The hand-changing module moves the bent workpiece to the assembly station.

Abstract

This application discloses a hand-changing module for moving bent workpieces to an assembly station, comprising: a support portion for supporting and fixing workpieces, the support portion including a first mounting base and a carrier fixedly disposed on the first mounting base; the carrier having a support surface for supporting and fixing workpieces; a channel within the carrier, with a magnetic suction component disposed within the channel; two suction portions spaced apart in a first direction, each suction portion including a first driving component and a suction surface for suctioning bent workpieces; the suction surface having a negative pressure suction hole, a fixed stop block, and a movable stop block, the fixed stop block and the movable stop block protruding from the suction surface and spaced apart in a second direction; and two gripping portions located on both sides of the support portion in the first direction, the two gripping portions being symmetrically arranged; each gripping portion including a gripper extending along the first direction and a driving assembly connected to the gripper. This hand-changing module can stably fix the workpiece and can smoothly and efficiently move the bent workpiece to the side of the fixed workpiece, avoiding damage to the bent workpiece.

Description

Technical Field

[0001] This specification relates to the field of automation equipment technology, and in particular to a hand-changing module for moving bent workpieces to an assembly station. Background Technology

[0002] On automated production lines, when assembling a bent workpiece with another workpiece, it's typically necessary to first fix one workpiece in place, then move the bent workpiece to the surface of the fixed workpiece to complete the assembly. If the bent workpiece needs to be installed on the top surface of the fixed workpiece, this is usually relatively simple. However, if the bent workpiece needs to be installed on the side of the fixed workpiece, and the fixed workpiece is thin, this assembly process cannot be achieved with existing equipment. Furthermore, when the bent workpiece is an extremely thin, strip-shaped small workpiece, its surface and interior are often damaged during bending and movement, making smooth and efficient movement impossible. Summary of the Invention

[0003] In view of the shortcomings of the prior art, one object of this specification is to provide a hand-changing module for moving bent workpieces to the assembly station, which can stably fix the fixed workpiece and move the bent workpiece smoothly and efficiently to the side of the fixed workpiece, avoiding damage to the bent workpiece.

[0004] To achieve the above objectives, this specification provides a hand-changing module for moving bent workpieces to an assembly station, comprising:

[0005] A support portion for supporting and fixing a workpiece, the support portion including a first mounting base and a carrier fixedly disposed on the first mounting base; the carrier is provided with a support surface for supporting and fixing the workpiece; the carrier is provided with a channel perpendicular to the support surface, and a magnetic suction element is provided in the channel;

[0006] Two suction units are spaced apart and symmetrically arranged in a first direction. Each suction unit includes a first driving member and a suction surface for suctioning bent workpieces. The suction surface is provided with a negative pressure suction hole, a fixed stop, and a movable stop. The fixed stop and the movable stop protrude from the suction surface and are spaced apart in a second direction. The first driving member is connected to the movable stop and is used to drive the movable stop to move in the second direction. The first direction, the second direction, and the vertical direction are mutually perpendicular. The two suction surfaces are perpendicular to the first direction and arranged opposite to each other. The bearing surface is arranged perpendicular to the second direction.

[0007] A first slide rail extends along a first direction, and a first slider is slidably connected to the first slide rail; a second slide rail extends along a second direction on the first slider, and the suction part is slidably connected to the second slide rail;

[0008] Two gripping portions are located on both sides of the bearing portion in a first direction, and the two gripping portions are symmetrically arranged; each gripping portion includes a gripper extending along the first direction and a drive assembly connected to the gripper; the gripper is provided with a gripping surface for gripping a bent workpiece, and the gripping surface is perpendicular to the first direction; the drive assembly is used to drive the gripper to move along the first direction, move along a second direction, move along a vertical direction, rotate about an axis extending in the first direction, and rotate about an axis extending in the vertical direction.

[0009] In a preferred embodiment, the hand-swapping module further includes a second mounting base, and the drive assembly includes:

[0010] A first support block is fixedly connected to the second mounting base, and a third slide rail extending in the second direction is provided on the first support block;

[0011] A second support block is slidably connected to the third slide rail, and a fourth slide rail extending along the first direction is provided on the second support block;

[0012] A third support block is slidably connected to the fourth slide rail, and the third support block is provided with a fifth slide rail extending in the vertical direction;

[0013] The fourth support block is slidably connected to the fifth slide rail;

[0014] A fifth support block is rotatably connected to the fourth support block, and the fifth support block is rotatable relative to the fourth support block about an axis extending in a first direction;

[0015] A sixth support block is rotatably connected to the fifth support block, and the sixth support block is rotatable relative to the fifth support block about an axis extending in the vertical direction; the gripper is connected to the sixth support block.

[0016] In a preferred embodiment, the sixth support block is provided with a sixth slide rail extending along the first direction, and the gripper is slidably connected to the sixth slide rail; the end of the gripper away from the gripping surface is abutted against the sixth support block by a spring.

[0017] In a preferred embodiment, the hand-changing module further includes a pressure block; the pressure block is located above the carrier; the second mounting base is provided with a seventh slide rail extending in a second direction, the seventh slide rail is slidably connected to a second slider, the second slider is provided with an eighth slide rail extending in a vertical direction, the eighth slide rail is slidably connected to a third slider, and the pressure block is fixedly connected to the third slider.

[0018] In a preferred embodiment, there are at least two negative pressure suction holes, which are spaced apart in the vertical direction. The suction part is provided with a first air passage and a second air passage. The first air passage is connected to the first driving member and is used to drive the moving end of the first driving member to move in the second direction. The second air passage is connected to the negative pressure suction holes and includes a first part extending in the second direction and a second part extending in the vertical direction. The second part is located on one side of the negative pressure suction hole in the first direction. The first air passage and the first part are spaced apart in the vertical direction.

[0019] In a preferred embodiment, the movable stop has a connected blocking surface and a clearance surface. The blocking surface faces the fixed stop and is perpendicular to the second direction. The clearance surface is inclined, and the distance between the clearance surface and the fixed stop gradually increases in the direction away from the suction surface.

[0020] In a preferred embodiment, the suction unit has a first position and a second position. When the suction unit is in the first position, the two suction surfaces are horizontally upward, and when the suction unit is in the second position, the two suction surfaces are vertically opposite each other. The suction unit is connected to a second driving member for driving the suction unit to rotate 90° to switch between the first position and the second position. A third mounting base is slidably connected to the second slide rail. The suction unit and the second driving member are connected to the third mounting base.

[0021] In a preferred embodiment, the magnetic suction element is movable within the channel to switch between a suction position close to the bearing surface and a discharge position away from the bearing surface; the carrier has a waiting position with the bearing surface horizontally arranged and a working position with the bearing surface vertically arranged; when the carrier is in the working position, the magnetic suction element is in the suction position; the first mounting base is connected to a third driving element for driving the first mounting base to rotate 90° about an axis extending along a first direction, so that the carrier switches between the waiting position and the working position.

[0022] In a preferred embodiment, the length of the magnetic suction member is less than the length of the channel; the diameter of the channel matches the diameter of the magnetic suction member; the magnetic suction member is connected to a fourth driving member for driving the magnetic suction member to switch between a material suction position and a material release position; the output end of the fourth driving member is eccentrically positioned with respect to the magnetic suction member; when the carrier is in the working position, the output end of the fourth driving member is positioned close to the lower part of the magnetic suction member.

[0023] In a preferred embodiment, the support portion further includes:

[0024] Two first blocking blocks are slidably connected to the first mounting base in a first direction, and the two first blocking blocks are respectively located on both sides of the vehicle in the first direction; the first mounting base is provided with a ninth slide rail extending in the first direction, and the first blocking blocks are slidably connected to the ninth slide rail; when the vehicle is in the working position, the first blocking blocks are arranged near the lower part of the vehicle.

[0025] A second blocking block is slidably connected to a first mounting base, and the second blocking block is disposed facing the bearing surface; the first mounting base is provided with a tenth slide rail extending in a second direction, a connecting block is slidably connected to the tenth slide rail, and an eleventh slide rail extending in a vertical direction is provided on the connecting block, and the second blocking block is slidably connected to the eleventh slide rail;

[0026] A blocking strip is prominently disposed on the bearing surface, the blocking strip extending along a first direction; when the carrier is in the working position, the blocking strip is disposed near the lower part of the carrier, the top end of the second blocking block is not higher than the top end of the bearing surface, and the bottom end of the second blocking block is higher than the top end of the blocking strip. Beneficial effects

[0027] The hand-changing module provided in this embodiment for moving bent workpieces to the assembly station includes a carrying part, a suction part, a first slide rail, a second slide rail, and a gripping part. The carrying part is used to carry and fix the fixed workpiece; the two suction parts are used to suction the bent workpiece and move it along the first slide rail in a first direction and along the second slide rail in a second direction, thereby bringing the bent workpiece closer to the carrying part; the two gripping parts are used to grip the bent workpiece from the suction part and install it to the corresponding position of the fixed workpiece, thereby realizing the assembly of the fixed workpiece and the bent workpiece.

[0028] First, the support unit is equipped with a first mounting base and a carrier. The carrier is located in the working position with the side of the fixed workpiece facing upwards, which facilitates the assembly of the bent workpiece onto the side of the fixed workpiece. A magnetic suction device located at the material suction position holds the fixed workpiece in place, ensuring it does not fall and thus securing it firmly.

[0029] Secondly, the two suction sections spaced apart in the first direction have suction surfaces equipped with negative pressure suction holes, fixed blocks, and movable blocks. The negative pressure suction holes allow for negative pressure adsorption of the bent workpiece, while the fixed and movable blocks fix the bent workpiece in the second direction, further securing it. The bent workpiece is fixed only by the negative pressure suction holes, fixed blocks, and movable blocks, which remain relatively stationary with respect to the workpiece. Furthermore, the suction sections act only on one surface of the bent workpiece, rather than clamping both surfaces, thus preventing damage and protecting the workpiece.

[0030] Furthermore, the gripping unit is equipped with grippers and a drive assembly. The two grippers are arranged opposite each other in a first direction, and the gripping surface is perpendicular to the first direction. The gripping surface is provided with multiple vacuum suction holes. By cooperating with the gripping surface, the first drive assembly, and the negative pressure suction holes, the bent workpiece can be transferred from the suction unit to the gripping unit. The drive assembly enables the grippers to have at least five degrees of freedom, allowing the bent workpiece to be moved smoothly and efficiently to the side of the fixed workpiece.

[0031] Specific embodiments of the present invention are disclosed in detail with reference to the following description and accompanying drawings, indicating how the principles of the invention can be employed. It should be understood that the embodiments of the present invention are not limited in scope as a result.

[0032] Features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, combined with features in other embodiments, or substituted for features in other embodiments.

[0033] It should be emphasized that the term "including / comprises" as used herein refers to the presence of a feature, whole, step, or component, but does not exclude the presence or addition of one or more other features, wholes, steps, or components. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a three-dimensional structural diagram of a hand-changing module for moving a bent workpiece to an assembly station, as provided in this embodiment.

[0036] Figure 2 for Figure 1 Schematic diagram of the enlarged structure at A in the middle;

[0037] Figure 3 This is a three-dimensional structural diagram of a support unit provided in this embodiment, with the carrier in a working position;

[0038] Figure 4 for Figure 3 A three-dimensional structural diagram from another perspective;

[0039] Figure 5 This is a three-dimensional structural diagram of another type of support provided in this embodiment, with its carrier in a waiting position;

[0040] Figure 6 for Figure 3 A top view of

[0041] Figure 7 for Figure 3 The front view;

[0042] Figure 8 for Figure 7 Schematic diagram of the cross-sectional structure of the BB surface;

[0043] Figure 9 for Figure 8 An enlarged structural diagram at point C, showing the magnetic suction component located at the material suction position;

[0044] Figure 10 for Figure 8 An enlarged structural diagram at point C, showing the magnetic suction component located at the material feeding position;

[0045] Figure 11 This is a three-dimensional structural diagram of a gripping part provided in this embodiment;

[0046] Figure 12 for Figure 11 A three-dimensional structural diagram from another perspective;

[0047] Figure 13 This is a three-dimensional structural diagram of a second mounting base provided in this embodiment;

[0048] Figure 14 for Figure 13 A three-dimensional structural diagram from another perspective;

[0049] Figure 15 This is a three-dimensional structural diagram of a suction unit provided in this embodiment;

[0050] Figure 16 for Figure 15 A top view of

[0051] Figure 17 for Figure 16 A schematic diagram of the cross-sectional structure of the DD surface;

[0052] Figure 18 for Figure 16 A schematic diagram of the cross-sectional structure of the EE surface.

[0053] Explanation of reference numerals in the attached figures:

[0054] 1. Bearing unit; 11. First mounting base; 12. Carrier; 121. Bearing surface; 122. Channel; 123. Magnetic suction element; 124. Blocking bar; 13. First blocking block; 14. Second blocking block; 15. Third driving element; 16. Fourth driving element; 161. Output end; 17. Ninth slide rail; 18. Tenth slide rail; 19. Eleventh slide rail; 110. Connecting block;

[0055] 2. Gripping part; 20. Drive assembly; 21. Gripper; 201. Gripping surface; 22. First support block; 23. Second support block; 24. Third support block; 25. Fourth support block; 26. Fifth support block; 27. Sixth support block; 28. Third slide rail; 29. ​​Fourth slide rail; 210. Fifth slide rail; 211. Sixth slide rail; 212. Spring;

[0056] 3. Suction section; 31. First driving component; 32. Suction surface; 33. Negative pressure suction hole; 34. Fixed stop block; 35. Moving stop block; 351. Blocking surface; 352. Clearance surface; 36. First air passage; 37. Second air passage; 371. First part; 372. Second part; 38. Receiving groove; 39. Fixed block;

[0057] 4. Second mounting bracket;

[0058] 51. First slide rail; 52. First slider; 53. Second slide rail;

[0059] 6. Pressure block; 61. Second slider; 62. Third slider; 63. Seventh slide rail; 64. Eighth slide rail;

[0060] 7. Second drive unit; 8. Third mounting bracket;

[0061] X, first direction; Y, second direction; Z, vertical direction. Detailed Implementation

[0062] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0063] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or may be interposed with another element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or may be interposed with another element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations.

[0064] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0065] See also Figures 1 to 18 This application provides a hand-changing module for moving bent workpieces to an assembly station, comprising: a support part 1, a suction part 3, a first slide rail 51, a second slide rail 53, and a gripping part 2.

[0066] Among them, such as Figure 3 and Figure 4 As shown, the support portion 1 is used to support and fix the workpiece. The support portion 1 includes a first mounting base 11 and a carrier 12 fixedly disposed on the first mounting base 11. The carrier 12 is provided with a bearing surface 121 for supporting and fixing the workpiece. Figure 1 The bearing surface 121 is positioned perpendicular to the second direction Y. For example... Figure 9 and Figure 10 As shown, the carrier 12 has a channel 122 perpendicular to the bearing surface 121, and a magnetic suction element 123 is provided in the channel 122.

[0067] like Figure 1 As shown, the two suction units 3 are spaced apart and symmetrically arranged in the first direction X. Figure 15 As shown, the suction unit 3 includes a first driving member 31 and a suction surface 32 for suctioning bent workpieces. The suction surface 32 is provided with a negative pressure suction hole 33, a fixed stop 34, and a movable stop 35. The fixed stop 34 and the movable stop 35 protrude from the suction surface 32 and are spaced apart in the second direction Y. The first driving member 31 is connected to the movable stop 35 and is used to drive the movable stop 35 to move in the second direction Y. The two suction surfaces 32 are perpendicular to the first direction X and are arranged opposite to each other.

[0068] like Figure 1As shown, the first slide rail 51 extends along the first direction X. A first slider 52 is slidably connected to the first slide rail 51. A second slide rail 53 extending along the second direction Y is provided on the first slider 52, and the suction part 3 is slidably connected to the second slide rail 53, so that the suction part 3 can move along the first direction X and the second direction Y.

[0069] As Figure 1 shown, the two grasping parts 2 are located on both sides of the bearing part 1 in the first direction X. The two grasping parts 2 are symmetrically arranged. The grasping part 2 includes a gripper 21 extending along the first direction X and a driving component 20 connected to the gripper 21. The gripper 21 is provided with a grasping surface 201 for grasping the bent workpiece, and the grasping surface 201 is perpendicular to the first direction X. The driving component 20 is used to drive the gripper 21 to move along the first direction X, move along the second direction Y, move along the vertical direction Z, rotate around the axis extending along the first direction X, and rotate around the axis extending along the vertical direction Z.

[0070] In this embodiment, the first direction X, the second direction Y, and the vertical direction Z are perpendicular to each other pairwise, and the first direction X and the second direction Y can be two directions perpendicular to each other in the horizontal plane. The assembly station is the position where the bearing part 1 is located. The suction part 3 moves along the first direction X and the second direction Y on the first slide rail 51 and the second slide rail 53 respectively, so as to approach or move away from the assembly station.

[0071] The fixed workpiece in the embodiment of the present application must be a workpiece that can be adsorbed by the magnetic part 123. The shape of the fixed workpiece is sheet-like, and the height of its side surface is small. The width of the bent workpiece in the embodiment of the present application can be approximately equal to the side height of the fixed workpiece. The bent workpiece is bent from a long strip, and its shape matches the side surface of the fixed workpiece. For example, the bent workpiece can be formed by bending both ends of a strip-shaped part with a length of about 1 cm to 5 cm and a width of about 1 mm to 5 mm. Its thickness is extremely thin, and its shape is roughly the same as "冂".

[0072] The handover module for moving the bent workpiece to the assembly station provided in this embodiment is provided with a bearing part 1, a suction part 3, a first slide rail 51, a second slide rail 53, and a grasping part 2. The bearing part 1 is used to bear and fix the fixed workpiece; the two suction parts 3 are used to suck the bent workpiece and move along the first direction X on the first slide rail 51 and move along the second direction Y on the second slide rail 53, so as to make the bent workpiece approach the bearing part 1; the two grasping parts 2 are used to grasp the bent workpiece from the suction part 3 and install it at the corresponding position of the fixed workpiece, so as to realize the assembly of the fixed workpiece and the bent workpiece.

[0073] First, the support unit 1 is provided with a first mounting base 11 and a carrier 12. The carrier 12 is located in the working position, with the side of the fixed workpiece on the carrier 12 facing upwards, which facilitates the assembly of the bent workpiece onto the side of the fixed workpiece. The fixed workpiece is held in place by a magnetic suction member 123 located at the suction position, ensuring that the fixed workpiece will not fall off, thereby securing the fixed workpiece firmly.

[0074] Secondly, two suction units 3 are spaced apart in the first direction X. The suction surface 32 is equipped with a negative pressure suction hole 33, a fixed stop 34, and a movable stop 35. The negative pressure suction hole 33 can perform negative pressure adsorption on the bent workpiece, and the fixed stop 34 and movable stop 35 can fix the bent workpiece in the second direction Y, further securing the bent workpiece. The bent workpiece is fixed only by the negative pressure suction hole 33, the fixed stop 34, and the movable stop 35. These structures remain relatively stationary with respect to the bent workpiece. Furthermore, the suction unit 3 acts only on one surface of the bent workpiece, rather than clamping both surfaces, thereby preventing damage to the bent workpiece and providing protection.

[0075] Furthermore, the gripping unit 2 is equipped with grippers 21 and a drive assembly 20. The two grippers 21 are arranged opposite each other in the first direction X, and the gripping surface 201 is perpendicular to the first direction X. The gripping surface 201 is provided with multiple vacuum suction holes. By cooperating with the first drive member 31 and the negative pressure suction holes 33, the bent workpiece can be transferred from the suction unit 3 to the gripping unit 2. The drive assembly 20 enables the grippers 21 to have at least five degrees of freedom, which can smoothly and efficiently move the bent workpiece to the side of the fixed workpiece.

[0076] In this embodiment, the hand-swapping module also includes a second mounting base 4. For example... Figure 11 As shown, the drive assembly 20 includes: a first support block 22, a second support block 23, a third support block 24, a fourth support block 25, a fifth support block 26, and a sixth support block 27. The first support block 22 is fixedly connected to the second mounting base 4. The first support block 22 has a third slide rail 28 extending along the second direction Y. The second support block 23 is slidably connected to the third slide rail 28. The second support block 23 has a fourth slide rail 29 extending along the first direction X. The third support block 24 is slidably connected to the fourth slide rail 29. The third support block 24 has a fifth slide rail 210 extending along the vertical direction Z. The fourth support block 25 is slidably connected to the fifth slide rail 210. The fifth support block 26 is rotatably connected to the fourth support block 25. The fifth support block 26 can rotate relative to the fourth support block 25 about an axis extending in the first direction X. The sixth support block 27 is rotatably connected to the fifth support block 26. The sixth support block 27 can rotate relative to the fifth support block 26 about an axis extending in the vertical direction Z. The gripper 21 is connected to the sixth support block 27.

[0077] Specifically, such as Figure 11 and Figure 12 As shown, the sixth support block 27 is provided with a sixth slide rail 211 extending along the first direction X, and the gripper 21 is slidably connected to the sixth slide rail 211. The end of the gripper 21 away from the gripping surface 201 is abutted against the sixth support block 27 by a spring 212. By setting the spring 212 and the sixth slide rail 211, excessive pressure can be avoided on the side of the fixed workpiece when the gripper 21 grips the bent workpiece for installation.

[0078] In this embodiment, the hand-changing module also includes a pressure block 6, which is located above the carrier 12. After the gripping part 2 moves the bent workpiece to the side of the fixed workpiece, the pressure block 6 is moved above the side of the fixed workpiece facing upwards and pressed down, thus fixing the bent workpiece and the fixed workpiece together, facilitating the next process. For example... Figure 13 and Figure 14 As shown, the second mounting base 4 is provided with a seventh slide rail 63 extending along the second direction Y. The seventh slide rail 63 is slidably connected to the second slider 61. The second slider 61 is provided with an eighth slide rail 64 extending along the vertical direction Z. The eighth slide rail 64 is slidably connected to the third slider 62. The pressure block 6 is fixedly connected to the third slider 62, so that the pressure block 6 can move in the second direction Y and the vertical direction Z.

[0079] like Figure 15 As shown, there are at least two negative pressure suction holes 33, which are spaced apart in the vertical direction Z. The at least two negative pressure suction holes 33 can effectively adsorb the bent workpiece under negative pressure. Then, the fixed stop 34 and the movable stop 35 are used to fix the bent workpiece in the second direction Y, ensuring stable and reliable fixation.

[0080] Specifically, the first driving component 31 is preferably a cylinder to accommodate the fixing of the bent workpiece. When the first driving component 31 controls the movement of the moving stop 35, it is necessary to control the force exerted by the moving stop 35 on the bent workpiece to prevent excessive pressure on the bent workpiece in the second direction Y, which could lead to deformation of the bent workpiece.

[0081] like Figure 16 and Figure 17 As shown, the suction unit 3 is provided with a first air passage 36 and a second air passage 37. The first air passage 36 is connected to the first driving member 31 and is used to drive the moving end of the first driving member 31 to move in the second direction Y. The second air passage 37 is connected to the negative pressure suction hole 33. The second air passage 37 includes a first portion 371 extending along the second direction Y and a second portion 372 extending along the vertical direction Z. The second portion 372 is located on one side of the negative pressure suction hole 33 in the first direction X. The first air passage 36 and the first portion 371 are spaced apart in the vertical direction Z, which makes full and reasonable use of the space of the suction unit 3 and avoids air path interference.

[0082] like Figure 15 As shown, the movable stop 35 has a connected blocking surface 351 and a clearance surface 352. The blocking surface 351 faces the fixed stop 34 and is perpendicular to the second direction Y, and can cooperate with the fixed stop 34 to clamp the bent workpiece. The clearance surface 352 is inclined, and in the direction away from the suction surface 32, the distance between the clearance surface 352 and the fixed stop 34 gradually increases, thereby... Figure 2 As shown, the avoidance surface 352 can be used to grab the part 2 to avoid interference.

[0083] In this embodiment, the suction part 3 is provided with a receiving groove 38 for accommodating the first driving member 31. A fixing block 39 for fixing the first driving member 31 is provided at the opening of the receiving groove 38 to prevent the first driving member 31 from coming out of the receiving groove 38. The fixing block 39 can limit the movement block 35 at one end in the second direction Y near the moving block 35.

[0084] Specifically, the suction unit 3 has a first position and a second position. When the suction unit 3 is in the first position, the two suction surfaces 32 are horizontally upward; when the suction unit 3 is in the second position, the two suction surfaces 32 are vertically opposite each other. During the processing of this application, the suction unit 3 is always in the second position. When the suction unit 3 is in another station before the assembly station (e.g., a bending station), the suction unit 3 can be in the first position. When the suction unit 3 switches from the first position to the second position, the workpiece can be bent.

[0085] In this embodiment, the suction unit 3 is connected to a second driving member 7, which drives the suction unit 3 to rotate 90° to switch between a first position and a second position. A third mounting base 8 is slidably connected to the second slide rail 53. The suction unit 3 and the second driving member 7 are connected to the third mounting base 8, so that the suction unit 3 and the second driving member 7 as a whole can move along the first direction X to transport the bent workpiece before and after bending; the suction unit 3 and the second driving member 7 as a whole can also move along the second direction Y to move closer to or further away from the support unit 1 in the second direction Y.

[0086] In this embodiment, the length (dimension in the second direction Y) of the magnetic chuck 123 is less than the length (dimension in the second direction Y) of the channel 122, so that the magnetic chuck 123 can move within the channel 122 along the second direction Y to switch between a material suction position near the bearing surface 121 and a material release position away from the bearing surface 121. The diameter of the channel 122 matches the diameter of the magnetic chuck 123, that is, the diameter of the channel 122 is approximately equal to the diameter of the magnetic chuck 123, or the diameter of the channel 122 is slightly larger than the diameter of the magnetic chuck 123, and the periphery of the channel 122 can guide and limit the movement of the magnetic chuck 123.

[0087] Specifically, the vehicle 12 has a waiting position with a horizontally arranged bearing surface 121 (e.g., Figure 5 (as shown) and the working position where the bearing surface 121 is vertically set (e.g.) Figure 3 (As shown). When the carrier 12 is in the working position, the magnetic suction element 123 is in the suction position. The first mounting base 11 is connected to a third driving element 15, which drives the first mounting base 11 to rotate 90° about an axis extending along the first direction X, so that the carrier 12 switches between the waiting position and the working position. The fixed end of the third driving element 15 and the first support block 22 of the drive assembly 20 are fixedly connected to the second mounting base 4.

[0088] During the processing of this application, the carrier 12 is always in the working position. At other times, the carrier 12 can be in the waiting position, at which time the fixed workpiece can be placed on the carrier 12, or the assembled workpiece after the bending workpiece and the fixed workpiece have been assembled can be removed. After the carrier 12 rotates to the waiting position, the magnetic suction component 123 can move to the unloading position, so that the fixed workpiece can be removed.

[0089] More specifically, the magnetic suction component 123 is connected to a fourth driving component 16, used to drive the magnetic suction component 123 to switch between a material suction position and a material release position. The fourth driving component 16 is preferably a cylinder. Figure 9 and Figure 10 As shown, the output end 161 of the fourth drive member 16 is eccentrically positioned with respect to the magnetic suction member 123. When the carrier 12 is in the working position, the output end 161 of the fourth drive member 16 is positioned close to the lower part of the magnetic suction member 123. This is to ensure that the fourth drive member 16 is positioned as close to the lower part as possible, thereby avoiding interference with the movement of the bent workpiece.

[0090] In this embodiment, the supporting part 1 further includes two first blocking blocks 13 slidably connected to the first mounting base 11 in the first direction X. The two first blocking blocks 13 are respectively located on both sides of the carrier 12 in the first direction X. The first mounting base 11 is provided with a ninth slide rail 17 extending along the first direction X, and the first blocking blocks 13 are slidably connected to the ninth slide rail 17. Figure 3 As shown, when the carrier 12 is in the working position, the first blocking block 13 is positioned close to the lower part of the carrier 12 to avoid interfering with the movement of the bent workpiece.

[0091] like Figure 3 and Figure 4As shown, the carrier 1 also includes a second blocking block 14 slidably connected to the first mounting base 11, and the second blocking block 14 is disposed facing the carrier surface 121. The first mounting base 11 is provided with a tenth slide rail 18 extending along the second direction Y, a connecting block 110 is slidably connected to the tenth slide rail 18, and an eleventh slide rail 19 extending along the vertical direction Z is provided on the connecting block 110. The second blocking block 14 is slidably connected to the eleventh slide rail 19. The two first blocking blocks 13 can limit the fixed workpiece on the carrier 12 in the first direction X, and the second blocking block 14 can limit the fixed workpiece on the carrier 12 in the second direction Y. By setting the magnetic suction member 123, the first blocking block 13 and the second blocking block 14, the fixed workpiece on the carrier 12 can be stably fixed. In particular, when the gripping part 2 moves the bent workpiece to the side of the fixed workpiece, it can also ensure that the fixed workpiece can remain stationary during the movement, thereby improving processing efficiency and yield.

[0092] Specifically, in the second direction Y, the ninth slide rail 17 and the eleventh slide rail 19 are located on both sides of the vehicle 12. In the first direction X, the tenth slide rail 18 and the third drive member 15 are located on both sides of the vehicle 12. Figure 4 and Figure 6 As shown, this configuration ensures a uniform overall spatial distribution, enabling stable operation and extending service life.

[0093] In this embodiment, such as Figure 7 As shown, a blocking strip 124 protrudes from the bearing surface 121 of the carrier 12, and the blocking strip 124 extends along the first direction X. When the carrier 12 is in the working position, the blocking strip 124 is positioned near the bottom of the carrier 12, which can limit the fixed workpiece on the carrier 12 at the bottom and ensure that the fixed workpiece will not fall downward.

[0094] Specifically, when the carrier 12 is in the working position, the top of the second blocking block 14 is not higher than the top of the bearing surface 121, thereby avoiding interference with the assembly of the fixed workpiece and the bent workpiece; the bottom of the second blocking block 14 is higher than the top of the blocking strip 124, ensuring that the entire second blocking block 14 can act on the surface of the fixed workpiece, and there will be no extra part interfering with the blocking strip 124.

[0095] When the carrier 12 is in the waiting position, the fixed workpiece can be placed horizontally on the carrier 12 and limited by the magnetic suction 123, the first blocking block 13, the second blocking block 14, and the blocking strip 124; when the carrier 12 is in the working position, the side of the fixed workpiece is set upward, which makes it easy to move the bent workpiece to the side of the fixed workpiece.

[0096] In a specific application scenario, the support unit 1 carries a fixed workpiece, which is fixed and limited by the magnetic suction component 123, the first blocking block 13, the second blocking block 14, and the blocking strip 124. The suction unit 3 picks up and fixes the bent workpiece, and then moves the bent workpiece to a position opposite to the carrier 12 of the support unit 1 by moving on the first slide rail 51. By moving on the second slide rail 53, the bent workpiece is brought close to the fixed workpiece on the carrier 12. Then, the gripper 21 approaches the bending component under the drive of the gripping component. By cooperating with the first driving component 31 and the negative pressure suction hole 33 through the gripping surface 201, the bent workpiece can be transferred from the suction unit 3 to the gripping unit 2. Under the drive of the gripping component, the gripper 21 moves the bent workpiece to the side of the fixed workpiece on the carrier 12. Finally, the pressure block 6 is moved above the installed bent workpiece to fix the bent workpiece and the fixed workpiece.

[0097] It should be noted that in the description of this specification, the terms "first," "second," etc., are used only for descriptive purposes and to distinguish similar objects; there is no order between them, nor should they be construed as indicating or implying relative importance. Furthermore, in the description of this specification, unless otherwise stated, "a plurality of" means two or more.

[0098] Any numerical values ​​cited herein include all values ​​ranging from a lower limit to an upper limit, increasing by one unit, with at least two units between any lower and any higher value. For example, if the quantity of a component or the value of a process variable (e.g., temperature, pressure, time, etc.) is described as being from 1 to 90, preferably from 20 to 80, more preferably from 30 to 70, the purpose is to illustrate that values ​​such as 15 to 85, 22 to 68, 43 to 51, 30 to 32 are also explicitly listed in this specification. For values ​​less than 1, a unit is appropriately considered to be 0.0001, 0.001, 0.01, 0.1, etc. These are merely examples intended for explicit expression, and it can be assumed that all possible combinations of values ​​listed between the minimum and maximum values ​​are explicitly described in this specification in a similar manner.

[0099] Unless otherwise stated, all ranges include the endpoints and all numbers between them. The terms "approximately" or "about" used with ranges apply to both endpoints of the range. Thus, "approximately 20 to 30" is intended to cover "approximately 20 to approximately 30," including at least the specified endpoints.

[0100] All articles and references disclosed herein, including patent applications and publications, are incorporated herein by reference for various purposes. The term “substantially constitutes…” used to describe a combination should include the identified elements, components, parts, or steps, as well as other elements, components, parts, or steps that do not substantially affect the essential novelty of the combination. The use of the terms “comprising” or “including” to describe combinations of elements, components, parts, or steps herein also contemplates embodiments substantially constituted by such elements, components, parts, or steps. The use of the term “may” herein is intended to indicate that any described attribute included by “may” is optional.

[0101] Multiple elements, components, parts, or steps can be provided by a single integrated element, component, part, or step. Alternatively, a single integrated element, component, part, or step can be divided into multiple separate elements, components, parts, or steps. The use of "a" or "an" to describe an element, component, part, or step does not imply the exclusion of other elements, components, parts, or steps.

[0102] It should be understood that the above description is for illustrative purposes and not for limitation. Many embodiments and applications beyond the provided examples will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of this teaching should not be determined by reference to the above description, but rather by reference to the appended claims and the full scope of their equivalents. For purposes of completeness, all articles and references, including patent applications and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein in the preceding claims is not intended as a waiver of that subject matter, nor should it be construed as an indication that the inventors have not considered that subject matter as part of the disclosed inventive subject matter.

Claims

1. A hand-changing module for moving bent workpieces to an assembly station, characterized in that, include: A support portion for supporting and fixing a workpiece, the support portion including a first mounting base and a carrier fixedly disposed on the first mounting base; the carrier is provided with a support surface for supporting and fixing the workpiece; the carrier is provided with a channel perpendicular to the support surface, and a magnetic suction element is provided in the channel; Two suction units are spaced apart and symmetrically arranged in a first direction. Each suction unit includes a first driving member and a suction surface for suctioning bent workpieces. The suction surface is provided with a negative pressure suction hole, a fixed stop, and a movable stop. The fixed stop and the movable stop protrude from the suction surface and are spaced apart in a second direction. The first driving member is connected to the movable stop and is used to drive the movable stop to move in the second direction. The first direction, the second direction, and the vertical direction are mutually perpendicular. The two suction surfaces are perpendicular to the first direction and arranged opposite to each other. The bearing surface is arranged perpendicular to the second direction. A first slide rail extends along a first direction, and a first slider is slidably connected to the first slide rail; a second slide rail extends along a second direction on the first slider, and the suction part is slidably connected to the second slide rail; Two gripping portions are located on both sides of the bearing portion in a first direction, and the two gripping portions are symmetrically arranged; each gripping portion includes a gripper extending along the first direction and a drive assembly connected to the gripper; the gripper is provided with a gripping surface for gripping a bent workpiece, and the gripping surface is perpendicular to the first direction; the drive assembly is used to drive the gripper to move along the first direction, move along a second direction, move along a vertical direction, rotate about an axis extending in the first direction, and rotate about an axis extending in the vertical direction. The hand-switching module further includes a second mounting base, and the drive component includes: A first support block is fixedly connected to the second mounting base, and a third slide rail extending in the second direction is provided on the first support block; A second support block is slidably connected to the third slide rail, and a fourth slide rail extending along the first direction is provided on the second support block; A third support block is slidably connected to the fourth slide rail, and the third support block is provided with a fifth slide rail extending in the vertical direction; The fourth support block is slidably connected to the fifth slide rail; A fifth support block is rotatably connected to the fourth support block, and the fifth support block is rotatable relative to the fourth support block about an axis extending in a first direction; A sixth support block is rotatably connected to the fifth support block, and the sixth support block is rotatable relative to the fifth support block about an axis extending in the vertical direction; the gripper is connected to the sixth support block; The hand-changing module also includes a pressure block; the pressure block is located above the carrier; the second mounting base is provided with a seventh slide rail extending in a second direction, the seventh slide rail is slidably connected to a second slider, the second slider is provided with an eighth slide rail extending in a vertical direction, the eighth slide rail is slidably connected to a third slider, and the pressure block is fixedly connected to the third slider.

2. The hand-changing module for moving bent workpieces to the assembly station according to claim 1, characterized in that, The sixth support block is provided with a sixth slide rail extending along the first direction, and the gripper is slidably connected to the sixth slide rail; the end of the gripper away from the gripping surface is abutted against the sixth support block by a spring.

3. The hand-changing module for moving bent workpieces to the assembly station according to claim 1, characterized in that, The negative pressure suction holes are at least two in number and are spaced apart in the vertical direction. The suction part is provided with a first air passage and a second air passage. The first air passage is connected to the first driving member and is used to drive the moving end of the first driving member to move in the second direction. The second air passage is connected to the negative pressure suction holes and includes a first part extending in the second direction and a second part extending in the vertical direction. The second part is located on one side of the negative pressure suction hole in the first direction. The first air passage and the first part are spaced apart in the vertical direction.

4. The hand-changing module for moving bent workpieces to the assembly station according to claim 3, characterized in that, The movable stop has a connected blocking surface and a clearance surface. The blocking surface faces the fixed stop and is perpendicular to the second direction. The clearance surface is inclined and the distance between the clearance surface and the fixed stop gradually increases in the direction away from the suction surface.

5. The hand-changing module for moving bent workpieces to the assembly station according to claim 1, characterized in that, The suction unit has a first position and a second position. When the suction unit is in the first position, the two suction surfaces are horizontally upward. When the suction unit is in the second position, the two suction surfaces are vertically opposite each other. The suction unit is connected to a second driving member for driving the suction unit to rotate 90° to switch between the first position and the second position. A third mounting base is slidably connected to the second slide rail. The suction unit and the second driving member are connected to the third mounting base.

6. The hand-changing module for moving bent workpieces to the assembly station according to claim 1, characterized in that, The magnetic suction element can move within the channel to switch between a suction position close to the bearing surface and a discharge position away from the bearing surface; the carrier has a waiting position with the bearing surface horizontally set and a working position with the bearing surface vertically set; when the carrier is in the working position, the magnetic suction element is in the suction position; the first mounting base is connected to a third driving element for driving the first mounting base to rotate 90° about an axis extending along a first direction, so that the carrier switches between the waiting position and the working position.

7. The hand-changing module for moving a bent workpiece to the assembly station according to claim 6, characterized in that, The length of the magnetic suction component is less than the length of the channel; the diameter of the channel matches the diameter of the magnetic suction component; the magnetic suction component is connected to a fourth driving component for driving the magnetic suction component to switch between a material suction position and a material release position; the output end of the fourth driving component is eccentrically positioned with respect to the magnetic suction component; when the carrier is in the working position, the output end of the fourth driving component is positioned close to the lower part of the magnetic suction component.

8. The hand-changing module for moving bent workpieces to the assembly station according to claim 1, characterized in that, The supporting part also includes: Two first blocking blocks are slidably connected to the first mounting base in a first direction, and the two first blocking blocks are respectively located on both sides of the vehicle in the first direction; the first mounting base is provided with a ninth slide rail extending in the first direction, and the first blocking blocks are slidably connected to the ninth slide rail; when the vehicle is in the working position, the first blocking blocks are arranged near the lower part of the vehicle. A second blocking block is slidably connected to a first mounting base, and the second blocking block is disposed facing the bearing surface; the first mounting base is provided with a tenth slide rail extending in a second direction, a connecting block is slidably connected to the tenth slide rail, and an eleventh slide rail extending in a vertical direction is provided on the connecting block, and the second blocking block is slidably connected to the eleventh slide rail; A blocking strip is prominently disposed on the bearing surface, the blocking strip extending along a first direction; when the carrier is in the working position, the blocking strip is disposed near the lower part of the carrier, the top end of the second blocking block is not higher than the top end of the bearing surface, and the bottom end of the second blocking block is higher than the top end of the blocking strip.

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