Precise clamping equipment for annular workpieces

Abstract

The utility model discloses an annular workpiece precise clamping device which comprises a charging tray, a mobile robot, a temporary storage mechanism and a mobile mechanism, the charging tray is provided with material grooves which are arranged vertically and horizontally, and the material grooves are used for placing annular workpieces; the feeding conveying device is used for conveying unmachined annular workpieces, the discharging conveying device is used for conveying machined annular workpieces, and the temporary storage mechanism is provided with a first temporary storage conveying device and a second temporary storage conveying device which are arranged in a spaced mode. The moving mechanism comprises a ground rail device, a moving seat arranged on the ground rail device, a connecting mechanism arranged on the moving seat, a platform arranged on the moving seat and a multi-axis manipulator arranged on the platform, the platform is provided with a connecting jig, and the connecting jig is used for placing and positioning the annular workpiece. Through cooperation of the mobile robot, the temporary storage mechanism, the transfer mechanism, the ground rail device, the multi-axis mechanical arm and the platform, automatic conveying and clamping of the annular workpieces are achieved, and unmanned work is achieved.

Description

Technical Field

[0001] The utility model relates to the field of clamping equipment, in particular to a precision clamping equipment for annular workpieces. Background Art

[0002] In the automated processing of a ring-shaped object, its diameter is between 10 mm and 35 mm (the width of its ring body is between 1 mm and 3 mm), so its diameter is relatively small.

[0003] In actual production, most of the time, manual operation is combined with robotic arms to achieve the positioning and clamping of annular workpieces. At that time, there was still a problem of poor positioning accuracy, which affected production stability. In addition, its processing generally includes caching, clamping, moving and entering processing equipment (generally including multiple processing steps, such as CNC, testing, coating, polishing and assembly, etc.). The ring-shaped object is processed by the processing equipment to meet the predetermined requirements, thereby achieving subsequent part standards.

[0004] However, in the above steps, there are the following problems:

[0005] 1. How to achieve efficient loading and unloading of materials and how to achieve the connection and coordination of multiple stations;

[0006] 2. It is necessary to ensure high clamping accuracy while loading and unloading efficiently, thereby ensuring production efficiency and production stability;

[0007] 3. How to realize unmanned production of materials and transportation and handover of large quantities of material trays. Utility Model Content

[0008] The main purpose of the utility model is to propose a precision clamping device for annular workpieces, which aims to realize unmanned transfer, positioning and processing of annular workpieces, ensure the precision of processing, and at the same time ensure the stability and qualified rate of processing.

[0009] To achieve the above-mentioned purpose, the present invention provides a precision clamping device for annular workpieces, comprising:

[0010] A material tray, wherein the material tray is provided with material troughs arranged vertically and horizontally, and the material troughs are used to place annular workpieces;

[0011] A mobile robot, wherein the mobile robot is provided with a movable mobile chassis, and a loading and unloading transport device is provided above the mobile chassis at intervals;

[0012] The loading and transporting device is used to transport unprocessed annular workpieces, and the unloading and transporting device is used to transport processed annular workpieces;

[0013] A cache mechanism, wherein the cache mechanism is provided with a first cache transport device and a second cache transport device arranged at intervals, wherein the front end of the first cache transport device can be used to connect with the loading transport device, and the front end of the second cache transport device is used to connect with the unloading transport device;

[0014] A mobile mechanism, comprising a ground rail device, a mobile base provided on the ground rail device, a handover mechanism provided on the mobile base, a platform provided on the mobile base, and a multi-axis manipulator provided on the platform, wherein the platform is provided with a handover fixture, and the handover fixture is used to place and position the annular workpiece;

[0015] The handover mechanism includes two handover transport devices arranged at intervals, and the two handover transport devices include a first handover transport device and a second handover transport device.

[0016] When the ground rail device moves to a position close to the cache mechanism, the front end of the first transfer transport device is connected to the rear end of the first cache transport device, and the front end of the second transfer transport device is connected to the rear end of the second cache transport device.

[0017] The first transfer transport device is provided with a first lifting device in the middle, and the second transfer transport device is provided with a second lifting device.

[0018] The handover mechanism further includes a frame and a clamping device provided on the top of the frame, wherein the clamping device can correct the front-back direction of the tray of the handover transport device, and the clamping device can move the empty tray from the first handover transport device to the second handover transport device;

[0019] The multi-axis manipulator is used to clamp annular workpieces;

[0020] The ground rail device can drive the movable seat to move along the length direction of the ground rail device.

[0021] In the specific processing steps:

[0022] ① The loading and transporting device of the mobile robot stacks a tray group of predetermined height (the material is placed on the loading and transporting device), wherein the trough of the tray group is filled with annular workpieces placed vertically and horizontally, and the mobile chassis moves to a position aligned with the buffer mechanism;

[0023] ② The loading and transporting device works, moving the tray group to the cache mechanism and the tray group to the first cache transporting device;

[0024] ③ The ground rail device drives the movable seat to the position where the buffer mechanism and the handover mechanism are connected, and connects the first buffer transport device and the first handover transport device. The first buffer transport device starts working and moves the tray group to the first handover transport device.

[0025] ④ The multi-axis manipulator grips the unprocessed annular workpiece on the top tray (the gripping device calibrates its reference position) and moves it to the handover fixture. At this time, the ground rail device drives the moving seat to the predetermined processing station. The robot at the processing station grips the unprocessed annular workpiece and processes it. At the same time, the multi-axis manipulator places the processed annular workpiece on the handover fixture.

[0026] ⑤ After placing the unprocessed annular workpiece on the handover fixture, the multi-axis manipulator picks up the processed annular workpiece and places it on the top layer of the second handover transport device;

[0027] ⑥ When the tray on the top layer of the first delivery transport device is empty, the gripping device moves the tray to the second delivery transport device, and then the first lifting device of the first delivery transport device rises a height, thereby placing the tray on the top layer at a predetermined horizontal plane, and then the second lifting device of the second delivery transport device descends a height, thereby placing the empty tray at a predetermined horizontal plane, thereby achieving precise gripping and placement of the multi-axis manipulator;

[0028] ⑦ When the number of trays on the second delivery transport device reaches a predetermined value, the second lifting device descends and places the tray group on the second delivery transport device;

[0029] ⑧ The ground rail device drives the movable seat to move to the buffer mechanism, and moves the tray group of processed annular workpieces to the second buffer transport device through the second transfer transport device, while the tray group of unprocessed annular workpieces is moved from the first buffer transport device to the first transfer transport device;

[0030] ⑨ Finally, the tray group of the processed annular workpieces of the second buffer transport device is moved to the unloading transport device of the mobile robot;

[0031] ⑩ The mobile robot moves the processed annular workpiece to the predetermined assembly station or packaging station.

[0032] Through the cooperation of mobile robots, cache mechanisms, handover mechanisms, ground rail devices, multi-axis manipulators and platforms, the automatic transportation and clamping of annular workpieces are realized, and through the setting of clamping devices and handover fixtures, the precise positioning of material trays and annular workpieces is realized, ensuring the clamping of multi-axis manipulators and robots of processing equipment. The ground rail device, handover mechanism, multi-axis manipulator and platform are used as a single mobile module to realize the processing and loading and unloading of multiple stations, and the process can be realized unmanned. In actual processing, the precise clamping and processing of ±5 wires can be achieved, effectively ensuring the processing and production of small-volume annular workpieces, and the production efficiency is high (material transfer is carried out in a stacking manner), and the working logic is relatively smooth (through the cooperation of the lifting mechanism and the handover transport device and the material tray transfer of the clamping device). It is a relatively smooth production model, which is conducive to the development of similar production equipment and effectively saves R&D costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a three-dimensional schematic diagram of the utility model;

[0034] Figure 2 This is a cross-sectional view of the utility model;

[0035] Figure 3 Schematic diagram of a mobile robot.

[0036] Figure 4 A three-dimensional diagram of the cache mechanism Figure 1 ;

[0037] Figure 5 A three-dimensional diagram of the cache mechanism Figure 2 ;

[0038] Figure 6 A three-dimensional diagram of the handover organization Figure 1 ;

[0039] Figure 7 A three-dimensional diagram of the handover organization Figure 2 ;

[0040] Figure 8 It is a three-dimensional schematic diagram of the lifting device;

[0041] Figure 9 A three-dimensional diagram of the clamping device Figure 1 ;

[0042] Figure 10 A three-dimensional diagram of the clamping device Figure 2 ;

[0043] Figure 11 This is a schematic diagram of the ground rail device;

[0044] Figure 12 This is a schematic diagram of the platform;

[0045] Figure 13 Schematic diagram of a multi-axis manipulator;

[0046] Figure 14 Schematic diagram of the clamping seat;

[0047] Figure 15 It is a schematic diagram of the pre-clamping seat;

[0048] Figure 16 Schematic diagram of the material tray and the ring-shaped workpiece.

[0049] In the figure,

[0050] 1 is a mobile robot, 11 is a mobile chassis, 12 is a loading and transporting device, 13 is a unloading and transporting device, 2 is a cache mechanism, 21 is a first cache transporting device, 22 is a second cache transporting device,

[0051] 3 is a ground rail device, 30 is a moving seat, 31 is a platform, 32 is a linear guide rail, 33 is a linear slider, 34 is a gear, 35 is a rack, 36 is a third rotating device,

[0052] 4 is a handover mechanism, 41 is a first handover transport device, 42 is a second handover transport device,

[0053] 5 is a frame, 50 is a clamping device, 51 is a longitudinal movable frame, 52 is a second vertical movable frame, 53 is a bracket, 54 is a second telescopic device, 55 is a clamping plate, 56 is a gripping portion,

[0054] 61 is the first lifting device, 62 is the second lifting device, 63 is the first vertical moving frame, 64 is the second rotating device, 65 is the lifting seat, and 66 is the positioning structure.

[0055] 7 is a conveyor belt, 71 is a driving roller, 72 is a driven roller, 73 is a first rotating device, 74 is an avoidance position,

[0056] 8 is a guide frame, 81 is a guide channel,

[0057] 91 is the first gear seat, 92 is the second gear seat, 93 is the third gear seat, and 94 is the fourth gear seat.

[0058] 100 is the material tray, 101 is the material trough, 102 is the ring-shaped workpiece,

[0059] 200 is a combined frame, 201 is a clinker clamping seat, 202 is a raw material clamping seat, 203 is a pre-clamping seat, 204 is a cylinder, 205 is an inner clamping claw,

[0060] 301 is the correction slot, 302 is the correction seat, 303 is the spring,

[0061] 400 is a handover fixture, 401 is a first positioning wall, 402 is a second positioning wall, 403 is a first movable wall, 404 is a second movable wall, 405 is a protruding block,

[0062] 500 is a visual inspection device, 501 is a multi-axis manipulator,

[0063] 600 is a turning device, 601 is an axial rotation motor, 602 is a bidirectional clamping motor, and 603 is a turning claw. DETAILED DESCRIPTION

[0064] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0065] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, top, bottom, inside, outside, first vertical, horizontal, longitudinal, counterclockwise, clockwise, circumferential, radial, axial...), then the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0066] In addition, if there are descriptions involving "first" or "second" in the embodiments of the present invention, the descriptions of "first" or "second" are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features specified as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that ordinary technicians in this field can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0067] like Figures 1 to 16 As shown, a precision clamping device for annular workpieces, comprising:

[0068] A material tray 100, wherein the material tray 100 is provided with material troughs 101 arranged vertically and horizontally, and the material troughs 101 are used to place annular workpieces;

[0069] A mobile robot 1 is provided with a movable mobile chassis 11, and a loading and unloading transport device 12 and a unloading transport device 13 are provided above the mobile chassis 11 (AGV robot);

[0070] The loading and transporting device 12 is used to transport unprocessed annular workpieces, and the unloading and transporting device 13 is used to transport processed annular workpieces;

[0071] The cache mechanism 2 is provided with a first cache transport device 21 and a second cache transport device 22 arranged at intervals. The front end of the first cache transport device 21 can be used to connect with the loading transport device 12, and the front end of the second cache transport device 22 is used to connect with the unloading transport device 13;

[0072] A mobile mechanism, comprising a ground rail device 3, a mobile base 30 provided on the ground rail device 3, a handover mechanism 4 provided on the mobile base 30, a platform 31 provided on the mobile base 30, and a multi-axis manipulator provided on the platform 31. The platform 31 is provided with a handover fixture 400, and the handover fixture 400 is used to place and position the annular workpiece;

[0073] The handover mechanism 4 includes two handover transport devices spaced apart, the two handover transport devices including a first handover transport device 41 and a second handover transport device 42.

[0074] When the ground rail device 3 moves to a position close to the cache mechanism 2, the front end of the first transfer transport device 41 is connected to the rear end of the first cache transport device 21, and the front end of the second transfer transport device 42 is connected to the rear end of the second cache transport device 22.

[0075] The first transfer transport device 41 is provided with a first lifting device 61 in the middle, and the second transfer transport device 42 is provided with a second lifting device 62.

[0076] The transfer mechanism 4 further includes a frame 5 and a clamping device 50 provided on the top of the frame 5. The clamping device 50 can correct the front-to-back direction of the tray 100 of the transfer transport device. The clamping device 50 can move the empty tray 100 from the first transfer transport device 41 to the second transfer transport device 42.

[0077] The multi-axis manipulator is used to clamp annular workpieces;

[0078] The ground rail device 3 can drive the movable seat 30 to move along the length direction of the ground rail device 3 .

[0079] In the specific processing steps:

[0080] ① The loading and transporting device 12 of the mobile robot 1 stacks a tray group 100 of a predetermined height (materials are placed on the loading and transporting device 12), wherein the trough 101 of the tray group contains annular workpieces placed vertically and horizontally, and the mobile chassis 11 moves to a position aligned with the buffer mechanism 2;

[0081] ② The loading and transporting device 12 works, and the tray group is moved to the cache mechanism 2 and the tray group is moved to the first cache transporting device 21;

[0082] ③ The ground rail device 3 drives the movable seat 30 to move to the position where the buffer mechanism 2 and the transfer mechanism 4 are connected, and connects the first buffer transport device 21 and the first transfer transport device 41. The first buffer transport device 21 starts to work and moves the tray group to the first transfer transport device 41;

[0083] ④ The multi-axis manipulator grips the unprocessed annular workpiece on the topmost tray 100 (the gripping device 50 corrects its reference position) and moves it to the transfer jig 400. At this time, the ground rail device 3 drives the movable seat 30 to move to the predetermined processing station. The robot at the processing station grips and processes the unprocessed annular workpiece. At the same time, the multi-axis manipulator places the processed annular workpiece on the transfer jig 400.

[0084] ⑤ After the multi-axis manipulator places the unprocessed annular workpiece on the transfer fixture 400, it then picks up the processed annular workpiece and places it on the top layer of the second transfer transport device 42;

[0085] ⑥ When the tray 100 on the top layer of the first delivery transport device 41 is empty, the gripping device 50 moves the tray 100 to the second delivery transport device 42, and then the first lifting device 61 of the first delivery transport device 41 rises to a height, thereby placing the top tray 100 at a predetermined horizontal plane, and then the second lifting device 62 of the second delivery transport device 42 descends to a height, thereby placing the empty tray 100 at a predetermined horizontal plane, thereby achieving precise gripping and placement of the multi-axis manipulator;

[0086] ⑦ When the number of trays 100 on the second delivery and transport device 42 reaches a predetermined value, the second lifting device 62 descends and places the tray group on the second delivery and transport device 42;

[0087] ⑧ The ground rail device 3 drives the movable seat 30 to move to the buffer mechanism 2, and moves the tray group of processed annular workpieces to the second buffer transport device 22 via the second transfer transport device 42. At the same time, the tray group of unprocessed annular workpieces is moved from the first buffer transport device 21 to the first transfer transport device 41.

[0088] ⑨ Finally, the tray group of processed annular workpieces on the second buffer transport device 22 is moved to the unloading transport device 13 of the mobile robot 1;

[0089] ⑩ The mobile robot 1 moves the processed annular workpiece to the predetermined assembly station or packaging station.

[0090] By cooperating with the mobile robot 1, the cache mechanism 2, the handover mechanism 4, the ground rail device 3, the multi-axis manipulator and the platform 31, the automatic transportation and clamping of the annular workpiece are realized, and by setting the clamping device 50 and the handover fixture 400, the precise positioning of the material tray 100 and the annular workpiece is realized, ensuring the clamping of the multi-axis manipulator and the robot of the processing equipment, and the ground rail device 3 and the handover mechanism 4, the multi-axis manipulator and the platform 31 are used as a single mobile module to realize the processing and loading and unloading of multiple stations, and the process can be realized unmanned. In actual processing, the precise clamping and processing of ±5 wires can be achieved, effectively ensuring the processing and production of small-volume annular workpieces, and the production efficiency is high (material transfer is carried out in a stacking manner), and the working logic is relatively smooth (through the cooperation of the lifting mechanism and the handover transport device and the transfer of the material tray 100 by the clamping device 50). It is a relatively smooth production model, which is conducive to the development of similar production equipment and effectively saves R&D costs.

[0091] In this application, the motor and the cylinder can be replaced according to actual requirements to achieve the predetermined technical effect, such as a rotating device or a telescopic device.

[0092] Specifically, the loading and unloading transport device 12, the unloading and unloading transport device 13, the first buffer transport device 21, the second buffer transport device 22, the first handover transport device 41 and the second handover transport device 42 have the same structure.

[0093] The conveyor belt 7 includes two spaced apart conveyor belts, a driving roller 71 and a driven roller 72 at both ends of the conveyor belt 7, and a first rotating device 73.

[0094] A driving shaft is provided between the two active rollers 71, and the driving shaft is connected to the first rotating device 73 directly or through a gear belt;

[0095] Position sensors are provided at both ends of the conveyor belt 7 .

[0096] The above-mentioned transport devices adopt the same structure, which can effectively save production costs. At the same time, the assembly and matching costs of the transport devices are lower, and the consistency of the machinery is ensured, which can effectively improve the transport accuracy of the tray 100 and facilitate the adjustment of the machinery, such as the adjustment of the moving speed or working state.

[0097] The position sensor can obtain the position of the material tray 100 and the presence or absence of the material tray 100.

[0098] Specifically, a guide frame 8 is provided on the outer side of the conveyor belt 7, and a guide channel 81 is formed between the inner walls of the two guide frames 8, which is suitable for the spacing between the material trays 100. The guide channel can be used as a frame to limit the two sides of the material tray group, and can also ensure its movement along the length direction of the guide channel, thereby ensuring the stability of movement.

[0099] Specifically, both ends of the loading and transporting device 12 and the first buffering and transporting device 21 are respectively provided with a first stopper 91 and a second stopper 92 that slide vertically;

[0100] The two ends of the unloading transport device 13 and the two ends of the second buffer transport device 22 are respectively provided with a third stopper 93 and a fourth stopper 94 that slide vertically;

[0101] The two end positions mentioned above may also be one end (any end);

[0102] The rear end of the transfer and transportation device is provided with a baffle.

[0103] The first block seat, the second block seat, the third block seat and the fourth block seat have the same structure, including a first telescopic device and a block connected to the first telescopic device, and the block is a plate-shaped structure or a strip-shaped structure.

[0104] The setting of the stopper realizes the positioning of the material tray 100 and also realizes the material separation, that is, the adjacent conveyor belts 7 are spaced apart.

[0105] Specifically, an avoidance position 74 is provided between the two conveyor belts 7 , the first lifting device 61 is provided between the avoidance position 74 of the first handover conveyor device 41 , and the second lifting device 62 is provided between the avoidance position 74 of the second handover conveyor belt 7 ;

[0106] The first lifting device 61 and the second lifting device 62 have the same structure, including a first vertical moving frame 63, a first vertical slider slidably mounted on the first vertical moving frame 63, and a screw pair arranged between the first vertical moving frame 63 and the first vertical slider.

[0107] The screw pair includes a ball screw provided on the first vertical movable frame 63, a screw nut matched with the ball screw, and a second rotating device 64 matched with the ball screw;

[0108] The first vertical slider extends horizontally with a lifting seat 65, and the front and rear ends of the lifting seat are respectively provided with positioning structures 66. The setting of the lifting device realizes the raising and sinking of the material tray group, thereby achieving material clamping while accommodating more materials, effectively reducing the movement frequency of the ground rail.

[0109] Specifically, the clamping device 50 includes a longitudinal movable frame 51 arranged on the frame body 5, a second vertical movable frame 52 arranged on the longitudinal movable frame 51, and a bracket 53 extending from the second vertical movable frame 52 in a horizontal direction. The bracket 53 is provided with two second telescopic devices 54 arranged at intervals. The second telescopic device 54 is provided with a clamping plate 55, and the two clamping plates 55 extend in opposite directions with a grasping portion 56.

[0110] In actual operation, the longitudinal movable frame 51 includes a longitudinal guide rod (or guide rail), a longitudinal slider slidably mounted on the longitudinal guide rod, and a longitudinal screw rod pair for driving the longitudinal guide rod. The specific structure of the second vertical movable frame 52 can refer to the first vertical movable frame 63.

[0111] The two second telescopic devices 54 drive the two grasping parts to move relative to each other, so that the material tray 100 can be centrally positioned or the front and rear ends of the material tray 100 can be clamped, thereby realizing the transfer of the material tray 100 and effectively ensuring the connection of the material tray 100.

[0112] Specifically, the ground rail device 3 includes two linear guide rails 32 arranged at intervals, a linear slider 33 provided on the linear guide rails 32, and a ground rail driving structure for driving the linear slider 33 to move;

[0113] The ground rail driving structure includes a rack provided between two linear rails and a third rotating device 36 provided on the linear slider 33. The driving end of the third rotating device is provided with a gear 34 that matches the rack.

[0114] The rack 35 and the gear are in bevel meshing. The use of a bevel meshing ground rail drive structure can effectively improve the movement accuracy, thereby increasing the movement stroke of the tray 100 and the annular workpiece, thereby ensuring the accuracy of clamping.

[0115] The rotating device is a rotating device or a rotating cylinder.

[0116] Specifically, a combination frame 200 is provided at the end of the multi-axis, and the multi-axis manipulator can drive the combination frame 200 to rotate along the multi-axis;

[0117] The combined frame is provided with a clamping seat, including a clinker clamping seat 201, a raw material clamping seat 202, and a pre-clamping seat 203 provided between the clinker clamping seat 201 and the raw material clamping seat 202;

[0118] There are two clinker clamping seats 201 and two raw material clamping seats 202 respectively;

[0119] There are two handover jigs 400, and a correction groove 301 is provided between the two handover jigs 400. A correction seat 302 matching the correction groove 301 is provided between the two clinker clamping seats 201 and the raw material clamping seats 202.

[0120] The correction seat 302 is slidably mounted on the bottom wall of the assembly frame via a guide rod. A spring 303 is sleeved on the guide rod. The correction seat 302 can extend into the correction slot 301 .

[0121] In the specific design, the pre-clamping seat 203 is used to clamp the ring-shaped processing of the material tray and place it on the visual inspection device for plane inspection (to detect whether the front and back sides are opposite);

[0122] When the position is reversed, the pre-clamping seat 203 places the unprocessed annular workpiece 102 on the turning device, thereby turning the unprocessed annular workpiece to the front side;

[0123] When the two transfer jigs 400 are filled with unprocessed annular workpieces, the raw material clamping seat 202 simultaneously clamps the two unprocessed annular workpieces and moves them to the processing equipment, and directly clamps the processed annular workpieces of the processing equipment to the second transfer and transportation device 42, thus forming a complete process and effectively ensuring production efficiency.

[0124] The setting of the correction groove 301 and the correction seat 302 avoids the problem that the existing automated equipment can only clamp a single piece at high precision (precision requirement ±5 wires), thereby realizing the clamping and positioning of two annular workpieces at the same time, and the correction seat 302 is movably set by the spring 303. When the raw material clamping seat 202 needs to clamp two annular workpieces at the same time, flexible contact is formed between the raw material clamping seat 202 and the transfer fixture 400, which reduces errors, realizes flexible alignment, and avoids damage to the annular workpiece by the robot.

[0125] The inner clamping claws extend into the inner periphery of the annular workpiece to clamp it, ensuring the placement accuracy.

[0126] Specifically, the clamping seat includes a cylinder body 204, a plurality of inner clamping jaws 205 slidably mounted on the cylinder body 204, and an internal drive device for driving the inner clamping jaws 205 to slide (wherein the internal drive device can be driven by a motor or a cylinder). The ends of the inner clamping jaws 205 are provided with outwardly extending ends. The inner clamping jaws 205 can extend into the inner periphery of the annular workpiece and move outward to clamp it. The clinker clamping seat 201 and the raw material clamping seat 202 are each provided with four inner clamping jaws 205. The pre-clamping seat 203 is provided with two inner clamping jaws 205, and the pre-clamping seat 203 is provided with a third telescopic device 206. The third telescopic device is a telescopic motor or a telescopic cylinder, and the internal drive device of the pre-clamping seat 203 is a bidirectional clamping motor 207.

[0127] Specifically, a visual inspection device 500 and a flipping device 600 are further provided on one side of the handover jig 400. The visual inspection device is used to inspect the front or back of the annular workpiece.

[0128] The flipping device includes a stand, an axial rotation motor 601 provided on the stand, a bidirectional clamping motor 602 provided on the axial rotation motor, and a flipping claw 603 provided on the bidirectional clamping motor. The flipping claw is provided with two

[0129] The handover fixture 400 includes a first positioning wall 401 and a second positioning wall 402 disposed adjacent to each other, and a first movable wall 403 and a second movable wall 404 cooperating with the first top wall and the second positioning wall. The first movable wall and the second movable wall are connected to the fourth telescopic device and the fifth telescopic device, respectively.

[0130] The two second positioning walls of the two sets of handover fixtures 400 form the calibration groove 301.

[0131] The second positioning wall, the first movable wall and the second movable wall are respectively provided with a contoured protrusion 405 .

[0132] This further realizes the positioning of the annular workpiece, further improves the processing accuracy of the annular workpiece, and realizes the simultaneous clamping of two annular workpieces, which can increase the loading and unloading speed by more than 35%.

[0133] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention specification and drawings under the practical concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A precision clamping device for annular workpieces, characterized in that: include: A material tray, wherein the material tray is provided with material troughs arranged vertically and horizontally, and the material troughs are used to place annular workpieces; A mobile robot, wherein the mobile robot is provided with a movable mobile chassis, and a loading and unloading transport device is provided above the mobile chassis at intervals; The loading and transporting device is used to transport unprocessed annular workpieces, and the unloading and transporting device is used to transport processed annular workpieces; A cache mechanism, wherein the cache mechanism is provided with a first cache transport device and a second cache transport device arranged at intervals, wherein the front end of the first cache transport device can be used to connect with the loading transport device, and the front end of the second cache transport device is used to connect with the unloading transport device; A mobile mechanism, comprising a ground rail device, a mobile base provided on the ground rail device, a handover mechanism provided on the mobile base, a platform provided on the mobile base, and a multi-axis manipulator provided on the platform, wherein the platform is provided with a handover fixture, and the handover fixture is used to place and position the annular workpiece; The handover mechanism includes two handover transport devices arranged at intervals, and the two handover transport devices include a first handover transport device and a second handover transport device. When the ground rail device moves to a position close to the cache mechanism, the front end of the first transfer transport device is connected to the rear end of the first cache transport device, and the front end of the second transfer transport device is connected to the rear end of the second cache transport device. The first transfer transport device is provided with a first lifting device in the middle, and the second transfer transport device is provided with a second lifting device. The handover mechanism further includes a frame and a clamping device provided on the top of the frame, wherein the clamping device can correct the front-back direction of the tray of the handover transport device, and the clamping device can move the empty tray from the first handover transport device to the second handover transport device; The multi-axis manipulator is used to clamp annular workpieces; The ground rail device can drive the movable seat to move along the length direction of the ground rail device.

2. The precision clamping device for annular workpieces according to claim 1, characterized in that: The loading and unloading transport device, the unloading transport device, the first buffer transport device, the second buffer transport device, the first handover transport device and the second handover transport device have the same structure. It includes two conveyor belts arranged at intervals, a driving roller and a driven roller arranged at both ends of the conveyor belts, and a first rotating device. A drive shaft is provided between the two active rollers, and the drive shaft is connected to the first rotating device directly or through a gear belt; Position sensors are provided at both ends of the conveyor belt.

3. The precision clamping device for annular workpieces according to claim 2, characterized in that: A guide frame is provided on the outer side of the conveyor belt, and a guide channel suitable for the distance between the material trays is formed between the inner walls of the two guide frames.

4. The precision clamping device for annular workpieces according to claim 1, characterized in that: Both ends of the loading and transporting device and the first buffer and transporting device are respectively provided with a first stopper and a second stopper for vertical sliding; The two ends of the unloading transport device and the two ends of the second buffer transport device are respectively provided with a third stopper and a fourth stopper which slide vertically; The first block seat, the second block seat, the third block seat and the fourth block seat have the same structure, including a first telescopic device and a block connected to the first telescopic device, and the block is a plate-shaped structure or a strip-shaped structure.

5. The precision clamping device for annular workpieces according to claim 2, characterized in that: An avoidance position is provided between the two conveyor belts, the first lifting device is provided between the avoidance positions of the first handover conveyor belt, and the second lifting device is provided between the avoidance positions of the second handover conveyor belt; The first lifting device and the second lifting device have the same structure, including a first vertical moving frame, a first vertical slider slidably mounted on the first vertical moving frame, and a screw pair arranged between the first vertical moving frame and the first vertical slider. The screw pair includes a ball screw provided on the first vertical movable frame, a screw nut matched with the ball screw, and a second rotating device matched with the ball screw; A lifting seat is horizontally extended from the first vertical sliding block, and a positioning structure is respectively provided at the front end and the rear end of the lifting seat.

6. The precision clamping device for annular workpieces according to claim 1, characterized in that: The clamping device includes a longitudinal movable frame arranged on the frame body, a second vertical movable frame arranged on the longitudinal movable frame, and a frame extending from the second vertical movable frame in a transverse direction. The frame is provided with two second telescopic devices arranged at intervals, and the second telescopic device is provided with a clamping plate, and the two clamping plates extend with gripping parts in opposite directions.

7. The precision clamping device for annular workpieces according to claim 1, characterized in that: The ground rail device includes two linear guide rails arranged at intervals, a linear slider provided on the linear guide rails, and a ground rail driving structure for driving the linear slider to move; The ground rail driving structure includes a rack provided between two linear rails and a rotating device provided on the linear slider, and a gear matched with the rack is provided at the driving end of the rotating device. The rack and the gear are engaged with each other on bevel surfaces.

8. The precision clamping device for annular workpieces according to claim 2, characterized in that: A combination frame is provided at the end of the multi-axis, and the multi-axis manipulator can drive the combination frame to rotate along the multi-axis; The combined frame is provided with a clamping seat, including a clinker clamping seat, a raw material clamping seat, and a pre-clamping seat provided between the clinker clamping seat and the raw material clamping seat; There are two clinker clamping seats and two raw material clamping seats respectively.

9. The precision clamping device for annular workpieces according to claim 8, characterized in that: The clamping seat includes a cylinder body, a plurality of inner clamping jaws slidably mounted on the cylinder body, and an internal driving device for driving the inner clamping jaws to slide. The ends of the inner clamping jaws are provided with ends extending outward. The inner clamping jaws can extend into the inner periphery of the annular workpiece and move outward to clamp it. The clinker clamping seat and the raw material clamping seat are respectively provided with four inner clamping claws; The pre-clamping seat is provided with two inner clamping claws, and the pre-clamping seat is arranged on the third telescopic device.

10. The precision clamping device for annular workpieces according to claim 8, characterized in that: A visual inspection device and a flipping device are also provided on one side of the handover jig, and the visual inspection device is used to detect the front or back side of the annular workpiece; The flipping device includes a stand, an axial rotation motor provided on the stand, a bidirectional clamping motor provided on the axial rotation motor, and a flipping claw provided on the bidirectional clamping motor, wherein the flipping claw is provided with two The handover fixture includes a first positioning wall and a second positioning wall disposed adjacent to each other, and a first movable wall and a second movable wall matched with the first top wall and the second positioning wall, wherein the first movable wall and the second movable wall are connected to the fourth telescopic device and the fifth telescopic device respectively; The two second positioning walls of the two sets of handover fixtures form a correction groove. The second positioning wall, the first movable wall and the second movable wall are respectively provided with protruding blocks.

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