Self-adsorption and docking enhanced positioning system for workpiece flow

Abstract

This invention relates to the field of workpiece clamping technology, and discloses a self-adsorption and docking enhanced positioning system for workpiece transfer. It includes a transferable self-adsorption transfer tray and a welding positioning station. The self-adsorption transfer tray includes a base plate and a detachable adsorption module. The adsorption module includes a base and a detachable adsorption unit. The base plate and the welding positioning station are positioned and plugged into each other. The adsorption unit includes a fixed sleeve and an adsorption tube that is sealed and raised on the fixed sleeve. An elastic fitting block is provided at the top of the adsorption tube. A following locking mechanism is provided between the adsorption tube and the fixed sleeve. The following locking mechanism includes vertical toothed grooves on the side wall of the adsorption tube and a locking block on the fixed sleeve that is repositioned and in a retracted state. An air cavity is provided inside the fixed sleeve. The extension of the locking block is controlled by the raising and lowering of a wedge block inside the air cavity. The raising and lowering of the wedge block is controlled by a drive source on the welding positioning station. This system can realize the carrying, transfer, and positioning of workpieces, has high adaptability, and can significantly reduce product iteration costs.

Description

Technical Field

[0001] This invention relates to the field of workpiece clamping technology, and in particular to a self-adsorption and docking enhanced positioning system for workpiece transfer. Background Technology

[0002] In the field of modern automotive parts manufacturing, especially in the assembly of plastic parts, ultrasonic welding is widely used due to its high efficiency, cleanliness, and reliable connection strength for welding accessories such as clips and brackets to large components such as bumpers and door panels. Taking the welding of automotive front bumper clips as an example, the automated process is as follows: At the loading and unloading station, a robotic arm picks up the bumper workpiece and places it on a dedicated tray; then, an automated guided vehicle (AGV) carries the tray to the ultrasonic welding station; after the AGV precisely positions the tray on the welding platform, the fast-pressing head or clamp designed according to the specific bumper model on the welding platform performs the final clamping and positioning of the workpiece; finally, the ultrasonic welding robotic arm performs the welding operation.

[0003] Although the above production model has achieved automation, it has the following shortcomings when dealing with the production needs of multiple varieties and small batches:

[0004] Both the material tray and the welding station fixtures are rigid and custom-designed. The positioning blocks and profile support columns on the material tray are fixed, non-adjustable structures, and the shape and layout of the pressure head at the welding station are also completely fixed, forming a unique binding relationship with the specific model of bumper. Whenever the product model changes, the entire material tray and welding fixture must be redesigned and manufactured, and the machine must be stopped for replacement and precision debugging. This results in a significant increase in equipment investment, a large inventory of tooling, and lengthy production line changeover times, making it impossible to adapt to the rapidly iterating manufacturing needs. Summary of the Invention

[0005] This invention addresses the shortcomings of existing technologies where material trays and welding stations are only suitable for positioning, transfer, and welding of a single product, resulting in high product iteration costs. It provides a self-adsorption and docking-enhanced positioning system for workpiece transfer, which can be adapted to the transfer and welding positioning of different products.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0007] A self-adsorption and docking enhancement positioning system for workpiece transfer includes several transferable self-adsorption transfer trays and at least one fixed station.

[0008] The self-adsorption transfer tray includes a base plate and several adsorption modules that can be detachably disposed on the base plate; the adsorption module includes a base and several adsorption units located thereon;

[0009] The adsorption unit includes a fixed sleeve, an adsorption tube vertically and sealed in the fixed sleeve, and an elastic bonding block at the upper end of the adsorption tube. The adsorption tube can be reset to the rising state.

[0010] A trailing locking mechanism is provided between the fixed sleeve and the adsorption tube, including a vertical toothed groove on the side wall of the adsorption tube and a locking block that is horizontally telescopically provided on the side wall of the fixed sleeve and can be reset to a retracted state.

[0011] The fixed sleeve has an air chamber that communicates with the inner cavity of the adsorption tube. The air chamber has a wedge block, and a sealing block that seals with the air chamber is fixed at the bottom of the wedge block. The wedge block has a driving block that cooperates with the locking block. The driving block includes a vertical section and an inclined section from top to bottom.

[0012] Each adsorption unit's gas chamber is connected to a main pipe on the substrate via a flexible hose, and the main pipe is equipped with a connecting pipe; the fixed station includes a welding positioning station, which is equipped with a drive source and a docking component for sealing and docking with the connecting pipe.

[0013] When the self-adsorption transfer tray is docked with the welding positioning station, the air extraction or inflation of the drive source causes each wedge and sealing block to descend or rise synchronously to reset.

[0014] During the descent of the wedge, the inclined section first engages with the locking block, pushing the locking block out and locking it with the tooth groove; the vertical section then engages with the locking block, keeping the locking block in the extended state, while the wedge and sealing block continue to descend, causing the negative pressure in the air chamber and the adsorption tube cavity to continuously increase.

[0015] Using the above solution, the self-adsorption transfer tray consists of a base plate and an adsorption module. The adsorption module consists of a base and an adsorption unit. Operators can disassemble and assemble the adsorption unit or adsorption module as needed, adapting to different workpiece specifications without redesigning the tray, significantly improving adaptability. During transfer, the adsorption unit uses gravity to achieve self-adsorption and pre-positioning of the workpiece, increasing the stability of the workpiece during AGV transfer. After the self-adsorption transfer tray docks with the welding positioning station, the drive source drives the wedge and sealing block to move, which not only locks the position of the adsorption tube but also further increases the adsorption force at the end of the adsorption tube that is in sealing contact with the product, ensuring welding positioning accuracy. The self-adsorption transfer tray does not have any electronic control components, resulting in low manufacturing cost and maintenance difficulty, reducing operational errors caused by electronic control failures. This system significantly increases adaptability and significantly reduces costs caused by product iteration.

[0016] Preferably, the fixed sleeve includes an inner cylinder and an outer cylinder arranged coaxially, forming an annular air cavity between them. The locking block is guided and extended in the air cavity in a horizontal direction. When the locking block extends, it engages with the tooth groove and disengages from the tooth groove when it retracts. A gap is provided between the locking block and the outer wall of the inner cylinder for gas to pass through. An air hole is opened on the bottom side wall of the adsorption tube. The air cavity communicates with the internal chamber of the adsorption tube through the gap and the air hole.

[0017] Preferably, at least two sets of locking blocks are evenly spaced around the circumference of the fixing sleeve, and a connecting rod extends downward from the bottom of the wedge block. The connecting rods of all wedge blocks are synchronously fixed on the sealing block.

[0018] Using the above scheme, the wedge blocks are synchronously connected to the sealing blocks via connecting rods, ensuring that the movement of each wedge block is consistent, realizing the synchronous extension and retraction of each locking block, and improving the reliability of locking and unlocking.

[0019] Preferably, the driving source is a cylinder. As the cylinder retracts, the driving wedge and the sealing block descend; as the cylinder extends, the driving wedge and the sealing block rise and reset.

[0020] Preferably, the adsorption unit is detachably connected to the base via a first adjustment mechanism to achieve adjustment and fixation of the adsorption unit relative to the base along a first direction; the base is slidably connected to the substrate via a second adjustment mechanism to achieve adjustment and fixation of the base relative to the substrate along a second direction, wherein the first direction and the second direction are perpendicular to each other.

[0021] By adopting the above scheme, the cooperation between the first adjustment mechanism and the second adjustment mechanism enables the position adjustment of the adsorption unit in two vertical directions on the horizontal plane. This allows the layout of the adsorption unit to be flexibly adjusted according to the adsorption requirements of different types of workpieces, without the need to replace the entire material tray. This greatly improves adaptability and reduces product changeover costs.

[0022] Preferably, both the first adjustment mechanism and the second adjustment mechanism include a guiding mechanism and a locking mechanism. The guiding mechanism includes a guiding part and a sliding part that cooperate with each other. The upper end of the substrate and the upper end of the base are provided with guiding parts, and the lower end of the base and the lower end of the adsorption unit are provided with sliding parts. The locking mechanism includes a rack, a toothed block, and an adjusting part for adjusting the lifting and lowering of the toothed block. The rack is fixed on the guiding part, and the toothed block is lifted and lowered at the bottom of the sliding part.

[0023] The above solution ensures the smoothness and guiding accuracy of the adjustment process by coordinating the guide and sliding parts; the meshing and locking method of the rack and tooth block has strong locking force and precise positioning, which can effectively fix the adjusted position and prevent the adsorption unit or base from shifting due to vibration during workpiece transfer or processing.

[0024] Preferably, the gas chambers of each adsorption unit on the same adsorption module are connected in series via flexible hoses and finally connected to the main pipe of the substrate.

[0025] Using the above scheme, the series connection of the hoses connects the gas paths of each adsorption unit on the same adsorption module, ensuring that the negative pressure of the adsorption units in sealed contact with the workpiece is consistent, thus improving adsorption stability. At the same time, the hoses have a certain degree of flexibility, which can adapt to the gas path arrangement after the position of the adsorption unit is adjusted, avoiding damage to the gas path due to adjustment. The connection method is simple and easy to install and disassemble.

[0026] Preferably, the bottom of the self-adsorption transfer tray is provided with at least two positioning posts, and the welding positioning station is provided with a positioning groove for the positioning posts to be inserted. A magnetic adsorption mechanism is provided between the bottom of the positioning posts and the bottom of the positioning groove to attract each other. The magnetic adsorption mechanism includes an iron block fixed to the bottom of the positioning posts and an electromagnet fixed to the bottom of the positioning groove.

[0027] Using the above scheme, the cooperation between the positioning column and the positioning groove realizes the positioning of the self-adsorption transfer tray and the welding positioning station; the magnetic adsorption mechanism further enhances the connection stability between the tray and the station, preventing the tray from shifting or shaking during processing.

[0028] As a preferred option, the fixed station also includes a loading and unloading positioning station, which has the same positioning groove and magnetic adsorption mechanism as the welding positioning station.

[0029] Using the above solution, the loading / unloading positioning station and the welding positioning station use positioning grooves of the same size to ensure the positioning consistency of the self-adsorption transfer tray when it flows between different stations. No recalibration is required, which improves the accuracy and efficiency of the transfer. The loading / unloading positioning station achieves stable positioning of the tray through positioning grooves and magnetic adsorption mechanism, which provides a precise positioning benchmark for the robotic arm to pick up and place workpieces, and avoids collisions or displacement of workpieces during pick-up and drop.

[0030] Preferably, the inner wall of the main pipe is fitted with a sealing ring, and the docking part of the welding positioning station is an air nozzle with a conical guide surface. When the self-adsorption transfer tray is placed in the welding positioning station, the air nozzle is sealed and inserted into the docking pipe.

[0031] This invention, employing the above technical solutions, achieves significant technical advantages: the self-adsorption transfer tray consists of a base plate and an adsorption module, which in turn consists of a base and an adsorption unit. Operators can disassemble and assemble the adsorption unit or module as needed, adapting to different workpiece specifications without redesigning the tray, thus significantly improving adaptability. During transfer, the adsorption unit uses gravity to achieve self-adsorption and pre-positioning of the workpiece, increasing the stability of the workpiece during AGV transfer. After the self-adsorption transfer tray docks with the welding positioning station, the drive source drives the wedge and sealing block to actuate, locking the position of the adsorption tube and further increasing the adsorption force at the end of the adsorption tube in sealing contact with the product, ensuring welding positioning accuracy. The self-adsorption transfer tray does not contain any electronic control components, resulting in low manufacturing costs and maintenance difficulty, reducing operational errors caused by electronic control failures. This system significantly increases adaptability and significantly reduces costs caused by product iteration. Attached Figure Description

[0032] Figure 1 This is an isometric view of the self-adsorption transfer tray carrying the workpiece in this embodiment after it is combined with the welding positioning station;

[0033] Figure 2 This is an isometric view of the base in this embodiment;

[0034] Figure 3 This is a front view of the base in this embodiment;

[0035] Figure 4 This is an isometric view of the adsorption module in this embodiment;

[0036] Figure 5 This is a front view of the adsorption module in this embodiment;

[0037] Figure 6 yes Figure 5 A sectional view of AA;

[0038] Figure 7 yes Figure 6 A cross-sectional view of BB;

[0039] Figure 8 This is an isometric view of the following locking mechanism in this embodiment;

[0040] Figure 9 This is an isometric view of the locking block and mounting block in this embodiment.

[0041] Figure 10 This is an isometric view of the welding station in this embodiment;

[0042] Figure 11 This is an isometric view of the loading and unloading station in this embodiment.

[0043] The parts referred to by the numbers in the above attached figures are as follows: 1. Base plate; 101. First guide groove; 2. First rack; 3. Positioning post; 4. Main pipe; 5. Connecting pipe; 6. Main interface; 7. Base; 701. Second guide groove; 8. First guide block; 9. First rack; 10. Adjusting bolt; 11. Main sleeve; 1101. Outer cylinder; 1102. Inner cylinder; 12. Ring cap; 121. Sealing ring; 13. Adsorption tube; 14. Elastic bonding block; 15. First spring; 16. Vertical toothed groove; 17. Air chamber; 18. Sub-interface; 1 9. Sealing plug; 20. Hose; 21. Second rack; 22. Second toothed block; 23. Pulley; 24. Exhaust / air supply hole; 25. Second spring; 26. Second guide block; 27. Sealing block; 28. Wedge block; 281. Inclined section; 282. Vertical section; 29. ​​Limiting block; 30. Connecting rod; 31. Mounting block; 311. Clearance groove; 32. Locking block; 321. Mating inclined surface; 33. Tension spring; 34. Welding station; 35. Positioning groove; 36. Air cylinder; 37. Air nozzle; 38. Cylinder; 39. Loading / unloading station; 40. Air hole. Detailed Implementation

[0044] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0045] A self-adhesion and docking enhancement positioning system for workpiece transfer, referring to Figures 1-11 As shown, it includes several transferable self-adsorption transfer trays and two fixed stations, namely a welding positioning station and a loading / unloading positioning station.

[0046] The self-adsorption transfer tray is responsible for the carrying and transfer of workpieces. It mainly consists of a base plate 1 and several adsorption modules, which can be detachably mounted on the base plate 1.

[0047] A suitable positioning structure is provided between substrate 1 and the two fixed stations, as shown in the reference. Figure 3 , Figure 10 and Figure 11 As shown, the positioning structure includes positioning posts 3 and positioning grooves 35. The positioning posts 3 protrude downwards at the four corners of the lower end of the substrate 1, and the positioning grooves 35 are recessed at the four corners of the upper end of the two fixed workstations. All the positioning posts 3 of the substrate 1 are correspondingly arranged with the positioning grooves 35 of the two fixed workstations. To further improve the docking positioning stability, the bottom of the positioning posts 3 and the bottom of the positioning grooves 35 are provided with a magnetic adsorption mechanism that attracts each other. The magnetic adsorption mechanism specifically includes an iron block and an electromagnet. The iron block is fixed to the bottom of the positioning post 3, and the electromagnet is fixed to the bottom of the positioning groove 35. The electromagnet can be attracted or de-energized by the iron block.

[0048] Combination Figures 4-7 As shown, the adsorption module includes a base 7 and several adsorption units disposed thereon. The adsorption units can be adjusted in position relative to the base 7, and the base 7 can be adjusted in position relative to the substrate 1. The adsorption units are detachably connected to the base 7 through a first adjustment mechanism to achieve adjustment and fixation along a first direction. The base 7 is slidably connected to the substrate 1 through a second adjustment mechanism to achieve adjustment and fixation along a second direction perpendicular to the first direction.

[0049] Both the first and second adjustment mechanisms include a guiding mechanism and a locking mechanism. The guiding mechanism is composed of a cooperating guiding portion and a sliding portion. The upper end of the substrate 1 and the upper end of the base 7 are provided with guiding portions, and the lower end of the base 7 and the lower end of the adsorption unit are provided with sliding portions. The guiding portion of the first adjustment mechanism consists of several first guide grooves 101 parallel to the upper surface of the substrate 1, and the sliding portion consists of a first guide block 8 protruding from the bottom of the base 7; the two are fitted together in a guiding engagement. The guiding portion of the second adjustment mechanism consists of several second guide grooves 701 parallel to the upper surface of the base 7 and perpendicular to the first guide grooves 101, and the sliding portion consists of a second guide block 26 protruding from the bottom of the adsorption unit; the two are fitted together in a guiding engagement.

[0050] The locking mechanism is used to achieve fixation after adjustment. It includes a rack, a toothed block, and an adjustment part for adjusting the raising and lowering of the toothed block. The rack is fixed to the guide part, and the toothed block is raised and lowered at the bottom of the sliding part.

[0051] Reference Figure 2 and Figure 6 As shown, the locking mechanism of the first adjustment mechanism includes a first rack 2, a first toothed block 9, and an adjusting bolt 10. The first rack 2 is fixed to the bottom of the first guide groove 101. The first toothed block 9 is vertically guided to rise and fall in the first receiving groove at the bottom of the base 7. After the first toothed block 9 extends out partially, it can engage with the first rack 2. The bottom of the adjusting bolt 10 is rotatably engaged with the upper end of the first toothed block 9. The base 7 is provided with a threaded groove that communicates with the first receiving groove and is adapted to the adjusting bolt 10.

[0052] Combination Figure 7 As shown, the locking mechanism of the second adjustment mechanism includes a second rack 21, a second toothed block 22, and a lever 23. The second rack 21 is fixed to the bottom of the second guide groove 701, and the second toothed block 22 is vertically guided to rise and fall within the second receiving groove at the bottom of the fixed sleeve. A second spring 25 is provided between the bottom of the second receiving groove and the second toothed block 22, and is fixed to both. The second spring 25 drives the second toothed block 22 to be partially extended out of the second receiving groove under normal conditions. The lever 23 is fixed to the upper side wall of the second toothed block 22 and extends beyond the outer wall of the fixed sleeve. The outer wall of the fixed sleeve has an clearance groove for the vertical movement of the lever 23, which is used to drive the second toothed block 22 to rise and fall.

[0053] The adsorption unit is the actuating component for adsorbing and fixing workpieces, including a fixing sleeve and an adsorption tube 13 that is sealed and raised at the upper end of the fixing sleeve. (Refer to...) Figures 6-7 As shown, the fixed sleeve includes a main sleeve 11 and an annular cover 12. The main sleeve 11 has an inner cylinder 1102 and an outer cylinder 1101 arranged coaxially, forming an annular air cavity 17 between them. The inner cylinder 1102 is used for the sealed insertion of the adsorption tube 13. A first spring 15 is provided between the bottom of the inner cylinder and the bottom of the adsorption tube 13. The first spring 15 drives the adsorption tube 13 to rise under normal conditions. The annular cover 12 has a sealing hole in the center for the adsorption tube 13 to pass through for sealing. The lower end of the annular cover 12 is provided with a sealing ring 121 that can be inserted into the air cavity 17 for interference sealing.

[0054] An elastic adhesive block 14 made of rubber or silicone is fixed to the top of the adsorption tube 13. The elastic adhesive block 14 is thin and has an area larger than that of the outer cylinder 1101. The elastic adhesive block 14 can adhere to the product when the adsorption tube 13 comes into contact with the product to improve the sealing performance of the product.

[0055] A follow-locking mechanism is provided between the adsorption tube 13 and the main sleeve 11, as shown in the reference. Figure 6 , Figure 8 and Figure 9As shown, the accompanying locking mechanism includes a vertical toothed groove 16 on the side wall of the adsorption tube 13 and a locking block 32 that is horizontally telescopically disposed on the side wall of the main sleeve 11. The locking block 32 is retractable and its extension is controlled by a pneumatic drive mechanism. Two sets of locking blocks 32 are evenly spaced around the fixed sleeve.

[0056] To facilitate the assembly of the locking block 32, mounting slots are provided on the outer cylinder 1101 and the inner cylinder 1102. The locking block 32 is telescopically mounted on the mounting block 31. The mounting block 31 seals the mounting slot on the outer cylinder 1101. The mounting block 31 has clearance slots 311 on both sides, which allow for clearance fit between the mounting block 31 and the mounting slot of the inner cylinder 1102. The bottom of the side wall of the adsorption tube 13 is provided with an air hole 40. The air chamber 17 is connected to the internal chamber of the adsorption tube 13 through the gap and the air hole 40.

[0057] The pneumatic drive mechanism includes a wedge block 28 and a pneumatic assembly for controlling its lifting and lowering. The wedge block 28 consists of a drive block, a limit block 29, and a connecting rod 30. The drive block is located on both sides of the mounting block 31, the limit block 29 is located at the upper end of the locking block 32 and connects the two drive blocks, and the connecting rod 30 is located at the bottom of the drive block and connects to the annular sealing block 27. The drive block includes a vertical section 282 and an inclined section 281 integrally set vertically. The locking block 32 has a mating inclined surface 321 on both sides outside the clearance groove 311 that is adapted to the inclined section 281. The side of the locking block 32 facing the vertical tooth groove 16 has a toothed structure that can mesh with the vertical tooth groove 16. The side of the locking block 32 away from the vertical tooth groove 16 is provided with a tension spring 33 between it and the mounting block 31. The two ends of the tension spring 33 are fixed to the mounting block 31 and the locking block 32 respectively and drive the locking block 32 to be in a retracted state in the normal state. The limiting block 29 is used to limit the maximum stroke of the wedge block 28. The length of the connecting rod 30 is greater than the height of the mounting block 31, and the distance between the two connecting rods 30 of the same wedge block 28 is greater than or equal to the width of the mounting block 31. The connecting rod 30 facilitates the assembly of the mounting block 31 and the air chamber 17 after the wedge block 28 is assembled into the air chamber 17.

[0058] Reference Figure 2 and Figure 7 As shown, the bottom of the inner cylinder 1102 is provided with an exhaust and air supply hole 24 that communicates with the second accommodating groove. The bottom of the outer wall of the outer cylinder 1101 is provided with two branch interfaces 18 that communicate with the air chamber 17. The side wall of the base plate 1 is fixed with a main pipe 4, the upper end of which is provided with several main interfaces 6, and the bottom end is provided with a connecting pipe 5. Each adsorption unit air chamber 17 is connected to the main pipe 4 through a hose 20. Specifically, each adsorption unit air chamber 17 on the same adsorption module is connected to the main pipe 4 in series through the hose 20. The connection method of the two ends of the hose 20 can be flexibly selected. It can be sealed to the two branch interfaces 18 respectively, or one end can be connected to the branch interface 18 and the other end can be connected to the main interface 6. The unused branch interfaces 18 and main interfaces 6 are sealed with sealing plugs 19.

[0059] The welding positioning station needs to provide pneumatic driving force for the adsorption unit, therefore it also includes a drive source consisting of an air cylinder 36 and a pneumatic cylinder 38, both fixed to the table surface. (Refer to...) Figure 1 and Figure 10 As shown, the piston rod of cylinder 38 extends into cylinder 36, and a piston block is fixed at the end to seal with the inside of cylinder 36. A nozzle 37 protrudes from the upper end of the rodless chamber of cylinder 36. A sealing ring is embedded inside the connecting pipe 5. The nozzle 37 has a tapered guide surface. When the self-adsorption transfer tray is placed, the nozzle 37 inserts into the connecting pipe 5 and compresses the sealing ring to form a sealed connection. When cylinder 38 retracts, cylinder 36 draws air, driving wedge 28 and sealing block 27 to descend. During the descent of wedge 28, the inclined section 281 and locking block 32... With the pressing action of the inclined plane 321, the locking block 32 gradually extends and engages with the toothed groove of the adsorption tube 13. When the vertical section 282 engages with the locking block 32, the locking block 32 remains extended, while the sealing block 27 descends further, increasing the negative pressure of the adsorption tube 13. When the cylinder 38 extends, the air cylinder 36 inflates, driving the wedge block 28 and the sealing block 27 to rise. The locking block 32 retracts under the action of the tension spring 33, and the negative pressure of the adsorption tube 13 returns to the level corresponding to the self-adsorption of the workpiece by gravity as the sealing block 27 rises.

[0060] The loading and unloading positioning station is equipped with the same positioning groove 35 and magnetic adsorption mechanism as the welding positioning station, and does not require a drive source.

[0061] The assembly process is as follows:

[0062] 1. Place the first spring 15 into the bottom of the inner cylinder 1102, and then seal the adsorption tube 13 into the inner cylinder 1102; assemble the locking block 32 onto the mounting block 31 and fix the tension spring 33; fix the connecting rod 30 of the wedge block 28 to the sealing block 27 and place it into the air chamber 17; insert the mounting ring cover 12 with interference fit to seal the air chamber 17; install the mounting block 31 equipped with the locking block 32 into the fixing sleeve through the mounting through groove, and the mounting block 31 seals the mounting through groove on the outer cylinder 1101; finally, fix the elastic bonding block 14 on the top of the adsorption tube 13. The above process completes the assembly of the adsorption unit.

[0063] 2. Fix the second rack 21 to the bottom of the second guide groove 701, install the second spring 25, the second tooth block 22 and the toggle block 23 to complete the assembly of the second adjustment mechanism; install several adsorption units on the base 7 through the second adjustment mechanism, and connect the air chambers 17 of each adsorption unit of the same module in series with the hose 20. The above process can complete the assembly of the adsorption module.

[0064] 3. Fix the first rack 2 to the bottom of the first guide groove 101 of the substrate 1, install the first tooth block 9 and the adjusting bolt 10 to complete the assembly of the first adjustment mechanism; install several adsorption modules on the substrate 1 through the first adjustment mechanism, connect the corresponding hose 20 to the main interface 6 as required, and seal the idle branch interface 18 and the main interface 6 with the sealing plug 19; install positioning posts 3 at the four corners of the lower end of the substrate 1 and fix iron blocks. The above process can realize the assembly of the self-adsorption transfer tray.

[0065] 4. Machining positioning slots 35 at the four corners of the two fixed workstations and fixing electromagnets; fixing air cylinders 36 and cylinders 38 at the welding positioning station, and installing piston blocks and air nozzles 37 with conical guide surfaces; the loading and unloading positioning station only retains positioning slots 35 and magnetic adsorption mechanisms. The aforementioned process can realize the assembly of the welding positioning station and the loading and unloading station 39.

[0066] The process is as follows:

[0067] 1. The self-adsorption transfer tray flows to the loading and unloading positioning station. The positioning column 3 is inserted into the positioning slot 35, and the electromagnet is energized and fixed. The loading and unloading robot arm picks up the workpiece and positions it on the self-adsorption transfer tray. The adsorption unit achieves self-adsorption under the action of the workpiece's gravity. When the electromagnet is de-energized, the AGV lifts the self-adsorption transfer tray and moves it to the welding positioning station.

[0068] 2. The self-adsorption transfer tray flows to the welding positioning station. The positioning column 3 is inserted into the positioning groove 35, and the electromagnet is energized and fixed. The air nozzle 37 is inserted into the connecting pipe 5 to form a sealed connection. The cylinder 38 retracts to drive the air chamber 17 to draw air. The air pressure drives the wedge block 28 to descend. The locking block 32 extends and locks with the vertical tooth groove 16. The negative pressure of the air chamber 17 increases to achieve firm adsorption and positioning of the workpiece.

[0069] 3. After welding is completed, cylinder 38 extends, air chamber 17 is inflated to drive wedge 28 to rise and reset, locking block 32 retracts and unlocks, and negative pressure in adsorption tube 13 is restored to the size caused by the weight of the workpiece; the electromagnet at the welding positioning station is de-energized, the AGV lifts the self-adsorption transfer tray and transfers it to the loading / unloading station 39. After the self-adsorption transfer tray is positioned and inserted, the electromagnet at the loading / unloading station 39 is energized and attracts the self-adsorption transfer tray, and the loading / unloading robot arm picks up the workpiece to complete one transfer.

[0070] The electromagnet used at the welding positioning station requires specialized design, and its value should be significantly greater than that of the electromagnet used at the loading / unloading positioning station. This is because at the welding station, the system increases the negative pressure inside the suction tube 13 via a drive source, significantly increasing the downward suction force on the workpiece. The reaction force is transmitted to the substrate 1 through the suction module, creating an upward lifting tendency on the substrate 1. Simultaneously, the high-frequency vibrations and impact loads generated during the operation of the ultrasonic welding robotic arm also act on the workpiece and the substrate 1. Therefore, the electromagnet at the welding positioning station needs to provide a sufficiently large suction force to overcome the aforementioned upward lifting force and dynamic interference, ensuring that the self-adsorption transfer tray remains absolutely stable throughout the welding process, thereby guaranteeing welding positioning accuracy and process safety.

[0071] Both cylinder 38 and electromagnet are connected to the controller. The switching of the solenoid valve of cylinder 38 and the energization or de-energization of the electromagnet are realized by the logic programming of the controller.

[0072] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A self-adhesion and docking enhancement positioning system for workpiece transfer, characterized in that: It includes several transferable self-adsorption transfer trays and at least one fixed station; The self-adsorption transfer tray includes a substrate (1) and several adsorption modules detachably disposed on the substrate (1); the adsorption module includes a base (7) and several adsorption units located thereon; The adsorption unit includes a fixed sleeve, an adsorption tube (13) vertically sealed and inserted in the fixed sleeve, and an elastic bonding block (14) provided at the upper end of the adsorption tube (13). The adsorption tube (13) can be reset to the rising state. A trailing locking mechanism is provided between the fixed sleeve and the adsorption tube (13), including a vertical toothed groove (16) provided on the side wall of the adsorption tube (13) and a locking block (32) that is horizontally telescopically provided on the side wall of the fixed sleeve and can be reset to be in a retracted state. The fixed sleeve is provided with an air chamber (17), which is connected to the inner cavity of the adsorption tube (13). The air chamber (17) is provided with a wedge (28), and a sealing block (27) that seals with the air chamber (17) is fixed at the bottom of the wedge (28). The wedge (28) has a driving block that cooperates with the locking block (32). The driving block includes a vertical section (282) and an inclined section (281) from top to bottom. The gas chamber (17) of each adsorption unit is connected to the main pipe (4) on the substrate (1) through a hose (20). The main pipe (4) is provided with a connecting pipe (5). The fixed station includes a welding positioning station, which is provided with a drive source and a docking part for sealing and docking with the connecting pipe (5). When the self-adsorption transfer tray is docked with the welding positioning station, the pumping or inflation of the drive source causes each wedge (28) and sealing block (27) to descend or rise synchronously to reset. During the descent of the wedge (28), the inclined section (281) first engages with the locking block (32), pushing the locking block (32) out and locking it with the tooth groove; the vertical section (282) then engages with the locking block (32), the locking block (32) remains in the extended state, and at the same time the wedge (28) and the sealing block (27) continue to descend, causing the negative pressure in the air chamber (17) and the adsorption tube (13) to continue to increase.

2. The self-adsorption and docking enhancement positioning system for workpiece transfer according to claim 1, characterized in that: The fixed sleeve includes an inner cylinder (1102) and an outer cylinder (1101) arranged coaxially, forming an annular air cavity (17) between them. The locking block (32) is guided and extended in the air cavity (17) in the horizontal direction. When the locking block (32) extends, it engages with the tooth groove and disengages from the tooth groove when it retracts. A gap is provided between the locking block (32) and the outer wall of the inner cylinder (1102) for gas to pass through. An air hole (40) is opened on the bottom side wall of the adsorption tube (13). The air cavity (17) communicates with the internal chamber of the adsorption tube (13) through the gap and the air hole (40).

3. The self-adsorption and docking enhancement positioning system for workpiece transfer according to claim 2, characterized in that: At least two sets of locking blocks (32) are evenly spaced around the circumference of the fixed sleeve. The bottom of the wedge (28) extends downward with a connecting rod (30). The connecting rods (30) of all wedges (28) are simultaneously fixed on the sealing block (27).

4. The self-adsorption and docking enhancement positioning system for workpiece transfer according to claim 1, characterized in that: The driving source is a cylinder (38). As the cylinder (38) retracts, the driving wedge (28) and the sealing block (27) descend; as the cylinder (38) extends, the driving wedge (28) and the sealing block (27) rise and reset.

5. The self-adsorption and docking enhancement positioning system for workpiece transfer according to claim 1, characterized in that: The adsorption unit is detachably connected to the base (7) through the first adjustment mechanism to realize the adjustment and fixation of the adsorption unit relative to the base (7) in the first direction; the base (7) is slidably connected to the substrate (1) through the second adjustment mechanism to realize the adjustment and fixation of the base (7) relative to the substrate (1) in the second direction, and the first direction and the second direction are perpendicular to each other.

6. The self-adsorption and docking enhancement positioning system for workpiece transfer according to claim 5, characterized in that: Both the first adjustment mechanism and the second adjustment mechanism include a guide mechanism and a locking mechanism. The guide mechanism includes a guide part and a sliding part that cooperate with each other. The upper end of the substrate (1) and the upper end of the base (7) are provided with guide parts, and the lower end of the base (7) and the lower end of the adsorption unit are provided with sliding parts. The locking mechanism includes a rack, a tooth block and an adjustment part for adjusting the lifting and lowering of the tooth block. The rack is fixed on the guide part, and the tooth block is lifted and lowered at the bottom of the sliding part.

7. The self-adsorption and docking enhancement positioning system for workpiece transfer according to claim 1, characterized in that: The gas chambers (17) of each adsorption unit on the same adsorption module are connected in series through hoses (20) and finally connected to the main pipe (4) of the substrate (1).

8. The self-adsorption and docking enhancement positioning system for workpiece transfer according to claim 1, characterized in that: The bottom of the self-adsorption transfer tray is provided with at least two positioning columns (3), and the welding positioning station is provided with a positioning groove (35) for the positioning columns (3) to be inserted. A magnetic adsorption mechanism for mutual adsorption is provided between the bottom of the positioning column (3) and the bottom of the positioning groove (35).

9. A self-adsorption and docking enhancement positioning system for workpiece transfer according to claim 8, characterized in that: The fixed station also includes a loading and unloading positioning station. The loading and unloading positioning station has the same positioning groove (35) and magnetic adsorption mechanism as the welding positioning station. The magnetic adsorption mechanism includes an iron block fixed to the bottom of the positioning column (3) and an electromagnet fixed to the bottom of the positioning groove (35).

10. A self-adhesion and docking enhancement positioning system for workpiece transfer according to claim 1, characterized in that: The inner wall of the connecting pipe (5) of the main pipe (4) is fitted with a sealing ring. The connecting part of the welding positioning station is a gas nozzle (37) with a conical guide surface. When the self-adsorption transfer tray is placed in the welding positioning station, the gas nozzle (37) is sealed and inserted into the connecting pipe (5).

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