Workpiece transposition device and workpiece conveying equipment

Abstract

The utility model discloses a workpiece transposition device and workpiece conveying equipment, a lifting clamp mechanism is provided with at least one pair of oppositely arranged workpiece clamps, a horizontal rotating mechanism comprises at least one pair of oppositely arranged rotating brackets, and the workpiece clamps can place workpieces on the corresponding rotating brackets. And then all the rotating brackets are driven by the rotating driving unit to rotate and reverse together, so that reversing of the workpieces on each rotating bracket is completed, then the workpieces on the rotating brackets are pushed to the lifting supporting plate through the linear pushing mechanism, a manipulator of the manipulator device can pick up the multiple reversed workpieces at a time, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of workpiece feeding, in particular to a workpiece transposition device and a workpiece conveying equipment. Background Art

[0002] In the field of machining, a repositioning tool is often used to change the direction of rectangular workpieces for subsequent loading. The repositioning tool generally uses a fixture to clamp the workpiece delivered by the conveying equipment, and then places the workpiece on a turntable. The turntable rotates 90° to complete the workpiece reposition. At this time, the length direction of the workpiece is facing the loading direction, and then the robot is used to pick up the workpiece and place it in the loading position for subsequent loading.

[0003] The prior art repositioning tooling uses two sets of fixtures to provide workpieces to the turntable, with one set of fixtures arranged on each side of the turntable. However, every 90° rotation of the turntable can only cause one workpiece on the turntable to change direction. The robot can only pick up one workpiece with a suitable direction to the loading position at a time, resulting in low work efficiency. Utility Model Content

[0004] The purpose of the utility model is to overcome the shortcomings of the prior art and provide a workpiece replacement device and a workpiece conveying equipment. The lifting fixture mechanism is equipped with at least one pair of relatively arranged workpiece fixtures, and the horizontal rotation mechanism includes at least one pair of relatively arranged rotating brackets. The workpiece fixture can place the workpiece on the corresponding rotating bracket, and then the rotating drive unit drives all the rotating brackets to rotate and reverse together, so that the workpiece on each rotating bracket completes the reversal, and then the linear pushing mechanism pushes the workpiece on the rotating bracket to the lifting tray. The manipulator of the manipulator device can pick up multiple reversed workpieces at a time, thereby improving work efficiency.

[0005] The technical solution of the utility model provides a workpiece transposition device, including a lifting fixture mechanism, a horizontal rotation mechanism, a lifting support plate mechanism and a linear push mechanism;

[0006] The lifting fixture mechanism comprises at least one pair of workpiece fixtures arranged opposite to each other and a fixture driving unit for driving the workpiece fixtures to lift and lower;

[0007] The horizontal rotation mechanism comprises at least one pair of rotation brackets arranged opposite to each other and used to carry the workpiece transferred from the workpiece fixture and a rotation driving unit used to drive each of the rotation brackets to rotate in a horizontal direction;

[0008] A rotating bracket is correspondingly arranged below each of the workpiece fixtures;

[0009] The lifting and lowering plate mechanism comprises a lifting and lowering plate for carrying the workpiece transferred from the rotating bracket and a lifting and lowering plate driving unit for driving the lifting and lowering plate, and the lifting and lowering plate is provided with an avoidance opening and / or avoidance groove at a position corresponding to each rotating bracket;

[0010] The linear material pushing mechanism comprises a material pushing piece horizontally arranged above the lifting support plate and a material pushing piece driving unit for driving the material pushing piece to move forward and backward.

[0011] In one of the optional technical solutions, the lifting fixture mechanism includes a plurality of pairs of workpiece fixtures, and each pair of workpiece fixtures is arranged on the left and right sides of the horizontal rotating mechanism;

[0012] The horizontal rotating mechanism correspondingly includes a plurality of pairs of rotating brackets, each of which is located below one of the workpiece fixtures, and two adjacent rotating brackets are arranged in a staggered manner.

[0013] In one of the optional technical solutions, the lifting fixture mechanism includes a rotation drive unit for driving the workpiece fixture to rotate in a vertical direction, the rotation drive unit is connected to the fixture drive unit, and the workpiece fixture is connected to a rotating shaft of the rotation drive unit.

[0014] In one of the optional technical solutions, the horizontal rotation mechanism includes a gear box, the rotation drive unit is installed in the gear box, the rotation bracket is installed above the gear box through a pivot shaft, and the lifting bracket is located above the gear box;

[0015] When the lifting support plate is in a descending state, the lifting support plate falls on the gear box.

[0016] In one of the optional technical solutions, the rotation drive unit includes a rack slidably mounted in the gear box, a drive cylinder mounted in the gear box and used to drive the rack to slide, and a transmission gear mounted on the pivot shaft;

[0017] The pivot shaft of each rotating bracket is equipped with a transmission gear, and each transmission gear is meshed with the rack.

[0018] The technical solution of the utility model also provides a workpiece conveying device, including a manipulator device and a workpiece transposition device as described in any of the above technical solutions;

[0019] The manipulator device comprises a manipulator and a four-way driving mechanism for driving the manipulator to move forward, backward, up and down. The manipulator is used to pick up a workpiece and move it to a designated position.

[0020] In one of the optional technical solutions, the four-way driving mechanism includes an up-down adjustment driving unit and a front-back adjustment driving unit, the manipulator is connected to the up-down adjustment driving unit, and the up-down adjustment driving unit is connected to the front-back adjustment driving unit.

[0021] In one of the optional technical solutions, the manipulator includes a base plate and a plurality of gripper assemblies connected below the base plate, and the base plate is connected to the four-way driving mechanism;

[0022] The clamping jaw assembly is slidably connected to the base plate, and a lateral adjustment unit for adjusting the position of the clamping jaw assembly is installed on the base plate.

[0023] In one of the optional technical solutions, the workpiece conveying device includes a cleaning pool for cleaning the workpieces;

[0024] The cleaning water pool is located in front of the lifting support plate and on the path for the manipulator to transfer the workpiece.

[0025] In one of the optional technical solutions, the workpiece conveying device includes a positioning pallet assembly and a discharging pallet assembly, the positioning pallet assembly is located in front of the lifting pallet, and the discharging pallet assembly is located in front of the positioning pallet assembly;

[0026] The positioning support plate assembly includes a positioning support plate and a positioning support plate driving unit for driving the positioning support plate to be lifted or lowered, and the positioning support plate is arranged next to the front side of the lifting support plate;

[0027] The discharging support plate assembly comprises a discharging support plate and a discharging support plate driving unit for driving the discharging support plate to rise and fall.

[0028] The above technical solution has the following beneficial effects:

[0029] The workpiece transposition device and workpiece conveying equipment provided by the utility model include a lifting fixture mechanism, a horizontal rotation mechanism, a lifting pallet mechanism and a linear push mechanism. The lifting fixture mechanism is equipped with at least one pair of workpiece fixtures, and each pair of workpiece fixtures is arranged on opposite sides of the horizontal rotation mechanism. The horizontal rotation mechanism includes at least one pair of relatively arranged rotating brackets, and a rotating bracket is arranged under each workpiece fixture. Each workpiece fixture can place the horizontal workpiece on the corresponding rotating bracket, and then the rotating drive unit drives all the rotating brackets to rotate 90° together to achieve reversal, so that the workpiece on each rotating bracket completes the reversal, and then the linear push mechanism pushes the workpiece on the rotating bracket to the lifting pallet, and the manipulator of the manipulator device can pick up multiple reversing workpieces at a time, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The disclosure of the present invention will become easier to understand with reference to the accompanying drawings. It should be understood that these drawings are only for illustrative purposes and are not intended to limit the scope of protection of the present invention. In the drawings:

[0031] Figure 1 A three-dimensional view of a workpiece transposition device provided by an embodiment of the utility model at a certain viewing angle;

[0032] Figure 2 A three-dimensional view of a workpiece transposition device provided by an embodiment of the utility model from another perspective;

[0033] Figure 3 An exploded view of a workpiece transposition device provided in one embodiment of the utility model;

[0034] Figure 4 It is a schematic diagram of the assembly of the horizontal rotating mechanism and the lifting and lowering support plate mechanism;

[0035] Figure 5 A three-dimensional diagram of a lifting tray;

[0036] Figure 6 It is a three-dimensional diagram of the horizontal rotation mechanism;

[0037] Figure 7 is a schematic diagram of the assembly of the rotary drive unit and the rotary bracket from a top view;

[0038] Figure 8 is a schematic diagram of the assembly of the rotary drive unit and the rotary bracket from an upward perspective;

[0039] Fig. 9 A three-dimensional diagram of a workpiece conveying device provided in one embodiment of the utility model;

[0040] Fig.10 A schematic diagram of a cleaning pool mounted on a support;

[0041] Fig.11 It is a schematic diagram of the arrangement of the positioning pallet assembly, the manipulator device and the discharge pallet assembly;

[0042] Fig.12 is a three-dimensional diagram of a manipulator device;

[0043] Fig.13 It is a schematic diagram of the assembly of multiple gripper assemblies. DETAILED DESCRIPTION

[0044] The specific implementation of the utility model is further described below in conjunction with the accompanying drawings. The same parts are represented by the same figure numbers. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the accompanying drawings, and the words "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0045] like Figure 1-6 As shown, a workpiece replacement device provided by an embodiment of the utility model includes a lifting fixture mechanism 2, a horizontal rotation mechanism 3, a lifting support plate mechanism 4 and a linear pushing mechanism 5.

[0046] The lifting fixture mechanism 2 includes at least one pair of workpiece fixtures 21 arranged opposite to each other and a fixture driving unit 22 for driving the workpiece fixtures 21 to lift and lower.

[0047] The horizontal rotating mechanism 3 includes at least one pair of rotating brackets 31 which are arranged opposite to each other and are used to carry the workpiece transferred from the workpiece holder 21 , and a rotating driving unit 32 which is used to drive each rotating bracket 31 to rotate in the horizontal direction.

[0048] A rotating bracket 31 is correspondingly disposed below each workpiece fixture 21 .

[0049] The lifting pallet mechanism 4 includes a lifting pallet 41 for carrying the workpiece transferred from the rotating bracket 31 and a lifting pallet driving unit 42 for driving the lifting pallet 41 to rise and fall. The lifting pallet 41 is provided with an avoidance opening 411 and / or an avoidance groove 412 at the position corresponding to each rotating bracket 31 .

[0050] The linear material pushing mechanism 5 comprises a material pushing member 51 horizontally placed above the lifting support plate 41 and a material pushing member driving unit 52 for driving the material pushing member 51 to move forward and backward.

[0051] The workpiece transposition device provided by the utility model is mainly used for changing the direction of rectangular block-shaped workpieces (for example, profiles, products), generally changing the direction by 90 degrees, so that the length direction of the workpiece faces the feeding and conveying direction.

[0052] The workpiece transposition device provided by the utility model comprises a lifting fixture mechanism 2, a horizontal rotation mechanism 3, a lifting support plate mechanism 4 and a linear material pushing mechanism 5, etc.

[0053] The lifting fixture mechanism 2, the horizontal rotation mechanism 3, the lifting support plate mechanism 4 and the linear material pushing mechanism 5 can be respectively installed on their own bases or connected to each other through a connecting structure.

[0054] The workpiece transposition device may also include a bracket 1, and a lifting fixture mechanism 2, a horizontal rotation mechanism 3, a lifting support mechanism 4 and a linear push mechanism 5 may be selectively installed on the bracket 1. The lifting support mechanism 4 may be installed on the bracket 1, and may also be connected to the horizontal rotation mechanism 3.

[0055] The lifting fixture mechanism 2 is equipped with at least one pair of workpiece fixtures 21 and at least one set of fixture driving units 22. The fixture driving units 22 are used to drive each workpiece fixture 21 to move up and down in the vertical direction, thereby realizing the lifting operation of the workpiece fixture 21. The number of fixture driving units 22 can be set as needed, and one or more sets of fixture driving units 22 can be set. The fixture driving unit 22 can adopt a mechanism such as a cylinder, a motor screw, etc. that can drive the workpiece fixture 21 to move up and down.

[0056] Each pair of workpiece clamps 21 is arranged on opposite sides of the horizontal rotating mechanism 3. The feeding direction of the workpiece transposition device is defined as the front-to-back direction, and each pair of workpiece clamps 21 is arranged on the left and right sides of the horizontal rotating mechanism 3. The workpiece clamps 21 are used to clamp the workpieces transferred from the previous process, and then place the workpieces on the horizontal rotating mechanism 3. At this time, the length direction of the workpiece extends along the left-right direction.

[0057] The horizontal rotating mechanism 3 includes at least one pair of rotating brackets 31 and at least one set of rotating driving units 32. Each pair of rotating brackets 31 is arranged opposite to each other along the left-right direction and is configured correspondingly with a pair of workpiece fixtures 21, that is, a rotating bracket 31 is correspondingly configured below each workpiece fixture 21.

[0058] The rotating bracket 31 can be rotated to adjust the direction. The rotating bracket 31 can be a rotating plate, a rotating frame, etc. The rotating plate and the rotating frame can be a circular structure, a rectangular structure, etc. The rotating axis of the rotating bracket 31 is perpendicular to the horizontal plane, and the rotating bracket 31 can rotate in the horizontal direction. The rotating bracket 31 is used to carry the workpiece transmitted from the workpiece fixture 21. The rotation drive unit 32 is used to drive each rotating bracket 31 to rotate. The number of the rotation drive units 32 can be set as needed, and one or more sets of rotation drive units 32 can be set. The rotation drive unit 32 can use a mechanism that can drive the rotating bracket 31 to rotate, such as a motor, a piston rack and pinion mechanism. The rotation drive unit 32 can drive the rotating bracket 31 to rotate, so as to drive the workpiece on the rotating bracket 31 to swing or rotate to complete a 90° reversal. The rotation drive unit 32 can drive the rotating bracket 31 to rotate in one direction, or it can drive the rotating bracket 31 to swing or rotate back and forth, and the angle of the swing or rotation is 90°.

[0059] The lifting and lowering plate mechanism 4 includes a lifting and lowering plate 41 and a lifting and lowering plate driving unit 42. The rotating bracket 31 is located around the lifting and lowering plate 41 and / or passes through the lifting and lowering plate 41. The lifting and lowering plate 41 is used to carry the workpiece transmitted from the rotating bracket 31. The lifting and lowering plate driving unit 42 is used to drive the lifting and lowering movement of the lifting and lowering plate 41. The lifting and lowering plate driving unit 42 can adopt a mechanism such as a cylinder, a motor screw, etc. that can drive the lifting and lowering plate 41 to move up and down. The lifting and lowering plate driving unit 42 can be installed on the bracket 1, and can also be connected to the shell, box, etc. of the horizontal rotating mechanism 3.

[0060] The lifting plate 41 is provided with an avoidance opening 411 and / or avoidance groove 412 at the position corresponding to each rotating bracket 31. The rotating bracket 31 around the lifting plate 41 can pass through the avoidance groove 412, and the rotating bracket 31 within the boundary range of the lifting plate 41 can pass through the avoidance opening 411. When the lifting plate 41 is in a descending state, the rotating bracket 31 is above the lifting plate 41, and the rotating bracket 31 is exposed from the lifting plate 41 so as to receive the workpiece lowered by the workpiece fixture 21. After the rotary drive unit 32 drives the rotating bracket 31 to rotate 90°, the length direction of the workpiece is facing the feeding direction at this time, and the lifting plate drive unit 42 drives the lifting plate 41 to rise, and the top surface of the rotating bracket 31 is roughly flush with the top surface of the lifting plate 41, so as to push the workpiece on the rotating bracket 31 onto the lifting plate 41. The lifting stroke of the lifting support plate 41 may be set so that the top surface of the lifting support plate 41 in the raised state is substantially flush with the top surface of the rotating bracket 31 .

[0061] The linear pushing mechanism 5 includes a pushing piece 51 and a pushing piece driving unit 52. The pushing piece 51 can be a pushing plate or a pushing rod. The pushing piece 51 is placed horizontally above the lifting plate 41, and the pushing piece 51 extends in the left and right direction, and is used to push the workpiece on the lifting plate 41 forward to the desired position so that the robot can pick up the workpiece. The pushing piece driving unit 52 is used to drive the pushing piece 51 to move forward and backward. The pushing piece driving unit 52 can be connected to the bracket 1, and can also be connected to the shell, box body, etc. of the horizontal rotating mechanism 3. The pushing piece 51 is connected to the output end of the pushing piece driving unit 52. The pushing piece driving unit 52 can adopt a mechanism such as a cylinder, a motor screw, etc. that can drive the pushing piece 51 to move forward and backward.

[0062] The operation mode of the workpiece transposition device provided by the utility model is as follows:

[0063] The fixture, manipulator, conveying mechanism, etc. of the previous process convey the workpiece to the position where the workpiece fixtures 21 on both sides can clamp the workpiece. At this time, the length direction of the workpiece is along the left and right direction. The fixture driving unit 22 drives each pair of workpiece fixtures 21 to rise to clamp the workpiece, and then drives the workpiece fixtures 21 to descend and place the horizontal workpiece on the rotating bracket 31.

[0064] The rotary drive unit 32 drives each pair of rotary brackets 31 to rotate 90°, and at this time the length direction of the workpiece faces the feeding direction.

[0065] The lifting support plate driving unit 42 drives the lifting support plate 41 to rise until the top surface of the rotating bracket 31 is substantially flush with the top surface of the lifting support plate 41 .

[0066] The pusher driving unit 52 drives the pusher 51 to move from the back to the front, so as to push the longitudinal workpiece on the rotating bracket 31 forward onto the lifting support plate 41. The pusher driving unit 52 continues to drive the pusher 51 to move from the back to the front, so as to push the longitudinal workpiece on the lifting support plate 41 forward to a desired position, so that the manipulator, the fixture, etc. can pick up the longitudinal workpiece. Fig. 9 The robot 61 of the robot device 6 shown can pick up at least two switched workpieces at a time, thereby improving work efficiency.

[0067] In summary, the workpiece repositioning device provided by the utility model has a lifting fixture mechanism 2 configured with at least one pair of workpiece fixtures 21, and each pair of workpiece fixtures 21 is arranged on opposite sides of the horizontal rotating mechanism 3. The horizontal rotating mechanism 3 includes at least one pair of relatively arranged rotating brackets 31, and a rotating bracket 31 is arranged below each workpiece fixture 21. Each workpiece fixture 21 can place the horizontal workpiece on the corresponding rotating bracket 31, and then the rotating drive unit 32 drives all the rotating brackets 31 to rotate 90° together to achieve reversal, so that the workpiece on each rotating bracket 31 completes the reversal, and then the linear pushing mechanism 5 pushes the workpiece on the rotating bracket 31 onto the lifting pallet 41, and the manipulator 61 of the manipulator device 6 can pick up at least two reversed workpieces at a time, thereby improving work efficiency.

[0068] In one embodiment, if Figure 4-5 As shown, a plurality of feed troughs 411 extending forward and backward are provided at intervals on the lifting support plate 41, and each rotating bracket 31 is configured correspondingly with a feed trough 411. The feed trough 411 is used to position and guide the longitudinal workpiece to prevent the workpiece from moving left and right when the workpiece is pushed.

[0069] In one embodiment, if Figure 3 and Figure 6-7 As shown, the rotating bracket 31 includes a material guide groove 311. When the rotating driving unit 32 is in the first state, the material guide groove 311 faces the workpiece fixture 21 on the corresponding side. When the rotating driving unit 32 is in the second state, the material guide groove 311 faces the front end of the lifting support plate 41.

[0070] In this embodiment, a material guide groove 311 is provided on the top surface of the rotating bracket 31 for placing the workpiece to prevent the workpiece from shaking when the rotating bracket 31 rotates.

[0071] When the workpiece fixture 21 places the workpiece on the rotating bracket 31, the rotating driving unit 32 drives the rotating bracket 31 to rotate so that the guide groove 311 extends left and right, and the guide groove 311 faces the workpiece fixture 21 on the corresponding side to receive the horizontal workpiece. After the rotating driving unit 32 drives the rotating bracket 31 to rotate 90 degrees, the guide groove 311 extends forward and backward, and is aligned with the feeding groove 411, so that the pusher 51 pushes the workpiece into the feeding groove 411.

[0072] In one embodiment, if Figure 1-3 As shown, the lifting fixture mechanism 2 includes a plurality of pairs of workpiece fixtures 21 , and each pair of workpiece fixtures 21 is arranged on the left and right sides of the horizontal rotating mechanism 3 .

[0073] The horizontal rotating mechanism 3 accordingly includes a plurality of pairs of rotating brackets 31 , each rotating bracket 31 is located below a workpiece fixture 21 , and two rotating brackets 31 adjacent to each other are arranged alternately.

[0074] In this embodiment, the lifting fixture mechanism 2 includes a plurality of pairs of workpiece fixtures 21 arranged at intervals in front and back, and each pair of workpiece fixtures 21 is arranged on the left and right sides of the horizontal rotating mechanism 3. Correspondingly, the horizontal rotating mechanism 3 includes a plurality of pairs of rotating brackets 31, each rotating bracket 31 is located below a workpiece fixture 21, and two rotating brackets 31 adjacent to each other are arranged alternately. After the pusher 51 pushes the workpiece on the rotating bracket 31 forward onto the lifting support plate 41, the left and right arrangements of the two workpieces adjacent to each other on the lifting support plate 41 will not affect each other, and both can be pushed forward to the desired position by the pusher 51.

[0075] Of course, a feeding trough 411 extending forward and backward is configured on the lifting support plate 41 corresponding to each rotating bracket 31. The workpiece pushed down from each rotating bracket 31 enters a feeding trough 411 of each.

[0076] In this embodiment, more workpieces can be commutated each time, and workpieces arranged in a matrix can be commutated.

[0077] In one embodiment, if Figure 1-3 As shown, a plurality of workpiece fixtures 21 on each side of the horizontal rotating mechanism 3 are connected to a set of fixture driving units 22 via a connecting plate 24 .

[0078] In this embodiment, two sets of fixture driving units 22 are used to drive all the workpiece fixtures 21 on the left and right sides to move upward and downward in an integrated manner. The workpiece fixtures 21 on each side are connected together through a connecting plate 24, and the connecting plate 24 is connected to the output end of the fixture driving unit 22.

[0079] In one embodiment, if Figure 1-3As shown, the lifting fixture mechanism 2 includes a rotation driving unit 23 for driving the workpiece fixture 21 to rotate in a vertical direction. The rotation driving unit 23 is connected to the fixture driving unit 22 , and the workpiece fixture 21 is connected to the rotating shaft of the rotation driving unit 23 .

[0080] In this embodiment, the lifting fixture mechanism 2 is further configured with a rotation drive unit 23, such as a motor, a motor, a rotary cylinder, etc. The rotation drive unit 23 is connected to the fixture drive unit 22, and the workpiece fixture 21 is connected to the rotating shaft of the rotation drive unit 23. The fixture drive unit 22 can drive the rotation drive unit 23 and the workpiece fixture 21 to rise and fall together, and the rotation drive unit 23 can drive the workpiece fixture 21 to rotate a preset angle in the vertical direction, such as 90°, to change the surface of the workpiece so that its different surface serves as the bottom surface.

[0081] In one embodiment, if Figure 1-4 As shown, the horizontal rotation mechanism 3 includes a gear box 33 , the rotation driving unit 32 is installed in the gear box 33 , the rotation bracket 31 is installed above the gear box 33 through the pivot shaft 312 , and the lifting support plate 41 is located above the gear box 33 .

[0082] When the lifting pallet 41 is in the descending state, the lifting pallet 41 falls on the gear box 33 .

[0083] In this embodiment, the horizontal rotation mechanism 3 includes a gear box 33, which can be optionally installed on the bracket 1 and is located below the workpiece fixture 21. The rotating bracket 31 is installed above the gear box 33 through the pivot shaft 312, and the rotating bracket 31 extends out of the gear box 33. The rotation drive unit 32 is installed in the gear box 33, and the rotation drive unit 32 is connected to the pivot shaft 312 to drive the rotating bracket 31 to rotate. The lifting pallet 41 can be movably configured above the gear box 33. When the lifting pallet 41 is in a descending state, the lifting pallet 41 falls on the gear box 33, and the gear box 33 acts as a lower limit for the lifting pallet 41. When the lifting pallet 41 is in a raised state, the lifting pallet 41 leaves the gear box 33 upward.

[0084] In one embodiment, if Figure 6-8 As shown, the rotation driving unit 32 includes a rack 321 slidably installed in the gear box 33 , a driving cylinder 322 installed in the gear box 33 and used to drive the rack 321 to slide, and a transmission gear 323 installed on the pivot shaft 312 .

[0085] A transmission gear 323 is mounted on the pivot shaft 312 of each rotating bracket 31 , and each transmission gear 323 is meshed with the rack 321 .

[0086] In this embodiment, the rotation driving unit 32 is a combination of a driving cylinder 322 , a rack 321 and a transmission gear 323 .

[0087] The rack 321 is slidably mounted in the gear box 33. The rack 321 can slide linearly in the gear box 33. As required, the rack 321 can slide left and right or forward and backward in the gear box 33. The drive cylinder 322 is fixedly mounted in the gear box 33, and its piston rod is connected to the rack 321 to drive the rack 321 to move linearly. The drive cylinder 322 can be an air cylinder or an oil cylinder. A transmission gear 323 is mounted on each pivot shaft 312, and the transmission gear 323 is meshed with the rack 321.

[0088] The drive cylinder 322 drives the rack 321 to slide back and forth, and can drive the pivot shaft 312 to rotate back and forth through the transmission gear 323, thereby driving the rotating bracket 31 to rotate back and forth or swing back and forth. The reciprocating sliding stroke of the rack 321 can be calculated by the transmission ratio, so that the rotating bracket 31 swings or rotates 90° each time.

[0089] In one embodiment, if Figure 6-8 As shown, the horizontal rotating mechanism 3 includes two pairs of rotating brackets 31 arranged at intervals in front and back, and each pair of rotating brackets 31 is arranged at intervals in the left-right direction.

[0090] The rotation driving unit 32 includes two racks 321 spaced apart from each other in the front and rear directions. The racks 321 extend in the left-right direction. The two racks 321 are connected by a slide plate 324 . The driving cylinder 322 is connected to the slide plate 324 .

[0091] The two pairs of transmission gears 323 corresponding to the two pairs of rotating brackets 31 are respectively meshed with the two racks 321 .

[0092] In this embodiment, when two pairs of rotating brackets 31 are arranged at intervals along the front-to-back direction, two racks 321 extending transversely and arranged at intervals in the front-to-back direction are used. The front rack 321 meshes with the transmission gear 323 on the pivot shaft 312 of the front pair of rotating brackets 31, and the rear rack 321 meshes with the transmission gear 323 on the pivot shaft 312 of the rear pair of rotating brackets 31.

[0093] The two racks 321 are connected by a slide plate 324, which can slide in the left and right directions in the gear box 33, and the drive cylinder 322 is connected to the slide plate 324. When the drive cylinder 322 is extended or retracted, the slide plate 324 slides in the left and right directions, and at the same time drives the two racks 321 to slide, thereby driving the front and rear pairs of rotating brackets 31 to rotate or swing.

[0094] In one embodiment, if Figure 8 As shown, the slide plate 324 is connected to the gear box 33 via a linear guide rail 325 , which helps guide the slide plate 324 to slide in the gear box 33 .

[0095] In one embodiment, if Figure 6-8 As shown, the upper end of the pivot shaft 312 is offset at one end of the rotating bracket 31 .

[0096] In this embodiment, the rotating bracket 31 is a rectangular bracket, and the upper end of the pivot shaft 312 is connected to one end of the rotating bracket 31 or one end close to the rotating bracket 31. When the workpiece fixture 21 needs to place a workpiece, the end of the rotating bracket 31 away from the pivot shaft extends toward the workpiece fixture 21, and the part of the rotating bracket 31 below the workpiece fixture 21 is longer to receive the workpiece. After the rotating bracket 31 rotates 90°, the end of the rotating bracket 31 away from the pivot shaft faces forward, so that the workpiece is moved on the rotating bracket 31, that is, toward the front side, which helps to reduce the forward push distance of the workpiece on the lifting plate 41 and reduce the friction with the lifting plate 41.

[0097] like Fig. 9 As shown, a workpiece conveying device provided by an embodiment of the utility model includes a robot device 6 and a workpiece transposition device as described in any of the aforementioned embodiments.

[0098] The manipulator device 6 includes a manipulator 61 and a four-way driving mechanism 62 for driving the manipulator 61 to move forward, backward, upward and downward. The manipulator 61 is used to pick up a workpiece and move it to a designated position.

[0099] The workpiece conveying device provided by the utility model is used for workpiece loading, and comprises a manipulator device 6 and the aforementioned workpiece transposition device.

[0100] For the structure, construction and working principle of the workpiece replacement device, please refer to the previous description of the workpiece replacement device, which will not be repeated here.

[0101] The manipulator device 6 is located at the front side of the workpiece transposition device. The manipulator device 6 is installed separately through a fixed structure, and can also be installed on the bracket 1.

[0102] The robot device 6 includes a robot 61 and a four-way drive mechanism 62. The four-way drive mechanism 62 is used to drive the robot 61 to move along the front-to-back direction and the up-and-down direction, so that the robot 61 can pick up the reversed workpiece from the lifting pallet 41, and then move the workpiece to a designated position for subsequent loading.

[0103] Since the workpiece transposition device can reverse the orientation of at least two workpieces at a time, the robot arm 61 can pick up at least two reversed workpieces at a time, thereby improving work efficiency.

[0104] The four-way driving mechanism 62 may adopt a pneumatic cylinder combination, an oil cylinder combination and / or a motor screw combination arranged horizontally and vertically.

[0105] In one embodiment, if Fig. 9 and Figure 11-12As shown, the four-way driving mechanism 62 includes an up-down adjustment driving unit 621 and a front-back adjustment driving unit 622 , the manipulator 61 is connected to the up-down adjustment driving unit 621 , and the up-down adjustment driving unit 621 is connected to the front-back adjustment driving unit 622 .

[0106] In this embodiment, the four-way driving mechanism 62 includes an up-and-down adjustment driving unit 621 and a front-and-rear adjustment driving unit 622. The up-and-down adjustment driving unit 621 and the front-and-rear adjustment driving unit 622 can respectively select linear driving mechanisms such as air cylinders, oil cylinders and / or motor screws.

[0107] The front-to-back adjustment drive unit 622 is fixedly mounted on the front side of the lifting support plate 41, preferably on the left or right side of the lifting support plate 41. The up-down adjustment drive unit 621 is connected to the output end of the front-to-back adjustment drive unit 622 through the connecting frame 623. The manipulator 61 is connected to the output end of the up-down adjustment drive unit 621. The up-down adjustment drive unit 621 can drive the manipulator 61 to move up and down for adjustment, and the front-to-back adjustment drive unit 622 can drive the up-down adjustment drive unit 621 and the manipulator 61 to move forward and backward for adjustment as a whole.

[0108] In one embodiment, if Fig.12 As shown, a vertical guide rail 616 is connected between one end of the manipulator 61 and the connecting frame 623 to improve the stability of the manipulator 61 when moving up and down.

[0109] In one embodiment, if Fig. 9 and Figure 11-13 As shown, the robot 61 includes a base plate 611 and a plurality of gripper assemblies 612 connected below the base plate 611 , and the base plate 611 is connected to a four-way driving mechanism 62 .

[0110] The clamping jaw assembly 612 is slidably connected to the base plate 611 , and a lateral adjustment unit 613 for adjusting the position of the clamping jaw assembly 612 is installed on the base plate 611 .

[0111] In this embodiment, the manipulator 61 includes a base plate 611 and a plurality of gripper assemblies 612, and the plurality of gripper assemblies 612 are slidably connected to the bottom of the base plate 611. The gripper assemblies 612 are used to pick up vertical workpieces. The base plate 611 is connected to the four-way driving mechanism 62, specifically, the base plate 611 is connected to the output end of the up and down adjustment driving unit 621, and a vertical guide rail 616 is connected between one end of the base plate 611 and the connecting frame 623.

[0112] A lateral adjustment unit 613 is installed on the base plate 611 for adjusting the specific position of each clamping jaw assembly 612 on the base plate 611 so that the spacing between the clamping jaw assemblies 612 can meet the requirements.

[0113] The lateral adjustment unit 613 can be a linear drive mechanism such as an air cylinder, an oil cylinder, and / or a motor screw. The number of lateral adjustment units 613 can be set as needed. The lateral adjustment unit 613 can be fixedly connected to the base plate 611, or can be connected between two clamping jaw assemblies 612. As needed, each clamping jaw assembly 612 is connected to a set of lateral adjustment units 613, or each two adjacent clamping jaw assemblies 612 share a set of lateral adjustment units 613.

[0114] A connecting plate 614 may be provided on the clamping jaw assembly 612 that needs to be adjusted, and the output end of the lateral adjustment unit 613 is connected to the connecting plate 614 .

[0115] A transverse guide rod 615 may be provided between every two adjacent clamping jaw assemblies 612 to enhance the stability of the transverse sliding of the clamping jaw assemblies 612 .

[0116] like Fig.13 As shown, the clamping jaw assembly 612 includes a pair of clamping jaws 6121 arranged front and back and a clamping jaw cylinder 6122 for driving the pair of clamping jaws 6121 to clamp and release. The top of the clamping jaw cylinder 6122 is slidably connected to the base plate 611. As needed, a transverse guide rail can be set on the bottom surface of the base plate 611, and the top of the clamping jaw cylinder 6122 is connected to the transverse guide rail. The aforementioned transverse adjustment unit 613 is directly or indirectly connected to the clamping jaw cylinder 6122 to drive the clamping jaw assembly 612 to move left and right for adjustment. The aforementioned guide rod 615 is slidably connected to the clamping jaw cylinder 6122.

[0117] When the clamping jaw assembly 612 picks up a vertical workpiece, a pair of clamping jaws 6121 clamps the front and rear ends of the vertical workpiece.

[0118] As required, the stroke of the lateral adjustment unit 613 can be set so that the clamping jaw assemblies 612 can be arranged at equal intervals in the end. Therefore, the vertical workpieces placed down by the clamping jaw assemblies 612 are also arranged at equal intervals for use in subsequent processes.

[0119] In one embodiment, if Figure 9-10 As shown, the workpiece conveying device comprises a cleaning pool 7 for cleaning the workpieces.

[0120] The cleaning pool 7 is located in front of the lifting support plate 41 and on the path for the robot 61 to transfer the workpiece.

[0121] In this embodiment, the workpiece conveying device is equipped with a cleaning pool 7 for cleaning the workpiece. The cleaning pool 7 is located in front of the lifting plate 41. The cleaning pool 7 can be installed on the supporting structure alone or on the bracket 1. The cleaning pool 7 is on the path of the manipulator 61 for transferring the workpiece. After the manipulator 61 clamps the vertical workpiece, when it reaches the top of the cleaning pool 7, it can be driven by the up and down adjustment drive unit 621 to descend into the cleaning pool 7 for cleaning. As needed, the up and down adjustment drive unit 621 can drive the manipulator 61 to make multiple up and down fine-tuning movements in the cleaning pool 7 to better flush the surface of the workpiece.

[0122] In one embodiment, if Fig. 9 and Fig.11 As shown, the workpiece conveying device includes a positioning pallet assembly 8 and a discharging pallet assembly 9 . The positioning pallet assembly 8 is located in front of the lifting pallet 41 , and the discharging pallet assembly 9 is located in front of the positioning pallet assembly 8 .

[0123] The positioning pallet assembly 8 includes a positioning pallet 81 and a positioning pallet driving unit 82 for driving the positioning pallet 81 to move up and down. The positioning pallet 81 is arranged next to the front side of the lifting pallet 41 .

[0124] The discharging support plate assembly 9 includes a discharging support plate 91 and a discharging support plate driving unit 92 for driving the discharging support plate 91 to move up and down.

[0125] In this embodiment, the piece conveying device is equipped with a positioning pallet assembly 8 and a discharge pallet assembly 9.

[0126] The positioning pallet assembly 8 is arranged on the front side of the lifting pallet 41 to position the vertical workpiece pushed out by the pusher 51. The positioning pallet assembly 8 is at the rear side of the cleaning pool 7. The positioning pallet assembly 8 includes a positioning pallet 81 and a positioning pallet drive unit 82. The positioning pallet 81 is arranged next to the front side of the lifting pallet 41. The positioning pallet drive unit 82 is used to drive the lifting operation of the positioning pallet 81 to adjust the height of the positioning pallet 81 to meet the needs of different working conditions. The positioning pallet drive unit 82 can adopt a linear drive mechanism such as a piston and a motor screw. When the positioning pallet 81 and the lifting pallet 41 are both in a raised state, the top surface of the positioning pallet 81 is flush with the top surface of the lifting pallet 41. The pusher 51 pushes the vertical workpiece onto the positioning pallet 81 and then resets, and the manipulator 61 picks up the vertical workpiece from the positioning pallet 81.

[0127] The discharging pallet assembly 9 is located in front of the positioning pallet assembly 8. Specifically, the discharging pallet assembly 9 is located in front of the cleaning pool 7. The discharging pallet assembly 9 includes a discharging pallet 91 and a discharging pallet driving unit 92. The discharging pallet driving unit 92 is used to drive the discharging pallet 91 to lift and lower so as to adjust the height of the discharging pallet 91 to meet the needs of different working conditions. The discharging pallet driving unit 92 can adopt a linear driving mechanism such as a piston and a motor screw. The discharging pallet 91 is used to carry vertical workpieces for subsequent processes, or in other words, the discharging pallet 91 is the discharging end of the workpiece conveying equipment, and the manipulator 61 finally places all the vertical workpieces on the discharging pallet 91.

[0128] In one of the embodiments, in order to prevent the workpiece from sticking to the discharge pallet 91, after the vertical workpiece is placed on the discharge pallet 91, the robot 61 is not released, and the vertical workpiece is released after the lifting and lowering actions are repeated several times.

[0129] In one embodiment, if Fig.11 As shown, the positioning support plate 81 is provided with a support plate positioning groove 811 corresponding to the material conveying trough 411 so as to receive the vertical workpiece pushed from the material conveying trough 411 .

[0130] In one embodiment, if Fig.11 As shown, a plurality of discharge positioning grooves 911 are provided at intervals on the top surface of the discharge tray 91 , and the manipulator 61 finally places each vertical workpiece into a discharge positioning groove 911 , thereby preventing the vertical workpiece from moving horizontally on the discharge tray 91 .

[0131] As required, a plurality of discharge positioning grooves 911 may be arranged at equal intervals.

[0132] In the present invention, the workpieces placed left and right are referred to as horizontal workpieces, and the workpieces placed front and back are referred to as vertical workpieces.

[0133] In the present utility model, in order to achieve precise positioning, sensors, limit switches, etc. can be configured at corresponding positions, which are not the inventive points of this case and will not be described in detail here.

[0134] In the utility model, each driving unit, driving mechanism, etc. can be connected to the control system signal of the equipment to realize automatic control.

[0135] As needed, the above technical solutions can be combined to achieve the best technical effect.

[0136] The above are only the principles and preferred embodiments of the present invention. It should be noted that, for those skilled in the art, on the basis of the principles of the present invention, several other modifications can be made, which should also be considered as the protection scope of the present invention.

Claims

1. A workpiece transposition device, characterized in that: It includes a lifting fixture mechanism, a horizontal rotation mechanism, a lifting support plate mechanism and a linear push mechanism; The lifting fixture mechanism comprises at least one pair of workpiece fixtures arranged opposite to each other and a fixture driving unit for driving the workpiece fixtures to lift and lower; The horizontal rotation mechanism comprises at least one pair of rotation brackets arranged opposite to each other and used to carry the workpiece transferred from the workpiece fixture and a rotation driving unit used to drive each of the rotation brackets to rotate in a horizontal direction; A rotating bracket is correspondingly arranged below each of the workpiece fixtures; The lifting and lowering plate mechanism comprises a lifting and lowering plate for carrying the workpiece transferred from the rotating bracket and a lifting and lowering plate driving unit for driving the lifting and lowering plate, and the lifting and lowering plate is provided with an avoidance opening and / or avoidance groove at a position corresponding to each rotating bracket; The linear material pushing mechanism comprises a material pushing piece horizontally arranged above the lifting support plate and a material pushing piece driving unit for driving the material pushing piece to move forward and backward.

2. The workpiece transposition device according to claim 1, characterized in that: The lifting fixture mechanism comprises a plurality of pairs of workpiece fixtures, each pair of workpiece fixtures being arranged on the left and right sides of the horizontal rotating mechanism; The horizontal rotating mechanism correspondingly includes a plurality of pairs of rotating brackets, each of which is located below one of the workpiece fixtures, and two adjacent rotating brackets are arranged in a staggered manner.

3. The workpiece transposition device according to claim 1, characterized in that: The lifting fixture mechanism comprises a rotation driving unit for driving the workpiece fixture to rotate in a vertical direction, the rotation driving unit is connected to the fixture driving unit, and the workpiece fixture is connected to a rotating shaft of the rotation driving unit.

4. The workpiece transposition device according to claim 1, characterized in that: The horizontal rotation mechanism comprises a gear box, the rotation drive unit is installed in the gear box, the rotation bracket is installed above the gear box through a pivot shaft, and the lifting support plate is located above the gear box; When the lifting support plate is in a descending state, the lifting support plate falls on the gear box.

5. The workpiece transposition device according to claim 4, characterized in that: The rotation driving unit comprises a rack slidably mounted in the gear box, a driving cylinder mounted in the gear box and used to drive the rack to slide, and a transmission gear mounted on the pivot shaft; The pivot shaft of each rotating bracket is equipped with a transmission gear, and each transmission gear is meshed with the rack.

6. A workpiece conveying device, characterized in that: It comprises a manipulator device and a workpiece transposition device as claimed in any one of claims 1 to 5; The manipulator device comprises a manipulator and a four-way driving mechanism for driving the manipulator to move forward, backward, up and down. The manipulator is used to pick up a workpiece and move it to a designated position.

7. The workpiece conveying device according to claim 6, characterized in that: The four-way driving mechanism comprises an up-and-down adjusting driving unit and a front-and-back adjusting driving unit, the manipulator is connected to the up-and-down adjusting driving unit, and the up-and-down adjusting driving unit is connected to the front-and-back adjusting driving unit.

8. The workpiece conveying device according to claim 7, characterized in that: The manipulator comprises a base plate and a plurality of gripper assemblies connected below the base plate, wherein the base plate is connected to the four-way driving mechanism; The clamping jaw assembly is slidably connected to the base plate, and a lateral adjustment unit for adjusting the position of the clamping jaw assembly is installed on the base plate.

9. The workpiece conveying device according to claim 6, characterized in that: The workpiece conveying device includes a cleaning pool for cleaning the workpieces; The cleaning water pool is located in front of the lifting support plate and on the path for the manipulator to transfer the workpiece.

10. The workpiece conveying device according to claim 6, characterized in that: The workpiece conveying device comprises a positioning pallet assembly and a discharging pallet assembly, wherein the positioning pallet assembly is located in front of the lifting pallet, and the discharging pallet assembly is located in front of the positioning pallet assembly; The positioning support plate assembly includes a positioning support plate and a positioning support plate driving unit for driving the positioning support plate to be lifted or lowered, and the positioning support plate is arranged next to the front side of the lifting support plate; The discharging support plate assembly comprises a discharging support plate and a discharging support plate driving unit for driving the discharging support plate to rise and fall.

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