloading side device 200-200, crossbar-300, crossbeam-101, X-axis drive mechanism-102, feeding rod-1021, Y-axis drive mechanism-103, Z-axis drive mechanism-104, worktable-400, first connecting part-10, first shell body-1, first through hole-11, cavity-12, first cavity-121, second cavity-122, third cavity-12 3, Fourth chamfer - R4, Second through hole - 13, First pipe - 14, First branch - 141, Second branch - 142, Second pipe - 15, First telescopic shaft - 2, Pull rod - 21, First part - 211, Transition part - 212, Second part - 213, Second receiving cavity - 2131, Pressure rod - 22, Third part - 221, Stop ring - 222, Fourth part - 223, First conical surface - 2231, First chamfer Angle-R1, Second telescopic shaft-3, Fixed seat-31, First receiving cavity-311, Third conical surface-312, Second chamfer-R2, Third chamfer-R3, Extension shaft-32, Tensioning ring-4, Tensioning block-41, Second conical surface-42, Arc-shaped surface-43, First plane-44, Sealing base-5, Third receiving cavity-51, First seat-52, Second seat-53, Third seat-54, Second plane-5 41, Anti-loosening top screw - 61, Plug - 62, Buffer zone - 63, First positioning pin - 71, Second positioning pin - 72, Positioning block - 73, Positioning pin top block - 74, First boss - 8, Cover plate - 9, Second connecting part - 20, Second shell body - 201, First receiving groove - 202, Second receiving groove - 203, Third receiving groove - 204, Pin hole - 205, Second boss - 206, Position detection mechanism - 30. Detailed Implementation

[0049] To enable those skilled in the art to better understand the technical solutions of the present invention, 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 should fall within the scope of protection of the present invention.

[0050] like Figures 1 to 10As shown, the multi-station three-dimensional robotic arm transfer device of the present invention includes a loading side device 100, a unloading side device 200, a crossbar 300 and a clamping device. In this embodiment, there are two crossbars 300. The crossbars 300 are connected to the loading side device 100 and to the unloading side device 200 through the clamping device. Both the loading side device 100 and the unloading side device 200 include a crossbeam 101, an X-axis drive mechanism 102, a Y-axis drive mechanism 103, and a Z-axis drive mechanism 104. The X-axis drive mechanism 102 includes feeding rods 1021 located on both sides of the crossbeam 101. The X-axis drive mechanism 102 is used to drive the feeding rods 1021 to move along their length direction. The Y-axis drive mechanism 103 is used to drive the X-axis drive mechanism 102 and the feeding rods 1021 to move in opposite directions or towards each other on the same horizontal plane. The Z-axis drive mechanism 104 is used to drive the X-axis drive mechanism 102, the Y-axis drive mechanism 103, and the feeding rods 1021 to rise or fall in a direction perpendicular to the horizontal plane.

[0051] Furthermore, the clamping device includes a first connecting part 10, a second connecting part 20, a control station, and a position detection mechanism 30, such as... Figure 2 As shown, the first connecting part 10 and the second connecting part 20 cooperate with each other.

[0052] like Figures 3 to 5 As shown, the first connecting part 10 includes a first housing body 1, a telescopic mechanism, a sealing base 5, a first positioning pin 71, a second positioning pin 72, and a positioning pin top block 74. All components are made of high-strength alloy to ensure high-precision cooperation between the various structures, which helps improve the stability of equipment operation. One end of the first housing body 1 is fixedly connected to one end of the feeding rod 1021. The interior of the first housing body 1 is precision-machined with a first pipe 14, a second pipe 15, and a cavity 12. Both the first pipe 14 and the second pipe 15 communicate with the cavity 12, allowing the telescopic mechanism to slide along the depth of the cavity 12. Both the first pipe 14 and the second pipe 15 are used to introduce a medium into the cavity 12, thereby ensuring that the extension and retraction of the telescopic mechanism are controlled under the driving action of the medium.

[0053] The first shell body 1 is also provided with a first through hole 11 and a second through hole 13, both of which are connected to the cavity 12. The diameter of the first through hole 11 is larger than the diameter of the cavity 12, and the diameter of the cavity 12 is larger than the diameter of the second through hole 13. The center lines of the first through hole 11, the cavity 12, and the second through hole 13 coincide, and also coincide with the center line of the first shell body 1. A fourth chamfer R4 is provided at one end of the cavity 12 near the second through hole 13. In this embodiment, the fourth chamfer R4 is a rounded corner. Furthermore, the first conduit 14 includes a first branch 141 and a second branch 142 that are connected. The first branch 141 is parallel to the depth direction of the cavity 12 and perpendicular to the second branch 142. The end of the first branch 141 away from the second branch 142 penetrates the outer wall of one side of the first shell body 1, facilitating the introduction of medium from one end of the first branch 141. The end of the second branch 142 away from the cavity 12 also penetrates the outer wall of the other side of the first shell body 1, and a plug 62 is provided at one end of the second branch 142 to prevent medium leakage. The end of the second conduit 15 away from the cavity 12 penetrates the outer wall of one side of the first shell body 1, facilitating the introduction of medium from one end of the second conduit 15. In this embodiment, one end of the first branch 141 and one end of the second conduit 15 are located in the same vertical direction.

[0054] Furthermore, the telescopic mechanism of the present invention has an extended state and a retracted state, such as... Figure 5 As shown, the telescopic mechanism includes a first telescopic shaft 2, a second telescopic shaft 3, and a tensioning ring 4. The centerline of the first telescopic shaft 2 coincides with the centerlines of the second telescopic shaft 3 and the tensioning ring 4, and also with the centerline of the first shell body 1. The first telescopic shaft 2 and the second telescopic shaft 3 cooperate with each other through the tensioning ring 4. When a medium is introduced into the cavity 12 through the first pipe 14, the first telescopic shaft 2 and the second telescopic shaft 3 move simultaneously in a direction away from each other, allowing the telescopic mechanism to change from a retracted state to an extended state. When a medium is introduced into the cavity 12 through the second pipe 15, the first telescopic shaft 2 and the second telescopic shaft 3 move simultaneously in a direction close to each other, allowing the telescopic mechanism to change from an extended state to a retracted state. During the simultaneous extension or retraction of the first telescopic shaft 2 and the second telescopic shaft 3, the direction of movement of the first telescopic shaft 2 and the second telescopic shaft 3 is parallel to the depth direction of the cavity 12.

[0055] Specifically, such as Figures 7 to 9As shown, the first telescopic shaft 2 includes a pull rod 21 and a pressure rod 22 fixedly connected. The pull rod 21 includes a first part 211, a transition part 212, and a second part 213. The second part 213 has a second receiving cavity 2131 inside. The two ends of the transition part 212 are fixedly connected to one end of the first part 211 and one end of the second part 213, respectively. The outer diameter of the transition part 212 gradually increases from the end near the first part 211 to the other end, so that the first telescopic shaft 2 can transition from the first part 211 to the second part 213 when it extends through the end of the first through hole 11, or transition from the second part 213 to the first part 211 when it retracts through the end of the first through hole 11, thus ensuring the smooth movement of the first telescopic shaft 2.

[0056] The pressure rod 22 includes a third part 221, a stop ring 222, and a fourth part 223. One end of the third part 221 is fixedly connected to one end of the fourth part 223. The stop ring 222 is fixedly sleeved on the outer wall of the end of the third part 221 near the fourth part 223. The side of the stop ring 222 near the second part 213 abuts against the end face of the second part 213 away from the first part 211. The second receiving cavity 2131 of the second part 213 is used to receive the third part 221. In this embodiment, the inner wall of the second part 213 of the pull rod 21 is provided with an internal thread, and the outer wall of the third part 221 of the pressure rod 22 is provided with an external thread. When the third part 221 is received in the second receiving cavity 2131 of the second part 213, the two are threadedly connected. An anti-loosening set screw 61 is also provided between the second part 213 and the third part 221 to prevent loosening between the pull rod 21 and the pressure rod 22. Furthermore, the outer diameter of the stop ring 222 is greater than the outer diameter of the third part 221 and greater than the outer diameter of the end of the fourth part 223 near the third part 221. The outer diameter of the stop ring 222 is also greater than the diameter of the second receiving cavity 2131 and less than or equal to the outer diameter of the second part 213. Combined with the anti-loosening set screw 61 and the stop ring 222, the position of the pull rod 21 after the pressure rod 22 and the pull rod 21 are fixedly connected can be limited, further preventing the pull rod 21 from continuing to move inward after the pull rod 21 and the pressure rod 22 are fixedly connected.

[0057] like Figure 7 and Figure 9As shown, the end of the fourth part 223 away from the stop ring 222 is provided with a first chamfer R1. In this embodiment, the first chamfer R1 is a rounded corner, which can prevent injury to workers during the processing and installation of the first telescopic shaft 2. The tension ring 4 is sleeved on the outer wall of the fourth part 223, and the inner wall of the tension ring 4 abuts against the outer wall of the fourth part 223. The outer wall of the fourth part 223 is set as a first conical surface 2231. In this embodiment, the included angle between the first conical surface 2231 and the end face of the pressure rod 22 near the second telescopic shaft 3 is preferably 55°. The diameter of the first conical surface 2231 (i.e., the outer diameter of the fourth part 223) gradually increases from the end away from the second telescopic shaft 3 to the other end; the inner wall of the tension ring 4 is set as a second conical surface 42, and the first conical surface 2231 and the second conical surface 42 cooperate. Figure 5 As shown, the tension ring 4 in this embodiment includes a plurality of tension blocks 41 evenly spaced apart. The gap between adjacent tension blocks 41 is 2 to 4.2 mm, so that the tension ring 4 will tighten or expand under the action of external force, and its inner diameter will gradually change, thereby ensuring mutual contact with the outer wall of the fourth part 223.

[0058] Furthermore, the second telescopic shaft 3 includes a fixed seat 31 and an extension shaft 32 fixedly connected to each other. The fixed seat 31 is located in the cavity 12 of the first shell body 1. The axis of the fixed seat 31 coincides with the axis of the extension shaft 32. A first receiving cavity 311 is formed inside the fixed seat 31, which extends from one end of the fixed seat 31 near the first telescopic shaft 2 to the other end, and the depth of the first receiving cavity 311 is less than the length of the fixed seat 31. The outer wall of the tension ring 4 always abuts against the inner wall of the fixed seat 31. Specifically, the inner wall of the fixed seat 31 is set as a third conical surface 312. In this embodiment, the acute angle between the inner wall of the fixed seat 31 set as the third conical surface 312 and its outer wall is preferably 6°. The diameter of the third conical surface 312 (i.e., the diameter of the first receiving cavity 311) gradually decreases from one end near the first telescopic shaft 2 to the other end. The outer wall of the tension ring 4 is set as an arc-shaped surface 43, and the third conical surface 312 cooperates with the arc-shaped surface 43.

[0059] Specifically, such as Figure 7 and Figure 9As shown, cavity 12 includes a first cavity 121, a second cavity 122, and a third cavity 123. The first cavity 121 is connected to the first pipeline 14, and the third cavity 123 is connected to the second pipeline 15. The second cavity 122 is formed by the tension ring 4, the end of the fourth part 223 near the second telescopic shaft 3, and the inner wall of the fixing seat 31. When the telescopic mechanism changes from the retracted state to the extended state, the medium enters the first cavity 121 from the first pipeline 14 and enters the second cavity 122 through the gap between adjacent tension blocks 41. During this process, the volumes of both the first cavity 121 and the second cavity 122 continuously increase. When the telescopic mechanism changes from the extended state to the retracted state, the medium in the second cavity 122 enters the first cavity 121 through the gap between adjacent tension blocks 41 and then flows out from the first pipeline 14. During this process, the volumes of both the first cavity 121 and the second cavity 122 continuously decrease.

[0060] The outer diameter of the fixed seat 31 is equal to the diameter of the cavity 12, ensuring that the entire second telescopic shaft 3 will not wobble or tilt relative to the first shell body 1 during the extension and retraction process. Furthermore, the length of the fixed seat 31 is less than the depth of the cavity 12, ensuring that the fixed seat 31 can move within the cavity 12 under the driving action of the medium, thereby allowing the second telescopic shaft 3 to also move. A second chamfer R2 is provided at the end of the fixed seat 31 near the extension shaft 32, and a third chamfer R3 is also provided at the end of the first receiving cavity 311 near the extension shaft 32. In this embodiment, the second chamfer R2 is a right angle, and the third chamfer R3 is a rounded corner. When the telescopic mechanism is in the extended state, a buffer zone 63 is formed between the fourth chamfer R4 and the second chamfer R2. Figure 7 As shown, this is to prevent jamming during the operation of the telescopic mechanism. The fit between the third chamfer R3 and the first chamfer R1 helps to avoid interference between the fourth part 223 of the pressure rod 22 as it gradually approaches the bottom of the first receiving cavity 311. In addition, the depth of the second through hole 13 is less than the length of the extension shaft 32, and the diameter of the second through hole 13 is equal to the outer diameter of the extension shaft 32 and less than the diameter of the cavity 12. This arrangement can limit the second telescopic shaft 3 to stop its movement when the telescopic mechanism reaches the extended state.

[0061] Furthermore, such as Figure 5 , Figure 7 and Figure 9 As shown, the sealing base 5, from one end near the first through hole 11 to the other, sequentially includes a first seat body 52, a second seat body 53, and a third seat body 54, which are fixedly connected. The centerlines of the first seat body 52, the second seat body 53, and the third seat body 54 coincide. The third seat body 54 is close to the tensioning ring 4, as shown... Figure 8As shown, the end face of the tensioning ring 4 near the pressure rod 22 is the first plane 44, and the end face of the third seat 54 away from the second seat 53 is the second plane 541. The first plane 44 and the second plane 541 abut against each other.

[0062] The first seat 52 is located in the first through hole 11, and the end of the first seat 52 away from the second seat 53 is flush with the end of the first shell body 1 away from the second through hole 13. The second seat 53 and the third seat 54 are both located in the cavity 12. The outer diameter of the first seat 52 is larger than the outer diameter of the second seat 53, and the outer diameter of the second seat 53 is larger than the outer diameter of the third seat 54. The outer diameter of the first seat 52 is equal to the diameter of the first through hole 11, the outer diameter of the second seat 53 is equal to the diameter of the cavity 12, and the outer diameter of the third seat 54 is smaller than the diameter of the cavity 12, ensuring that the sealing base 5 is fixedly engaged in the first shell body 1 and will not wobble relative to the first shell body 1.

[0063] The sealing base 5 also has a third receiving cavity 51 inside. The second part 213 is located in the third receiving cavity 51, and the diameter of the third receiving cavity 51 is equal to the outer diameter of the second part 213, so as to ensure that the entire first telescopic shaft 2 will not shake or tilt relative to the sealing base 5. The depth of the third receiving cavity 51 is also set to be greater than the length of the second part 213, so as to ensure that the second part 213 has room to move in the third receiving cavity 51, thereby allowing the first telescopic shaft 2 to slide within the third receiving cavity 51 of the sealing base 5.

[0064] In this embodiment, as Figure 7 and Figure 9 As shown, sealing components are provided between the outer wall of the second seat 53 of the sealing base 5 and the inner wall of the first shell body 1, between the inner wall of the sealing base 5 and the outer wall of the second part 213 of the pressure rod 22, between the outer wall of the fixed seat 31 and the inner wall of the first shell body 1, and between the outer wall of the extension shaft 32 and the inner wall of the first shell body 1, to prevent the first connection part 10 from leaking the medium and avoid affecting its normal operation. In this embodiment, the medium is hydraulic oil. Under the control of the control station, the second telescopic shaft 3 retracts under hydraulic control while pulling back the first telescopic shaft 2. Low-pressure control is used to achieve high pulling force. The control station will always maintain stable pressure when the pull rod 21 retracts. When the pressure is unstable or an alarm is triggered, the control station will automatically replenish the pressure to ensure the stable operation of the equipment.

[0065] Furthermore, such as Figure 3 and Figure 4As shown, the first positioning pin 71 penetrates the thickness direction of the first shell body 1 and is slidably connected to the first shell body 1. The length of the first positioning pin 71 is greater than the thickness of the first shell body 1. The positioning pin top block 74 is located at one end of the first shell body 1 near the feeding rod 1021. The position detection mechanism 30 is located at one end of the first shell body 1 near the positioning pin top block 74 and is disposed on one side of the positioning pin top block 74. One end of the first positioning pin 71 is fixedly connected to the positioning pin top block 74, and the positioning pin top block 74 is fixedly connected to the end of the second telescopic shaft 3 away from the first telescopic shaft 2, so that the first positioning pin 71 can extend and retract synchronously with the second telescopic shaft 3, and the position detection mechanism 30 can confirm whether the positioning is accurate when the first connecting part 10 and the second connecting part 20 are aligned based on the position of the first positioning pin 71. Furthermore, when the telescopic mechanism of the first connecting part 10 is in the extended state, the end of the first positioning pin 71 away from the positioning pin top block 74 is located inside the first housing body 1 or flush with the end of the first housing body 1 away from the positioning pin top block 74; when the telescopic mechanism of the first connecting part 10 is in the retracted state, the end of the first positioning pin 71 away from the positioning pin top block 74 extends outward from inside the first housing body 1. In this embodiment, two first positioning pins 71 are provided.

[0066] The positioning block 73 and the second positioning pin 72 are fixedly disposed at one end of the first housing body 1 near the first telescopic shaft 2, with the center of the positioning block 73 and the center of the second positioning pin 72 located in the same vertical direction. In this embodiment, the positioning block 73 is located above the opening of the first through hole 11, and the second positioning pin 72 is located below the opening of the first through hole 11. The second positioning pin 72 and the positioning block 73 are mainly used to guide the docking perpendicular to the horizontal plane when the first connecting part 10 and the second connecting part 20 are docked, so as to prevent the first positioning pin 71 from failing to be accurately positioned due to excessive deviation when the first connecting part 10 and the second connecting part 20 are docked.

[0067] Furthermore, such as Figure 6As shown, the second connecting part 20 includes a second shell body 201. One end of the second shell body 201 is fixedly connected to one end of the crossbar 300. The end of the second shell body 201 away from the crossbar 300 is provided with a first receiving groove 202, a second receiving groove 203, and a third receiving groove 204. The sides of the first receiving groove 202 and the second receiving groove 203 away from the third receiving groove 204 penetrate the end face of the second shell body 201 away from the crossbar 300. The top surfaces of the second receiving groove 203 and the third receiving groove 204 penetrate the top surface of the second shell body 201, and the length of the third receiving groove 204 is greater than the length of the second receiving groove 203. One end of the first receiving groove 202 is connected to one end of the second receiving groove 203, and the depth of the first receiving groove 202 is less than the depth of the second receiving groove 203. The side of the second receiving groove 203 away from the first receiving groove 202 is connected to one side of the third receiving groove 204. The first receiving groove 202 is for the second locating pin 72 to enter, the second receiving groove 203 is for the locating block 73 to enter, and the third receiving groove 204 is for one end of the first part 211 of the pull rod 21 to enter. The width of the first receiving groove 202 matches the outer diameter of the second locating pin 72, the width of the second receiving groove 203 matches the width of the locating block 73, and the width of the third receiving groove 204 matches the outer diameter of the end of the first part 211 furthest from the second part. Furthermore, the length of the second receiving groove 203 is equal to the distance from the top surface of the first housing body 1 to the bottom of the end of the first part 211 near the transition portion 212, and the length of the third receiving groove 204 is equal to or greater than the distance from the top surface of the first housing body 1 to the bottom of the end of the first part 211 furthest from the transition portion 212.

[0068] The clamping device of the present invention has a first state, a second state, and a third state. When the clamping device is in the first state, the first connecting part 10 and the second connecting part 20 are separated. When the clamping device is in the second state, the first connecting part 10 and the second connecting part 20 are connected, the first part 211 of the pull rod 21 away from the second part 213 is located in the third receiving groove 204, and there is a gap between the ends of the first shell body 1 and the second shell body 201 that are close to each other. When the clamping device is in the third state, the first connecting part 10 and the second connecting part 20 are connected, the first part 211 of the pull rod 21 away from the second part 213 is located in the third receiving groove 204, and the ends of the first shell body 1 and the second shell body 201 that are close to each other are abutted.

[0069] In this embodiment, as Figure 6As shown, the end of the second housing body 201 away from the crossbar 300 is also provided with two pin holes 205 for the first positioning pin 71 to enter. The pin holes 205 are correspondingly provided with the first positioning pin 71 to ensure precise docking between the first connecting part 10 and the second connecting part 20. In some other embodiments of the present invention, in addition to the pin holes 205 corresponding to the first positioning pin 71, other pin holes may be provided at the end of the second housing body 201 away from the crossbar 300 to facilitate the second connecting part 20 to cooperate with other different first connecting parts.

[0070] Furthermore, such as Figure 3 and Figure 6 As shown, in this embodiment, two first protrusions 8 are provided at the two upper corners of the end of the first shell body 1 away from the feeding rod 1021, and two second protrusions 206 are provided at the two lower corners of the end of the second shell body 201 away from the crossbar 300. The thickness of the first protrusion 8 is equal to the thickness of the second protrusion 206. The first protrusions 8 and the second protrusions 206 are provided to prevent the first shell body 1 and the second shell body 201 from having a gap due to large surface processing errors. In addition, a cover plate 9 is fixedly provided on the top surface of the first shell body 1. The cover plate 9 is located above the positioning block 73, and the top surface of the positioning block 73 is flush with the bottom surface of the cover plate 9. One end of the cover plate 9 extends outward from the end surface of the first shell body 1, and the length of the outward extension is greater than the sum of the depths of the second receiving groove 203 and the third receiving groove 204. This allows the cover plate 9 to cover the openings of the second receiving groove 203 and the third receiving groove 204 when the clamping device is in the third state, preventing foreign objects from entering the second shell body 201 and causing mechanical damage.

[0071] The following is a brief description of the working process of the multi-station three-dimensional robotic arm transfer device in this embodiment:

[0072] When it is necessary to disassemble or replace the crossbar 300 on the worktable 400, the X-axis drive mechanism 102, Y-axis drive mechanism 103 and Z-axis drive mechanism 104 are used to adjust the position of the feeding rods 1021 on both sides of the crossbeam 101 to ensure that the feeding rods 1021 are higher than the crossbar 300 and the first connecting part 10 and the second connecting part 20 are close to each other. At this time, the first connecting part 10 and the second connecting part 20 are still in the first state; at this time, the telescopic mechanism is in the extended state, so that the first positioning pin 71 is inside the first shell body 1. When the first connecting part 10 and the second connecting part 20 are about to dock, the feeding rod 1021 is slowly lowered by the Z-axis drive mechanism 104, causing the second positioning pin 72 to slowly fall into the first receiving groove 202 for the first positioning of the feeding rod 1021 and the crossbar 300. As the feeding rod 1021 continues to descend, the positioning block 73 will slowly fall into the second receiving groove 203 for the second positioning of the feeding rod 1021 and the crossbar 300. At the same time, one end of the first part 211 of the pull rod 21 has also entered the corresponding third receiving groove 204. At this time, the feeding rod 1021 has descended to the position, the clamping device is in the second state, and there is a small gap between the first shell body 1 and the second shell body 201.

[0073] Next, under the control of the control station, the medium is introduced through the opening of the second pipe 15. The medium enters the buffer zone 63 through the second pipe 15, and then enters the third cavity 123. The medium pushes the fixing seat 31 of the second telescopic shaft 3 to move closer to the first telescopic shaft 2. During this movement, the first receiving cavity 311 of the fixing seat 31 gradually surrounds the tension ring 4. The tension ring 4 continuously tightens during this process. The tightening of the tension ring 4 drives the first telescopic shaft 2 to move closer to the second telescopic shaft 3, causing the first telescopic shaft 2 and the second telescopic shaft 3 to retract. During this process, the X-axis drive mechanism 102 drives the feeding rod 1021 to move along its length direction, causing the first shell body 1 to move closer to the second shell body 201, thereby gradually reducing the gap until it disappears. During the inward retraction of the second telescopic shaft 3, the first positioning pin 71 moves outward from the first shell body 1 and enters the corresponding pin hole 205 before the pull rod 21 tightens the second shell body 201. In actual operation, it is essential to ensure that the first cavity 121 can connect with the first pipe 14, while preventing the fixed base 31 from blocking the second branch 142. Therefore, the telescopic mechanism will... Figure 9The indicated state stops the operation, causing the telescopic mechanism to retract, and the clamping device is in the third state. In this state, the tensile force and radial load strength of the first telescopic shaft 2 are stronger than those of the second telescopic shaft 3, causing the first part 211 of the pull rod 21 to tighten the second housing body 201, ensuring a tight connection between the first connecting part 10 and the second connecting part 20. Furthermore, the control station ensures a continuous output of tensile force from the first pipeline, thereby guaranteeing the operational stability of the clamping device.

[0074] Once the feeding rod 1021 and the crossbar 300 are precisely connected and tightly joined through the first connecting part 10 and the second connecting part 20, the crossbar 300 can be clamped and transported to the target position by controlling the X-axis drive mechanism 102, the Y-axis drive mechanism 103 and the Z-axis drive mechanism 104.

[0075] When the clamped second connecting part 20 needs to be loosened, the medium is introduced through the opening of the first branch 141 of the first pipe 14. The medium enters the second branch 142 from the first branch 141 and then enters the first cavity 121. It flows into the second cavity 122 through the gap between the adjacent tensioning blocks 41. The medium pushes the first telescopic shaft 2 and the second telescopic shaft 3 to both sides respectively. During this process, the tensioning ring 4 will continuously expand. When the second telescopic shaft 3 is pushed to the point where one end of the fixed seat 31 abuts against the end of the cavity 12 near the second through hole 13, it stops moving. At this time, since the third seat 54 always abuts against one end of the tensioning ring 4, and the outer wall of the tensioning ring 4 abuts against the inner wall of the fixed seat 31, the tensioning ring 4 cannot continue to expand, and the first telescopic shaft 2 also stops extending. Figure 7 As shown, the telescopic mechanism is in the extended state at this time. During the continuous extension of the first telescopic shaft 2, the X-axis drive mechanism 102 will drive the feeding rod 1021 to move away from the crossbar 300, which is the opposite of the docking process. At this time, the pull rod 21 has no tension on the second connecting part 20, and the second connecting part 20 can be separated from the first connecting part 10 by the combined action of the X-axis drive mechanism 102, the Y-axis drive mechanism 103 and the Z-axis drive mechanism 104.

[0076] The above embodiments are only for illustrating the technical concept and features of the present invention. Their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be used to limit the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A multi-station three-dimensional robot transfer device, comprising a feeding side device, a discharging side device, a crossbar for connecting the feeding side device and the discharging side device, the feeding side device and the discharging side device each comprising a crossbeam and a driving mechanism, the driving mechanism comprising a feeding rod located on both sides of the crossbeam, characterized in that: The multi-station three-dimensional robotic arm transfer device also includes a clamping device, which includes a control station and a first connecting part and a second connecting part that cooperate with each other. The first connecting part is fixedly connected to one end of the feeding rod, and the second connecting part is fixedly connected to one end of the crossbar. The first connecting part includes a first shell body and a telescopic mechanism. The first shell body has a first pipe, a second pipe and a cavity. The first pipe and the second pipe are both connected to the cavity. The telescopic mechanism includes a tension ring, a first telescopic shaft and a second telescopic shaft. The cavity is used to accommodate the tension ring, the end of the first telescopic shaft near the second telescopic shaft and the end of the second telescopic shaft near the first telescopic shaft. The centerline of the tension ring, the centerline of the first telescopic shaft and the centerline of the second telescopic shaft coincide. The tension ring is sleeved on the outer wall of the end of the first telescopic shaft near the second telescopic shaft. The inner wall of the tension ring abuts against the outer wall of the first telescopic shaft and the outer wall of the tension ring abuts against the inner wall of the second telescopic shaft. The clamping device has a first state, a second state, and a third state. When the clamping device is in the first state, the first connecting part and the second connecting part are separated. When the clamping device is in the second state, the first connecting part and the second connecting part are connected, the end of the first telescopic shaft away from the second telescopic shaft is located in the end of the second connecting part near the first connecting part, and there is a gap between the ends of the first shell body and the ends of the second connecting part that are close to each other. When the clamping device is in the third state, the first connecting part and the second connecting part are connected, the end of the first telescopic shaft away from the second telescopic shaft is located in the end of the second connecting part near the first connecting part, and the ends of the first shell body and the ends of the second connecting part that are close to each other are abutted. The telescopic mechanism has an extended state and a retracted state. The first pipe is used to introduce a medium into the cavity, causing the first telescopic shaft and the second telescopic shaft to move simultaneously in a direction away from each other, so that the telescopic mechanism changes from the retracted state to the extended state. The second pipe is used to introduce a medium into the cavity, causing the first telescopic shaft and the second telescopic shaft to move simultaneously in a direction close to each other, so that the telescopic mechanism changes from the extended state to the retracted state. The control station is used to control the extension or retraction of the first telescopic shaft and the second telescopic shaft, so that the first telescopic shaft tightens or loosens the second connecting part.

2. The multi-station three-dimensional robot transfer apparatus according to claim 1, characterized by: The first connecting part further includes a first positioning pin and a positioning pin top block. The first positioning pin passes through the first shell body in a first direction. The first positioning pin is slidably connected to the first shell body. The length of the first positioning pin is greater than the length of the first shell body along the first direction.

3. The multi-station three-dimensional robot transfer apparatus according to claim 2, characterized by: One end of the first positioning pin is fixedly connected to the top of the positioning pin, the top of the positioning pin is located at the end of the first shell body near the second telescopic shaft, and the top of the positioning pin is fixedly connected to the end of the second telescopic shaft away from the first telescopic shaft; when the telescopic mechanism is in the extended state, the end of the first positioning pin away from the top of the positioning pin is located inside the first shell body or is flush with the end of the first shell body away from the top of the positioning pin.

4. The multi-station three-dimensional robot transfer apparatus according to claim 2, characterized by: A positioning block and a second positioning pin are fixedly provided at one end of the first shell body near the first telescopic shaft, and the center of the positioning block and the center of the second positioning pin are located in the same vertical direction.

5. The multi-station three-dimensional robot transfer apparatus according to claim 4, characterized by: The second connecting part includes a second shell body, one end of which is fixedly connected to one end of the crossbar. The end of the second shell body away from the crossbar is provided with a first receiving groove, a second receiving groove, and a third receiving groove. The first receiving groove is used for the second positioning pin to enter, the second receiving groove is used for the positioning block to enter, and the third receiving groove is used for the end of the first telescopic shaft away from the second telescopic shaft to enter.

6. The multi-station three-dimensional robot transfer apparatus according to claim 5, characterized by: The first and second receiving grooves extend through the end face of the second shell body away from the crossbar on the side away from the third receiving groove. The top surfaces of the second and third receiving grooves extend through the top surface of the second shell body. One end of the first receiving groove is connected to one end of the second receiving groove. The side of the second receiving groove away from the first receiving groove is connected to one side of the third receiving groove. The depth of the first receiving groove is less than the depth of the second receiving groove, and the length of the third receiving groove is greater than the length of the second receiving groove.

7. The multi-station three-dimensional robot transfer apparatus according to claim 5, characterized by: The width of the first receiving groove matches the outer diameter of the second positioning pin, the width of the second receiving groove matches the width of the positioning block, and the width of the third receiving groove matches the outer diameter of the end of the first telescopic shaft away from the second telescopic shaft.

8. The multi-station three-dimensional robot transfer apparatus according to claim 5, characterized by: The second housing body also has a pin hole at the end away from the crossbar for the first positioning pin to enter, and the pin hole is correspondingly provided with the first positioning pin.

9. The multi-station three-dimensional robot transfer apparatus according to claim 5, characterized by: The cavity includes a first cavity, a second cavity, and a third cavity. The first cavity is connected to a first pipeline, and the third cavity is connected to a second pipeline. The second cavity is formed by the tension ring, the end of the first telescopic shaft near the second telescopic shaft, and the end of the second telescopic shaft near the first telescopic shaft. The tension ring includes a plurality of tension blocks evenly spaced apart, with gaps between adjacent tension blocks. When the telescopic mechanism changes between the retracted state and the extended state, the medium flows between the first cavity and the second cavity through the gaps between adjacent tension blocks.

10. The multi-station three-dimensional robot transfer apparatus according to claim 9, characterized by: The first telescopic shaft includes a pressure rod, the outer wall of the pressure rod near the second telescopic shaft is configured as a first conical surface, the diameter of the first conical surface gradually increases from the end away from the second telescopic shaft to the other end; the inner wall of the tensioning ring is configured as a second conical surface, and the first conical surface and the second conical surface cooperate.

11. The multi-station three-dimensional robot transfer apparatus according to claim 10, characterized by: The second telescopic shaft includes a fixed seat, and the fixed seat has a first receiving cavity inside. When the telescopic mechanism is in the extended state, the end of the pressure rod near the second telescopic shaft and the end of the tensioning ring near the fixed seat are received in the first receiving cavity. When the telescopic mechanism is in the retracted state, the end of the pressure rod near the second telescopic shaft and the tensioning ring are both received in the first receiving cavity. The inner wall of the fixed seat is configured as a third conical surface, and the diameter of the third conical surface gradually decreases from the end near the first telescopic shaft to the other end. The outer wall of the tensioning ring is configured as an arc-shaped surface, and the third conical surface cooperates with the arc-shaped surface.

12. The multi-station three-dimensional robot transfer apparatus according to claim 11, characterized by: The first telescopic shaft further includes a pull rod fixedly connected to the pressure rod. The pull rod includes a first part, a transition part, and a second part. The two ends of the transition part are fixedly connected to one end of the first part and one end of the second part, respectively. The outer diameter of the transition part gradually increases from the end closer to the first part to the other end. The pressure rod includes a third part, a stop ring, and a fourth part. One end of the third part is fixedly connected to one end of the fourth part. The stop ring is fixedly sleeved on the outer wall of the third part near the fourth part. The inner wall of the tensioning ring abuts against the outer wall of the fourth part. The end face of the stop ring near the second part abuts against the end face of the second part.

13. The multi-station three-dimensional robot transfer apparatus according to claim 12, characterized by: The length of the second receiving groove is equal to the distance from the top surface of the first shell body to the bottom of the first part near the transition portion, and the length of the third receiving groove is equal to or greater than the distance from the top surface of the first shell body to the bottom of the first part away from the transition portion.

14. The multi-station three-dimensional robotic arm transfer device according to claim 5, characterized in that: The first shell body has a first protrusion at the end away from the feeding rod, and the second shell body has a second protrusion at the end away from the crossbar. The thickness of the first protrusion is equal to the thickness of the second protrusion, and the number of the first protrusions is equal to the number of the second protrusions. One first protrusion and one second protrusion are located at different horizontal heights, or one first protrusion and one second protrusion are located in different vertical directions on the same horizontal plane.

15. The multi-station three-dimensional robot transfer apparatus according to claim 5, wherein: The top surface of the first shell body is provided with a cover plate, which is located above the positioning block. The top surface of the positioning block is flush with the bottom surface of the cover plate. When the clamping device is in the third state, the cover plate is used to cover the openings of the second and third receiving grooves.

16. The multi-station three-dimensional robot transfer apparatus according to claim 4, characterized by: The first housing body is also provided with a position detection mechanism at one end near the feeding rod. The position detection mechanism is used to detect the position of the first telescopic shaft and / or the second telescopic shaft.

17. The multi-station three-dimensional robot transfer apparatus according to claim 1, wherein: Two crossbars are provided, and each crossbar has a second connecting part at both ends. The second connecting part at one end of one crossbar cooperates with the first connecting part at one end of one feeding rod in the loading device, and the second connecting part at the other end of one crossbar cooperates with the first connecting part at one end of one feeding rod in the unloading device located on the same side.

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