jigs and transfer equipment

Abstract

This application provides a jig and a transfer device. The jig provided in this application is used to dock with a transfer device. The jig includes: a first base and a first positioning mechanism. The first base is used to connect to the transfer device. The first positioning mechanism includes a first sliding engagement member, a diamond pin, and a first elastic element. The first sliding engagement member is connected to the first base, and the diamond pin is slidably engaged with the first sliding engagement member. The diamond pin is capable of telescoping relative to the first sliding engagement member between a first extended position and a first retracted position. The first elastic element is used to apply a force to the diamond pin from the first retracted position toward the first extended position. The first sliding engagement member is provided with a first anti-rotation structure, and the diamond pin is provided with a second anti-rotation structure. The first anti-rotation structure cooperates with the second anti-rotation structure to restrict the diamond pin from rotating relative to the first sliding engagement member.

Description

Technical Field

[0001] This application relates to the field of jig technology, and more particularly to a jig and transfer device. Background Technology

[0002] In related technologies, a transfer device carries a fixture to transfer a workpiece. The fixture is equipped with a fixed locating pin, which engages with a locating hole on the workpiece. If the fixed locating pin deviates from the locating hole as it moves closer to the workpiece with the fixture body, interference may occur between the pin and the outer periphery of the hole, resulting in damage to the pin. Utility Model Content

[0003] This application provides a fixture and a transfer device to address the problem that the fixed positioning pins of the fixture configuration are easily damaged.

[0004] To solve the above-mentioned technical problems, this application is implemented as follows:

[0005] In a first aspect, embodiments of this application provide a fixture.

[0006] The fixture provided in this application embodiment is used for docking with a transfer device. The fixture provided in this application embodiment includes: a first base and a first positioning mechanism; the first base is used to connect to the transfer device; the first positioning mechanism includes a first sliding engagement member, a diamond pin, and a first elastic element; the first sliding engagement member is connected to the first base, and the diamond pin is slidably engaged with the first sliding engagement member, and the diamond pin can extend and retract relative to the first sliding engagement member between a first extended position and a first retracted position; the first elastic element is used to apply a force to the diamond pin from the first retracted position toward the first extended position; the first sliding engagement member is provided with a first anti-rotation structure, and the diamond pin is provided with a second anti-rotation structure, the first anti-rotation structure and the second anti-rotation structure cooperating to restrict the diamond pin from rotating relative to the first sliding engagement member.

[0007] In some embodiments, the first sliding fit member is provided with a first receiving hole, and the diamond pin includes a cylindrical part and a pin body part connected to each other. The pin body part protrudes from one end of the cylindrical part. The cylindrical part is slidably connected to the wall of the first receiving hole, and the end of the pin body part away from the cylindrical part is exposed outside the first receiving hole. The first elastic element is provided in the first receiving hole and abuts against the side of the diamond pin away from the pin body part.

[0008] In some embodiments, the first sliding fit member includes a first sliding sleeve and an anti-rotation member; a first receiving hole is disposed in the first sliding sleeve, the anti-rotation member is connected to one end of the first sliding sleeve, and a through hole is provided in the part of the anti-rotation member opposite to the first receiving hole. The wall of the through hole is adapted to the side wall of the pin body portion, and the pin body portion passes through the through hole to restrict the diamond pin from rotating relative to the first sliding fit member; wherein, the anti-rotation member forms a first anti-rotation structure, and the pin body portion forms a second anti-rotation structure.

[0009] In some embodiments, the fixture further includes: a second positioning mechanism, the second positioning mechanism including a second sliding engagement member, a cylindrical pin, and a second elastic element; the second sliding engagement member is connected to the first base, the cylindrical pin is slidably engaged with the second sliding engagement member, the cylindrical pin is capable of telescoping relative to the second sliding engagement member between a second extended position and a second retracted position, wherein the telescoping direction of the cylindrical pin is parallel to the telescoping direction of the rhomboid pin; the second elastic element is used to apply a force to the cylindrical pin from the second retracted position toward the second extended position.

[0010] In some embodiments, the pin body of the rhomboid pin includes a first positioning sidewall and a second positioning sidewall; the first positioning sidewall and the second positioning sidewall are symmetrically distributed relative to a symmetrical plane, and the axis of the cylindrical pin is located in the symmetrical plane.

[0011] In some embodiments, the fixture further includes a vacuum suction cup, the vacuum suction cup being oriented in the same direction as the protrusion of the diamond-shaped pin, and the vacuum suction cup being used to adsorb and engage with the part to be transferred.

[0012] In some embodiments, the fixture further includes a clamping mechanism, which includes a first jaw, a second jaw, and a driver. The driver is driven to at least one of the first jaw and the second jaw to drive the first jaw and the second jaw to move closer to or further away from each other. The first jaw includes a first support portion, and the second jaw includes a second support portion. The first support portion and the second support portion are disposed below the part to be transferred obtained by the fixture.

[0013] Secondly, embodiments of this application provide a transfer device.

[0014] The transfer device provided in this application includes: a transfer device and any one of the fixtures provided in this application; the transfer device is connected to the first base.

[0015] In some embodiments, the transfer device includes a body and an adapter module; the adapter module includes a second base, a third base, an elastic buffer mechanism, and a first docking device; the body is connected to the second base, and the third base is connected to the second base via the elastic buffer mechanism; the fixture also includes a second docking device, and the first docking device is used to dock with the second docking device.

[0016] In some embodiments, the elastic buffer mechanism includes: a second sliding sleeve, a sliding rod, and a third elastic element; the second sliding sleeve is connected to a second seat, the sliding rod is slidably connected to the second sliding sleeve, the sliding rod is also connected to a third seat, and the third elastic element is disposed between the second seat and the third seat.

[0017] The above-described technical solutions adopted in the embodiments of this application can achieve the following beneficial effects:

[0018] In the embodiments of this application, the rhomboid pin of the first positioning mechanism is slidably connected to the first sliding engagement component, and the first elastic element allows the rhomboid pin to float elastically. Thus, as the fixture moves towards the part to be transferred, if there is a certain positional deviation between the rhomboid pin and the first positioning hole of the part to be transferred, the rhomboid pin can elastically retract upon contacting the outer periphery of the first positioning hole. This prevents the rhomboid pin from being damaged by collision with the part to be transferred during the movement of the fixture.

[0019] In addition, the second anti-rotation structure of the diamond pin cooperates with the first anti-rotation structure of the first sliding fit to restrict the diamond pin from rotating relative to the first sliding fit. In this way, the diamond pin can be prevented from rotating relative to the first sliding fit during the sliding process, so that the diamond pin can meet some specific positioning requirements.

[0020] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A schematic diagram of a fixture provided in an embodiment of this application;

[0023] Figure 2 for Figure 1 A partial schematic diagram of the fixture located in the area where the second docking device is located, shown in the figure;

[0024] Figure 3 A schematic diagram of a jig and a component to be transferred, provided for an embodiment of this application;

[0025] Figure 4 for Figure 3 A schematic diagram of the fixture and the part to be transferred from another angle, as shown in the image;

[0026] Figure 5 for Figure 3 The jig and the part to be transferred are shown in the right view.

[0027] Figure 6 for Figure 5 The jig and the part to be transferred are shown in a cross-sectional view along line AA.

[0028] Figure 7 for Figure 5 The jig and the part to be transferred are shown in a cross-sectional view along the section passing through line BB;

[0029] Figure 8 A schematic diagram of a diamond-shaped pin and an anti-rotation component provided for an embodiment of this application;

[0030] Figure 9 for Figure 8 An exploded view of the diamond-shaped pin and anti-rotation component is shown in the image.

[0031] Figure 10 This is an exploded view of a transfer device provided in an embodiment of this application;

[0032] Figure 11 A schematic diagram of a transfer device provided in an embodiment of this application;

[0033] Figure 12 for Figure 11 A partial schematic diagram of the transfer device shown in the image;

[0034] Figure 13 A schematic diagram of an adapter module provided in an embodiment of this application;

[0035] Figure 14 A right view of a switching module provided in an embodiment of this application;

[0036] Figure 15 for Figure 14 The cross-sectional view of the adapter module along the section passing through the CC line is shown in the figure;

[0037] Figure 16 This is an exploded view of another transfer device provided in an embodiment of this application.

[0038] Explanation of reference numerals in the attached figures:

[0039] 1-Transfer equipment;

[0040] 100-jigs;

[0041] 110 - First seat body;

[0042] 120 - First positioning mechanism; 120a - First anti-rotation structure; 120b - Second anti-rotation structure; 121 - First sliding fit; 1211 - First sliding sleeve; 121a - First receiving hole; 1212 - Anti-rotation component; 1213 - Through hole; 122 - Diamond pin; 1221 - Cylindrical part; 1222 - Pin body part; 1222a - First positioning sidewall; 1222b - Second positioning sidewall; 1222c - Symmetrical plane; 123 - First elastic element;

[0043] 130 - Second positioning mechanism; 131 - Second sliding fit; 132 - Cylindrical pin; 133 - Second elastic element;

[0044] 140 - Vacuum suction cup;

[0045] 150 - Clamping mechanism; 151 - First gripper; 1511 - First support portion; 152 - Second gripper; 1521 - Second support portion; 153 - Driver;

[0046] 160 - Second docking device;

[0047] 170 - Vacuum nozzle;

[0048] 200 - Transfer device;

[0049] 210-Ontology;

[0050] 220 - Adapter module; 221 - Second seat; 222 - Third seat; 223 - Elastic buffer mechanism; 2231 - Second sliding sleeve; 2232 - Sliding rod; 2233 - Third elastic element; 2234 - Washer; 2235 - Buffer component; 224 - First docking device; 225 - Vacuum generator;

[0051] 300-Second fixture;

[0052] 310 - Third docking device;

[0053] 2-Items to be transferred;

[0054] 21-First positioning hole;

[0055] 22 - Second positioning hole. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0057] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0058] Furthermore, although the terminology used in this application is selected from commonly known and used terms, some terms mentioned in this application specification may have been selected by the applicant at his or her own discretion, and their detailed meanings are explained in the relevant sections of this description.

[0059] Furthermore, this application is required to be understood not only through the actual terms used, but also through the meaning implied by each term.

[0060] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0061] This application provides a fixture in its embodiments. (See reference...) Figures 1 to 16 The fixture 100 provided in this embodiment is used to dock with the transfer device 200. Exemplarily, the transfer device 200 may include a robotic arm. Thus, the robotic arm can be used to drive the fixture 100 to move, thereby enabling the fixture 100 to acquire the item 2 to be transferred and transfer the item 2 to a designated position.

[0062] The fixture 100 provided in this embodiment includes a first base 110 and a first positioning mechanism 120. The first base 110 is used to connect to the transfer device 200. Exemplarily, the first base 110 can be fixedly connected to the transfer device 200, or the first base 110 can be detachably connected to the transfer device 200. Exemplarily, the first base 110 can be directly connected to the transfer device 200, or the first base 110 can be connected to the transfer device 200 through an adapter module.

[0063] The first positioning mechanism 120 includes a first sliding engagement member 121, a diamond-shaped pin 122, and a first elastic element 123. The first sliding engagement member 121 is connected to the first base 110, and the diamond-shaped pin 122 is slidably engaged with the first sliding engagement member 121. The diamond-shaped pin 122 is capable of telescoping relative to the first sliding engagement member 121 between a first extended position and a first retracted position. The first elastic element 123 applies a force to the diamond-shaped pin 122 from the first retracted position toward the first extended position.

[0064] For example, the diamond pin 122 is capable of telescopic movement, and the first elastic element 123 allows the diamond pin 122 to float elastically. When the diamond pin 122 is subjected to an external force, the external force acts on the diamond pin 122 and compresses the first elastic element 123, thereby causing the diamond pin 122 to retract. When the external force is removed, the first elastic element 123 releases its elastic force, thereby driving the diamond pin 122 to extend.

[0065] by Figure 6 Taking the shown orientation as an example, the rhomboid pin 122 can slide vertically relative to the first sliding engagement member 121. For instance, during the descent of the fixture 100, if the lower end of the rhomboid pin 122 encounters an obstacle, the rhomboid pin 122 will retract upwards to avoid the obstacle and prevent it from colliding with it. When the fixture 100 deviates from the obstacle, the rhomboid pin 122 extends under the action of the first elastic element 123, allowing the exposed portion of the rhomboid pin 122 to engage with the part to be positioned.

[0066] The first sliding engagement 121 is provided with a first anti-rotation structure 120a, and the rhomboid pin 122 is provided with a second anti-rotation structure 120b. The first anti-rotation structure 120a and the second anti-rotation structure 120b cooperate to restrict the rhomboid pin 122 from rotating relative to the first sliding engagement 121.

[0067] In this manner, in the embodiments of this application, the rhomboid pin 122 of the first positioning mechanism 120 is slidably connected to the first sliding engagement member 121, and the first elastic element 123 allows the rhomboid pin 122 to float elastically. Thus, during the movement of the fixture 100 toward the part to be transferred 2, if there is a certain positional deviation between the rhomboid pin 122 and the first positioning hole 21 of the part to be transferred 2, the rhomboid pin 122 can elastically retract upon contacting the outer periphery of the first positioning hole 21. This prevents the rhomboid pin 122 from being damaged by collision with the part to be transferred 2 during the movement of the fixture 100.

[0068] In addition, the second anti-rotation structure 120b of the rhomboid pin 122 cooperates with the first anti-rotation structure 120a of the first sliding engagement member 121 to restrict the rhomboid pin 122 from rotating relative to the first sliding engagement member 121. In this way, the rhomboid pin 122 can be prevented from rotating relative to the first sliding engagement member 121 during the sliding process, so that the rhomboid pin 122 can meet some specific positioning requirements.

[0069] refer to Figure 6 In some embodiments, the first sliding mating member 121 is provided with a first receiving hole 121a. (This is in conjunction with...) Figure 8 The diamond-shaped pin 122 includes a cylindrical portion 1221 and a pin body portion 1222 connected to each other, with the pin body portion 1222 protruding from one end of the cylindrical portion 1221.

[0070] The cylindrical portion 1221 is slidably connected to the wall of the first receiving hole 121a, and one end of the pin portion 1222 opposite to the cylindrical portion 1221 is exposed outside the first receiving hole 121a. A first elastic element 123 is disposed inside the first receiving hole 121a and abuts against the side of the diamond pin 122 opposite to the pin portion 1222. In this way, the first elastic element 123 can be used to allow the diamond pin 122 to extend and float relative to the first sliding fit member 121.

[0071] It should be noted that the diamond-shaped pin 122 can also be connected to the first elastic element 123 and the first sliding engagement member 121 in other ways, so that the diamond-shaped pin 122 can extend and float relative to the first sliding engagement member 121. For example, the diamond-shaped pin 122 may be provided with a sliding hole, the first sliding engagement member 121 is inserted into the sliding hole, and the first elastic element 123 is disposed between the bottom of the sliding hole and the first sliding engagement member 121. The connection schemes between the diamond-shaped pin 122, the first elastic element 123 and the first sliding engagement member 121 will not be listed here.

[0072] refer to Figure 1 , Figure 3 , Figures 5 to 9 In some embodiments, the first sliding engagement 121 includes a first sliding sleeve 1211 and an anti-rotation member 1212. A first receiving hole 121a is provided in the first sliding sleeve 1211, and the anti-rotation member 1212 is connected to one end of the first sliding sleeve 1211. A through hole 1213 is provided at the portion of the anti-rotation member 1212 opposite to the first receiving hole 121a, and the wall of the through hole 1213 is adapted to the side wall of the pin portion 1222. The pin portion 1222 passes through the through hole 1213 to restrict the rotation of the diamond-shaped pin 122 relative to the first sliding engagement 121. The anti-rotation member 1212 forms a first anti-rotation structure 120a, and the pin portion 1222 forms a second anti-rotation structure 120b.

[0073] Exemplarily, the wall of the through hole 1213 is adapted to the side wall of the pin portion 1222, meaning that the shape and size of the wall of the through hole 1213 are adapted to the shape and size of the side wall of the pin portion 1222. In some embodiments, the through hole 1213 and the pin portion 1222 are in transition fit. The side wall of the pin portion 1222 is provided with a first plane, and the wall of the through hole 1213 is provided with a second plane. The first plane and the second plane are in sliding fit to prevent the diamond pin 122 from rotating relative to the first sliding fit member 121 during the extension and retraction of the diamond pin 122.

[0074] It should be noted that the anti-rotation mechanism between the rhomboid pin 122 and the first sliding engagement 121 can also be achieved through other structures. For example, the rhomboid pin 122 is connected to a pin arranged radially thereon. The first sliding engagement 121 has a vertical groove, and the portion of the pin exposed outside the rhomboid pin 122 is embedded in the groove. Thus, the groove can guide the pin to slide along the extension direction of the groove. In this way, the rhomboid pin 122 can be prevented from rotating relative to the first sliding engagement 121 during the extension and retraction of the rhomboid pin 122 by using the pin for sliding guidance. Other anti-rotation schemes between the rhomboid pin 122 and the first sliding engagement 121 will not be listed here.

[0075] refer to Figure 1 , Figure 3 , Figures 5 to 7 In some embodiments, the fixture 100 further includes a second positioning mechanism 130. The second positioning mechanism 130 includes a second sliding engagement member 131, a cylindrical pin 132, and a second elastic element 133.

[0076] The second sliding engagement 131 is connected to the first base 110. The cylindrical pin 132 is slidably engaged with the second sliding engagement 131. The cylindrical pin 132 can extend and retract relative to the second sliding engagement 131 between the second extended position and the second retracted position, wherein the extension and retraction direction of the cylindrical pin 132 is parallel to the extension and retraction direction of the rhomboid pin 122. The second elastic element 133 is used to apply a force to the cylindrical pin 132 from the second retracted position toward the second extended position.

[0077] In this way, similar to the connection scheme between the rhomboid pin 122 and the first sliding fit 121, the cylindrical pin 132 can be made to float and extend relative to the second sliding fit 131 by adopting the above method.

[0078] It should be noted that those skilled in the art can understand "diamond pin" and "cylindrical pin" based on common knowledge in the field. Therefore, the specific structure of "diamond pin" and "cylindrical pin" will not be described in detail in the embodiments of this application.

[0079] refer to Figures 5 to 7 In some embodiments, the component 2 to be transferred is provided with a first positioning hole 21 and a second positioning hole 22. A cylindrical pin 132 is used for positioning and engaging with the second positioning hole 22, and a diamond pin 122 is used for positioning and engaging with the first positioning hole 21. In this way, the cylindrical pin 132 and the diamond pin 122 can be used to position the component 2 to be transferred.

[0080] refer to Figures 5 to 7In some embodiments, the pin body 1222 of the rhomboid pin 122 includes a first positioning sidewall 1222a and a second positioning sidewall 1222b. When the rhomboid pin 122 is inserted into the first positioning hole 21, the first positioning sidewall 1222a and the second positioning sidewall 1222b abut against the hole wall of the first positioning hole 21, respectively.

[0081] Furthermore, the first positioning sidewall 1222a and the second positioning sidewall 1222b are symmetrically distributed relative to the plane of symmetry 1222c. The axis of the cylindrical pin 132 is located in the plane of symmetry 1222c. In this way, even if the distance between the first positioning hole 21 and the second positioning hole 22 varies within the allowable tolerance range, the cylindrical pin 132 and the rhomboid pin 122 can still be smoothly inserted and fitted into the second positioning hole 22 and the first positioning hole 21, respectively.

[0082] refer to Figure 4 In some embodiments, the fixture 100 further includes a vacuum suction cup 140. The vacuum suction cup 140 is oriented in the same direction as the protrusion of the rhomboid pin 122, and is used to adsorb and engage with the part 2 to be transferred. Thus, when the cylindrical pin 132 and the rhomboid pin 122 are respectively engaged with the second positioning hole 22 and the first positioning hole 21, the vacuum suction cup 140 can be used to adsorb the part 2 to be transferred, so that the part 2 to be transferred is adsorbed and connected to the fixture 100.

[0083] refer to Figure 4 In some embodiments, the fixture 100 further includes a vacuum nozzle 170. It should be noted that the suction portion of the vacuum suction cup 140 is equipped with a silicone suction cup, and the vacuum suction cup 140 can pick up the part 2 to be transferred based on the principle of negative pressure adsorption. The vacuum nozzle 170 has air holes on the side facing the part 2 to be transferred. By evacuating the air near the air holes, a negative pressure zone can be formed in the air hole area, thereby allowing the vacuum nozzle 170 to pick up the part 2 to be transferred based on the principle of negative pressure adsorption.

[0084] In the embodiments of this application, the vacuum suction cup 140 and vacuum nozzle 170 can be flexibly configured according to the specific structure of the component 2 to be transferred. For example, when the component 2 to be transferred is a circuit board, the circuit board is provided with electronic components. Areas where electronic components are located are not easily adsorbed using the vacuum suction cup 140 and vacuum nozzle 170. Therefore, the vacuum suction cup 140 and vacuum nozzle 170 are mainly used to adsorb areas of the circuit board where no electronic components are located. For example, if a certain area of ​​the circuit board where no electronic components are located is relatively long and narrow, the vacuum nozzle 170, which is adapted to the shape and size of that area, can be used to adsorb that area of ​​the circuit board. If a certain area of ​​the circuit board where no electronic components are located is relatively square, the vacuum suction cup 140, which is adapted to the size of that area, can be used to adsorb that area of ​​the circuit board.

[0085] refer to Figure 4 and Figure 5 In some embodiments, the fixture 100 further includes a clamping mechanism 150. The clamping mechanism 150 includes a first gripper 151, a second gripper 152, and a driver 153. The driver 153 is drivenly connected to at least one of the first gripper 151 and the second gripper 152 to drive the first gripper 151 and the second gripper 152 to move closer to or further away from each other. Exemplarily, the driver 153 is a gripper cylinder. The gripper cylinder is drivenly connected to the first gripper 151 and the second gripper 152 respectively to drive the first gripper 151 and the second gripper 152 to move closer to or further away from each other.

[0086] Furthermore, the first gripper 151 includes a first support portion 1511, and the second gripper 152 includes a second support portion 1521; the first support portion 1511 and the second support portion 1521 are positioned below the component 2 to be transferred acquired by the fixture 100. Thus, in the event that the component 2 to be transferred accidentally separates from the fixture 100, the component 2 will be caught by the first support portion 1511 and the second support portion 1521 to prevent it from falling.

[0087] refer to Figure 2 In some embodiments, the fixture 100 further includes a second docking device 160. Exemplarily, the second docking device 160 is a quick-change docking female. The quick-change docking female is used to dock with the quick-change docking male of the transfer device 200. Thus, the fixture 100 can be detachably connected to the transfer device 200 by docking the quick-change docking female with the quick-change docking male.

[0088] This application provides a transfer device. (See reference...) Figures 10 to 16 The transfer device 1 provided in this application embodiment includes: a transfer device 200 and any of the fixtures 100 provided in this application embodiment. The transfer device 200 is connected to the first base 110.

[0089] In some embodiments, the transfer device 200 includes a body 210 and an adapter module 220. Exemplarily, the body 210 is a robotic arm. The adapter module 220 includes a second base 221, a third base 222, an elastic buffer mechanism 223, and a first docking device 224. The body 210 is connected to the second base 221, and the third base 222 is connected to the second base 221 via the elastic buffer mechanism 223. The fixture 100 also includes a second docking device 160, and the first docking device 224 is used to dock with the second docking device 160.

[0090] Thus, when the transfer device 200 body 210 drives the adapter module 220 to move downward and dock with the second docking device 160 of the fixture 100, the elastic buffer mechanism 223 of the adapter module 220 can float up and down to avoid the first docking device 224 from colliding with the second docking device 160.

[0091] refer to Figure 14 and Figure 15 In some embodiments, the elastic buffer mechanism 223 includes a second sliding sleeve 2231, a sliding rod 2232, and a third elastic element 2233. The second sliding sleeve 2231 is connected to the second seat 221, the sliding rod 2232 is slidably connected to the second sliding sleeve 2231, the sliding rod 2232 is also connected to the third seat 222, and the third elastic element 2233 is disposed between the second seat 221 and the third seat 222.

[0092] For example, the second sliding sleeve 2231 is fixedly connected to the second seat 221. The lower end of the sliding rod 2232 is fixedly connected to the third seat 222 via a first threaded connector. The sliding rod 2232 passes through the second sliding sleeve 2231. The upper end of the sliding rod 2232 is connected to the washer 2234 and the buffer member 2235 via a second threaded connector, wherein the buffer member 2235 and the washer 2234 are stacked sequentially on the upper end of the sliding rod 2232. The third elastic element 2233 is sleeved on the outside of the sliding rod 2232, with one end of the third elastic element 2233 abutting against the second sliding sleeve 2231 and the other end abutting against the third seat 222. In addition, the first coupling 224 is provided on the side of the third seat 222 opposite to the second seat 221.

[0093] Thus, when the first docking device 224 is subjected to an upward force, the first docking device 224, the third seat 222, the slide rod 2232, the buffer 2235, and the washer 2234 rise. The third seat 222 compresses the third elastic element 2233. After the external force acting on the first docking device 224 disappears, the third elastic element 2233 releases its elastic force, causing the third seat 222, the first docking device 224, the slide rod 2232, the buffer 2235, and the washer 2234 to descend.

[0094] refer to Figure 13 In some embodiments, the adapter module 220 further includes a vacuum generator 225. It should be noted that the vacuum generator is a pneumatic component that uses the flow of compressed air to create a certain degree of vacuum. The vacuum generator 225 can be connected to a compressed air source, so that when compressed air is input into the vacuum generator 225, the vacuum generator 225 can generate negative pressure. Furthermore, when the vacuum generator 225 is connected to the vacuum suction cup 140 and the vacuum nozzle 170 respectively, the vacuum suction cup 140 and the vacuum nozzle 170 can pick up the part 2 to be transferred based on the principle of negative pressure adsorption.

[0095] When the driver 153 of the fixture 100 is a gripper cylinder, the gripper cylinder is connected to a compressed air source, so that the gripper cylinder can be operated by the compressed air supplied to the gripper cylinder by the compressed air source.

[0096] In some embodiments, the first docking device 224 can not only be mechanically connected to the second docking device 160, but also pneumatically connected to the second docking device 160. Specifically, a compressed air source is connected to the first pair of interfaces of the first docking device 224, and the compressed air source is also connected to the input port of the vacuum generator 225. The negative pressure port of the vacuum generator 225 is connected to the second pair of interfaces of the first docking device 224. The gripper cylinder is connected to the third pair of interfaces of the second docking device 160, and the vacuum suction cup 140 and / or the vacuum nozzle 170 are both connected to the fourth pair of interfaces of the second docking device 160.

[0097] When the first docking device 224 and the second docking device 160 are in a docked state, the first docking device 224 and the second docking device 160 are mechanically connected to prevent separation. Furthermore, the first pair of interfaces of the first docking device 224 is sealed to the third pair of interfaces of the second docking device 160, and the second pair of interfaces of the first docking device 224 is sealed to the fourth pair of interfaces of the second docking device 160. This allows the compressed air source to connect to the gripper cylinder via the first pair of interfaces of the first docking device 224 and the third pair of interfaces of the second docking device 160; and the negative pressure port of the vacuum generator 225 to connect to the vacuum suction cup 140 and / or the vacuum nozzle 170 via the second pair of interfaces of the first docking device 224 and the fourth pair of interfaces of the second docking device 160.

[0098] In some embodiments, the transfer device 1 further includes other fixtures. For ease of distinction, the fixture 100 described above may be referred to as the first fixture. Further, refer to... Figure 16 The transfer device 1 also includes a second fixture 300. The second fixture 300 includes a third docking device 310. The model and specifications of the third docking device 310 are the same as those of the second docking device 160. Therefore, the first docking device 224 can be selectively connected to either the second docking device 160 or the third docking device 310. This allows the transfer device 1 to have the ability to change different fixtures.

[0099] It should be noted that the first docking device 224, the second docking device 160, and the third docking device 310 that meet the requirements of the embodiments of this application can be purchased. Therefore, the specific structure and working principle of the first docking device 224, the second docking device 160, and the third docking device 310 will not be described in detail here.

[0100] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0101] Although embodiments of this application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the embodiments of this application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A jig for interfacing with a transfer device (200), characterized by, The fixture includes: a first seat (110) and a first positioning mechanism (120); The first seat (110) is used to connect to the transfer device (200); The first positioning mechanism (120) includes a first sliding engagement component (121), a diamond-shaped pin (122), and a first elastic element (123); The first sliding engagement member (121) is connected to the first seat (110), and the diamond pin (122) is slidably engaged with the first sliding engagement member (121). The diamond pin (122) can extend and retract relative to the first sliding engagement member (121) between the first extended position and the first retracted position. The first elastic element (123) is used to apply a force to the diamond pin (122) from the first retracted position toward the first extended position; The first sliding engagement member (121) is provided with a first anti-rotation structure (120a), and the diamond pin (122) is provided with a second anti-rotation structure (120b). The first anti-rotation structure (120a) and the second anti-rotation structure (120b) cooperate to restrict the diamond pin (122) from rotating relative to the first sliding engagement member (121).

2. The jig of claim 1, wherein The first sliding fit member (121) is provided with a first receiving hole (121a), and the diamond pin (122) includes a cylindrical part (1221) and a pin body part (1222) connected to each other, and the pin body part (1222) protrudes from one end of the cylindrical part (1221); The cylindrical portion (1221) is slidably connected to the wall of the first receiving hole (121a). The end of the pin portion (1222) facing away from the cylindrical portion (1221) is exposed outside the first receiving hole (121a). The first elastic element (123) is disposed in the first receiving hole (121a) and abuts against the side of the diamond pin (122) facing away from the pin portion (1222).

3. The jig of claim 2, wherein The first sliding mating part (121) includes a first sliding sleeve (1211) and an anti-rotation part (1212); The first receiving hole (121a) is disposed on the first sliding sleeve (1211), and the anti-rotation member (1212) is connected to one end of the first sliding sleeve (1211). The anti-rotation member (1212) is provided with a through hole (1213) at the part opposite to the first receiving hole (121a). The hole wall of the through hole (1213) is adapted to the side wall of the pin part (1222). The pin part (1222) passes through the through hole (1213) to restrict the diamond pin (122) from rotating relative to the first sliding fit member (121). The anti-rotation member (1212) forms the first anti-rotation structure (120a), and the pin part (1222) forms the second anti-rotation structure (120b).

4. The tool of claim 1, wherein The fixture further includes a second positioning mechanism (130), which includes a second sliding engagement member (131), a cylindrical pin (132), and a second elastic element (133). The second sliding engagement member (131) is connected to the first seat (110), and the cylindrical pin (132) is slidably engaged with the second sliding engagement member (131). The cylindrical pin (132) can extend and retract relative to the second sliding engagement member (131) between the second extended position and the second retracted position. The extension and retraction direction of the cylindrical pin (132) is parallel to the extension and retraction direction of the rhomboid pin (122). The second elastic element (133) is used to apply a force to the cylindrical pin (132) from the second retracted position toward the second extended position.

5. The jig of claim 4, wherein The pin body (1222) of the rhomboid pin (122) includes a first positioning sidewall (1222a) and a second positioning sidewall (1222b); the first positioning sidewall (1222a) and the second positioning sidewall (1222b) are symmetrically distributed relative to the plane of symmetry (1222c), and the axis of the cylindrical pin (132) is located in the plane of symmetry (1222c).

6. The tool of claim 1, wherein The fixture further includes a vacuum suction cup (140), the orientation of which is the same as the protruding direction of the rhomboid pin (122), and the vacuum suction cup (140) is used to adsorb and cooperate with the part to be transferred (2).

7. The tool of claim 1, wherein The fixture further includes a clamping mechanism (150), which includes a first clamp (151), a second clamp (152), and a driver (153). The driver (153) is drivenly connected to at least one of the first clamp (151) and the second clamp (152) to drive the first clamp (151) and the second clamp (152) to move closer to or further away from each other. The first gripper (151) includes a first support portion (1511), and the second gripper (152) includes a second support portion (1521). The first support portion (1511) and the second support portion (1521) are disposed below the transfer piece (2) obtained by the fixture.

8. A transfer apparatus characterized by comprising: include: The transfer device (200) and the fixture according to any one of claims 1 to 7; the transfer device (200) is connected to the first seat (110).

9. The transfer apparatus of claim 8, wherein, The transfer device (200) includes a main body (210) and a transfer module (220); The adapter module (220) includes a second seat (221), a third seat (222), an elastic buffer mechanism (223), and a first docking device (224); The main body (210) is connected to the second seat (221), and the third seat (222) is connected to the second seat (221) via the elastic buffer mechanism (223); The fixture also includes a second docking device (160), and the first docking device (224) is used to dock with the second docking device (160).

10. The transfer apparatus of claim 9, wherein, The elastic buffer mechanism (223) includes: a second sliding sleeve (2231), a sliding rod (2232), and a third elastic element (2233); The second sliding sleeve (2231) is connected to the second seat (221), the sliding rod (2232) is slidably connected to the second sliding sleeve (2231), the sliding rod (2232) is also connected to the third seat (222), and the third elastic element (2233) is disposed between the second seat (221) and the third seat (222).

Images