Multi-station cooperative mechanical gripper feeding device

Abstract

The present application relates to direct current contactor feeding technology field, particularly to a kind of multi-station coordinated mechanical gripper feeding device, including machine case, horizontal transfer machine, linear guide and glue injection head, machine case top is provided with feeding turntable, feeding turntable top two sides are respectively configured with mechanical clamp, feeding turntable bottom is provided with when driving feeding turntable rotary motion, mechanical clamp synchronous up-down staggered to material is picked up and discharged and the alternate material mistake component of alternately feeding, alternate material mistake component includes worm gear, alternate ring and staggered link plate, realize double turntable cooperative operation by alternate material mistake component, eliminate waiting gap, substantially improve production efficiency, realize the synchronous swing cooling of material after glue filling by swing cooling component and alternate ring mechanical linkage, realize the automatic reverse scraping cleaning of empty position by scraping slag component, realize the lateral reciprocating swing of arc-shaped air-blowing seat by swing cooling component using alternate ring lifting, form wide sweep airflow.

Description

Technical Field

[0001] This invention relates to the field of DC contactor feeding technology, and in particular to a multi-station collaborative mechanical gripper feeding device. Background Technology

[0002] In the automated dispensing production of low-voltage electrical products such as DC contactors, a rotary feeding turntable combined with a transfer robot is typically used to complete the material conveying and loading / unloading operations. Currently, single-station turntables or independent robots operate in sequence, with the loading and unloading actions separated. After completing the picking, transferring, and unloading, the mechanical fixture must return to the picking position empty before it can perform the next picking operation. This empty return stroke creates significant waiting gaps in the material conveying process, making it impossible for the dispensing process and material flow to be completely parallel, and the work cycle is difficult to compress, limiting the material supply efficiency in high-cycle production scenarios.

[0003] During the unloading process, the adhesive on the surface of the workpiece has not yet solidified and needs to be cooled and shaped in time. The cooling process of the existing equipment is usually set up independently in a dedicated cooling section after the unloading station, which cannot be synchronized with the unloading action. During the period when the workpiece is moved from the unloading station to the cooling area, the adhesive undergoes an uncontrollable static period without effective temperature control, which is prone to surface skinning or changes in adhesive shape. If a fixed fan is used to blow air directly at the unloading station, the fixed air direction is difficult to cover all surfaces of the moving workpiece due to the dynamic operation of the robot arm, and the unidirectional airflow causes a large temperature difference between the windward and leeward sides, resulting in uneven cooling. Before loading, the surface of the loading turntable will accumulate residual adhesive and dust debris due to continuous operation, which will affect the positioning accuracy and sealing of subsequent workpieces. The existing cleaning methods rely on manual periodic wiping or continuous scraping with a fixed scraper. Manual cleaning interrupts the loading process and reduces the continuity of material supply. The continuous contact between the fixed scraper and the turntable increases the drive load and is prone to wear on the surface of the worktable.

[0004] In summary, existing mechanical gripper loading devices still have technical bottlenecks in eliminating waiting gaps between loading and unloading, achieving synchronous cooling during unloading, and online automatic cleaning of the workstation before loading. Therefore, there is an urgent need to provide a new type of loading device that can coordinate cooling and cleaning during loading and unloading, with a compact action cycle and a simplified and efficient structure. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, the present invention provides a multi-station collaborative mechanical gripper feeding device.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a multi-station collaborative mechanical gripper feeding device, including a chassis, a horizontal transfer machine, a linear guide rail and a glue injection head. A feeding turntable is provided on the top of the chassis, and a glue injection head for injecting glue into DC contactors is provided on the top of the feeding turntable. Mechanical grippers are respectively arranged on both sides of the top of the feeding turntable. An alternating material feeding assembly is provided at the bottom of the feeding turntable, in which the mechanical grippers synchronously and alternately pick up and drop materials when the feeding turntable rotates. The alternating material feeding assembly includes a worm gear, an alternating ring and an alternating connecting plate. When one mechanical gripper in the alternating material feeding assembly descends to pick up materials, the other mechanical gripper picks up materials and rises. A base column is fixedly installed at the bottom of the chassis, and an alternating ring is movably sleeved on the outside of the base column. A swing cooling component is further configured on the alternating ring. This component is used to reciprocate the swinging and blowing air to cool the material that has been filled with glue. When the mechanical clamp is lifting, it simultaneously drives the arc-shaped blower seat in the swing cooling component to swing and sweep the material. The top of the feeding turntable is equipped with a scraping and cleaning component for reverse scraping and cleaning of empty material positions on the feeding turntable. The scraping and cleaning component includes an arc-shaped support plate, a toothed plate, and an arc-shaped scraping bar. A base frame is fixedly installed on the top of the chassis. Inside the base frame is an interval pushing component that drives the arc-shaped support plate to move up and down at intervals on the top of the feeding turntable. When the push rod in the interval pushing component drives the arc-shaped support plate to rise, the arc-shaped scraper strip is reset and unfolded.

[0007] As a preferred embodiment of the present invention, a linear guide rail is fixedly installed inside the casing for connecting the material flow between the front-end vibrating conveyor and the feeding turntable. A conveying clamp that runs synchronously with the conveying chain is configured on the linear guide rail. The alternating material feeding assembly also includes a worm gear that meshes with the worm wheel. A worm wheel is movably installed on the bottom of the casing near the linear guide rail. The feeding turntable is fixedly installed at the top center of the worm wheel. A fixed plate is fixedly installed on the bottom of the casing. The worm gear is movably connected to the top of the fixed plate. A first pulley is fixedly installed on both ends of the worm gear away from the fixed plate. Second pulleys are movably connected to both sides of the end of the casing away from the worm wheel via rotating rods. A transmission belt connects the first pulleys and the second pulleys. A drive motor is fixedly installed inside the casing via a motor mount. One of the rotating rods is connected to the output end of the drive motor.

[0008] The rotating rod is fixedly equipped with a drive swing arm. The drive swing arms are movably connected by a connecting shaft with staggered connecting plates. The connecting shaft is movably connected with staggered plates. Each alternating ring is fixedly equipped with an arc-shaped motion rod. The top of the staggered plate is movably connected to the arc-shaped motion rod. A rotary motor is fixedly installed on the outside of the alternating ring. A rotating arm is fixedly installed at the output end of the rotary motor. The rotating arm is fixedly equipped with a mechanical clamp for picking up and releasing materials from the DC contactor on the feeding turntable. There are two worm gears and two feeding turntables.

[0009] As a preferred embodiment of the present invention, a glue injection head is fixedly installed inside the chassis at the top of the feeding turntable. The glue injection head injects glue into the DC contactor fed onto the feeding turntable by the conveying clamp. The swing cooling assembly includes a moving toothed plate and a moving toothed disc. A side frame is fixedly installed at the bottom of the chassis. A fixed rotating rod is movably connected to the top of each side frame. An arc-shaped swing rod is fixedly installed on each fixed rotating rod. A moving toothed plate is fixedly installed at the bottom of each arc-shaped swing rod. A moving toothed disc is fixedly installed on each fixed rotating rod. The moving toothed disc and the moving toothed plate are movably engaged.

[0010] The arc-shaped blower seat is fixedly installed on the arc-shaped rocker arm. Several blower heads are evenly fixedly installed on the side of the arc-shaped blower seat near the feeding turntable. The blower heads blow air to cool the DC contactor on the feeding turntable after it has been filled with glue.

[0011] As a preferred embodiment of the present invention, a horizontal transfer machine is fixedly installed on both sides inside the chassis. The mechanical clamp transfers the DC contactor after glue dispensing and cooling to the tray of the horizontal transfer machine. The DC contactor is then transferred to the detection stage by the horizontal transfer machine. The scraping and cleaning assembly also includes an arc-shaped support plate fixedly installed at the bottom of the arc-shaped support plate. An electric telescopic rod is fixedly installed on the top of the arc-shaped support plate. A rack plate is fixedly installed on the top of the electric telescopic rod. Support gear plates are movably connected to the bottom two ends of the arc-shaped support plate through a rotating shaft. The support gear plates are movably engaged with the rack plate.

[0012] The arc-shaped support plate has a fixed groove at the top of one end near the support toothed plate. A fixed slider is slidably connected in the fixed groove. The fixed slider is fixedly installed at the bottom center of the toothed plate. Arc-shaped scraping strips are fixedly installed on the side of the support toothed plate away from the toothed plate. The arc-shaped scraping strips move at the top of the feeding turntable and scrape and clean the residue on the empty material position of the feeding turntable.

[0013] As a preferred embodiment of the present invention, the interval pushing assembly includes a drive gear plate fixedly installed at the bottom of one of the worm gears, a limit plate fixedly installed at both the upper and lower ends inside the base frame, a rotating cylinder movably connected between one end of the limit plate, a connecting gear fixedly installed at the bottom of the rotating cylinder, the connecting gear movably meshing with the drive gear plate, and a push rod penetrating between the other ends of the limit plate.

[0014] A T-shaped actuating rod is fixedly installed at the bottom of the push rod. An annular actuating groove is opened on the outer circumference of the rotating cylinder. The size of the annular actuating groove matches the size of the T-shaped actuating rod. The T-shaped actuating rod is slidably embedded in the annular actuating groove. A collection box for collecting impurities under the arc-shaped scraping strip is fixedly installed on the top of the base frame. The top of the push rod passes through the base frame and the collection box and is fixedly installed at the bottom of the arc-shaped support plate away from the rack plate.

[0015] Compared with the prior art, the beneficial effects that this invention can achieve are: 1. In this invention, the alternating material feeding assembly enables the coordinated operation of two turntables, eliminating waiting gaps and significantly improving production efficiency. The rotational motion is transformed into the regular lifting and lowering of the alternating rings through the linkage of the staggered plates and the arc-shaped motion rods. In this structural state, the mechanical clamps on the two sets of feeding turntables perform synchronous but opposite vertical movements with the lifting and lowering of the alternating rings. That is, when one mechanical clamp descends to grab the glued material, the other mechanical clamp simultaneously holds the material and rises and releases it to the horizontal transfer machine. The staggered rhythm of the one-down-one-up eliminates the waiting gap between feeding and unloading in traditional single-station devices, allowing the glue dispensing process and material flow to proceed in parallel, significantly shortening the working cycle and improving overall production efficiency compared to traditional structures. In addition, since the two sets of turntables alternately receive and release materials, the device operates more smoothly, making it particularly suitable for large-volume, high-cycle automated glue dispensing production scenarios.

[0016] 2. In this invention, the oscillating cooling component and the alternating ring are mechanically linked to achieve synchronous oscillating cooling of the material after dispensing. The structure is compact and the cooling is uniform. When the alternating ring moves up and down under the drive of the alternating material feeding component, the arc-shaped moving rod moves up and down synchronously. The moving tooth plate at the bottom drives the moving tooth disk to rotate back and forth, thereby driving the fixed rotating rod and the arc-shaped oscillating rod to swing back and forth together. In this structural state, multiple blowers evenly distributed on the arc-shaped blower base form a large area of ​​sweeping airflow with the swing of the arc-shaped oscillating rod, which provides all-round, no-dead-angle blowing cooling to the DC contactor on the feeding turntable that has just finished dispensing. This design does not require a separate drive motor or air source for the cooling function. It achieves synchronous linkage entirely with the existing power source, which simplifies the overall structure and ensures precise synchronization between the cooling action and the dispensing rhythm. Compared with the fixed-point blowing method, the sweeping air cooling has a wider airflow coverage and a more uniform temperature gradient, which can effectively accelerate the heat dissipation of the colloid surface and internal curing, and significantly reduce the risk of product quality defects caused by uneven cooling.

[0017] 3. In this invention, the scraping and cleaning component automatically cleans the empty material position in reverse, ensuring consistent feeding accuracy and glue dispensing quality. Driven by the interval pushing component, the component descends to the working position, and the electric telescopic rod extends, causing the arc-shaped scraper to rotate inward and retract, scraping the surface of the empty material position in the opposite direction to the rotation of the feeding turntable, effectively removing residual glue residue, dust, and other impurities. After scraping, the electric telescopic rod retracts, causing the arc-shaped scraper to unfold and reset outward, detaching from the turntable surface to avoid interfering with the normal rotation of the turntable. This structure achieves automatic coordination between cleaning actions and production rhythm, eliminating the need for manual cleaning during machine downtime. It fundamentally avoids problems such as workpiece positioning deviation or poor glue dispensing sealing caused by workstation contamination, providing a reliable guarantee for continuous and stable high-quality glue dispensing operations.

[0018] 4. In this invention, the periodic intermittent lifting and lowering of the scraping and cleaning component is achieved through the interval pushing component. The mechanical linkage is precise and reliable, and the maintenance cost is low. The continuous rotation of the worm gear is transmitted to the rotating cylinder through the meshing of the drive gear and the connecting gear. The rotation of the rotating cylinder is converted into the vertical reciprocating linear motion of the push rod through the cooperation of the annular actuating groove and the T-shaped actuating rod, thereby driving the entire scraping and cleaning component to achieve periodic lifting and lowering. This transmission path is entirely based on the principle of mechanical meshing and cam groove. The action sequence is strictly synchronized with the rotation of the feeding turntable and the lifting and lowering of the clamp. There is no need for an independent electrical control system or sensor feedback, which not only ensures the precision and reliability of the cleaning action, but also reduces the complexity of the control system. The mechanical transmission structure itself has high anti-interference ability and durability, good long-term operational stability, and simple maintenance, effectively reducing the overall operating cost of the equipment.

[0019] 5. In this invention, the scraping and cleaning component works in tandem with the feeding turntable to achieve dynamic reverse scraping while rotating, resulting in high cleaning efficiency and no cycle time loss. The intermittent pushing component drives the arc-shaped support plate to descend, causing the arc-shaped scraping strip to adhere to the top surface of the feeding turntable. Under the transmission of the electric telescopic rod, rack plate, and support gear plate, the arc-shaped scraping strip rotates inward and retracts, with its scraping direction opposite to the rotation direction of the feeding turntable, forming a reverse scraping action. This dynamic coordination mode of the turntable rotating and the scraping strip cleaning ensures that the empty material position is cleaned as the turntable moves. The cleaning process is synchronized during operation, eliminating the need for separate downtime or dedicated cleaning stations and ensuring that the normal rotation rhythm of the feeding turntable is not affected. The cleaning action is highly integrated with the production rhythm, guaranteeing the continuous cleanliness of the turntable surface and achieving online real-time cleaning with zero rhythm loss, further improving the overall operating efficiency of the device. In addition, the reverse scraping method has a stronger peeling ability for highly adhesive residue compared to forward scraping, resulting in more thorough cleaning and effectively preventing the adverse effects of residue accumulation on subsequent feeding accuracy.

[0020] 6. In this invention, the oscillating cooling component utilizes the alternating ring lifting and lowering to achieve lateral reciprocating oscillation of the arc-shaped blower seat, forming a wide-range sweeping airflow. The cooling coverage is extensive and without dead angles. The oscillating airflow can cover the upper surface, sides, and various angles of the dispensing area of ​​the material, avoiding cooling dead angles caused by a single airflow direction. This makes the heat dissipation of the colloid more uniform and the curing consistency better. The pulsating blowing of the reciprocating airflow on the material surface helps to break the thermal boundary layer on the colloid surface, accelerates the convective heat transfer efficiency, and thus shortens the cooling time required, creating favorable conditions for further improving the overall cycle time of the device. This structure relies entirely on the existing lifting and lowering motion of the alternating ring as a power source, without the need to add independent drive components, achieving efficient cooling while maintaining structural simplicity and operational economy. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the chassis of the present invention; Figure 3 This is a schematic diagram of the horizontal transfer machine of the present invention; Figure 4 This is a schematic diagram of the structure of the base column of the present invention; Figure 5 This is a schematic diagram of the structure of the staggered plate of the present invention; Figure 6 This is a schematic diagram of the worm gear of the present invention; Figure 7 This is a schematic diagram of the side frame structure of the present invention; Figure 8 This is a schematic diagram of the arc-shaped support plate of the present invention; Figure 9 This is a schematic diagram of the arc-shaped support plate of the present invention; Figure 10 This is a schematic diagram of the rotating cylinder of the present invention.

[0022] The components are as follows: 10. Chassis; 11. Linear guide rail; 12. Conveying clamp; 13. Dispensing head; 14. Horizontal transfer machine; 15. Feeding turntable; 20. Base column; 21. Alternating ring; 22. Arc-shaped moving rod; 23. Rotary motor; 24. Rotating arm; 25. Mechanical clamp; 26. Interlaced plate; 27. Connecting shaft; 28. Interlaced connecting plate; 30. Drive motor; 31. Rotating rod; 32. Second pulley; 33. Fixed plate; 34. Worm gear; 35. First pulley; 36. Transmission belt; 37. Worm wheel; 38. Drive swing arm; 40. 41. Arc-shaped blower base; 42. Side frame; 43. Fixed rotating rod; 44. Motion gear plate; 45. Motion gear plate; 46. Arc-shaped rocker arm; 57. Blower head; 58. Arc-shaped support plate; 59. Arc-shaped support plate; 50. Electric telescopic rod; 51. Rack plate; 52. Support gear plate; 53. Fixed slide groove; 54. Fixed slider; 55. Arc-shaped scraper bar; 66. Base frame; 67. Limiting plate; 68. Rotating cylinder; 69. Connecting gear; 60. Drive gear plate; 61. Push rod; 62. T-shaped actuating rod; 63. Annular actuating groove; 64. Storage box. Detailed Implementation

[0023] To make the technical means, creative features, and achieved objectives and effects of this invention easier to understand, the invention is further described below with reference to specific embodiments. However, the following embodiments are merely preferred embodiments of this invention and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments described herein without creative effort are all within the protection scope of this invention. Unless otherwise specified, the experimental methods in the following embodiments are conventional methods, and the materials and reagents used in the following embodiments are commercially available unless otherwise specified.

[0024] Example: Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7As shown, a multi-station collaborative mechanical gripper feeding device includes a chassis 10, a horizontal transfer machine 14, a linear guide rail 11, and a glue injection head 13. A feeding turntable 15 is mounted on the top of the chassis 10, and a glue injection head 13 for injecting glue into DC contactors is mounted on the top of the feeding turntable 15. Mechanical grippers 25 are respectively arranged on both sides of the top of the feeding turntable 15. An alternating material feeding assembly is located at the bottom of the feeding turntable 15, where the mechanical grippers 25 synchronously and alternately pick up and release materials as the feeding turntable 15 rotates. The alternating material feeding assembly includes a worm gear 37, an alternating ring 21, and an alternating connecting plate 28. When one mechanical gripper 25 descends to pick up material, another mechanical gripper 25 rises to pick up material. A linear guide rail 11 is fixedly installed inside the chassis 10 to connect the material flow between the front-end vibrating conveyor and the feeding turntable 15. The linear guide rail 11 is equipped with a conveying clamp 12 that runs synchronously with the conveying chain. The alternating feeding assembly also includes a worm 34 that meshes with the worm wheel 37. The worm wheel 37 is movably installed on the bottom of the housing 10 near the linear guide rail 11. The feeding turntable 15 is fixedly installed at the top center of the worm wheel 37. A fixing plate 33 is fixedly installed on the bottom of the housing 10. The worm 34 is movably connected to the top of the fixing plate 33. A first pulley 35 is fixedly installed on the end of the worm 34 away from the fixing plate 33. A second pulley 32 is movably connected to both sides of the end of the housing 10 away from the worm wheel 37 through a rotating rod 31. A transmission belt 36 is connected between the first pulley 35 and the second pulley 32. A drive motor 30 is fixedly installed inside the housing 10 through a motor base. One of the rotating rods 31 is connected to the output end of the drive motor 30.

[0025] A drive swing arm 38 is fixedly installed on the rotating rod 31. The drive swing arms 38 are movably connected to each other via a connecting shaft 27 via an interlaced connecting plate 28. An interlaced plate 26 is movably connected to the connecting shaft 27. An arc-shaped motion rod 22 is fixedly installed on each alternating ring 21. The top of the interlaced plate 26 is movably connected to the arc-shaped motion rod 22. A rotary motor 23 is fixedly installed on the outer side of the alternating ring 21. A rotating arm 24 is fixedly installed on the output end of the rotary motor 23. A mechanical clamp 25 is fixedly installed on the rotating arm 24 to pick up and release materials from the DC contactor on the feeding turntable 15. There are two worm gears 37 and two feeding turntables 15.

[0026] See Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7When the work begins, the front-end vibrating conveyor sends out the DC contactor in an orderly manner. The linear guide rail 11, which is fixedly installed inside the chassis 10, runs synchronously. The conveying clamp 12 on its conveying chain picks up a single workpiece at the end of the vibrating conveyor during the cyclical movement and delivers it smoothly to the preset empty material position on the top loading turntable 15 of the chassis 10, thus completing the automatic feeding and supply of the workpiece to be glued.

[0027] The movement of the feeding turntable 15 and the mechanical clamp 25 configured on it is uniformly driven by the alternating feeding assembly; the drive motor 30 is fixedly installed inside the housing 10 through the motor base, and the output end of the drive motor 30 is connected to one of the rotating rods 31; when the drive motor 30 is running, the power is transmitted to the second pulley 32 through the rotating rod 31, and then drives the first pulley 35 to rotate synchronously through the transmission belt 36; the first pulley 35 is fixedly installed at the end of the worm gear 34 away from the fixed plate 33, and the worm gear 34 is rotatably connected to the top of the fixed plate 33, so the rotation of the first pulley 35 directly drives the worm gear 34 to rotate.

[0028] The worm 34 is in active engagement with the worm wheel 37, which is rotatably mounted on the bottom of the housing 10 near the linear guide rail 11. The loading turntable 15 is fixedly mounted at the top center of the worm wheel 37. Therefore, when the worm 34 drives the worm wheel 37 to rotate, the loading turntable 15 rotates synchronously, thereby orderly switching the workstation carrying the workpiece to the area below the dispensing head 13 for dispensing.

[0029] Simultaneously, through a series of transmission connections such as the alternating ring 21 and the staggered connecting plate 28, the mechanical clamps 25 on both sides are triggered to perform alternating up and down movements. The rhythm of their movements is such that when the mechanical clamp 25 corresponding to the first set of feeding turntables 15 descends to grab the glued material on the turntable, the mechanical clamp 25 corresponding to the second set of feeding turntables 15 simultaneously rises while holding the glued material, so as to transfer or wait. The staggered movements of the two sets of mechanical clamps 25, one descending and one rising, are carried out continuously, realizing the timely and orderly removal of the glued material from the turntable, ensuring the efficient collaboration of multi-station operations.

[0030] See Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7A base column 20 is fixedly installed at the bottom inside the casing 10. An alternating ring 21 is movably sleeved on the outside of the base column 20. A swing cooling component is further configured on the alternating ring 21. This component is used to reciprocate swinging and blowing air to cool the material that has been filled with glue. When the mechanical clamp 25 is lifting, it synchronously drives the arc-shaped blower seat 40 in the swing cooling component to swing and sweep air to the material. A glue injection head 13 is fixedly installed at the top of the feeding turntable 15 inside the casing 10. The glue injection head 13 is used to inject glue into the material through the conveyor. The clamp 12 is fed into the DC contactor on the feeding turntable 15 for glue filling. The swing cooling assembly includes a moving toothed plate 44 and a moving toothed disc 43. A side frame 41 is fixedly installed at the bottom inside the chassis 10. A fixed rotating rod 42 is movably connected to the top of each side frame 41. An arc-shaped swing rod 45 is fixedly installed on each fixed rotating rod 42. A moving toothed plate 44 is fixedly installed at the bottom of each arc-shaped moving rod 22. A moving toothed disc 43 is fixedly installed on each fixed rotating rod 42. The moving toothed disc 43 and the moving toothed plate 44 are movably engaged.

[0031] The arc-shaped blower base 40 is fixedly installed on the arc-shaped rocker arm 45. Several blower heads 46 are evenly fixedly installed on the side of the arc-shaped blower base 40 near the feeding turntable 15. The blower heads 46 blow air to cool the DC contactor on the feeding turntable 15 after it has been filled with glue.

[0032] See Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7After the glue-pouring process is completed, in order to accelerate the heat dissipation and curing of the adhesive on the surface of the DC contactor, the device is equipped with a swing cooling component to reciprocate the swinging air cooling of the material; the movement of this component is synchronized with the lifting and lowering movement of the mechanical clamp 25; specifically, when the alternating material feeding component drives the alternating ring 21 to move up and down, the arc-shaped moving rod 22 fixedly connected to the alternating ring 21 moves synchronously; a moving toothed plate 44 is fixedly installed at the bottom of the arc-shaped moving rod 22, and the moving toothed plate 44 is movably engaged with the moving toothed disc 43 on the fixed rotating rod 42; the fixed rotating rod 42 is rotatably connected to the top of the side frame 41 fixedly installed at the bottom inside the housing 10, and an arc-shaped swing rod 45 is fixedly installed on it; when the arc-shaped moving rod 22 moves up and down with the alternating ring 21, the moving toothed plate 44 drives the moving toothed disc 43 to rotate back and forth, thereby driving the fixed rotating rod 42 and the arc-shaped swing rod 45. 5. The arc-shaped rocker arm 45 is fixedly mounted with an arc-shaped blower seat 40. Multiple blower heads 46 are evenly distributed on one side of the arc-shaped blower seat 40 near the feeding turntable 15. The air inlet of the arc-shaped blower seat 40 is connected to a flexible telescopic duct, and the other end of the flexible telescopic duct is connected to the air outlet of an external blower. The pressurized cooling airflow generated by the blower is sent into the inner cavity of the arc-shaped blower seat 40 through the flexible telescopic duct, and then sprayed out by the multiple blower heads 46. When the arc-shaped rocker arm 45 drives the arc-shaped blower seat 40 to swing back and forth, the flexible telescopic duct adapts to the swinging action to extend, retract and bend, maintaining a continuous and stable supply of airflow. As the arc-shaped rocker arm 45 swings back and forth, the blower heads 46 form a sweeping airflow, which effectively blows and cools the DC contactor on the feeding turntable 15 that has just been filled with glue, thereby promoting rapid heat dissipation and curing of the glue.

[0033] See Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 and Figure 10 The top of the feeding turntable 15 is equipped with a scraping and cleaning component for reverse scraping and cleaning of the empty material position of the feeding turntable 15. The scraping and cleaning component includes an arc-shaped support plate 50, a rack plate 53 and an arc-shaped scraping bar 57. Horizontal transfer machines 14 are fixedly installed on both sides inside the machine housing 10. The mechanical clamp 25 transfers the DC contactor after glue dispensing and cooling to the tray of the horizontal transfer machine 14. The DC contactor is transferred to the detection stage by the horizontal transfer machine 14. The scraping and cleaning component also includes an arc-shaped support plate 51 fixedly installed at the bottom of the arc-shaped support plate 50. An electric telescopic rod 52 is fixedly installed at the top of the arc-shaped support plate 51. A rack plate 53 is fixedly installed at the top of the electric telescopic rod 52. Support toothed discs 54 are movably connected to the bottom two ends of the arc-shaped support plate 50 through a rotating shaft. The support toothed discs 54 and rack plate 53 are movably engaged.

[0034] The arc-shaped support plate 51 has a fixed groove 55 at the top of one end near the support toothed plate 54. A fixed slider 56 is slidably connected in the fixed groove 55. The fixed slider 56 is fixedly installed at the bottom center of the toothed plate 53. Arc-shaped scraper bars 57 are fixedly installed on the side of the support toothed plate 54 away from the toothed plate 53. The arc-shaped scraper bars 57 move at the top of the feeding turntable 15 and scrape and clean the residue on the empty material position of the feeding turntable 15.

[0035] See Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 and Figure 10 When the mechanical clamp 25 picks up the DC contactor after it has been filled with glue and cooled from the feeding turntable 15, the original bearing position on the feeding turntable 15 becomes an empty position. In order to avoid residual glue residue or impurities affecting the subsequent feeding accuracy, a scraping and cleaning component is set on the top of the feeding turntable 15 to perform reverse scraping and cleaning of the empty position. At the same time, the picked-up material is transferred by the mechanical clamp 25 to the horizontal transfer machine 14 and enters the subsequent inspection stage.

[0036] Specifically, horizontal transfer machines 14 are fixedly installed on both sides inside the chassis 10. When one set of mechanical clamps 25 holds the DC contactor that has been coated and cooled with glue and rises to a predetermined height, it rotates and then lowers and releases the material onto the tray of the horizontal transfer machine 14. The horizontal transfer machine 14 then smoothly transports the DC contactor to subsequent testing or other post-processing stages.

[0037] When scraping is required, the electric telescopic rod 52 extends, driving the rack plate 53 to move linearly. The rack plate 53 drives the supporting toothed disc 54, which meshes with it, to rotate, thereby causing the arc-shaped scraping strip 57 to rotate inward and retract. During the retraction process, the arc-shaped scraping strip 57 scrapes in the opposite direction to the rotation of the feeding turntable 15, effectively removing the residual glue residue or impurities on the empty material position. After scraping is completed, the electric telescopic rod 52 retracts, driving the rack plate 53 to move in the opposite direction, causing the supporting toothed disc 54 to rotate in the opposite direction, causing the arc-shaped scraping strip 57 to rotate outward, unfold and reset, disengaging from contact with the top surface of the feeding turntable 15, waiting for the next cleaning cycle. The scraped impurities fall into the collection box 68 for centralized collection under the pushing action of gravity and the arc-shaped scraping strip 57.

[0038] See Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 and Figure 10A base frame 60 is fixedly installed on the top of the chassis 10. Inside the base frame 60, there is an interval pushing component that drives the arc-shaped support plate 50 to move up and down at intervals on the top of the feeding turntable 15. When the push rod 65 in the interval pushing component drives the arc-shaped support plate 50 to rise, the arc-shaped scraper strip 57 is reset and unfolded. The interval pushing component includes a drive gear 64 fixedly installed at the bottom of one of the worm gears 37. Limiting plates 61 are fixedly installed at the upper and lower ends inside the base frame 60. A rotating cylinder 62 is movably connected between one end of the limiting plates 61. A connecting gear 63 is fixedly installed at the bottom of the rotating cylinder 62. The connecting gear 63 is movably meshed with the drive gear 64. A push rod 65 is connected through the other end of the limiting plates 61.

[0039] A T-shaped actuating rod 66 is fixedly installed at the bottom of the push rod 65. An annular actuating groove 67 is provided on the outer periphery of the rotating cylinder 62. The size of the annular actuating groove 67 matches the size of the T-shaped actuating rod 66. The T-shaped actuating rod 66 is slidably embedded in the annular actuating groove 67. A collection box 68 for collecting impurities brought down by the arc-shaped scraping strip 57 is fixedly installed on the top of the base frame 60. The top of the push rod 65 passes through the base frame 60 and the collection box 68 and is fixedly installed at the bottom of the arc-shaped support plate 50 away from the rack plate 53.

[0040] See Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 and Figure 10 The periodic lifting and lowering motion of the scraping and cleaning component is driven by an intermittent push component. The power of this component comes from a drive gear 64 fixedly installed at the bottom of one of the worm gears 37. When the worm gear 37 rotates, the drive gear 64 rotates synchronously with it, driving the connecting gear 63 and the rotating cylinder 62 to rotate together. The outer circumference of the rotating cylinder 62 is provided with an annular actuating groove 67. A T-shaped actuating rod 66 is fixedly installed at the bottom of the push rod 65. The T-shaped actuating rod 66 is slidably embedded in the annular actuating groove 67, and the two are matched in size. When the rotating cylinder 62 rotates, the groove wall of the annular actuating groove 67 pushes the T-shaped actuating rod 66 to slide along the groove, thereby converting the rotational motion of the rotating cylinder 62 into the vertical reciprocating linear motion of the push rod 65 along the other end of the limiting plate 61.

[0041] The top of the push rod 65 passes through the base frame 60 and the storage box 68 fixed to the top of the base frame 60, and is then fixedly connected to the bottom of the arc-shaped support plate 50 away from the rack plate 53. Therefore, when the push rod 65 moves up and down, it drives the entire scraping and cleaning assembly to move up and down intermittently. Specifically, when the push rod 65 drives the arc-shaped support plate 50 to rise, the arc-shaped scraping strip 57 performs a reset and unfolding action; when the push rod 65 drives the arc-shaped support plate 50 to fall, the arc-shaped scraping strip 57 performs a scraping and gathering action; the scraped impurities fall into the storage box 68 under the pushing action of gravity and the arc-shaped scraping strip 57, making it easy to collect and clean.

[0042] Working principle: The workflow begins with the automatic feeding of materials; the front-end vibrating conveyor transports the DC contactors to be processed one by one to the discharge port in an orderly manner; at this time, the linear guide rail 11, which is fixedly installed inside the chassis 10, runs continuously, and the conveying clamps 12 configured on its conveying chain move synchronously and cyclically with the chain; when the conveying clamps 12 move to the end of the vibrating conveyor, they accurately pick up a single DC contactor and deliver it horizontally and smoothly to the empty material position on the set of two sets of feeding turntables 15 at the top of the chassis 10 that are currently in the waiting state, thus completing the automatic connection of the workpiece to be glued from the vibrating feeding to the turntable position; the two sets of feeding turntables 15 alternately receive materials to ensure that there is no waiting gap in the feeding action; After the DC contactor is fed into the current receiving material feeding turntable 15, the feeding turntable 15 rotates in an indexing manner under the drive of the alternating feeding assembly. After the feeding turntable 15 rotates to a fixed angle, the mechanical clamp 25 will perform a cyclic lifting and lowering motion. In short, the rotation angle of the feeding turntable 15 corresponds to the lifting and lowering of the mechanical clamp 25, thereby ensuring that the mechanical clamp 25 can grasp the material. The low-speed rotation of the feeding turntable 15 must be matched with the lifting and lowering of the alternating ring 21, that is, when the alternating ring 21 descends to the lowest position, it can accurately grasp the material on the feeding turntable 15 and gradually transfer the workstation carrying the workpiece to directly below the dispensing head 13. The power of the alternating feeding assembly comes from the drive motor. The output end of the drive motor 30 is connected to one of the rotating rods 31. When the drive motor 30 is running, it drives the first pulley 35 and the second pulley 32 to rotate synchronously through the transmission belt 36, thereby driving the worm 34 to rotate. The worm 34 is movably engaged with the worm wheel 37, and the two sets of worm wheels 37 are respectively installed at the bottom center of the two sets of feeding turntables 15. The rotation of the worm wheel 37 simultaneously achieves two functions: first, the worm wheel 37 directly drives the feeding turntable 15 fixed on its top to rotate, realizing the orderly switching of their respective work positions; second, through a series of transmission links, it triggers the lifting action of the alternating ring 21, thereby driving the two sets of mechanical clamps 25 to perform alternating up and down movements.

[0043] Specifically, the rotating rod 31 drives the drive swing arm 38 to rotate under the drive of the transmission system. The staggered connecting plate 28, which is rotatably connected between the drive swing arms 38 through the connecting shaft 27, moves accordingly. It is movably connected to the arc-shaped motion rod 22 on the alternating ring 21 through the staggered plate 26 rotatably connected on the connecting shaft 27, thereby converting the rotational motion of the rotating rod 31 into the regular up-and-down swinging of the alternating ring 21 along the base column 20. A rotary motor 23 is fixedly installed on the outside of the alternating ring 21. The output end of the rotary motor 23 is fixedly installed with a mechanical clamp 25 through the rotating arm 24. When the connecting shaft 27 drives the staggered connecting plate 28 to rotate, the staggered connecting plate 28 cooperates with the staggered plate 26 to make the staggered plate 26 reciprocate. The staggered plate 26 is limited by the alternating ring 21 at the top and the base column 20, thereby realizing that the alternating ring 21 can only perform up-and-down motion. The up-and-down motion of the alternating ring 21 is driven by a crank-rocker mechanism.

[0044] As the alternating ring 21 rises and falls, the mechanical clamps 25 corresponding to the two sets of feeding turntables 15 perform synchronous but opposite vertical movements: when one set of feeding turntables 15 lowers to grab the DC contactor that has been glued and cooled, the mechanical clamps 25 corresponding to the other set of feeding turntables 15 simultaneously lift up while holding the previously grabbed glued material, and release it onto the tray of the horizontal transfer machine 14 fixedly installed on both sides inside the chassis 10; the two sets of mechanical clamps 25 operate continuously in staggered rhythms, realizing parallel processing of unloading and loading; When the DC contactor rotates with the feeding turntable 15 to the position of the dispensing head 13, the dispensing head 13 performs precise dispensing of adhesive to the workpiece on the turntable. After the dispensing process is completed, the feeding turntable 15 continues to rotate, sending the dispensed DC contactor to the cooling station. At the cooling station, the swing cooling component is activated simultaneously to reciprocate and blow air to cool the material that has just been dispensed. The power of the swing cooling component comes directly from the lifting and lowering motion of the alternating ring 21: when the arc-shaped moving rod 22 moves up and down with the alternating ring 21, the moving toothed plate 44 fixedly installed at its bottom engages with the moving toothed disc 43 on the fixed rotating rod 42. This converts the linear lifting motion into the reciprocating rotational motion of the fixed rotating rod 42. The fixed rotating rod 42 is rotatably connected to the top of the side frame 41, and an arc-shaped rocker arm 45 is fixedly installed on it. The arc-shaped rocker arm 45 swings back and forth with the fixed rotating rod 42. An arc-shaped blower seat 40 is fixedly installed on the arc-shaped rocker arm 45. Multiple blower heads 46 are evenly distributed on the side of the arc-shaped blower seat 40 near the feeding turntable 15. When the arc-shaped rocker arm 45 swings, the blower heads 46 form a large area of ​​sweeping airflow, which effectively cools down the DC contactor on the feeding turntable 15 that has just been filled with glue, and accelerates the heat dissipation and curing process of the glue surface. After the mechanical clamp 25 picks up the cooled DC contactor from the loading turntable 15 and transfers it to the horizontal transfer machine 14, the original bearing position on the loading turntable 15 becomes an empty position. To avoid residual glue residue or impurities affecting subsequent loading accuracy and workpiece positioning, the scraping and cleaning component begins to clean the empty position in reverse. The scraping and cleaning component is driven by the intermittent push component to achieve intermittent operation. The power of the intermittent push component comes from the drive gear 64 fixedly installed at the bottom of one of the worm gears 37. When the drive gear 64 rotates synchronously with the worm gear 37, it drives the moving part that meshes with it. The connecting gear 63 rotates, thereby driving the rotating cylinder 62 to rotate between the limiting plates 61; the outer periphery of the rotating cylinder 62 is provided with an annular actuating groove 67, and the T-shaped actuating rod 66 at the bottom of the push rod 65 is slidably embedded in the annular actuating groove 67; when the rotating cylinder 62 rotates, the rotational motion is converted into the vertical reciprocating linear motion of the push rod 65 through the cooperation of the annular actuating groove 67 and the T-shaped actuating rod 66; the top of the push rod 65 passes through the base frame 60 and the storage box 68 and is fixedly connected to one end of the bottom of the arc-shaped support plate 50, thereby driving the entire scraping and cleaning assembly to periodically rise and fall.

[0045] When the push rod 65 in the interval push assembly drives the arc-shaped support plate 50 to rise, the arc-shaped scraper 57 performs a reset and unfolding action, preparing for the next slag scraping. Specifically, when the arc-shaped support plate 50 rises to a predetermined height, the electric telescopic rod 52 retracts, driving the rack plate 53 to move backward linearly along the fixed slide groove 55. The rack plate 53 drives the support toothed disc 54 meshing with it to rotate, thereby causing the arc-shaped scraper 57 fixed to one side of the support toothed disc 54 to rotate and unfold outward, disengaging from contact with the top surface of the feeding turntable 15, completing the reset action. When the push rod 65 drives the arc-shaped support plate 50 to fall, the electric telescopic rod 52 extends in the opposite direction, driving... The rack plate 53 moves forward in a straight line, which in turn drives the supporting rack plate 54 to rotate in the opposite direction, causing the arc-shaped scraper 57 to rotate inward and retract. During this descent and retraction process, the arc-shaped scraper 57 gradually adheres to the top surface of the feeding turntable 15, which is currently in the cleaning position, and performs a scraping action in the opposite direction to the rotation direction of the feeding turntable 15, effectively removing the residual glue residue or impurities on the empty material position. Since the retraction direction of the arc-shaped scraper 57 is towards the storage box 68, the scraped impurities fall smoothly into the storage box 68 fixedly installed on the top of the base frame 60 under the pushing of the arc-shaped scraper 57 and the action of gravity, realizing the centralized collection and convenient cleaning of impurities.

[0046] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. A multi-station collaborative mechanical gripper loading device, comprising a chassis (10), a horizontal transfer machine (14), a linear guide rail (11), and a dispensing head (13), wherein a loading turntable (15) is provided on the top of the chassis (10), and a dispensing head (13) for dispensing adhesive to DC contactors is provided on the top of the loading turntable (15), characterized in that, Mechanical clamps (25) are respectively arranged on both sides of the top of the feeding turntable (15). The bottom of the feeding turntable (15) is provided with an alternating material feeding assembly, which picks up and puts down the material in a staggered manner when the feeding turntable (15) rotates. The alternating material feeding assembly includes a worm gear (37), an alternating ring (21) and a staggered connecting plate (28). When one mechanical clamp (25) in the alternating material feeding assembly descends to pick up the material, the other mechanical clamp (25) picks up the material and rises. A base column (20) is fixedly installed at the bottom of the chassis (10), and an alternating ring (21) is movably sleeved on the outside of the base column (20). A swing cooling component is further configured on the alternating ring (21). This component is used to swing and blow air to cool the material that has been filled with glue. When the mechanical clamp (25) is lifting, it simultaneously drives the arc-shaped blower seat (40) in the swing cooling component to swing and sweep air on the material. The top of the feeding turntable (15) is provided with a scraping and cleaning component for reverse scraping and cleaning of the empty material position of the feeding turntable (15). The scraping and cleaning component includes an arc-shaped support plate (50), a rack plate (53) and an arc-shaped scraping bar (57). A base frame (60) is fixedly installed on the top of the chassis (10). Inside the base frame (60) is an interval pushing component that drives the arc support plate (50) to move up and down at intervals on the top of the feeding turntable (15). When the push rod (65) in the interval pushing component drives the arc support plate (50) to rise, the arc scraping strip (57) is reset and unfolded.

2. The multi-station collaborative mechanical gripper feeding device according to claim 1, characterized in that, The machine housing (10) is fixedly installed with a linear guide rail (11) for connecting the material flow between the front-end vibrating conveyor and the feeding turntable (15). The linear guide rail (11) is equipped with a conveying clamp (12) that runs synchronously with the conveying chain. The alternating material feeding assembly also includes a worm (34) that meshes with the worm wheel (37). The worm wheel (37) is movably installed on the bottom of the machine housing (10) on the side close to the linear guide rail (11). The feeding turntable (15) is fixedly installed at the top center of the worm wheel (37). A fixed plate (33) is fixedly installed at the bottom of the chassis (10). A worm gear (34) is movably connected to the top of the fixed plate (33). A first pulley (35) is fixedly installed at the end of the worm gear (34) away from the fixed plate (33). A second pulley (32) is movably connected to both sides of the end of the chassis (10) away from the worm gear (37) through a rotating rod (31). A transmission belt (36) is connected between the first pulley (35) and the second pulley (32). A drive motor (30) is fixedly installed inside the chassis (10) through a motor mount. One of the rotating rods (31) is connected to the output end of the drive motor (30).

3. The multi-station collaborative mechanical gripper feeding device according to claim 2, characterized in that, The rotating rod (31) is fixedly mounted with a driving swing arm (38), and the driving swing arms (38) are movably connected to each other via a connecting shaft (27) with an interlaced connecting plate (28). The connecting shaft (27) is movably connected with an interlaced plate (26). The alternating rings (21) are all fixedly mounted with arc-shaped motion rods (22), and the top of the interlaced plate (26) is movably connected to the arc-shaped motion rod (22). A rotary motor (23) is fixedly installed on the outside of the alternating ring (21). A rotary arm (24) is fixedly installed at the output end of the rotary motor (23). A mechanical clamp (25) is fixedly installed on the rotary arm (24) to pick up and release materials from the DC contactor on the feeding turntable (15). There are two worm gears (37) and two feeding turntables (15).

4. The multi-station collaborative mechanical gripper feeding device according to claim 3, characterized in that, Inside the chassis (10), a glue injection head (13) is fixedly installed at the top of the feeding turntable (15). The glue injection head (13) injects glue into the DC contactor that is fed into the feeding turntable (15) by the conveying clamp (12). The swing cooling component includes a moving toothed plate (44) and a moving toothed disc (43). A side frame (41) is fixedly installed at the bottom inside the chassis (10). A fixed rotating rod (42) is movably connected to the top of each side frame (41). An arc-shaped swing rod (45) is fixedly installed on each fixed rotating rod (42). The bottom of the arc-shaped moving rod (22) is fixedly equipped with a moving tooth plate (44), and the fixed rotating rod (42) is fixedly equipped with a moving tooth plate (43). The moving tooth plate (43) and the moving tooth plate (44) are in active meshing.

5. A multi-station collaborative mechanical gripper feeding device according to claim 4, characterized in that, The arc-shaped blower seat (40) is fixedly installed on the arc-shaped rocker arm (45). Several blower heads (46) are evenly fixedly installed on the side of the arc-shaped blower seat (40) near the feeding turntable (15). The blower heads (46) blow air to cool the DC contactor on the feeding turntable (15) after it has been filled with glue.

6. The multi-station collaborative mechanical gripper feeding device according to claim 1, characterized in that, The chassis (10) is fixedly installed on both sides of the interior. The mechanical clamp (25) transfers the DC contactor after the glue is cooled to the tray of the horizontal transfer machine (14). The DC contactor is transferred to the detection stage by the horizontal transfer machine (14). The scraping and cleaning assembly also includes an arc support plate (51) fixedly installed at the bottom of the arc support plate (50). An electric telescopic rod (52) is fixedly installed at the top of the arc support plate (51). A rack plate (53) is fixedly installed at the top of the electric telescopic rod (52). The bottom ends of the arc support plate (50) are movably connected to the support toothed plate (54) through the rotating shaft. The support toothed plate (54) and the rack plate (53) are movably engaged.

7. A multi-station collaborative mechanical gripper feeding device according to claim 6, characterized in that, The arc-shaped support plate (51) has a fixed groove (55) at the top of one end near the support toothed plate (54). A fixed slider (56) is slidably connected in the fixed groove (55). The fixed slider (56) is fixedly installed at the bottom center of the toothed plate (53). The support toothed plate (54) has an arc-shaped scraper (57) fixedly installed on the side away from the toothed plate (53). The arc-shaped scraper (57) moves at the top of the feeding turntable (15) and scrapes and cleans the residue on the empty material position of the feeding turntable (15).

8. The multi-station collaborative mechanical gripper feeding device according to claim 1, characterized in that, The interval pushing assembly includes a drive gear (64) fixedly installed at the bottom of one of the worm gears (37), a limit plate (61) fixedly installed at both the upper and lower ends inside the base frame (60), a rotating cylinder (62) movably connected between one end of the limit plate (61), a connecting gear (63) fixedly installed at the bottom of the rotating cylinder (62), the connecting gear (63) movably meshing with the drive gear (64), and a push rod (65) penetrating between the other ends of the limit plate (61).

9. A multi-station collaborative mechanical gripper feeding device according to claim 1, characterized in that, The bottom of the push rod (65) is fixedly installed with a T-shaped lever (66), and an annular lever groove (67) is opened on the outer periphery of the rotating cylinder (62). The size of the annular lever groove (67) matches the size of the T-shaped lever (66), and the T-shaped lever (66) is slidably embedded in the annular lever groove (67). A collection box (68) for collecting impurities brought down by the arc-shaped scraper (57) is fixedly installed on the top of the base frame (60). The top of the push rod (65) passes through the base frame (60) and the collection box (68) and is fixedly installed on the bottom of the arc-shaped support plate (50) away from the rack plate (53).

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