Rotary transfer device

Abstract

The application discloses a rotary transfer device and relates to the field of automation, which has the technical scheme as follows: a base, a driven rack, a clamping mechanism, a reciprocating motion generating assembly, a flexible transmission assembly and a gear linkage assembly. The driven rack is arranged on the base and revolves around the base. The reciprocating motion generating assembly is arranged in the base and drives the gear linkage assembly through the flexible transmission assembly penetrating the revolution center. The gear linkage assembly simultaneously drives the quadrilateral linkage mechanism to close the clamping and the rhombic linkage mechanism to drive the lifting of the top block through the synchronously reverse rotating gears. The application uses the gears to forcibly synchronize the mechanical self-centering, cooperates with the coaxial transmission design of the neutral shaft, effectively isolates the interference of rotation on the clamping power, and ensures the high-precision reference maintenance and accurate positioning of the carrier in the transfer process.

Description

Technical Field

[0001] This invention relates to the field of automation, and in particular to a rotary transfer device. Background Technology

[0002] In the automated production process of electric drive systems for new energy vehicles, workpieces need to be frequently transferred between multiple processes such as CNC machining, precision cleaning, automated pressing, and airtightness testing. To ensure machining and assembly accuracy, a unified precision carrier is usually adopted for overall transfer. That is, the workpiece is fixed on a precision pallet with a standard interface, and the robot arm transfers the workpiece by grasping the pallet.

[0003] However, existing automated transfer technologies have many shortcomings when handling such heavy, high-precision carriers. First, maintaining the reference point during the transfer process is a challenge. Precision carriers are typically heavy and expensive, requiring extremely high rigidity and centering accuracy from the gripping mechanism. Existing pneumatic or ordinary electric manipulators often lack a forced mechanical synchronization mechanism. During the gripping action, if the carrier's position on the assembly line deviates slightly, the unilaterally driven gripper is prone to contacting one side of the carrier first, pushing it off-center instead of straightening it. This passive, adaptive gripping results in an uncertain posture of the carrier on the manipulator. When transferring to the next precision process, the carrier's positioning pins cannot accurately align with the worktable pin holes, easily causing positioning jamming or wear on the reference surface due to forced insertion, severely affecting the coaxiality and positional accuracy of the final product. Summary of the Invention

[0004] The purpose of this invention is to provide a rotary transfer device, which has the advantages of compact structure, high self-centering accuracy, and good transfer stability.

[0005] The above-mentioned technical objective of the present invention is achieved through the following technical solution: A rotary transfer device, comprising: A base on which a drive gear and a drive motor are mounted; The motor frame is rotatably mounted on the base and engages with the drive gear to achieve revolution around the base; The clamping mechanism, located on the slave frame, is used to perform the gripping action on the tooling fixture; A reciprocating motion generating component, located within the base, provides the power source required for the clamping action; A flexible transmission component connects the gear linkage component and the reciprocating motion generating component, and is used to transmit the power generated by the power source; The gear linkage assembly, connected to the output end of the flexible transmission assembly, is used to convert linear tension into synchronous rotational motion; Among them, the reciprocating motion generating component drives the flexible transmission component to generate traction action, and the flexible transmission component drives the gear linkage component to move. The gear linkage assembly includes a first synchronous gear and a second synchronous gear that mesh with each other and rotate synchronously in opposite directions. The clamping mechanism includes two sets of quadrilateral linkage mechanisms symmetrically arranged on the left and right, a first clamping part and a second clamping part located at the ends of the quadrilateral linkage mechanisms respectively; the clamping mechanism also includes a set of rhomboid linkage mechanisms, and a top block connected to the end of the rhomboid linkage mechanism. The synchronous rotation of the first and second synchronous gears simultaneously drives the quadrilateral linkage mechanism and the rhombic linkage mechanism to move; the rhombic linkage mechanism performs telescopic movement under the drive, causing the top block to move in the vertical direction; the quadrilateral linkage mechanism drives the first clamping part and the second clamping part to move synchronously relative to each other under the drive.

[0006] Further configuration: One set of the quadrilateral linkage mechanism includes a first rotating shaft, a second rotating shaft, a driving crank, a driven rocker arm, and a connecting rod; the first rotating shaft is fixedly connected to a first synchronous gear, serving as a power input end; one end of the driving crank is connected to the first rotating shaft, and the other end is connected to one end of the driven rocker arm via the connecting rod, with the other end of the driven rocker arm hinged to the second rotating shaft; the rotation of the first synchronous gear drives the driving crank to rotate, which in turn drives the driven rocker arm to swing around the second rotating shaft via the connecting rod; a first clamping part is disposed on the extension end of the connecting rod or the driven rocker arm; the other set of the quadrilateral linkage mechanism is connected to the second synchronous gear via transmission.

[0007] Further configuration: The rhomboid linkage mechanism includes a main support arm, a secondary support arm, and a guide bracket; one end of the main support arm is connected to a first rotating shaft, and one end of the secondary support arm is hinged to a top block; the main support arm and the secondary support arm are hinged to each other; the guide bracket is fixedly installed on the driven frame, and the two sides of the top block slide in cooperation with the inner side of the guide bracket to limit the movement trajectory of the top block; the swing of the driven rocker arm changes with the angle of the main support arm, thereby driving the top block to make vertical lifting and lowering movements relative to the driven frame.

[0008] Further configuration: The gear linkage assembly includes a clamp bracket, a horizontal drive rack, a primary transmission gear, a first synchronous gear, and a second synchronous gear; the primary transmission gear, the first synchronous gear, and the second synchronous gear are all rotatably mounted on the clamp bracket; the horizontal drive rack is slidably disposed on the driven frame; the output end of the flexible transmission assembly is connected to and pulls the horizontal drive rack to move, and the horizontal drive rack drives the primary transmission gear to rotate; the primary transmission gear is coaxially and fixedly connected to the first synchronous gear, driving the first synchronous gear to rotate, and the first synchronous gear and the second synchronous gear directly mesh, thereby achieving synchronous counter-rotation of the two.

[0009] Further configuration: The reciprocating motion generating component includes a rotary motor, a cam, and a reciprocating power slide rod; the rotary motor is fixedly installed inside the base, and the cam is connected to the output shaft of the rotary motor; the reciprocating power slide rod is slidably installed inside the base, and has a first or second actuating part that mates with the cam profile; the rotary motor drives the cam to rotate, and the cam pushes against the reciprocating power slide rod to perform linear reciprocating motion, thereby pulling the flexible transmission component to generate displacement.

[0010] Further configuration: Both the first and second actuating parts are rollers; the outer contour edge of the cam is located between the first and second actuating parts, and always maintains rolling contact with the first and second actuating parts.

[0011] Further configuration: The flexible transmission assembly includes a flexible traction cable, a reversing pulley block, a return spring, a first transmission connecting block, and a second transmission connecting block; The first transmission connecting block is fixedly connected to the reciprocating power slide bar of the reciprocating motion generating component, and one end of the flexible traction cable is fixedly connected to the first transmission connecting block; The second transmission connecting block is fixedly connected to the horizontal drive rack of the gear linkage assembly; the other end of the flexible traction cable passes upward through the center of revolution at the connection between the engine frame and the base, and after passing around the reversing pulley group set at the corner, it is fixedly connected to the second transmission connecting block. A reset slide groove is provided on the motor frame, and a reset spring is housed in the reset slide groove. One end of the reset spring is connected to the inner wall of the reset slide groove, and the other end is connected to the second transmission connecting block, which is used to provide a reverse reset driving force when the tension of the flexible traction cable is released.

[0012] Further configuration: The base is also provided with a disc, the disc has an annular groove on its circumference, and a central hole and bearing seat at the center of the disc; The driven frame includes a vertical housing and a rotating arm connected to the upper part of the vertical housing; the bottom of the vertical housing is provided with a guide block that cooperates with the annular groove; the end of the rotating arm is provided with a rotating shaft and a rotating gear; the rotating shaft is installed in the bearing seat of the base; the flexible traction cable passes through the central hole; the rotating gear meshes with the drive gear; the drive motor drives the drive gear and the rotating gear to rotate, thereby driving the driven frame to perform circular motion on the annular groove.

[0013] Further configuration: The reversing pulley group includes a first reversing pulley and a second reversing pulley; the first reversing pulley is installed on the rotating arm and located at the corner of the central hole; the second reversing pulley is installed inside the base at the position corresponding to the central hole; the flexible traction cable sequentially passes around the first reversing pulley and the second reversing pulley to form a transmission path that passes through the center of revolution.

[0014] Further configuration: A rotary shackle joint is provided between the flexible traction cable and the first transmission connecting block, or between the flexible traction cable and the second transmission connecting block; the rotary shackle joint allows the flexible traction cable to rotate freely about its own axis relative to the reciprocating power slide or the horizontal drive rack.

[0015] In summary, the present invention has the following beneficial effects: First, in this invention, the structural configuration of the first and second synchronous gears in the gear linkage assembly, which mesh with each other and rotate synchronously in opposite directions, forcibly converts the unidirectional linear tension from the flexible transmission assembly into a strictly synchronized rotational torque, driving the left-right symmetrical quadrilateral linkage mechanism to perform a closing action at a completely consistent speed and angle. This achieves a forced mechanical self-centering function during the gripping process, ensuring that the carrier is automatically corrected to the theoretical center position the instant it is gripped. This avoids the problem of positioning pins not aligning with pin holes, causing positioning jamming or wear of the reference surface when transferring to the next process due to uncertain carrier posture, thus improving the coaxiality and positional accuracy of the final product.

[0016] By employing a structure that rotates from the engine frame around the base's center of rotation, coupled with a coaxial design where the flexible transmission assembly passes through the center of rotation hole, a rigid transfer path is formed with the base's central axis as the physical reference. This rotation around the same center ensures that after the tooling is self-centering and gripped by the clamping mechanism to establish an initial reference, its geometric center maintains a strict coaxial constraint relative to the base's physical reference throughout the entire transfer arc trajectory. This eliminates the cumulative positional errors caused by joint coordinate transformations or cantilevered eccentric loads in traditional multi-axis transfer mechanisms. Simultaneously, utilizing the neutral axis characteristics of the center of rotation, the flexible transmission assembly effectively isolates the coupling interference of rotational motion on the clamping power, preventing clamping force attenuation or slight slippage of the tooling due to tension fluctuations in the flexible traction cable caused by changes in rotational torque during the transfer process. This achieves high-precision maintenance of the tooling's positioning reference during the transfer process, ensuring that the tooling accurately falls into the positioning pin hole of the next precision process with a defined posture and coordinates.

[0017] Secondly, in this invention, a quadrilateral linkage mechanism is used to drive the active crank to rotate by connecting the first synchronous gear to the first rotating shaft. Then, the driven rocker arm swings around the second rotating shaft through the connecting rod. By utilizing the kinematic characteristics and force amplification principle of the crank-rocker mechanism, the uniform rotational motion of the first synchronous gear is transformed into a swinging closed motion with a specific trajectory and force amplification effect of the first clamping part. This allows the clamping part to output a clamping force much higher than the input torque at the end of its stroke when contacting the workpiece. This effectively overcomes the defects of the prior art where the heavy workpiece slips due to insufficient clamping force or air pressure fluctuations when relying solely on cylinders or linear modules for driving. At the same time, it avoids the wear and jamming problem that easily occurs when the traditional linear guide slider is subjected to large lateral loads. This improves the mechanical rigidity, clamping stability and service life of the device when gripping large inertia workpieces.

[0018] Third, this invention, by fixing a guide bracket to the fixture support and making the two sides of the top block slide against the inner side of the guide bracket, restricts the degree of freedom of the top block during movement, allowing it to only rise and fall in a preset vertical direction. This effectively overcomes the technical defects of traditional multi-bar scissor mechanisms, where the end effector is prone to lateral swaying, tilting, or twisting due to the accumulation of hinge gaps or the centrifugal force generated by the revolution of the driven frame. This ensures that the top block maintains a strictly vertical posture relative to the reference plane of the workpiece during lifting or clamping actions, improving the accuracy of auxiliary positioning and the smoothness of operation. Furthermore, by hinged main support arm and auxiliary support arm to form a diamond linkage mechanism, and by kinematically coupling the swing of the driven rocker arm with the angle change of the main support arm, the lateral swing driving force is converted into longitudinal vertical telescopic motion. By utilizing the geometric amplification characteristics of the rhomboid structure, a large-stroke Z-axis motion can be generated in a limited space using only a single power source without the need to add an additional vertical drive motor or cylinder. This allows the device to automatically and rapidly lift and lower the top block to achieve top pressure fixation at the instant of lateral clamping of the workpiece, simplifying the control logic of the end effector and reducing the overall structural weight.

[0019] Fourth, by using the primary transmission gear and the first synchronous gear to be coaxially fixedly connected, and the transmission chain of the first synchronous gear and the second synchronous gear to directly mesh, the absolute consistency of the first synchronous gear and the second synchronous gear in terms of angular velocity and rotation angle is achieved. This eliminates the asynchronous movement phenomenon caused by the cumulative error of the left and right clamping mechanisms from the transmission source, ensuring that the end effector can always run with a strict symmetrical trajectory, thereby greatly improving the repeatability and reliability of the device when performing self-centering gripping of the workpiece.

[0020] Fifth, the structure utilizes a rotary motor to drive a cam to rotate, which in turn pushes a reciprocating power slide rod in a linear reciprocating motion. By leveraging the deterministic motion of the mechanical cam mechanism, the rotational motion of the motor is forcibly converted into a strictly controlled linear displacement of the reciprocating power slide rod, thereby pulling the flexible transmission component to generate precise displacement. This mechanical power source overcomes the shortcomings of existing technologies that use pneumatic components, requiring rotary air connectors and being susceptible to air pressure fluctuations, ensuring high reliability and consistency of the clamping action at any rotation angle. The reciprocating power slide rod is equipped with a first or second actuating part that mates with the cam profile. The cam profile guides the movement speed and acceleration of the reciprocating power slide rod, achieving speed modulation of the clamping mechanism during the closing process. This allows the flexible transmission component to respond quickly in the initial traction phase and decelerate and increase force at the end of the contact stroke with the workpiece. Thus, without the need for complex servo control algorithms, the inherent characteristics of the mechanical structure achieve flexible gripping and rigid locking of the workpiece.

[0021] Sixth, the flexible traction cable passes upward through the center of revolution at the connection between the driven frame and the base, and bypasses the reversing pulley block located at the corner. This allows the flexible transmission assembly to utilize the neutral axis characteristics of the center of revolution when transmitting power, minimizing the interference of rotational motion on the length and tension of the flexible traction cable. This ensures a constant output of traction force to the gear linkage assembly while the driven frame rotates at a large angle, effectively preventing malfunctions caused by cable twisting or length changes. By setting a reset groove on the driven frame and housing a reset spring within the groove and connecting it to the second transmission connecting block, the energy storage characteristics of the reset spring provide a continuous and stable reverse reset driving force when the tension of the flexible traction cable is released. This ensures that the gear linkage assembly and clamping mechanism can quickly and reliably return to their initial state after power is removed, eliminating the risk of mechanical jamming.

[0022] Seventh, the bottom of the vertical housing is equipped with guide blocks that engage with the annular groove, forming a double support structure with the rotating shaft mounted in the bearing housing of the base. This creates a composite rotary platform on the base that combines central positioning with peripheral auxiliary support. The large-diameter contact surface between the annular groove and the guide blocks effectively distributes the overturning moment generated from the engine frame and the cantilever end of the rotating arm, improving the bending rigidity and dynamic stability of the cantilever structure under rotation and emergency stop conditions. This overcomes the technical defects of traditional single-axis support structures, which are prone to shaft end wobbling or premature bearing wear. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the rotary transfer device; Figure 2 This is a top view of the rotating transfer device; Figure 3 yes Figure 2AA section view in the middle; Figure 4 It corresponds to Figure 3 A three-dimensional half-section diagram of a sectional view; Figure 5 This is a schematic diagram of the connection between the reciprocating motion generating component and the flexible transmission component; Figure 6 This is a structural schematic diagram of a gear linkage assembly; Figure 7 This is a schematic diagram of the clamping mechanism.

[0024] In the diagram, 100 is the base; 101 is the disk; 102 is the annular groove; 103 is the center hole; 104 is the bearing housing; 105 is the drive gear; and 106 is the drive motor. 200. Driven frame; 201. Vertical housing; 202. Rotating arm; 203. Rotating shaft; 204. Rotating gear; 205. Guide block; 300. Reciprocating motion generating assembly; 301. Rotary motor; 302. Cam; 303. Reciprocating power slide bar; 304. First actuating part; 305. Second actuating part; 400. Flexible transmission assembly; 401. First transmission connecting block; 402. Second transmission connecting block; 403. Reset slide groove; 404. Reset spring; 405. First reversing pulley; 406. Second reversing pulley; 407. Flexible traction cable; 500. Gear linkage assembly; 501. Fixture bracket; 502. Horizontal drive rack; 503. Primary transmission gear; 504. First synchronizing gear; 505. Second synchronizing gear; 506. Guide bracket; 600. Clamping mechanism; 601. First rotating shaft; 602. Second rotating shaft; 603. Driving crank; 604. Driven rocker arm; 605. Connecting rod; 606. First clamping part; 607. Main support arm; 608. Secondary support arm; 609. Top block; 610. Second clamping part; 611. Quadrilateral linkage mechanism; 612. Rhomboid linkage mechanism. Detailed Implementation

[0025] The present invention will be further described in detail below with reference to the accompanying drawings.

[0026] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0027] A rotating transfer device, such as Figure 1 , Figure 2 and Figure 3 As shown, the system includes a base 100, which serves as the mounting base. A drive gear 105 and a drive motor 106 are mounted on the base 100. A driven frame 200 is rotatably mounted above the base 100. The driven frame 200 and the drive gear 105 cooperate with each other to realize the revolution of the driven frame 200 around the base 100.

[0028] A disk 101 is provided on the base 100, and the disk 101 is located on the upper surface of the base 100. An annular groove 102 is recessed at the circumferential edge of the disk 101, and a central hole 103 is provided through the geometric center of the disk 101, and a bearing seat 104 is integrated or installed at the central hole 103.

[0029] The driven frame 200 includes a vertical housing 201 and a rotating arm 202 connected to the upper part of the vertical housing 201. The vertical housing 201 is located above the outer periphery of the disc 101, and a guide block 205 is provided protruding from its bottom. The guide block 205 is slidably accommodated inside the annular groove 102, forming a circumferential guiding engagement with the annular groove 102. The cantilever end of the rotating arm 202 extends downward and is provided with a rotating shaft 203 and a rotating gear 204. The rotating shaft 203 is rotatably inserted into the bearing seat 104 of the base 100.

[0030] The rotating gear 204 is engaged with the drive gear 105 on the base 100. After the drive motor 106 starts, it drives the drive gear 105 to rotate, which in turn drives the rotating gear 204 to rotate, thereby driving the entire driven frame 200 to revolve around the bearing seat 104 and along the trajectory of the annular groove 102 using the guide block 205.

[0031] As one embodiment of the guide block 205, the guide block 205 can be a wear-resistant slider that adapts to the cross-sectional shape of the annular groove 102, or it can be a roller assembly that rolls within the annular groove 102.

[0032] like Figure 4 and Figure 5 As shown, a reciprocating motion generating assembly 300 is disposed in the internal cavity of the base 100. The reciprocating motion generating assembly 300 is fixedly installed above the bottom plate or on the inner wall of the base 100, serving as a power output to provide the initial power required for the clamping action.

[0033] The device also includes a flexible transmission component 400 and a gear linkage component 500, which together form the power transmission and conversion path. The flexible transmission component 400 connects the reciprocating motion generating component 300 and the gear linkage component 500. Its input end is connected to the reciprocating motion generating component 300 inside the base 100, and its output end extends upward and connects to the gear linkage component 500. The gear linkage component 500 is located at the end of the stroke of the flexible transmission component 400 and receives the tension transmitted from the flexible transmission component 400.

[0034] In terms of transmission, when the reciprocating motion component 300 operates, it drives the flexible transmission component 400 to generate a traction displacement along its length. The flexible transmission component 400 then pulls the gear linkage component 500, converting the received linear traction force into synchronous rotational motion within the gear linkage component 500.

[0035] The flexible transmission assembly 400 includes a flexible traction cable 407, a reversing pulley block, a return spring 404, a first transmission connecting block 401, and a second transmission connecting block 402.

[0036] The first transmission connecting block 401 is fixedly connected to the reciprocating power slide 303 of the reciprocating motion generating component 300. One end of the flexible traction cable 407 is fixedly connected to the first transmission connecting block 401, serving as the starting end of power transmission.

[0037] The second transmission connecting block 402 is fixedly connected to the horizontal drive rack 502 of the gear linkage assembly 500. The other end of the flexible traction cable 407 extends from bottom to top, passes through the revolution center position of the connection between the motor frame 200 and the base 100, and after passing through the center, it goes around the reversing pulley group set at the corner of the path, and finally is fixedly connected to the second transmission connecting block 402.

[0038] A reset groove 403 is provided on the driven frame 200, specifically on the rotating arm 202 of the driven frame 200. A reset spring 404 is housed within the internal space of the reset groove 403. One end of the reset spring 404 is connected to the inner wall of the stop in the reset groove 403, and the other end is connected to the second transmission connecting block 402, which is slidably disposed within the groove. The elastic force of the reset spring 404 is greater than the system frictional resistance.

[0039] As one specific implementation of the flexible traction cable 407, the flexible traction cable 407 can be made of high-strength steel wire rope, flexible chain or transmission belt.

[0040] As one implementation of the reversing pulley system, the reversing pulley system includes a first reversing pulley 405 and a second reversing pulley 406. The second reversing pulley 406 is rotatably mounted in a cavity inside the base 100, with its mounting position corresponding to below or to the side of the central hole 103 of the disc 101, for receiving components from the direction of the reciprocating power slide 303. The first reversing pulley 405 is rotatably mounted on the rotating arm 202 of the driven frame 200, specifically located in the bending or corner area of ​​the rotating arm 202 near the central hole 103. The path of the flexible traction cable 407 successively bypasses the second reversing pulley 406 and the first reversing pulley 405, vertically traversing the revolution center from inside the base 100, and after being guided by the first reversing pulley 405, changes from a vertical direction to a horizontal direction, forming a continuous transmission path traversing the revolution center.

[0041] In terms of the connection structure, a rotary shackle joint is provided between the flexible traction cable 407 and the first transmission connecting block 401, or between the flexible traction cable 407 and the second transmission connecting block 402. The rotary shackle joint is connected in series between the end of the flexible traction cable 407 and the corresponding connecting block. Through the rotary shackle joint, the flexible traction cable 407 can rotate freely about its own axis relative to the reciprocating power slide bar 303 or the horizontal drive rack 502.

[0042] As a specific implementation of the rotary shackle joint, it can be a rotary lifting ring with a built-in thrust bearing or a mechanical shackle with a freely rotating pin, to accommodate the spin torsion generated by the flexible traction cable 407 when it revolves around the engine frame 200.

[0043] As a specific embodiment of the first reversing pulley 405 and the second reversing pulley 406, the first reversing pulley 405 and the second reversing pulley 406 include fixed pulleys.

[0044] The reciprocating motion generating assembly 300 includes a rotary motor 301, a cam 302, and a reciprocating power slide 303. The rotary motor 301 is fixedly installed in the internal space of the base 100 as a drive source. The cam 302 is coaxially connected to the output shaft end of the rotary motor 301. The reciprocating power slide 303 is disposed in the base 100 in a linear sliding manner, and a first actuating part 304 and a second actuating part 305 are provided at intervals along its length direction on the reciprocating power slide 303. The outer contour edge of the cam 302 extends into and is located in the gap between the first actuating part 304 and the second actuating part 305, and the outer contour surface of the cam 302 always maintains contact and engagement with both the first actuating part 304 and the second actuating part 305 simultaneously.

[0045] During the motion transmission process, the rotary motor 301 drives the cam 302 to rotate. When the cam 302 rotates, it pushes against the first actuating part 304 or the second actuating part 305 through its changing contour, driving the reciprocating power slide 303 to make linear reciprocating motion within the base 100, thereby pulling the flexible transmission component 400 connected to the reciprocating power slide 303 to generate displacement.

[0046] As a specific embodiment of the first actuating part 304 and the second actuating part 305, both the first actuating part 304 and the second actuating part 305 are roller structures. The rollers are rotatably mounted on the reciprocating power slide rod 303 via pins, and the outer contour edge of the cam 302 forms a rolling contact engagement with the outer circumferential surface of the roller.

[0047] like Figure 4 , Figure 5 and Figure 6 As shown, the gear linkage assembly 500 includes a clamp bracket 501, a horizontal drive rack 502, a primary transmission gear 503, a first synchronizing gear 504, and a second synchronizing gear 505. The clamp bracket 501 is fixedly mounted on the driven frame 200, and the horizontal drive rack 502 is slidably mounted on the driven frame 200 in a horizontal direction, with its position corresponding to that of the clamp bracket 501. The primary transmission gear 503, the first synchronizing gear 504, and the second synchronizing gear 505 are all rotatably mounted on the clamp bracket 501 via shafts or bearings.

[0048] In the specific transmission connection, the output end of the flexible transmission component 400 is fixedly connected to the horizontal drive rack 502, and the flexible transmission component 400 pulls the horizontal drive rack 502 to move in a straight line. The horizontal drive rack 502 meshes with the primary transmission gear 503, and the movement of the horizontal drive rack 502 drives the primary transmission gear 503 to rotate. The primary transmission gear 503 is coaxially fixedly connected to the first synchronous gear 504, and when the primary transmission gear 503 rotates, it drives the first synchronous gear 504 to rotate together. The first synchronous gear 504 and the second synchronous gear 505 directly mesh with each other, and when the first synchronous gear 504 rotates, it drives the second synchronous gear 505 to rotate synchronously and in the opposite direction.

[0049] As one implementation of coaxial fixed connection, the primary transmission gear 503 and the first synchronous gear 504 can be mounted together on the same rotating shaft by a flat key or spline, or the primary transmission gear 503 and the first synchronous gear 504 can be directly machined into an integrated double gear structure.

[0050] like Figure 6 and Figure 7As shown, a clamping mechanism 600 is mounted on the motor frame 200. The clamping mechanism 600 includes two sets of quadrilateral linkage mechanisms symmetrically arranged on the left and right, and a set of rhomboid linkage mechanisms located between the two sets of quadrilateral linkage mechanisms. The extended ends of each set of quadrilateral linkage mechanisms are respectively connected to a first clamping part 606 and a second clamping part 610. The ends of the rhomboid linkage mechanisms are connected to a top block 609. The quadrilateral linkage mechanisms and the rhomboid linkage mechanisms are not on the same plane, while the two sets of quadrilateral linkage mechanisms are on the same plane.

[0051] In terms of transmission, the first synchronous gear 504 and the second synchronous gear 505 in the gear linkage assembly 500 are connected to the clamping mechanism 600. The synchronous rotation of the first synchronous gear 504 and the second synchronous gear 505 simultaneously drives the quadrilateral linkage mechanism and the rhombic linkage mechanism. Under the drive, the rhombic linkage mechanism performs a telescoping and deforming motion, causing the top block 609 to move in the vertical direction. Under the drive, the quadrilateral linkage mechanism causes the first clamping part 606 and the second clamping part 610 to perform synchronous relative motion.

[0052] As one embodiment of the first clamping part 606 and the second clamping part 610, the first clamping part 606 and the second clamping part 610 can be metal jaws with V-shaped positioning grooves, or arc-shaped clamping blocks with anti-slip textures on the surface.

[0053] One of the quadrilateral linkage mechanisms includes a first rotating shaft 601, a second rotating shaft 602, a driving crank 603, a driven rocker arm 604, and a connecting rod 605. The first rotating shaft 601 serves as the power input end and is fixedly connected to the first synchronizing gear 504. The second rotating shaft 602 serves as a fixed fulcrum and is mounted on the clamp bracket 501. One end of the driving crank 603 is fixedly connected to the first rotating shaft 601, and the other end is hinged to one end of the connecting rod 605. The other end of the connecting rod 605 is hinged to one end of the driven rocker arm 604. The other end of the driven rocker arm 604 is hinged to the second rotating shaft 602, forming the rocking fulcrum of the linkage mechanism.

[0054] In terms of motion transmission, the rotation of the first synchronizing gear 504 drives the first rotating shaft 601 and the driving crank 603 to rotate synchronously. When the driving crank 603 rotates, it pulls or pushes the driven rocker arm 604 through the connecting rod 605, driving the driven rocker arm 604 to reciprocate around the second rotating shaft 602. The first clamping part 606 is provided at the extension end of the connecting rod 605 or the extension end of the driven rocker arm 604, and realizes the opening and closing action with the movement of the connecting rod 605 or the driven rocker arm 604. Another set of quadrilateral linkage mechanisms adopts the same structural logic and is connected to the second synchronizing gear 505 for transmission. That is to say, there are two first rotating shafts 601 and two second rotating shafts 602.

[0055] As one embodiment of the installation position of the first clamping part 606, the first clamping part 606 can be integrally formed with the driven rocker arm 604 and located at the end of the driven rocker arm 604 away from the second rotating shaft 602. The clamping action with a large stroke is achieved by amplifying the swing angle of the rocker arm.

[0056] The rhomboid linkage mechanism includes two main support arms 607, two secondary support arms 608, and a guide bracket 506. One end of each of the two main support arms 607 is connected to one of the two first rotating shafts 601, and is actively driven by the first rotating shafts 601. One end of each of the two secondary support arms 608 is hinged to a top block 609. The end of each main support arm 607 away from the first rotating shaft 601 is hinged to one end of each secondary support arm 608, forming a folding linkage structure. As an alternative implementation, one end of each of the two main support arms 607 is connected to one of the two second rotating shafts 602, and is passively driven by the second rotating shafts 602.

[0057] The guide bracket 506 is fixedly installed on the vertical box 201, and the top block 609 is embedded in the guide bracket 506. The two sides of the top block 609 and the inner side of the guide bracket 506 form a sliding fit.

[0058] In terms of motion coordination, when the main support arm 607 swings around the first pivot 601, the angle of the main support arm 607 changes synchronously. The main support arm 607 pushes or pulls the auxiliary support arm 608 through the hinge point, thereby driving the top block 609 to move vertically up and down relative to the driven frame 200 along the guide path of the guide bracket 506.

[0059] As one implementation of the guiding mechanism, the guide bracket 506 can be a channel steel structure with a U-shaped cross-section, and the top block 609 can be a rectangular slider adapted to slide in the U-shaped groove, or the top block 609 can be provided with rollers on both sides that roll with the inner groove of the guide bracket 506.

[0060] The above embodiments are merely explanations of the present invention and are not intended to limit the present invention. After reading this specification, those skilled in the art can make modifications to these embodiments without contributing any inventive step, but as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. A rotary transfer device, characterized in that, include: A base (100) is provided with a drive gear (105) and a drive motor (106); The motor frame (200) is rotatably mounted on the base (100) and engages with the drive gear (105) to achieve revolution around the base (100); A clamping mechanism (600), located on the slave frame (200), is used to perform a gripping action on the tooling fixture; A reciprocating motion generating component (300) is disposed within the base (100) and is used to provide the power source required for the clamping action; A flexible transmission component (400) connects the gear linkage component (500) and the reciprocating motion generating component (300) and is used to transmit the power generated by the power source; The gear linkage assembly (500) is connected to the output end of the flexible transmission assembly (400) and is used to convert linear tension into synchronous rotational motion; Among them, the reciprocating motion generating component (300) drives the flexible transmission component (400) to generate traction action, and the flexible transmission component (400) drives the gear linkage component (500) to move. The gear linkage assembly (500) includes a first synchronous gear (504) and a second synchronous gear (505) that mesh with each other and rotate synchronously in opposite directions; The clamping mechanism (600) includes two sets of quadrilateral linkage mechanisms symmetrically arranged on the left and right, a first clamping part (606) and a second clamping part (610) located at the ends of the quadrilateral linkage mechanisms respectively; the clamping mechanism (600) also includes a set of rhomboid linkage mechanisms, and a top block (609) connected to the end of the rhomboid linkage mechanism. The synchronous rotation of the first synchronous gear (504) and the second synchronous gear (505) simultaneously drives the quadrilateral linkage mechanism and the rhombic linkage mechanism to move; the rhombic linkage mechanism performs telescopic movement under the drive, causing the top block (609) to move in the vertical direction; the quadrilateral linkage mechanism drives the first clamping part (606) and the second clamping part (610) to move synchronously relative to each other under the drive.

2. The rotary transfer device according to claim 1, characterized in that: One set of the quadrilateral linkage mechanisms includes a first rotating shaft (601), a second rotating shaft (602), a driving crank (603), a driven rocker arm (604), and a connecting rod (605); the first rotating shaft (601) is fixedly connected to the first synchronous gear (504) as a power input end; one end of the driving crank (603) is connected to the first rotating shaft (601), and the other end is connected to one end of the driven rocker arm (604) through the connecting rod (605), and the other end of the driven rocker arm (604) is hinged to the second rotating shaft (602); the rotation of the first synchronous gear (504) drives the driving crank (603) to rotate, and then drives the driven rocker arm (604) to swing around the second rotating shaft (602) through the connecting rod (605); the first clamping part (606) is provided on the extension end of the connecting rod (605) or the driven rocker arm (604); the other set of the quadrilateral linkage mechanisms is connected to the second synchronous gear (505) for transmission.

3. The rotary transfer device according to claim 2, characterized in that: The rhomboid linkage mechanism includes a main support arm (607), a secondary support arm (608), and a guide bracket (506); one end of the main support arm (607) is connected to a first rotating shaft (601), and one end of the secondary support arm (608) is hinged to a top block (609); the main support arm (607) and the secondary support arm (608) are hinged to each other; the guide bracket (506) is fixedly installed on the driven frame (200), and the two sides of the top block (609) slide in cooperation with the inner side of the guide bracket (506) to limit the movement trajectory of the top block (609); the swing of the driven rocker arm (604) changes with the angle of the main support arm (607), thereby driving the top block (609) to make vertical lifting and lowering movements relative to the driven frame (200).

4. The rotary transfer device according to claim 1, characterized in that: The gear linkage assembly (500) includes a clamp bracket (501), a horizontal drive rack (502), a primary transmission gear (503), a first synchronous gear (504), and a second synchronous gear (505); the primary transmission gear (503), the first synchronous gear (504), and the second synchronous gear (505) are all rotatably mounted on the clamp bracket (501); the horizontal drive rack (502) is slidably disposed on the driven frame (200); the output end of the flexible transmission assembly (400) is connected to and pulls the horizontal drive rack (502) to move, and the horizontal drive rack (502) drives the primary transmission gear (503) to rotate; the primary transmission gear (503) is coaxially fixedly connected to the first synchronous gear (504), driving the first synchronous gear (504) to rotate, and the first synchronous gear (504) directly meshes with the second synchronous gear (505), thereby realizing synchronous reverse rotation of the two.

5. The rotary transfer device according to claim 4, characterized in that: The reciprocating motion generating component (300) includes a rotary motor (301), a cam (302), and a reciprocating power slide (303); the rotary motor (301) is fixedly installed inside the base (100), and the cam (302) is connected to the output shaft of the rotary motor (301); the reciprocating power slide (303) is slidably installed inside the base (100), and is provided with a first actuating part (304) or a second actuating part (305) that cooperates with the contour of the cam (302); the rotary motor (301) drives the cam (302) to rotate, and the cam (302) pushes against the reciprocating power slide (303) to make linear reciprocating motion, thereby pulling the flexible transmission component (400) to generate displacement.

6. The rotary transfer device according to claim 5, characterized in that: Both the first actuating part (304) and the second actuating part (305) are rollers; the outer contour edge of the cam (302) is located between the first actuating part (304) and the second actuating part (305), and always maintains rolling contact with the first actuating part (304) and the second actuating part (305).

7. The rotary transfer device according to claim 5, characterized in that: The flexible transmission assembly (400) includes a flexible traction cable (407), a reversing pulley block, a return spring (404), a first transmission connecting block (401), and a second transmission connecting block (402); The first transmission connecting block (401) is fixedly connected to the reciprocating power slide (303) of the reciprocating motion generating component (300), and one end of the flexible traction cable (407) is fixedly connected to the first transmission connecting block (401); The second transmission connecting block (402) is fixedly connected to the horizontal drive rack (502) of the gear linkage assembly (500); the other end of the flexible traction cable (407) passes upward through the center of revolution at the connection between the engine frame (200) and the base (100), and after passing around the reversing pulley group set at the corner, it is fixedly connected to the second transmission connecting block (402). A reset groove (403) is provided on the motor frame (200), and a reset spring (404) is housed in the reset groove (403). One end of the reset spring (404) is connected to the inner wall of the reset groove (403), and the other end is connected to the second transmission connecting block (402) to provide a reverse reset driving force when the tension of the flexible traction cable (407) is released.

8. The rotary transfer device according to claim 7, characterized in that: The base (100) is also provided with a disc (101), an annular groove (102) is provided on the circumference of the disc (101), and a central hole (103) and a bearing seat (104) are provided at the center of the disc (101). The driven frame (200) includes a vertical housing (201) and a rotating arm (202) connected to the upper part of the vertical housing (201); the bottom of the vertical housing (201) is provided with a guide block (205) that cooperates with the annular groove (102); the end of the rotating arm (202) is provided with a rotating shaft (203) and a rotating gear (204); the rotating shaft (203) is installed in the bearing seat (104) of the base (100); the flexible traction cable (407) passes through the central hole (103); the rotating gear (204) meshes with the drive gear (105); the drive motor (106) drives the drive gear (105) and the rotating gear (204) to rotate, thereby driving the driven frame (200) to make a circular motion on the annular groove (102).

9. The rotary transfer device according to claim 8, characterized in that: The reversing pulley assembly includes a first reversing pulley (405) and a second reversing pulley (406); the first reversing pulley (405) is mounted on the rotating arm (202) and located at the corner of the central hole (103); the second reversing pulley (406) is mounted inside the base (100) at a position corresponding to the central hole (103); the flexible traction cable (407) passes around the first reversing pulley (405) and the second reversing pulley (406) in sequence to form a transmission path that passes through the center of revolution.

10. The rotary transfer device according to claim 7, characterized in that: A rotary shackle joint is provided between the flexible traction cable (407) and the first transmission connecting block (401), or between the flexible traction cable (407) and the second transmission connecting block (402); the rotary shackle joint allows the flexible traction cable (407) to rotate freely about its own axis relative to the reciprocating power slide bar (303) or the horizontal drive rack (502).

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