Reloading device

Abstract

A material changing device comprises a machine table, a first taking and placing mechanism, a second taking and placing mechanism and a distance changing mechanism. A first station and a second station are arranged on the machine table at an interval; the first taking and placing mechanism comprises a first driving part, a frame clamping paw and a first material clamping paw, and the first driving part is arranged on the machine table and connected with the first material clamping paw and the frame clamping paw; the second taking and placing mechanism comprises a second driving part, a chuck claw and a second clamping claw, and the second driving part is arranged on the machine table and connected with the second clamping claw and the chuck claw; the pitch changing mechanism comprises a pitch changing assembly and a plurality of positioning pieces, every two adjacent positioning pieces are connected, the pitch changing assembly is arranged on the machine table and located between the first driving piece and the second driving piece, and the pitch changing assembly is connected with the positioning pieces at the two ends of the multiple positioning pieces. According to the material changing device, the workpieces in the cleaning frame can be automatically changed to the tray, the manual labor intensity is small, the material changing efficiency is high, material changing manpower is little, and the workpieces can be prevented from being collided and scratched by manual operation.

Description

Technical Field

[0001] The present application relates to the field of mechanical processing technology, and in particular to a material changing device. Background Art

[0002] In the field of metal polishing, after the workpiece (such as the middle frame of a mobile phone) is mirror-polished, the polishing liquid remaining on the surface of the workpiece needs to be cleaned by a cleaning machine and transferred to an inspection bag. Since the cleaning agent has a high temperature and corrosiveness, the plastic pallet cannot follow the workpiece into the cleaning machine. At this time, the carrier of the workpiece needs to be replaced by a cleaning frame from a plastic pallet. After cleaning, in order to meet the feeding requirements of the inspection bag, the workpiece needs to be manually removed from the cleaning frame and placed in the pallet, and then the pallet is manually placed in the inspection bag. However, this method requires manual highly repetitive mechanical movements, which is labor-intensive and requires a lot of manpower, and frequent manual contact with the workpiece can easily cause scratches on the workpiece. Utility Model Content

[0003] In view of the above, it is necessary to propose a material changing device to improve the material changing efficiency, reduce the manpower for material changing and reduce the collision and scratching of the workpiece.

[0004] One embodiment of the present application provides a material changing device for changing a workpiece in a cleaning frame to a pallet, comprising a machine table, a first pick-and-place mechanism, a second pick-and-place mechanism and a distance changing mechanism; a first station for placing a cleaning frame and a second station for placing a pallet are arranged on the machine table at intervals, wherein a plurality of workpieces are placed in the cleaning frame; the first pick-and-place mechanism comprises a first driving member, a clamping frame gripper and a first material gripping gripper, the first driving member being arranged on the machine table and connected to the first material gripping gripper and the clamping frame gripper respectively; the second pick-and-place mechanism comprises a second driving member, a chuck gripper and a second material gripping gripper, the second driving member being arranged on the machine table and connected to the second material gripper and the chuck gripper respectively; the distance changing mechanism comprises a distance changing component and a plurality of positioning members for positioning the workpiece, two adjacent positioning members are connected, and the distance changing component is arranged on the machine table And it is located between the first driving member and the second driving member, the variable distance assembly is connected to the positioning members at both ends of the multiple positioning members, wherein the spacing between the various workpieces on the multiple positioning members is not equal to the spacing between the various workpieces on the cleaning frame; the first driving member is used to drive the first clamping claw to remove the multiple workpieces in the cleaning frame of the first station and place them on the multiple positioning members, and drive the clamping frame claw to clamp the empty cleaning frame of the first station and move it away, the variable distance assembly is used to drive the positioning members located at both ends to move so as to adjust the spacing between the multiple positioning members and the spacing between the multiple workpieces, the second driving member is used to drive the chuck claw to clamp the empty pallet and place it on the second station, and drive the second clamping claw to remove the workpieces on the multiple positioning members after the variable distance and place them in the pallet.

[0005] The above-mentioned material changing device drives the first material clamping claw to remove multiple workpieces in the cleaning frame of the first station and place them on multiple positioning parts through the first driving member, adjusts the spacing between the multiple positioning parts through the distance changing component to adjust the spacing between each workpiece, and drives the second material clamping claw to remove the workpieces on the multiple positioning parts after the distance change and place them on the pallet through the second driving member. The workpieces in the cleaning frame can be automatically changed to the pallet, with low manual labor intensity, high material changing efficiency, less manpower for material changing, and can avoid scratches on the workpieces caused by manual operation.

[0006] In some embodiments, the clamping frame gripper includes: a clamping seat connected to the first driving member; two clamping frame members, the two clamping frame members are arranged opposite to each other; a clamping frame driving member, connected to the two clamping frame members and connected to one side of the clamping seat, for driving the two clamping frame members to approach each other to clamp a cleaning frame.

[0007] In some embodiments, each of the clamping frame members includes: a connecting portion connected to one end of the clamping frame driving member; a separating portion connected to the side of the connecting portion away from one end of the clamping frame driving member, two of the separating portions are located between the two connecting portions, each of the separating portions has two opposite pushing inclined surfaces, and the clamping frame driving member is used to drive the two clamping frame members to approach each other so that the two separating portions extend into the gap between the two stacked cleaning frames, so that the two pushing inclined surfaces push the two cleaning frames to separate and clamp the cleaning frame on the upper layer.

[0008] In some embodiments, the first material clamping gripper includes: a first gripper frame, connected to the side of the clamping seat away from the clamping frame driving member; a plurality of first material clamping components, spaced apart on the first gripper frame, each of the first material clamping components including two oppositely disposed first material clamping members and a first material clamping driving member, the first material clamping driving member being disposed on the side of the first gripper frame away from the clamping seat and being respectively connected to the two first material clamping members, for driving the two first material clamping members to approach each other to clamp the workpiece on the cleaning frame.

[0009] In some embodiments, the cleaning frame includes a frame body and a pressed portion arranged on the frame body, and the first clamping gripper also includes: a buffer member, which is arranged on the side of the first gripper frame away from the clamping seat, and is used to elastically abut the pressed portion of the cleaning frame when the first clamping member clamps the workpiece on the cleaning frame, so as to separate the workpiece and the cleaning frame when the workpiece is removed.

[0010] In some embodiments, each pallet is provided with a clamped portion, and the chuck claw comprises: two chuck members, the two chuck members are arranged opposite to each other; a chuck driving member, connected to the two chuck members, and connected to the side of the clamping seat away from the clamping frame driving member, for driving the two chuck members to approach each other to clamp the clamped portion on the pallet.

[0011] In some embodiments, the second material clamping gripper includes: a second gripper frame, connected to the side of the chuck driving member facing away from the chuck member; a plurality of second material clamping components, spaced apart on the second gripper frame, each of the second material clamping components including two oppositely disposed second material clamping members and a second material clamping driving member, the second material clamping driving member being disposed on the side of the second gripper frame facing away from the chuck driving member and being respectively connected to the two second material clamping members, for driving the two second material clamping members to approach each other to clamp the workpiece on the pallet.

[0012] In some embodiments, the variable pitch assembly includes: a fixing member, which is arranged on the machine platform; a slide rail, which is arranged on the side of the fixing member away from the machine platform, wherein the plurality of positioning members are slidably arranged on the slide rail; and a variable pitch driving member, which is arranged on the side of the fixing member away from the machine platform and is connected to the positioning members at both ends of the plurality of positioning members, and is used to drive the positioning members located at both ends to move so as to adjust the spacing between the plurality of positioning members.

[0013] In some embodiments, the variable pitch assembly also includes: a lock, which is arranged on a side of the positioning member close to the fixing member and is located at an end where two adjacent positioning members are close to each other; a limiting ring, which is respectively mounted on the two locks at an end where two adjacent positioning members are close to each other, and is used to limit the distance between the two adjacent positioning members.

[0014] In some embodiments, the positioning member includes: a support member slidably disposed on the slide rail; and an inner support portion disposed on a side of the support member away from the slide rail for inner support and positioning of the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of a material changing device provided in one embodiment of the present application.

[0016] Figure 2 yes Figure 1 A schematic structural diagram of a pallet adapted for the material changing device shown.

[0017] Figure 3 yes Figure 1 A partial three-dimensional structural schematic diagram of the first pick-and-place mechanism in the material changing device is shown.

[0018] Figure 4 yes Figure 1 A partial three-dimensional structural schematic diagram of the second pick-and-place mechanism in the material changing device is shown.

[0019] Figure 5 yes Figure 1 Schematic diagram of the exploded structure of the pitch changing mechanism in the material changing device shown.

[0020] Figure 6 yes Figure 1 The three-dimensional structural schematic diagram of the distance changing mechanism in the material changing device is shown in one state.

[0021] Figure 7 yes Figure 6 A schematic three-dimensional structural diagram of the distance-changing mechanism in the material changing device shown in another state.

[0022] Main component symbols

[0023] Material changing device 100

[0024] Cleaning frame 200

[0025] Frame 210

[0026] Pressed portion 220

[0027] Workpiece 300

[0028] Pallet 400

[0029] Clamped portion 410

[0030] Machine 10

[0031] First station 11

[0032] Second station 12

[0033] The first pick-and-place mechanism 20

[0034] The first driving member 21

[0035] Frame gripper 22

[0036] Clamping seat 221

[0037] Frame clamp 222

[0038] Connection part 2222

[0039] Separation unit 2224

[0040] Push slope 2224A

[0041] Clamp frame drive 223

[0042] First sensor 224

[0043] First clamping claw 23

[0044] First gripper frame 231

[0045] The first clamping assembly 232

[0046] First clamping piece 2322

[0047] The first clamping driving member 2324

[0048] Buffer 233

[0049] Second sensor 234

[0050] Second pick-and-place mechanism 30

[0051] The second driving member 31

[0052] Chuck claw 32

[0053] Chuck 322

[0054] Chuck drive 324

[0055] The third sensor 326

[0056] Second clamping claw 33

[0057] Second gripper frame 331

[0058] The second clamping assembly 332

[0059] Second clamping piece 3322

[0060] The second clamping driving member 3324

[0061] Fourth sensor 333

[0062] Pitch change mechanism 40

[0063] Pitch change assembly 41

[0064] Fixing 411

[0065] Slide 412

[0066] Variable pitch drive 413

[0067] Connecting plate 414

[0068] Lock 415

[0069] Limiting ring 416

[0070] Positioning piece 42

[0071] Support 421

[0072] Inner support 422 DETAILED DESCRIPTION

[0073] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0074] In the description of the present application, it should be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, in the description of the present application, it should be noted that the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0075] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0076] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0077] See also Figures 1 to 3 One embodiment of the present application proposes a material exchange device 100, which is used to exchange a workpiece 300 in a cleaning frame 200 to a tray 400. The cleaning frame 200 includes a frame body 210 and a pressed portion 220 disposed on the frame body 210. The frame bodies 210 of multiple cleaning frames 200 can be stacked. The pressed portion 220 is a cylindrical structure. There are three pressed portions 220 on each cleaning frame 200 and they are spaced apart from each other on the frame body 210. The tray 400 is provided with a clamped portion 410, which is a sheet-like structure. In this embodiment, the workpiece 300 is a mobile phone middle frame. Specifically, the material exchange device 100 includes a machine table 10, a first pick-and-place mechanism 20, a second pick-and-place mechanism 30, and a variable pitch mechanism 40.

[0078] Please continue to see Figure 1, a first station 11 for placing a cleaning frame 200 and a second station 12 for placing a tray 400 are arranged on the machine 10 at intervals, wherein a plurality of workpieces 300 are placed in the cleaning frame 200. The first pick-and-place mechanism 20 includes a first driving member 21, a clamping frame gripper 22, and a first material gripping gripper 23. The first driving member 21 is arranged on the machine 10 and is respectively connected to the first material gripping gripper 23 and the clamping frame gripper 22. In this embodiment, the first driving member 21 is a manipulator. The second pick-and-place mechanism 30 includes a second driving member 31, a chuck gripper 32, and a second material gripping gripper 33. The second driving member 31 is arranged on the machine 10 and is respectively connected to the second material gripping gripper 33 and the chuck gripper 32. In this embodiment, the second driving member 31 is a manipulator. The variable distance mechanism 40 includes a variable distance component 41 and a plurality of positioning members 42 for positioning the workpiece 300, and two adjacent positioning members 42 are connected. The variable distance component 41 is arranged on the machine table 10 and is located between the first driving member 21 and the second driving member 31. The variable distance component 41 is connected to the positioning members 42 at both ends of the plurality of positioning members 42, wherein the spacing between the workpieces 300 on the plurality of positioning members 42 is not equal to the spacing between the workpieces 300 on the cleaning frame 200. In the present embodiment, the spacing between the workpieces 300 on the plurality of positioning members 42 is smaller than the spacing between the workpieces 300 on the cleaning frame 200. The first driving member 21 is used to drive the first clamping claw 23 to remove the multiple workpieces 300 in the cleaning frame 200 of the first station 11 and place them on the multiple positioning members 42, and drive the clamping frame claw 22 to clamp the empty cleaning frame 200 of the first station 11 and remove the empty cleaning frame 200. The variable pitch assembly 41 is used to drive the positioning members 42 located at both ends to move so as to adjust the spacing between the multiple positioning members 42 and the spacing between the multiple workpieces 300. The second driving member 31 is used to drive the chuck claw 32 to clamp the empty pallet 400 and place it on the second station 12, and drive the second clamping claw 33 to remove the workpieces 300 on the multiple positioning members 42 after the variable pitch and place them in the pallet 400.

[0079] The above-mentioned material changing device 100 drives the first clamping claw 23 through the first driving member 21 to remove multiple workpieces 300 in the cleaning frame 200 of the first workstation 11 and place them on multiple positioning members 42, adjusts the spacing between the multiple positioning members 42 through the distance changing assembly 41 to adjust the spacing between each workpiece 300, and drives the second clamping claw 33 through the second driving member 31 to remove the workpieces 300 on the multiple positioning members 42 after the distance change and place them on the pallet 400. The workpiece 300 in the cleaning frame 200 can be automatically changed to the pallet 400, the manual labor intensity is small, the material changing efficiency is high, the material changing manpower is small, and the material changing manpower is small, and the scratches on the workpiece 300 caused by manual operation can be avoided.

[0080] Please continue to see Figure 3In some embodiments, the clamping frame gripper 22 includes a clamping seat 221, two clamping frame members 222 and a clamping frame driving member 223. The clamping seat 221 is connected to the first driving member 21. The two clamping frame members 222 are arranged opposite to each other. The clamping frame driving member 223 is connected to the two clamping frame members 222, and the clamping frame driving member 223 is connected to one side of the clamping seat 221, and is used to drive the two clamping frame members 222 to approach each other to clamp a cleaning frame 200. In this embodiment, there are two clamping frame driving members 223 and they are respectively connected to the two clamping frame members 222, wherein the clamping frame driving member 223 is a cylinder, so that the cleaning frame 200 can be clamped by driving the two clamping frame members 222 respectively by the two clamping frame driving members 223.

[0081] In some embodiments, each clamping frame member 222 includes a connecting portion 2222 and a separating portion 2224. The connecting portion 2222 is in the shape of a T-shaped plate, and the connecting portion 2222 is connected to one end of the clamping frame driving member 223. The separating portion 2224 is a block structure, and the separating portion 2224 is connected to the side of the connecting portion 2222 away from one end of the clamping frame driving member 223. The two separating portions 2224 are located between the two connecting portions 2222, and each separating portion 2224 has two opposite push inclined surfaces 2224A. The clamping frame driving member 223 is used to drive the two clamping frame members 222 to approach each other, so that the two separating portions 2224 extend into the gap between the two stacked cleaning frames 200, so that the two push inclined surfaces 2224A push the two cleaning frames 200 to separate and clamp the cleaning frame 200 located on the upper layer. In this way, by providing two opposite push inclined surfaces 2224A on the separation portion 2224, the separation portion 2224 can separate the two inserted cleaning frames 200 to prevent the two cleaning frames 200 from getting stuck.

[0082] In some embodiments, the frame clamping gripper 22 further includes a first sensor 224 . The first sensor 224 is disposed on the clamping seat 221 and is used to sense whether the frame clamping member 222 clamps the cleaning frame 200 .

[0083] In some embodiments, the first gripper 23 includes a first gripper frame 231 and a plurality of first gripper components 232. The first gripper frame 231 is connected to the side of the clamping seat 221 away from the clamping frame driving member 223. The plurality of first gripper components 232 are arranged at intervals on the first gripper frame 231, and each first gripper component 232 includes two first gripper components 2322 and a first gripper driving member 2324 arranged opposite to each other. The first gripper driving member 2324 is arranged on the side of the first gripper frame 231 away from the clamping seat 221 and is respectively connected to the two first gripper components 2322, and is used to drive the two first gripper components 2322 to approach each other to clamp the workpiece 300 on the cleaning frame 200. In this embodiment, there are eight first clamping components 232 arranged in two rows, and each first clamping member 2322 includes two fingers arranged at intervals. The fingers are made of elastomeric material to avoid scratching the workpiece 300. In this way, under the drive of the first clamping driving member 2324, the first clamping member 2322 can stably clamp the workpiece 300.

[0084] In some embodiments, the first gripper 23 further includes a buffer 233, which is disposed on a side of the first gripper frame 231 away from the clamping seat 221, and is used to elastically abut against the pressed portion 220 of the cleaning frame 200 when the first gripper 2322 clamps the workpiece 300 on the cleaning frame 200, so as to separate the workpiece 300 from the cleaning frame 200 when the workpiece 300 is removed. In this embodiment, the buffer 233 is two buffers arranged at intervals, and the two buffers elastically abut against the two pressed portions 220 on the cleaning frame 200 respectively when the first gripper 2322 clamps the workpiece 300 on the cleaning frame 200, so as to separate the workpiece 300 from the cleaning frame 200 when the workpiece 300 is removed.

[0085] In some embodiments, the first gripper 23 further includes a second sensor 234, which is disposed on the first gripper frame 231 and is used to sense whether the first gripper 2322 is gripping the workpiece 300. In this embodiment, there are eight second sensors 234 corresponding to eight first gripper assemblies 232, respectively.

[0086] See also Figure 4 In some embodiments, the chuck claw 32 includes two chuck members 322 and a chuck driving member 324. The chuck member 322 is a U-shaped structure, and the two chuck members 322 are arranged opposite to each other. The chuck driving member 324 is connected to the two chuck members 322, and the chuck driving member 324 is connected to the side of the clamping seat 221 away from the clamping frame driving member 223, and is used to drive the two chuck members 322 to approach each other to clamp the clamped portion 410 on the tray 400. In this embodiment, the chuck driving member 324 is a cylinder. In this way, the tray 400 can be clamped by driving the two chuck members 322 through the chuck driving member 324.

[0087] In some embodiments, the chuck gripper 32 further includes a third sensor 326 . The third sensor 326 is disposed on one side of the chuck driving member 324 and is used to sense whether the chuck member 322 is clamping the tray 400 .

[0088] In some embodiments, the second gripper 33 includes a second gripper frame 331 and a plurality of second gripper assemblies 332. The second gripper frame 331 is connected to the side of the chuck drive member 324 away from the chuck member 322. The plurality of second gripper assemblies 332 are arranged at intervals on the second gripper frame 331, and each second gripper assembly 332 includes two oppositely arranged second gripper members 3322 and a second gripper drive member 3324, and the second gripper drive member 3324 is arranged on the side of the second gripper frame 331 away from the chuck drive member 324 and is respectively connected to the two second gripper members 3322, and is used to drive the two second gripper members 3322 to approach each other to clamp the workpiece 300 on the pallet 400. In this embodiment, there are eight second clamping components 332 arranged in two rows. Each second clamping member 3322 includes two fingers arranged at intervals. The fingers are made of elastomeric material to avoid scratching the workpiece 300. In this way, under the drive of the second clamping driving member 3324, the second clamping member 3322 can stably clamp the workpiece 300.

[0089] In some embodiments, the second gripper 33 further includes a fourth sensor 333 disposed on the second gripper frame 331 for sensing whether the second gripper 3322 is gripping the workpiece 300. In this embodiment, there are eight fourth sensors 333 corresponding to eight second gripper assemblies 332, respectively.

[0090] See also Figure 5 and Figure 6 In some embodiments, the variable pitch assembly 41 includes a fixing member 411, a slide rail 412, and a variable pitch driving member 413. The fixing member 411 is disposed on the machine 10. The slide rail 412 is disposed on a side of the fixing member 411 away from the machine 10, wherein a plurality of positioning members 42 are slidably disposed on the slide rail 412. The variable pitch driving member 413 is disposed on a side of the fixing member 411 away from the machine 10, and is connected to the positioning members 42 at both ends of the plurality of positioning members 42, and is used to drive the positioning members 42 at both ends to move, so as to adjust the spacing between the plurality of positioning members 42. In this embodiment, there are two slide rails 412 and they are disposed on both sides of the variable pitch driving member 413.

[0091] In this embodiment, the variable pitch driving member 413 is a cylinder, and the variable pitch assembly 41 also includes two connecting plates 414, one end of each connecting plate 414 is connected to the variable pitch driving member 413, and the other end of each connecting plate 414 is connected to the positioning member 42. In this way, the variable pitch driving member 413 is arranged on the side of the fixing member 411 away from the machine 10, and is connected to the positioning members 42 at both ends of the multiple positioning members 42, and is used to drive the positioning members 42 located at both ends to move, so as to adjust the spacing between the multiple positioning members 42 and adjust the spacing between each workpiece 300.

[0092] In some embodiments, the pitch-changing assembly 41 further includes a plurality of lock buckles 415 and a plurality of limiting rings 416. The lock buckle 415 is a T-shaped structure, and the lock buckle 415 is arranged on the side of the positioning member 42 close to the fixing member 411, and is located at one end where two adjacent positioning members 42 are close to each other. The limiting ring 416 is respectively mounted on the two lock buckles 415 at one end where two adjacent positioning members 42 are close to each other, and is used to limit the distance between two adjacent positioning members 42. In this embodiment, two lock buckles 415 are arranged on the positioning member 42 at the end, and four lock buckles 415 are arranged on the positioning member 42 in the middle. In this way, when the pitch-changing driving member 413 drives the positioning members 42 at both ends to move, under the action of the limiting ring 416, the positioning member 42 can pull the adjacent positioning members 42 to move, thereby adjusting the distance between each positioning member 42, so that the distance between two adjacent positioning members 42 is equal.

[0093] In some embodiments, the positioning member 42 includes a support member 421 and an inner support portion 422. The support member 421 is plate-shaped and is slidably disposed on the slide rail 412. The inner support portion 422 is disposed on the side of the support member 421 away from the slide rail 412, and is used to internally support and position the workpiece 300. In this embodiment, the inner support portion 422 is similar to the internal shape of the workpiece 300, and is used to internally support and position the workpiece 300.

[0094] The implementation process of the material changing device 100 of the embodiment of the present application is as follows:

[0095] Initially, the variable-pitch driving member 413 drives the positioning members 42 at both ends to move away from each other. Under the action of the limiting ring 416, the positioning members 42 at both ends pull the adjacent positioning members 42 to move, thereby adjusting the spacing between the positioning members 42, so that the spacing between the workpieces 300 on each positioning member 42 is adapted to the spacing between the workpieces 300 on the cleaning frame 200. The first driving member 21 drives the first clamping claw 23 to move toward the cleaning frame 200 of the first station 11, so that the buffer member 233 elastically abuts against the pressed portion 220 of the cleaning frame 200, and the first clamping driving member 2324 drives the two first clamping members 2322 to approach each other to clamp the workpiece 300 on the cleaning frame 200, and place the clamped workpiece 300 on the supporting portion of the supporting member 421 of the positioning member 42.

[0096] The first driving member 21 drives the first material clamping claw 23 to move toward the cleaning frame 200. After the movement is completed, the second driving member 31 drives the chuck claw 32 to move, so that the chuck driving member 324 drives the two chuck members 322 to approach each other to clamp the clamped portion 410 on the empty chuck, and move the empty tray 400 to the second station 12.

[0097] The variable pitch driving member 413 drives the positioning members 42 at both ends to approach each other, and the positioning members 42 at both ends push the adjacent positioning members 42 to approach each other, so that the adjacent positioning members 42 abut against each other, that is, Figure 6 There is a gap between adjacent positioning members 42 Figure 7 There is no gap between adjacent positioning members 42, and the spacing between the workpieces 300 on the plurality of positioning members 42 is adapted to the pallet 400; the second driving member 31 drives the second clamping claw 33 to move toward the positioning member 42, so that the second clamping driving member 3324 drives the two second clamping members 3322 to approach each other to clamp the workpiece 300 on the pallet 400 and place it on the empty pallet 400;

[0098] After all the workpieces 300 in the cleaning frame 200 are moved out, the clamping frame driving member 223 drives the two clamping members to approach each other, so that the two separation parts 2224 extend into the gap between the two stacked cleaning frames 200, so that the two pushing slopes 2224A push the two cleaning frames 200 to separate and clamp the cleaning frame 200 on the upper layer, and then move the cleaning frame 200 away; take away the pallet 400 full of workpieces 300, the second driving member 31 drives the chuck claw 32 to move, so that the chuck driving member 324 drives the two chuck members 322 to approach each other to clamp the clamped part 410 on the other empty chuck, and move the other empty pallet 400 to the second workstation 12.

[0099] It is obvious to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, and that the present application can be implemented in other specific forms without departing from the spirit or essential features of the present application. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present application.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the preferred embodiments, a person of ordinary skill in the art should understand that the technical solution of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present application.

Claims

1. A material changing device for changing workpieces in a cleaning frame to a tray, characterized in that: It includes a machine platform, a first pick-and-place mechanism, a second pick-and-place mechanism and a variable distance mechanism; The machine platform is provided with a first station for placing a cleaning frame and a second station for placing a tray at intervals, wherein a plurality of workpieces are placed in the cleaning frame; the first pick-and-place mechanism comprises a first driving member, a clamping frame claw and a first material clamping claw, the first driving member is arranged on the machine platform and is respectively connected to the first material clamping claw and the clamping frame claw; the second pick-and-place mechanism comprises a second driving member, a chuck claw and a second material clamping claw, the second driving member is arranged on the machine platform and is respectively connected to the second material clamping claw and the chuck claw; the distance-changing mechanism comprises a distance-changing assembly and a plurality of positioning members which are arranged in sequence and are used to position the workpieces, two adjacent positioning members are connected, the distance-changing assembly is arranged on the machine platform and is located between the first driving member and the second driving member, the distance-changing assembly is connected to the positioning members located at both ends of the plurality of positioning members, wherein the spacing between the workpieces on the plurality of positioning members is not equal to the spacing between the workpieces on the cleaning frame; The first driving member is used to drive the first clamping claw to remove multiple workpieces in the cleaning frame of the first station and place them respectively on the multiple positioning members, and drive the clamping frame claw to clamp and remove the empty cleaning frame of the first station. The variable distance assembly is used to drive the positioning members located at both ends to move so as to adjust the spacing between the multiple positioning members and the spacing between the multiple workpieces. The second driving member is used to drive the chuck claw to clamp the empty pallet and place them respectively on the second station, and drive the second clamping claw to remove the workpieces on the multiple positioning members after the variable distance and place them in the pallet.

2. The material changing device according to claim 1, characterized in that: The clamping frame gripper comprises: A clamping seat connected to the first driving member; Two clamping frame members, the two clamping frame members are arranged opposite to each other; The clamping frame driving member is connected to the two clamping frame members and is connected to one side of the clamping seat, and is used for driving the two clamping frame members to approach each other so as to clamp a cleaning frame.

3. The material changing device according to claim 2, characterized in that: Each of the clamping frame members comprises: A connecting portion connected to one end of the clamping frame driving member; The separation part is connected to the side of the connection part away from one end of the clamping frame driving member, the two separation parts are located between the two connection parts, each of the separation parts has two opposite pushing inclined surfaces, and the clamping frame driving member is used to drive the two clamping frame members to approach each other so that the two separation parts extend into the gap between the two stacked cleaning frames, so that the two pushing inclined surfaces push the two cleaning frames to separate and clamp the cleaning frame on the upper layer.

4. The material changing device according to claim 2, characterized in that: The first clamping gripper comprises: A first gripper frame connected to a side of the clamping seat away from the clamping frame driving member; A plurality of first material clamping assemblies are arranged at intervals on the first gripper frame, each of the first material clamping assemblies includes two oppositely arranged first material clamping parts and a first material clamping driving part, the first material clamping driving part is arranged on the side of the first gripper frame away from the clamping seat and is respectively connected to the two first material clamping parts, and is used to drive the two first material clamping parts to approach each other to clamp the workpiece on the cleaning frame.

5. The material changing device according to claim 4, characterized in that: The cleaning frame includes a frame body and a pressed portion arranged on the frame body, and the first clamping gripper also includes: The buffer member is arranged on a side of the first gripper frame away from the clamping seat, and is used to elastically abut against the pressed portion of the cleaning frame when the first clamping member clamps the workpiece on the cleaning frame, so as to separate the workpiece and the cleaning frame when the workpiece is removed.

6. The material changing device according to claim 2, characterized in that: Each pallet is provided with a clamped portion, and the chuck gripper comprises: Two chuck members, the two chuck members are arranged opposite to each other; The chuck driving member is connected to the two chuck members and is connected to a side of the clamping seat away from the clamping frame driving member, and is used to drive the two chuck members to approach each other to clamp the clamped part on the tray.

7. The material changing device according to claim 6, characterized in that: The second gripping gripper comprises: A second gripper frame connected to a side of the chuck driving member facing away from the chuck member; A plurality of second material clamping assemblies are arranged at intervals on the second gripper frame, each of the second material clamping assemblies comprises two oppositely arranged second material clamping members and a second material clamping driving member, the second material clamping driving member is arranged on the side of the second gripper frame away from the chuck driving member and is respectively connected to the two second material clamping members, so as to drive the two second material clamping members to approach each other to clamp the workpiece on the pallet.

8. The material changing device according to claim 5, characterized in that: The pitch-changing assembly comprises: A fixing member, arranged on the machine platform; A slide rail is provided on a side of the fixing member away from the machine platform, wherein a plurality of the positioning members are slidably provided on the slide rail; The variable pitch driving member is arranged on a side of the fixing member away from the machine platform and is connected to the positioning members at both ends of the plurality of positioning members, and is used to drive the positioning members at both ends to move so as to adjust the spacing between the plurality of positioning members.

9. The material changing device according to claim 8, characterized in that: The pitch-changing assembly further comprises: A lock buckle, arranged on a side of the positioning member close to the fixing member, and located at an end where two adjacent positioning members are close to each other; The limiting rings are respectively sleeved on the two locking buckles at one end of two adjacent positioning members, and are used to limit the distance between the two adjacent positioning members.

10. The material changing device according to claim 8, characterized in that: The positioning member comprises: A support member, slidably disposed on the slide rail; The inner support portion is arranged on a side of the support member away from the slide rail and is used for inner support to position the workpiece.

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