Improved automatic clamping equipment

Abstract

The utility model discloses improved automatic clamping equipment, which is characterized in that a rack is provided with two feeding conveyor belts, and each feeding conveyor belt is respectively provided with a workpiece guide frame; the rack is provided with a transposition driving assembly and two workpiece placing frames between the two feeding conveyor belts; two workpiece grabbing and transferring assemblies are arranged at the upper end of the fixing support, the driving end of each workpiece grabbing and transferring assembly is provided with a suction cup installation frame, and the suction cup installation frames are provided with workpiece suction cups. An automatic feeding assembly is arranged on the feeding side of the feeding conveying belt and comprises a material disc conveying belt, a material disc stack feeding mechanism is arranged on the feeding side of the material disc conveying belt, and a material disc grabbing and transferring mechanism is arranged between the material disc stack feeding mechanism and the material disc conveying belt. The rack is provided with a charging tray storage basket on the discharging side of the charging tray conveying belt, the rack is provided with a multi-axis mechanical arm on the rear end side of the charging tray conveying belt, and the driving end of the multi-axis mechanical arm is provided with a mechanical arm suction cup. By means of the structural design, the automatic feeding device has the advantages of being novel in structural design, high in automation level and high in working efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to an improved automatic clamping device. Background Art

[0002] The Chinese utility model patent with the patent number: ZL 202220833957.4 and the patent name: A Spraying Automatic Clamping Device discloses the following technical solutions. Specifically: A spraying automatic clamping device includes a conveyor belt feeding mechanism, a workpiece conveying and isolating mechanism, a support box and a frame. The conveyor belt feeding mechanism and the workpiece conveying and isolating mechanism are both set to two groups. The two groups of conveyor belt feeding mechanisms and workpiece conveying and isolating mechanisms are located on both sides of the support box. The frame is fixed to the top of the support box. Linear screw driving modules are arranged on both sides of the surface of the frame. A workpiece transfer assembly for driving the linear screw driving module to move horizontally is arranged between the frame and the linear screw driving module. A plurality of vacuum suction cups of the linear screw driving module are used for adsorbing and grasping workpieces; A workpiece frame conversion assembly is arranged inside the support box. The workpiece frame conversion assembly includes guide rails fixed on two inner side walls of the support box. A lower connecting frame is slidably installed at one end of the surface of the guide rail. A connecting plate is fixed on the outer wall of the lower connecting frame. A second workpiece frame is installed at the top of the connecting plate in a lifting manner. Two synchronous driving wheels are rotatably installed on the inner wall of the support box on one side of the guide rail. A servo motor is installed on the inner wall of one side of the support box. The servo motor drives the synchronous driving wheels to rotate through a pulley assembly. A multi-wedge belt is wound between the two synchronous driving wheels. An upper connecting frame is installed on the upper half section of the multi-wedge belt. A first workpiece frame is installed at the top of the upper connecting frame. The top end of the lower connecting frame is fixedly connected to the lower half section of the multi-wedge belt; A telescopic driving member is installed at the central position of the bottom end of the connecting plate. The top end of the telescopic driving member is fixedly connected to the bottom end of the second workpiece frame. Sliding columns are slidably installed at the corner positions of the top end of the connecting plate. The top ends of the sliding columns are fixedly connected to the bottom end of the second workpiece frame.

[0003] It should be noted that for the above spraying automatic clamping device, it has the following defects. Specifically: Since there is a lack of an automatic loading component on the loading side of each conveyor belt feeding mechanism, that is, the workpiece products cannot be automatically placed on the conveyor belt feeding mechanism, and the loading efficiency of the workpiece products is low. That is, the spraying automatic clamping device still has the defect of low working efficiency. Summary of the Utility Model

[0004] The purpose of the utility model is to provide an improved automatic clamping device aiming at the deficiencies of the prior art. The improved automatic clamping device has a novel structural design, a high automation level and a high working efficiency.

[0005] To achieve the above purpose, the utility model is realized through the following technical solutions.

[0006] An improved automatic clamping device, including a frame, on which two feeding conveyor belts are arranged at intervals left and right, and each feeding conveyor belt is respectively equipped with a workpiece guiding frame located above the conveying surface of the corresponding feeding conveyor belt;

[0007] Between the two feeding conveyor belts on the frame, a transposition driving assembly and two workpiece placement frames are installed, and the transposition driving assembly drives the two workpiece placement frames to move forward and backward for transposition;

[0008] Behind the workpiece placement frame on the frame, a fixed bracket is installed, and at the upper end of the fixed bracket, two workpiece grasping and transferring assemblies are arranged at intervals left and right. At the driving end of each workpiece grasping and transferring assembly, a suction cup mounting frame is installed, and several workpiece suction cups are respectively installed on each suction cup mounting frame;

[0009] An automatic loading assembly is installed on the loading side of the feeding conveyor belt;

[0010] The automatic loading assembly includes a tray conveyor belt installed on the frame and conveying trays along the left-right direction. On the loading side of the tray conveyor belt, a tray stack loading mechanism for lifting the tray loaded with workpiece products to a specified position is installed. A tray grasping and transferring mechanism is installed between the tray stack loading mechanism and the tray conveyor belt; A tray storage basket is installed on the unloading side of the tray conveyor belt on the frame, and a multi-axis manipulator is installed on the rear end side of the tray conveyor belt on the frame. A manipulator suction cup is installed at the driving end of the multi-axis manipulator.

[0011] Among them, the tray stack loading mechanism includes a first lifting driving linear module installed on the frame and performing lifting actions. At the driving end of the first lifting driving linear module, a tray stack bracket is installed;

[0012] A tray stack positioning frame is installed beside the tray stack bracket on the frame.

[0013] Among them, the tray grasping and transferring mechanism includes a transfer driving cylinder installed on the frame and horizontally moving along the left-right direction. At the driving end of the transfer driving cylinder, a transfer movable frame is installed, and several spaced tray grasping air clamps are installed on the transfer movable frame.

[0014] Among them, each of the workpiece grasping and transferring assemblies respectively includes a horizontal movable frame horizontally slidably installed at the upper end of the fixed bracket through a guide rail slider pair. At the upper end of each horizontal movable frame, a horizontal movement driving motor is respectively installed, and at the power output shaft of each horizontal movement driving motor, a horizontal movement driving gear is respectively installed; A horizontal movement driving gear horizontally extending along the left-right direction is installed at the upper end of the fixed bracket, and each horizontal movement driving gear meshes with the horizontal movement driving gear respectively;

[0015] Each horizontal movable frame is equipped with a second lifting drive linear module for lifting movement. The drive ends of each second lifting drive linear module are respectively equipped with a lifting movable frame, and each lifting movable frame is respectively equipped with a suction cup mounting frame.

[0016] Among them, the suction cup mounting frame is screwed and fixed with a number of magnetic attraction plates arranged at intervals from left to right through locking screws;

[0017] The workpiece suction cup is a magnetic suction type suction cup, and a number of workpiece suction cups are respectively magnetically installed on the lower surfaces of each magnetic attraction plate.

[0018] Among them, the workpiece guiding frame includes two auxiliary brackets arranged at intervals before and after and respectively screwed to the machine frame. Each auxiliary bracket is located above the conveying surface of the feeding conveyor belt;

[0019] Each auxiliary bracket is horizontally slidably installed with a transverse sliding rod through a guide rail slider pair, and a screw nut adjustment pair arranged horizontally and transversely is respectively installed between each transverse sliding rod and the corresponding auxiliary bracket. The end parts of the screws of each screw nut adjustment pair are respectively equipped with a synchronous pulley, and a transmission synchronous belt is wound around between the two synchronous pulleys;

[0020] A number of workpiece guiding strips arranged at intervals from left to right are installed between the two auxiliary brackets. The front end and the rear end of each workpiece guiding strip are respectively connected to the transverse sliding rod on the corresponding side.

[0021] Compared with the prior art, the present utility model has the following beneficial effects. Specifically: for the improved automatic clamping device of the present utility model, an automatic feeding component is installed at the feeding side position of the feeding conveyor belt, and the automatic feeding component automatically feeds the workpiece products onto the feeding conveyor belt, that is, the automatic feeding operation of the workpiece products can be realized; compared with the prior art, the improved automatic clamping device of the present utility model has the advantages of novel structural design, high automation level and high working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The following uses the drawings to further illustrate the present utility model, but the embodiments in the drawings do not constitute any limitation to the present utility model.

[0023] Figure 1 It is a schematic structural diagram of the present utility model.

[0024] Figure 2 It is a schematic structural diagram of the automatic feeding component of the present utility model.

[0025] Figure 3 It is a schematic structural diagram of another perspective of the automatic feeding component of the present utility model.

[0026] Figure 4This is a schematic structural diagram of the tray stack loading mechanism of the present utility model.

[0027] Figure 5 This is a schematic structural diagram of the workpiece grasping and transferring assembly of the present utility model.

[0028] Figure 6 This is a schematic structural diagram of the workpiece guiding frame of the present utility model.

[0029] In Figures 1 to 6 it includes:

[0030] 1 - Frame; 2 - Feeding conveyor belt; 3 - Workpiece guiding frame; 31 - Auxiliary support; 32 - Horizontal slide bar; 33 - Lead screw nut adjustment pair; 34 - Synchronous pulley; 35 - Driving synchronous belt; 36 - Workpiece guiding strip; 4 - Transposition driving assembly; 5 - Workpiece placement frame; 6 - Fixed support; 7 - Workpiece grasping and transferring assembly; 71 - Suction cup mounting frame; 72 - Workpiece suction cup; 73 - Horizontal movable frame; 74 - Horizontal movement driving motor; 75 - Horizontal movement driving rack; 76 - Second lifting driving linear module; 77 - Lifting movable frame; 78 - Magnetic plate; 8 - Automatic feeding assembly; 81 - Tray conveyor belt; 82 - Tray stack loading mechanism; 821 - First lifting driving linear module; 822 - Tray stack bracket; 823 - Tray stack positioning frame; 83 - Tray grasping and transferring mechanism; 831 - Transfer driving cylinder; 832 - Transfer movable frame; 833 - Tray grasping gripper; 84 - Tray storage basket; 85 - Multi-axis manipulator; 86 - Manipulator suction cup. Specific embodiments

[0031] The present utility model will be described below in conjunction with specific embodiments.

[0032] Embodiment 1, as Figure 1 shown, an improved automatic clamping device includes a frame 1. The frame 1 is provided with two feeding conveyor belts 2 arranged at intervals left and right, and each feeding conveyor belt 2 is respectively equipped with a workpiece guiding frame 3 located above the conveying surface of the corresponding feeding conveyor belt 2.

[0033] Among them, as Figure 1 shown, between the two feeding conveyor belts 2 of the frame 1, a transposition driving assembly 4 and two workpiece placement frames 5 are installed. The transposition driving assembly 4 drives the two workpiece placement frames 5 to move forward and backward for transposition; the above two workpiece placement frames 5 are successively the first placement frame and the second placement frame.

[0034] Furthermore, as Figure 1 and Figure 5As shown in the figure, a fixed bracket 6 is installed on the rear side of the workpiece placement frame 5 of the rack 1. Two workpiece grasping and transferring assemblies 7 arranged at intervals left and right are installed at the upper end of the fixed bracket 6. Suction cup mounting frames 71 are respectively installed at the driving ends of the workpiece grasping and transferring assemblies 7, and a number of workpiece suction cups 72 are respectively installed on the suction cup mounting frames 71.

[0035] Furthermore, an automatic loading component 8 is installed on the loading side of the feeding conveyor belt 2. Specifically, as Figures 1 to 3 shown, the automatic loading component 8 includes a tray conveyor belt 81 installed on the rack 1 and conveying trays in the left - right direction. A tray stacking and loading mechanism 82 for lifting the tray loaded with workpiece products to a specified position is installed on the loading side of the tray conveyor belt 81. A tray grasping and transferring mechanism 83 is installed between the tray stacking and loading mechanism 82 and the tray conveyor belt 81; a tray storage basket 84 is installed on the rack 1 at the unloading side of the tray conveyor belt 81, and a multi - axis manipulator 85 is installed on the rack 1 at the rear end side of the tray conveyor belt 81. A manipulator suction cup 86 is installed at the driving end of the multi - axis manipulator 85.

[0036] During the process of the automatic loading component 8 in the first embodiment automatically loading the workpiece products onto the feeding conveyor belt 2, multiple trays respectively loaded with workpiece products are stacked on the tray stacking and loading mechanism 82. The tray stacking and loading mechanism 82 sequentially lifts the uppermost tray in the tray stack to a specified position, and this specified position is the tray grasping position of the tray grasping and transferring mechanism 83; when the uppermost tray in the tray stack reaches the specified position, the tray grasping and transferring mechanism 83 operates and the tray grasping and transferring mechanism 83 grasps and transfers the tray loaded with workpiece products onto the tray conveyor belt 81, and the tray placed on the tray conveyor belt 81 is conveyed to the grasping position of the manipulator suction cup 86 along with the tray conveyor belt 81; when the tray reaches the grasping position of the manipulator suction cup 86, the tray conveyor belt 81 stops operating, and then the multi - axis manipulator 85 drives the manipulator suction cup 86 to move and enables the manipulator suction cup 86 to grasp the workpiece products from the tray; after the manipulator suction cup 86 grasps the workpiece products from the tray, the multi - axis manipulator 85 drives the manipulator suction cup 86 to move towards the feeding conveyor belt 2 side, and finally enables the manipulator suction cup 86 to place the grasped workpiece products on the feeding conveyor belt 2, thus realizing the automatic loading operation of the automatic loading component 8. For the tray from which the workpiece products have been taken on the tray conveyor belt 81, it continues to move along with the tray conveyor belt 81 and finally falls into the tray storage basket 84 for centralized storage.

[0037] In the process of the feeding conveyor belt 2 cooperating with the workpiece grasping and transferring assembly 7 on the corresponding side to place the workpiece product, the workpiece product loaded onto the feeding conveyor belt 2 by the automatic feeding assembly 8 is conveyed by the feeding conveyor belt 2 to the grasping position of the workpiece suction cup 72. Then, the workpiece grasping and transferring assembly 7 drives the workpiece suction cup 72 to move and grasp the workpiece product from the feeding conveyor belt 2. Subsequently, the workpiece grasping and transferring assembly 7 transfers the grasped workpiece product to directly above the workpiece placement frame 5 at the rear position and finally places the workpiece product on the workpiece placement frame 5 at the rear position.

[0038] When the improved automatic clamping device in the first embodiment is working, the staff first place the first workpiece product on the workpiece placement frame 5 at the front position; after the first workpiece product is placed on the workpiece placement frame 5 at the front position, the transposition drive assembly 4 operates and drives the two workpiece placement frames 5 to switch positions and shift back and forth. At this time, the workpiece placement frame 5 with the first workpiece product placed on it switches and shifts to the rear position, and the workpiece placement frame 5 originally at the rear position switches and shifts to the front position; after the workpiece placement frame 5 with the first workpiece product placed on it switches and shifts to the rear position, the feeding conveyor belt 2 on the left cooperates with the workpiece grasping and transferring assembly 7 on the left and places the second workpiece product above the first workpiece product on the workpiece placement frame 5 at the rear position; after the second workpiece product is stacked and placed above the first workpiece product, the feeding conveyor belt 2 on the right cooperates with the workpiece grasping and transferring assembly 7 on the right and places the third workpiece product above the second workpiece product. At this time, the improved automatic clamping device in the first embodiment completes the stacking combination of the first workpiece product, the second workpiece product, and the third workpiece product and forms an assembly composed of the first workpiece product, the second workpiece product, and the third workpiece product; after the assembly is stacked, the transposition drive assembly 4 operates and switches and shifts the workpiece placement frame 5 with the assembly placed on it to the front position to facilitate the staff to remove the assembly. After the assembly is removed, the staff place the first workpiece product on the workpiece placement frame 5 at the front position and complete the stacking and assembly of the subsequent assemblies according to the above operation steps.

[0039] It should be emphasized that for the improved automatic clamping device in the first embodiment, an automatic feeding assembly 8 is installed at the feeding side position of the feeding conveyor belt 2, and the automatic feeding assembly 8 automatically feeds the workpiece product onto the feeding conveyor belt 2, that is, it can realize the automatic feeding operation of the workpiece product; compared with the prior art, the improved automatic clamping device in the first embodiment has the advantages of novel structural design, high automation level, and high working efficiency.

[0040] Embodiment 2, as Figure 4 shown, the difference between the second embodiment and the first embodiment is that the tray stack loading mechanism 82 includes a first lifting drive linear module 821 installed on the machine frame 1 and performing lifting movement, and a tray stack bracket 822 is installed at the drive end of the first lifting drive linear module 821;

[0041] The rack 1 is provided with a pallet stack positioning frame 823 beside the pallet stack bracket 822.

[0042] For the pallet stack loading mechanism 82 of the second embodiment, a plurality of pallets respectively loaded with workpiece products are stacked on the pallet stack bracket 822, and the first lifting drive linear module 821 drives the pallet stack bracket 822 to intermittently move upward. Moreover, the height of each lift of the pallet stack bracket 822 is the height of one pallet, so as to ensure that the pallets loaded with workpiece products reach the grasping position of the pallet grasping and transferring mechanism 83 in sequence.

[0043] When all the pallets on the pallet stack bracket 822 are taken away, the first lifting drive linear module 821 drives the pallet stack bracket 822 to move downward to the initial position, so that the staff can place the whole stack of pallets on the pallet stack bracket 822.

[0044] For the pallet stack positioning frame 823 of the second embodiment, during the process of the pallet stack bracket 822 lifting the pallet stack, the pallet stack positioning frame 823 can position the pallet, so as to ensure that the pallet can be accurately lifted to the grasping position of the pallet grasping and transferring mechanism 83.

[0045] Embodiment Three, as Figure 2 and Figure 3 shown, the difference between the third embodiment and the first embodiment is that: the pallet grasping and transferring mechanism 83 includes a transfer drive cylinder 831 installed on the rack 1 and horizontally moving along the left - right direction. The drive end of the transfer drive cylinder 831 is provided with a transfer movable frame 832, and the transfer movable frame 832 is provided with a number of pallet grasping air chucks arranged at intervals.

[0046] During the process of the pallet grasping and transferring mechanism 83 of the third embodiment realizing the pallet grasping and transferring action, the transfer drive cylinder 831 acts first and pushes the transfer movable frame 832 to directly above the pallet stack, and then the pallet grasping air chucks act to grasp the top - most pallet of the pallet stack; after the pallet grasping air claw 833 grasps the pallet, the transfer drive cylinder 831 acts in the reverse direction and makes the pallet be transferred to the pallet conveyor belt 81.

[0047] Embodiment Four, as Figure 5 shown, the difference between the fourth embodiment and the first embodiment is that: each workpiece grasping and transferring component 7 respectively includes a horizontal movable frame 73 horizontally slidably installed at the upper end of the fixed bracket 6 through a guide rail slider pair. The upper parts of the horizontal movable frames 73 are respectively provided with horizontal movement drive motors 74, and the power output shafts of the horizontal movement drive motors 74 are respectively provided with horizontal movement drive gears (not shown in the figure); the upper end of the fixed bracket 6 is provided with a horizontally extending horizontal movement drive gear along the left - right direction, and each horizontal movement drive gear meshes with the horizontal movement drive gear.

[0048] Among them, each horizontal movable frame 73 is equipped with a second lifting drive linear module 76 for lifting movement. The drive ends of each second lifting drive linear module 76 are respectively equipped with a lifting movable frame 77, and each lifting movable frame 77 is respectively equipped with a suction cup mounting frame 71.

[0049] When the workpiece gripping and transferring assembly 7 in the fourth embodiment works, the horizontal movement drive motor 74 drives the horizontal movement drive gear to rotate. Since the horizontal movement drive gear meshes with the horizontal movement drive rack 75 and the horizontal movable frame 73 is horizontally slidably mounted on the upper end of the fixed bracket 6 through a guide rail slider pair, when the horizontal movement drive motor 74 operates, the horizontal movable frame 73 moves horizontally left and right and drives the suction cup mounting frame 71 and the workpiece suction cup 72 to move horizontally synchronously.

[0050] When the workpiece gripping and transferring assembly 7 grabs the workpiece product from the feeding conveyor belt 2, the horizontal movement drive motor 74 first operates and drives the workpiece suction cup 72 to move horizontally above the workpiece product, and then the second lifting drive linear module 76 drives the workpiece suction cup 72 to move downward and makes the workpiece suction cup 72 adsorb and grab the workpiece product; after the workpiece product is adsorbed and grabbed by the workpiece suction cup 72, the second lifting drive linear module 76 drives the workpiece suction cup 72 and the adsorbed and grabbed workpiece product to move upward, and then the horizontal movement drive motor 74 rotates in the reverse direction and makes the grabbed workpiece product move to directly above the workpiece placement frame 5 at the rear side position; after the workpiece product reaches the placement of the workpiece placement frame 5, the second lifting drive linear module 76 drives the workpiece suction cup 72 and the adsorbed and grabbed workpiece product to move downward, and finally makes the workpiece product placed on the workpiece placement frame 5.

[0051] Embodiment Five, as Figure 5 shown, the difference between this Embodiment Five and Embodiment One is that: the suction cup mounting frame 71 is screwed and fixed with a plurality of magnetic attraction plates 78 arranged at intervals from left to right through locking screws. Among them, the workpiece suction cup 72 is a magnetic attraction type suction cup, and a plurality of workpiece suction cups 72 are respectively magnetically adsorbed and installed on the lower surfaces of each magnetic attraction plate 78.

[0052] When the workpiece gripping and transferring assembly 7 in this Embodiment Five works, the staff can adaptively adjust the position of the workpiece suction cup 72 according to the workpiece product, and the adjustment process is fast and convenient.

[0053] Embodiment Six, as Figure 6 shown, the difference between this Embodiment Six and Embodiment One is that: the workpiece guiding frame 3 includes two auxiliary brackets 31 arranged at intervals before and after and respectively screwed to the machine frame 1, and each auxiliary bracket 31 is respectively located above the conveying surface of the feeding conveyor belt 2.

[0054] Among them, each auxiliary support 31 is horizontally slidably installed with a transverse slide bar 32 through a guide rail slider pair, and a screw nut adjusting pair 33 arranged horizontally and transversely is respectively installed between each transverse slide bar 32 and the corresponding auxiliary support 31. The end parts of the screws of each screw nut adjusting pair 33 are respectively installed with a synchronous pulley 34, and a transmission synchronous belt 35 is wound around between the two synchronous pulleys 34.

[0055] A number of workpiece guiding strips 36 arranged at intervals from left to right are installed between the two auxiliary supports 31. The front end and the rear end of each workpiece guiding strip 36 are respectively connected to the transverse slide bar 32 on the corresponding side.

[0056] For the workpiece guiding frame 3 of the sixth embodiment, its function is to guide the movement of the workpiece product and enable the feeding conveyor belt 2 to accurately feed the workpiece product into the grasping position of the workpiece grasping and transferring assembly 7.

[0057] During use, the staff can adaptively adjust the left and right positions of the workpiece guiding strips 36; during adjustment, the staff only needs to rotate the screw of one of the screw nut adjusting pairs 33. Since the screws of the two screw nut adjusting pairs 33 are linked through the linkage structure composed of the synchronous pulleys 34 and the transmission synchronous belt 35, when the screw is rotated, each transverse slide bar 32 moves synchronously and drives the workpiece guiding strip 36 to move synchronously.

[0058] The above content is only the preferred embodiment of the present invention. For those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. The content of this specification should not be construed as a limitation to the present invention.

Claims

1. An improved automatic clamping device, comprising a frame (1), on which two feeding conveyor belts (2) are arranged at intervals left and right, and each feeding conveyor belt (2) is respectively equipped with a workpiece guiding frame (3) located above the conveying surface of the corresponding feeding conveyor belt (2); Between the two feeding conveyor belts (2) on the frame (1), a transposition driving assembly (4) and two workpiece placement frames (5) are installed, and the transposition driving assembly (4) drives the two workpiece placement frames (5) to move back and forth for transposition; On the rear side of the workpiece placement frame (5) on the frame (1), a fixed bracket (6) is installed, and at the upper end of the fixed bracket (6), two workpiece grasping and transferring assemblies (7) are arranged at intervals left and right. The driving ends of the workpiece grasping and transferring assemblies (7) are respectively equipped with sucker mounting frames (71), and each sucker mounting frame (71) is respectively equipped with a number of workpiece suckers (72); It is characterized in that: An automatic feeding assembly (8) is installed on the feeding side of the feeding conveyor belt (2); The automatic feeding assembly (8) includes a tray conveyor belt (81) installed on the frame (1) and conveying trays in the left-right direction. On the feeding side of the tray conveyor belt (81), a tray stack loading mechanism (82) is installed for lifting the tray loaded with workpiece products to a specified position. A tray grasping and transferring mechanism (83) is installed between the tray stack loading mechanism (82) and the tray conveyor belt (81); on the discharging side of the tray conveyor belt (81) on the frame (1), a tray storage basket (84) is installed, and on the rear end side of the tray conveyor belt (81) on the frame (1), a multi-axis manipulator (85) is installed, and a manipulator sucker (86) is installed at the driving end of the multi-axis manipulator (85).

2. An improved automatic clamping device according to claim 1, characterized in that: The tray stack loading mechanism (82) includes a first lifting driving linear module (821) installed on the frame (1) and performing lifting actions, and a tray stack bracket (822) is installed at the driving end of the first lifting driving linear module (821); On the side of the tray stack bracket (822) on the frame (1), a tray stack positioning frame (823) is installed.

3. An improved automatic clamping device according to claim 1, characterized in that: The tray grasping and transferring mechanism (83) includes a transfer driving cylinder (831) installed on the frame (1) and horizontally moving in the left-right direction. A transfer movable frame (832) is installed at the driving end of the transfer driving cylinder (831), and a number of spaced tray grasping air clamps are installed on the transfer movable frame (832).

4. An improved automatic clamping device according to claim 1, characterized in that: Each of the workpiece grasping and transferring assemblies (7) respectively includes a horizontal movable frame (73) horizontally slidably installed at the upper end of the fixed bracket (6) through a guide rail slider pair. Horizontal movement driving motors (74) are respectively installed at the upper ends of the horizontal movable frames (73), and horizontal movement driving gears are respectively installed on the power output shafts of the horizontal movement driving motors (74); horizontal movement driving gears horizontally extending in the left-right direction are installed at the upper end of the fixed bracket (6), and each horizontal movement driving gear meshes with the horizontal movement driving gear respectively; Each horizontal movable frame (73) is equipped with a second lifting drive linear module (76) for lifting movement. The drive ends of each second lifting drive linear module (76) are respectively equipped with a lifting movable frame (77), and each lifting movable frame (77) is respectively equipped with a suction cup mounting frame (71).

5. An improved automatic clamping device according to claim 1, characterized in that: The suction cup mounting frame (71) is screwed and fixed with a number of magnetic attraction plates (78) arranged at intervals from left to right through locking screws; The workpiece suction cup (72) is a magnetic attraction type suction cup, and a number of workpiece suction cups (72) are respectively magnetically attracted and installed on the lower surfaces of each magnetic attraction plate (78).

6. An improved automatic clamping device according to claim 1, characterized in that: The workpiece guiding frame (3) includes two auxiliary brackets (31) arranged at intervals before and after and respectively screwed to the frame (1). Each auxiliary bracket (31) is respectively located above the conveying surface of the feeding conveyor belt (2); Each auxiliary bracket (31) is respectively horizontally slidably installed with a transverse sliding rod (32) through a guide rail slider pair, and a screw rod nut adjustment pair (33) arranged horizontally and transversely is respectively installed between each transverse sliding rod (32) and the corresponding auxiliary bracket (31). The end parts of the screw rods of each screw rod nut adjustment pair (33) are respectively equipped with a synchronous pulley (34), and a transmission synchronous belt (35) is wound between the two synchronous pulleys (34); A number of workpiece guiding strips (36) arranged at intervals from left to right are installed between the two auxiliary brackets (31), and the front end parts and the rear end parts of each workpiece guiding strip (36) are respectively connected to the transverse sliding rods (32) on the corresponding side.

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