A highly stable workpiece loading and unloading mechanism

Abstract

The present invention provides a highly stable workpiece loading and unloading mechanism, comprising: loading and unloading guide rails, loading and unloading stations, and a feeding station and a discharging station; a loading and unloading device, comprising a movable seat slidably arranged on the loading and unloading guide rails and used to receive corresponding workpieces, a lower driving member connected between the movable seat and a mobile driving device, an upper driving member connected to the lower driving member and capable of lifting and lowering and moving laterally, and a clamping device connected to the upper driving member and located above the movable seat, the clamping device comprising a clamping member driven by the clamping driving device to clamp the workpiece, a limiting structure for setting a limit on the workpiece provided on the movable seat, and the mobile driving device for driving the lower driving member and the upper driving member to drive the movable seat and the clamping member to move along the loading and unloading guide rails. The travel and duration of the clamping member's suspended clamping of the workpiece are shortened, the risk of the workpiece slipping and being damaged during loading and unloading is minimized, and the stability of the loading and unloading mechanism for loading and unloading the workpiece is improved, thereby ensuring the yield rate of workshop production.

Description

Technical Field

[0001] The present invention relates to the field of workpiece loading and unloading mechanisms, and in particular to a highly stable workpiece loading and unloading mechanism. Background Art

[0002] When producing pulley workpieces in a workshop, a workpiece loading and unloading mechanism is used to move the workpiece blank to a processing station for processing. The processing station can spin the outer wall of the workpiece blank to form a number of grooves. The more mature workpiece loading and unloading mechanism in existing workshops is generally a robotic arm, which is used to grab the workpiece blank from the feed conveyor and place it on the processing station for processing. After the processing station completes the workpiece, it grabs the finished workpiece and places it on the outfeed conveyor for output.

[0003] However, loading and unloading workpiece blanks and finished workpieces through a robotic arm will greatly increase the loading and unloading costs. In addition, when the robotic arm grabs the workpiece blanks or finished workpieces to load and unload, it mainly relies on the clamping force of the clamping jaws and the friction between the clamping jaws and the outer wall of the workpiece to prevent it from falling. This traditional method of grabbing and unloading has the risk of the workpiece falling and being damaged, or the workpiece being damaged by excessive clamping force of the clamping jaws when the workpiece is heavy and the handling stroke is long. Especially for the finished workpiece, once damaged, it becomes waste, resulting in a decrease in the yield rate of workshop production.

[0004] The research purpose of this invention is to design a highly stable workpiece loading and unloading mechanism in response to the problems existing in the above-mentioned prior art. Summary of the Invention

[0005] The present invention provides a highly stable workpiece loading and unloading mechanism, which can effectively solve the above problems.

[0006] The present invention is achieved in that:

[0007] A highly stable workpiece loading and unloading mechanism, comprising:

[0008] Loading and unloading guide rails, including loading and unloading stations with spacing corresponding to the corresponding processing stations, as well as feeding stations and discharging stations;

[0009] The lifting device comprises a movable base slidably provided on the lifting and lowering guide rails and used for receiving the corresponding workpiece, a lower driving member connected between the moving base and the moving drive device, an upper driving member connected to the lower driving member and driven by the lifting drive device to lift up and down and be driven by the telescopic driving device to move laterally, a clamping device connected to the upper driving member and located above the moving base, the clamping device comprising a clamping member driven by the clamping drive device for clamping the workpiece, a limiting structure for limiting the workpiece is provided on the moving base, and the moving drive device is used to drive the lower driving member and the upper driving member to drive the moving base and the clamping member to move along the lifting and lowering guide rails;

[0010] When the workpiece is located on the movable seat, the limiting structure limits the position of the workpiece, and the clamping member clamps the workpiece;

[0011] When the movable seat slides to the loading and unloading station, the clamping member is used to clamp the workpiece on the movable seat to the processing station or to clamp the workpiece on the processing station to the movable seat.

[0012] Furthermore, the loading and unloading guide rail is configured to be arc-shaped and its opening is facing away from the processing station. The loading and unloading station is located in the middle of the loading and unloading guide rail. The feeding station and the discharging station are symmetrically located on both sides of the loading and unloading station. The mobile drive device includes a rotating seat driven to rotate by a telescopic cylinder. The loading and unloading device is provided with two sets of loading mechanisms and unloading mechanisms respectively arranged at an angle therebetween; the rotating seat is used to drive the moving seats of the loading mechanism and the unloading mechanism to slide to the feeding station and the loading and unloading station respectively, or to drive the moving seats of the loading mechanism and the unloading mechanism to slide to the loading and unloading station and the discharging station respectively.

[0013] Furthermore, the loading and unloading guide rails are configured to be semicircular arc-shaped, and the bottom of the movable seat is limited by a plurality of horizontally rotating limiting rollers and rolling clamps arranged on the outer walls on both sides of the loading and unloading guide rails. The loading and unloading station is located in the middle of the loading and unloading guide rails, and the feeding station and the discharging station are respectively located at the two ends of the loading and unloading guide rails.

[0014] Furthermore, the tops of the movable seats of the loading mechanism and the unloading mechanism are both recessed and provided with a limiting groove with one side opening for inputting and outputting workpieces, and the limiting structure includes the limiting groove.

[0015] Furthermore, the limiting structure also includes a pressure sensor provided in the limiting groove and an electromagnet provided in the movable seat and used for electromagnetically attracting the workpiece.

[0016] Furthermore, the middle of the workpiece is penetrated by holes in the upper and lower parts, and the clamping device also includes a driving seat connected to the upper driving member. There are two clamping members, and the clamping driving device is arranged in the driving seat and the two driving ends are respectively connected to the upper ends of the two clamping members after sliding through the driving seat through a number of sliding rods. The sliding rod is provided with a buffer spring that is installed between the driving seat and the clamping member. The two clamping members are arranged in the shape of vertical plates and the facing sides are provided with an anti-slip layer that is adapted to the curvature of the outer wall of the workpiece.

[0017] Furthermore, an airbag extending vertically and having an outer diameter smaller than the inner diameter of the through-hole is fixedly provided at the bottom middle portion of the driving seat, and extrusion parts extending toward each other are respectively protruded on the opposite sides of the two clamping parts; when the upper driving part moves until the airbag extends into the through-hole of the workpiece and the two clamping parts correspond to the outer wall of the workpiece, the clamping driving device drives the two clamping parts to clamp the outer wall of the workpiece, and the two extrusion parts move toward each other to squeeze the upper part of the airbag, so that the lower part of the airbag bulges and fits tightly against the inner wall of the through-hole.

[0018] Furthermore, the extrusion piece is in the shape of a transversely extending plate, and the facing sides of the two extrusion pieces are recessed to form an extrusion portion corresponding to the outer wall of the upper portion of the airbag, and a flexible layer is provided on both extrusion portions.

[0019] Furthermore, the upper driving member and the lower driving member are spaced apart and arranged in parallel with each other, and a lifting seat is provided between the upper driving member and the lower driving member. One end of the lifting seat extends laterally to form a sliding sleeve for slidingly inserting the upper driving member, and the other end is folded downward and slidably connected to the top of the lower driving member. The lifting drive device is provided at the top of the lower driving member and is used to drive the lifting seat to move up and down. The telescopic drive device is provided in the sliding sleeve and is used to drive the upper driving member to move laterally.

[0020] Furthermore, the mobile drive device also includes a base for rotatably mounting the rotating seat, the bottom middle part of the lower driving member is rollingly supported on the base through a support roller, and the top middle part is provided with a support cylinder vertically coaxially arranged with the support roller, and the bottom middle part of the lower driving member is provided with a sleeve extending vertically and sliding up and down on the outside of the support cylinder, and a support spring is provided in the support cylinder with upper and lower ends arranged between the sliding sleeve and the lower driving member.

[0021] The beneficial effects of the present invention are:

[0022] 1. During the loading and unloading process of the workpiece: when the workpiece is on the moving seat, the limiting structure limits the workpiece, the clamping member clamps the workpiece, and the mobile driving device drives the lower driving member and the upper driving member to drive the moving seat and the clamping member to move along the loading and unloading guide rails; thereby, the workpiece is doubly fixed by the limiting structure of the moving seat and the clamping member, so that the upper driving member and the lower driving member can stably drive the rotating seat and the workpiece to move along the loading and unloading guide rails to the loading and unloading station. During this period, due to the supporting and limiting effect of the moving seat, the clamping member is not suspended to grasp and transport the workpiece, so there is no risk of the workpiece slipping from between the clamping members and being damaged, which can greatly improve the stability of the workpiece loading and unloading to the loading and unloading station; on this basis On the basis, when the movable seat slides to the loading and unloading station, the clamping parts are used to lift up and down and move laterally to clamp the workpiece on the movable seat to the processing station or to clamp the workpiece on the processing station to the movable seat; thereby, the clamping parts only need to perform a short-stroke suspended clamping of the workpiece between the loading and unloading station and the processing station with a set distance, which greatly shortens the stroke and duration of the suspended clamping of the workpiece by the clamping parts, and minimizes the risk of the workpiece slipping and being damaged between the clamping parts during loading and unloading. In addition, such a setting can appropriately reduce the clamping force of the clamping parts to avoid damage to the workpiece due to excessive clamping force, thereby improving the stability of the loading and unloading mechanism in loading and unloading the workpiece, so as to ensure the yield rate of workshop production.

[0023] 2. When the rotating seat drives the moving seats of the loading mechanism and the unloading mechanism to slide to the feeding station and the loading and unloading station respectively, the feeding mechanism inputs the next-level workpiece blank to the moving seat of the loading mechanism, and the clamping parts of the unloading mechanism clamp the previous-level workpiece finished product on the processing station to the moving seat of the unloading mechanism. When the rotating seat drives the moving seats of the loading mechanism and the unloading mechanism to slide to the loading and unloading station and the unloading station respectively, the clamping parts of the loading mechanism clamp the next-level workpiece blank on the moving seat to the processing station, and the unloading mechanism outputs the previous-level workpiece finished product located on the moving seat of the unloading mechanism. Therefore, by setting the loading and unloading guide rails to an arc shape, not only the moving efficiency of the moving seat can be improved, but also the footprint of the moving drive device can be reduced and the compactness of the structure can be improved. Through the division of labor and cooperation of the moving seats of the loading mechanism and the unloading mechanism, the mobile drive device drives the loading mechanism and the unloading mechanism to rotate once, and the unloading and unloading of the finished workpiece of the previous level and the feeding and loading of the blank of the next level can be realized, which greatly reduces the waiting time for the workpiece feeding and unloading and loading and unloading, and improves its working efficiency while reducing the working energy consumption of the loading and unloading device, thereby greatly improving the loading and unloading efficiency of the workpiece.

[0024] 3. When the movable seat of the loading mechanism moves to the feeding station, the corresponding feeding mechanism inputs the workpiece blank into the limiting slot. When the movable seat of the unloading mechanism moves to the discharging station, the corresponding discharging mechanism outputs the finished workpiece in the limiting slot. When the pressure sensor in the limiting slot senses that the workpiece is in place, the electromagnet is energized to adsorb the workpiece in the limiting slot. When the movable seat of the unloading mechanism moves to the discharging station, the electromagnet is de-energized to disconnect the adsorption and fixation of the workpiece. The limiting slot with a single-side opening thus facilitates the entry and exit of the workpiece, and the addition of an electromagnet assists in fixing the workpiece in the limiting slot, thereby improving the limiting effect of the limiting slot on the workpiece, improving the stability of the workpiece on the movable seat, and thus improving the stability of the workpiece loading and unloading.

[0025] 4. When the upper drive member descends until the airbag extends into the workpiece's through-hole, the clamping drive device drives the two clamping members to clamp onto the workpiece's outer wall. The two extrusion members move toward each other, squeezing the upper portion of the airbag, causing the lower portion of the airbag to bulge and press against the inner wall of the through-hole. The addition of the airbag and extrusion members allows the drive seat to not only cling to the workpiece's outer wall via the clamping member's anti-slip layer, but also to cling to the inner wall of the through-hole via the lower portion of the airbag, which is bulged by the extrusion members. This significantly increases the contact area between the clamping device and the workpiece's inner and outer walls when clamping, enabling highly stable clamping and handling of the workpiece by the clamping member. Furthermore, the flexible, high-friction airbag and anti-slip layer, respectively, contacting the workpiece's inner and outer walls, eliminates wear and tear, and eliminates the risk of damage from excessive compression.

[0026] 5. The flexible layer is provided to prevent the extrusion part from damaging the airbag when the extrusion part extrudes the airbag through the extrusion portion, thereby reducing the life of the airbag, and at the same time improve the stability of the extrusion part in extruding the airbag.

[0027] The cam is fixed to the upper and lower surfaces of the support member so as to improve the support structure of the support member and the supporting spring, thereby improving the stability of the support member and the supporting spring. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a structural diagram of a highly stable workpiece loading and unloading mechanism.

[0029] Figure 2 for Figure 1 Schematic diagram of the partial top view structure.

[0030] Figure 3 for Figure 1 Schematic diagram of the structure after removing the feeding mechanism and discharging mechanism.

[0031] Figure 4 This is a schematic diagram of the structure of the clamping devices of the loading mechanism and the unloading mechanism clamping the workpiece blank and the workpiece finished product.

[0032] Figure 5 It is a structural diagram of the loading mechanism and the unloading mechanism.

[0033] Figure 6 It is a schematic diagram of the cross-sectional structure when the clamping device does not clamp the workpiece.

[0034] Figure 7 It is a schematic diagram of the cross-sectional structure of the clamping device when clamping the workpiece.

[0035] Reference numerals:

[0036] Loading and unloading guide rail 1, loading and unloading station 11, feeding station 12, discharging station 13;

[0037] Loading and unloading device 2, moving seat 21, limiting roller 211, limiting groove 212, lower driving member 22, supporting roller 221, supporting cylinder 222, upper driving member 23, sleeve 231, clamping device 24, clamping member 241, clamping driving device 242, driving seat 243, sliding rod 244, buffer spring 245, anti-slip layer 246, airbag 247, extrusion member 248, extrusion part 2481, lifting seat 25, sliding sleeve 251;

[0038] Mobile drive device 3, telescopic cylinder 31, rotating seat 32, base 33;

[0039] Feeding mechanism 4;

[0040] Unloading mechanism 5;

[0041] Processing station 6;

[0042] Feeding mechanism 7;

[0043] Discharging mechanism 8. DETAILED DESCRIPTION

[0044] Reference Figure 1-7 As shown, a highly stable workpiece loading and unloading mechanism comprises:

[0045] The loading and unloading guide rail 1 includes loading and unloading stations 11, which are spaced to correspond to the corresponding processing stations 6, as well as a feeding station 12 and a discharging station 13;

[0046] The loading and unloading device 2 includes a movable seat 21 slidably arranged on the loading and unloading guide rail 1 and used to receive the corresponding workpiece, a lower driving member 22 connected between the movable seat 21 and the mobile driving device 3, an upper driving member 23 connected to the lower driving member 22 and driven by the lifting driving device to lift up and down and driven by the telescopic driving device to move laterally, and a clamping device 24 connected to the upper driving member 23 and located above the movable seat 21, the clamping device 24 includes a clamping member 241 driven by the clamping driving device 242 for clamping the workpiece, and a limiting structure for limiting the workpiece is provided on the movable seat 21. The mobile driving device 3 is used to drive the lower driving member 22 and the upper driving member 23 to drive the movable seat 21 and the clamping member 241 to move along the loading and unloading guide rail 1;

[0047] When the workpiece is located on the movable seat 21, the limiting structure limits the position of the workpiece, and the clamping member 241 clamps the workpiece;

[0048] When the movable seat 21 slides to the loading and unloading station 11, the clamping member 241 is used to clamp the workpiece on the movable seat 21 to the processing station 6 or to clamp the workpiece on the processing station 6 to the movable seat 21;

[0049] The above structure makes it possible to:

[0050] When the workpiece is located on the moving seat 21, the limiting structure limits the workpiece, the clamping member 241 clamps the workpiece, and the moving drive device 3 drives the lower driving member 22 and the upper driving member 23 to drive the moving seat 21 and the clamping member 241 to move along the loading and unloading guide rail 1; thereby, the workpiece is doubly fixed by the limiting structure of the moving seat 21 and the clamping member 241, so that the upper driving member 23 and the lower driving member 22 can stably drive the rotating seat and the workpiece to move along the loading and unloading guide rail 1 to the loading and unloading station 11. During this period, due to the supporting and limiting effect of the moving seat 21, the clamping member 241 is not suspended to grasp and transport the workpiece, so there is no risk of the workpiece slipping between the clamping members 241 and being damaged, which can greatly improve the stability of the workpiece loading and unloading to the loading and unloading station 11;

[0051] On this basis, when the movable seat 21 slides to the loading and unloading station 11, the clamping member 241 is used to lift up and down and move laterally to clamp the workpiece on the movable seat 21 to the processing station 6 or to clamp the workpiece on the processing station 6 to the movable seat 21; thereby, the clamping member 241 only needs to perform a short-stroke suspended clamping of the workpiece between the loading and unloading station 11 and the processing station 6 with a spacing, which greatly shortens the stroke and duration of the suspended clamping of the workpiece by the clamping member 241, and minimizes the risk of the workpiece slipping and being damaged between the clamping members 241 during loading and unloading. In addition, such a setting can appropriately reduce the clamping force of the clamping member 241 to avoid damage to the workpiece due to excessive clamping force, thereby improving the stability of the loading and unloading mechanism for loading and unloading the workpiece, so as to ensure the yield rate of workshop production.

[0052] In order to improve the loading and unloading efficiency of the loading and unloading mechanism, the loading and unloading guide rail 1 is set to be arc-shaped and the opening is facing away from the processing station 6. The loading and unloading station 11 is located in the middle of the loading and unloading guide rail 1, and the feeding station 12 and the discharging station 13 are symmetrically located on both sides of the loading and unloading station 11. The mobile drive device 3 includes a rotating seat 32 driven to rotate by a telescopic cylinder 31. The loading and unloading device 2 is provided with two sets of loading mechanisms 4 and unloading mechanisms 5 respectively, which are arranged at an angle therebetween. The arrangement of the above structure can achieve: when the rotating seat 32 drives the moving seats 21 of the loading mechanism 4 and the unloading mechanism 5 to slide to When the feeding station 12 and the loading and unloading station 11 are in operation, the feeding mechanism 7 inputs the next-level workpiece blank to the movable seat 21 of the loading mechanism 4, and the clamping part 241 of the unloading mechanism 5 clamps the previous-level workpiece finished product on the processing station 6 to the movable seat 21 of the unloading mechanism 5. When the rotating seat 32 drives the movable seats 21 of the loading mechanism 4 and the unloading mechanism 5 to slide to the loading and unloading station 11 and the unloading station 13 respectively, the clamping part 241 of the loading mechanism 4 clamps the next-level workpiece blank on the movable seat 21 to the processing station 6, and the unloading mechanism 8 outputs the previous-level workpiece finished product located on the movable seat 21 of the unloading mechanism 5. Therefore, by setting the loading and unloading guide rail 1 to an arc shape, not only the moving efficiency of the movable seat 21 can be improved, but also the footprint of the movable drive device 3 can be reduced, and the compactness of the structure can be improved. Through the division of labor and cooperation of the movable seat 21 of the loading mechanism 4 and the unloading mechanism 5, the unloading and unloading of the upper-level workpiece finished product and the feeding and loading of the lower-level workpiece blank can be realized in the process of the mobile drive device 3 driving the loading mechanism 4 and the unloading mechanism 5 to rotate once, which greatly reduces the waiting time for the workpiece feeding and unloading and loading and unloading, and improves its working efficiency while reducing the working energy consumption of the loading and unloading device 2, thereby greatly improving the loading and unloading efficiency of the workpiece.

[0053] To improve the compactness of the loading and unloading mechanism, the loading and unloading guide rail 1 is configured as a semicircular arc. Specifically, a feed mechanism 7 and a discharge mechanism 8 extending forward and backward are provided at each end of the loading and unloading guide rail 1, respectively. The bottom of the movable seat 21 is clamped to the outer walls of the loading and unloading guide rail 1 on both sides by a plurality of transversely rotating limit rollers 211. The loading and unloading station 11 is located in the middle of the loading and unloading guide rail 1, and the feeding station 12 and the discharge station 13 are respectively located at the ends of the loading and unloading guide rail 1. This reduces the distance between the feeding mechanism 7 and the discharge mechanism 8, improving the compactness of the structure. The clamping arrangement of the limit rollers 211 improves the smoothness of the sliding of the movable seat 21 on the loading and unloading guide rail 1, thereby improving loading and unloading efficiency.

[0054] In order to improve the limiting effect of the limiting structure, the top of the movable seat 21 of the loading mechanism 4 and the unloading mechanism 5 are both recessed and provided with a limiting groove 212 with an opening on one side for inputting and outputting workpieces. The limiting structure includes a pressure sensor arranged in the limiting groove 212 and an electromagnet arranged in the movable seat 21 and used to electromagnetically absorb the workpiece; when the movable seat 21 of the loading mechanism 4 moves to the feeding station 12, the corresponding feeding mechanism 7 inputs the workpiece blank into the limiting groove 212, and when the movable seat 21 of the unloading mechanism 5 moves to the discharging station 13, the corresponding discharging mechanism 8 outputs the finished workpiece in the limiting groove 212, and when the pressure sensor in the limiting groove 212 senses that the workpiece is in place, the electromagnet is energized to adsorb the workpiece in the limiting groove 212, and when the movable seat 21 of the unloading mechanism 5 moves to the discharging station 13, the electromagnet is de-energized to disconnect the adsorption and fixation of the workpiece. The single-sided opening of the limiting groove 212 facilitates the movement of the workpiece in and out, and the addition of an electromagnet assists in fixing the workpiece in the limiting groove 212, thereby improving the limiting effect of the limiting groove 212 on the workpiece, improving the stability of the workpiece on the moving seat 21, and thereby improving the stability of loading and unloading the workpiece.

[0055] Specifically, a through-hole is provided through the upper and lower parts of the middle of the workpiece. In this embodiment, the workpiece is a pulley, and the through-hole is a connecting hole in the middle of the pulley. The clamping device 24 also includes a driving seat 243 connected to the upper driving member 23. There are two clamping members 241. The clamping driving device 242 is arranged in the driving seat 243 and the two driving ends are respectively connected to the upper ends of the two clamping members 241 after sliding through the driving seat 243 through a number of sliding rods 244. A buffer spring 245 is provided on the sliding rod 244 and is installed between the driving seat 243 and the clamping member 241. The two clamping members 241 are arranged in a vertical plate shape and the opposite sides are provided with an anti-slip layer 246 that is adapted to the curvature of the outer wall of the workpiece. The anti-slip layer 246 can be made of a flexible and high-friction rubber or other material. Therefore, the provision of the buffer spring 245 can prevent the two clamping members 241 from clamping together too quickly and violently, thereby preventing the workpiece from being damaged. The provision of the anti-slip layer 246 can increase the contact area and friction between the clamping member 241 and the outer wall of the workpiece when clamping the workpiece, which can greatly improve the stability of the clamping member 241 clamping the workpiece and reduce the risk of the workpiece sliding down and falling when the clamping member 241 is suspended in the air.

[0056] In order to improve the clamping stability of the clamping device 24, an airbag 247 with a vertical extension and an outer diameter smaller than the inner diameter of the perforation is fixed to the bottom middle part of the driving seat 243, and the opposite sides of the two clamping parts 241 are respectively protruded with extrusion parts 248 extending towards each other; the above structure can be realized: when the upper driving part 23 moves until the airbag 247 extends into the perforation of the workpiece and the two clamping parts 241 correspond to the outer wall of the workpiece, the clamping driving device 242 drives the two clamping parts 241 to clamp the outer wall of the workpiece, and the two extrusion parts 248 move towards each other to squeeze the upper part of the airbag 247, so that the lower part of the airbag 247 bulges and presses against the inner wall of the perforation. Specifically, the airbag 247 can be a flexible rubber airbag 247 with high friction, and an inflation port for inflation can be set on one side of the upper end of the airbag 247 to facilitate air replenishment when the internal gas of the airbag 247 is insufficient after long-term use. Therefore, by adding the airbag 247 and the extrusion piece 248, the driving seat 243 is not only pressed against the outer wall of the workpiece through the anti-slip layer 246 of the clamping piece 241, but also pressed against the inner wall of the perforation through the lower part of the airbag 247 squeezed and bulged by the extrusion piece 248, which greatly improves the contact area between the clamping device 24 and the inner and outer walls of the workpiece when clamping the workpiece, and can achieve high-stability clamping and transportation of the workpiece by the clamping piece 241. The flexible and high-friction airbag 247 and the anti-slip layer 246 respectively contact the inner and outer walls of the workpiece without causing wear to the inner and outer walls of the workpiece, and there is no risk of damage to the workpiece due to excessive extrusion.

[0057] To achieve flexible contact between the extrusion member 248 and the airbag 247, the extrusion member 248 is in the form of a transversely extending plate. The facing sides of the two extrusion members 248 are recessed to form extrusion portions 2481 that correspond to and fit the upper outer wall of the airbag 247. Both extrusion portions 2481 are provided with a flexible layer, specifically made of a flexible material such as rubber. The provision of the flexible layer prevents damage to the airbag 247 caused by the extrusion member 248 squeezing the airbag 247 through the squeezing portions 2481, which could reduce the lifespan of the airbag 247. It also improves the stability of the extrusion member 248 squeezing the airbag 247.

[0058] Specifically, the upper driving member 23 and the lower driving member 22 are spaced apart and arranged in parallel with each other, and a lifting seat 25 is provided between the upper driving member 23 and the lower driving member 22. One end of the lifting seat 25 extends laterally to form a sliding sleeve 251 for slidingly inserting the upper driving member 23 laterally, and the other end is folded downward and slidably connected to the top of the lower driving member 22 up and down. The lifting drive device is provided at the top of the lower driving member 22 and is used to drive the lifting seat 25 to move up and down. The telescopic drive device is provided in the sliding sleeve 251 and is used to drive the upper driving member 23 to move laterally.

[0059] In order to improve the structural stability of the upper driving member 23 and the lower driving member 22, the mobile driving device 3 also includes a base 33 for rotatably mounting the rotating seat 32. The bottom middle part of the lower driving member 22 is rollingly supported on the base 33 through a support roller 221, and the top middle part is provided with a support cylinder 222 vertically coaxially arranged with the support roller 221. The bottom middle part of the lower driving member 22 is provided with a sleeve 231 extending vertically and with upper and lower sliding sleeves 251 arranged on the outside of the support cylinder 222. A support spring is provided in the support cylinder 222 with upper and lower ends arranged between the sliding sleeve 251 and the lower driving member 22. Thus, by adding the support roller 221, the middle part of the lower driving member 22 is supported, and the structural stability of the lower driving member 22 is improved. At the same time, by connecting the upper and lower sliding sleeves 251 and the support column and support cylinder 222 vertically coaxially arranged with the support roller 221, and the support spring arranged between them and with the upper and lower ends set between the sliding sleeve 251 and the lower driving member 22, the effect of the support roller 221 and the support spring coaxially supporting the sliding sleeve 251 can be achieved, thereby improving the structural stability of the sliding sleeve 251 and the structural stability of the upper driving member 23. Furthermore, the lower driving member 22 and the upper driving member 23 together drive the stability of the movable seat 21 and the clamping member 241 when moving along the loading and unloading guide rail 1, and when the lifting seat 25 rises and the clamping member 241 of the upper driving member 23 is suspended to clamp the workpiece, the support roller 221 and the support spring can still achieve the effect of coaxially supporting the sliding sleeve 251 up and down. Therefore, by adding the support roller 221 and the support spring, the support strength of the upper driving member 23 and the lower driving member 22 is improved in all directions, the structural stability of the two is improved, and the stability of loading and unloading of the workpiece is improved.

[0060] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A highly stable workpiece loading and unloading mechanism, characterized in that: include: A loading and unloading guide rail (1) includes loading and unloading stations (11) spaced apart from each other to correspond to the corresponding processing stations (6), as well as a feeding station (12) and a discharging station (13); The loading and unloading device (2) comprises a movable seat (21) slidably arranged on the loading and unloading guide rail (1) and used to receive the corresponding workpiece, a lower driving member (22) connected between the movable seat (21) and the moving drive device (3), an upper driving member (23) connected to the lower driving member (22) and driven by the lifting drive device to move up and down and driven by the telescopic drive device to move laterally, and a clamping device (24) connected to the upper driving member (23) and located above the movable seat (21), the clamping device (24) comprising a driving seat (243) connected to the upper driving member (23), a clamping drive device (242) arranged in the driving seat (243), and a clamping member (241) driven by the clamping drive device (242) for clamping the workpiece, the two clamping members (241) are configured as vertical plates and have anti-slip layers (246) adapted to the curvature of the outer wall of the workpiece on opposite sides, a through hole is provided in the middle of the workpiece, and the clamping member (241) is driven by the clamping drive device (242) to clamp the workpiece. A vertically extending air bag (247) with an outer diameter smaller than the inner diameter of the through hole is fixedly provided at the bottom middle of the movable seat (243), and extrusion pieces (248) extending toward each other are respectively protruded on the opposite sides of the two clamping pieces (241); when the upper driving piece (23) moves until the air bag (247) extends into the through hole of the workpiece and the two clamping pieces (241) correspond to the outer wall of the workpiece, the clamping driving device (242) drives the two clamping pieces (241) to clamp the workpiece. The outer wall of the workpiece, the two extrusion members (248) move toward each other to squeeze the upper part of the airbag (247), so that the lower part of the airbag (247) bulges and is close to the inner wall of the perforation, the movable seat (21) is provided with a limiting structure for limiting the workpiece, and the movable driving device (3) is used to drive the lower driving member (22) and the upper driving member (23) to drive the movable seat (21) and the clamping member (241) to move along the loading and unloading guide rail (1); When the workpiece is located on the movable seat (21), the limiting structure limits the workpiece, and the clamping member (241) clamps the workpiece; When the movable seat (21) slides to the loading and unloading station (11), the clamping member (241) is used to clamp the workpiece on the movable seat (21) to the processing station (6) or to clamp the workpiece on the processing station (6) to the movable seat (21).

2. A highly stable workpiece loading and unloading mechanism according to claim 1, characterized in that: The loading and unloading guide rail (1) is configured to be arc-shaped and its opening faces away from the processing station (6); the loading and unloading station (11) is located in the middle of the loading and unloading guide rail (1); the feeding station (12) and the discharging station (13) are symmetrically located on both sides of the loading and unloading station (11); the moving drive device (3) includes a rotating seat (32) driven to rotate by a telescopic oil cylinder (31); the loading and unloading device (2) is provided with two sets of loading mechanisms (4) and unloading mechanisms (5) which are respectively arranged at an angle therebetween; the rotating seat (32) is used to drive the moving seats (21) of the loading mechanism (4) and the unloading mechanism (5) to slide to the feeding station (12) and the loading and unloading station (11) respectively, or to drive the moving seats (21) of the loading mechanism (4) and the unloading mechanism (5) to slide to the loading and unloading station (11) and the discharging station (13) respectively.

3. A highly stable workpiece loading and unloading mechanism according to claim 2, characterized in that: The loading and unloading guide rail (1) is configured to be semicircular, and the bottom of the movable seat (21) is provided with a plurality of horizontally rotating limiting rollers (211) which are limited by rolling clamps on both sides of the loading and unloading guide rail (1). The loading and unloading station (11) is located in the middle of the loading and unloading guide rail (1), and the feeding station (12) and the discharging station (13) are respectively located at both ends of the loading and unloading guide rail (1).

4. A highly stable workpiece loading and unloading mechanism according to claim 3, characterized in that: The tops of the movable seats (21) of the loading mechanism (4) and the unloading mechanism (5) are both recessed and provided with a limiting groove (212) with an opening on one side for inputting and outputting workpieces, and the limiting structure includes the limiting groove (212).

5. A highly stable workpiece loading and unloading mechanism according to claim 4, characterized in that: The limiting structure further comprises a pressure sensor provided in the limiting groove (212) and an electromagnet provided in the movable seat (21) and used for electromagnetically attracting the workpiece.

6. A highly stable workpiece loading and unloading mechanism according to claim 4, characterized in that: There are two clamping members (241), and the two driving ends of the clamping drive device (242) slide through the drive seat (243) through a plurality of slide rods (244) and are connected to the upper ends of the two clamping members (241). The slide rods (244) are provided with a buffer spring (245) that is installed between the drive seat (243) and the clamping member (241).

7. A highly stable workpiece loading and unloading mechanism according to claim 1, characterized in that: The extrusion piece (248) is in the shape of a transversely extending plate, and the opposite sides of the two extrusion pieces (248) are recessed to form an extrusion portion (2481) corresponding to the upper outer wall of the airbag (247), and a flexible layer is provided on both extrusion portions (2481).

8. A highly stable workpiece loading and unloading mechanism according to claim 2, characterized in that: The upper driving member (23) and the lower driving member (22) are spaced apart and arranged in parallel with each other. A lifting seat (25) is provided between the upper driving member (23) and the lower driving member (22). One end of the lifting seat (25) extends laterally to form a sliding sleeve (251) for slidingly inserting the upper driving member (23) laterally, and the other end is folded downward and connected to the top of the lower driving member (22) by sliding up and down. The lifting drive device is provided at the top of the lower driving member (22) and is used to drive the lifting seat (25) to move up and down. The telescopic drive device is provided in the sliding sleeve (251) and is used to drive the upper driving member (23) to move laterally.

9. A highly stable workpiece loading and unloading mechanism according to claim 8, characterized in that: The mobile drive device (3) further comprises a base (33) for rotatably mounting the rotating seat (32); the bottom middle portion of the lower driving member (22) is rollingly supported on the base (33) via a supporting roller (221); a supporting cylinder (222) is provided at the top middle portion thereof and is vertically coaxially arranged with the supporting roller (221); a sleeve (231) is provided at the bottom middle portion of the lower driving member (22) and is provided with an upper and lower sliding sleeve (251) disposed on the outside of the supporting cylinder (222); a supporting spring is provided in the supporting cylinder (222) with its upper and lower ends disposed between the sliding sleeve (251) and the lower driving member (22).

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