A pick-and-place mechanism
Patent Information
- Application Number
- CN202522351549.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-06
- Publication Date
- 2026-10-09
- Estimated Expiration
- 2035-11-06
AI Technical Summary
[0003]本申请的主要目的在于提出一种取装机构，其旨在改善现有取装机构在面对一些需要两个工件之间的摆放角度吻合才能进行装配的装配操作时，容易出现由于待装配的两个工件之间的摆放角度不吻合，而导致对应的工件无法顺利地装配到另一个工件中，进而影响工件取装效率及工件取装效果的技术问题
[0020]本申请提供的取装机构，通过上述结构设置，其可在升降机构和平移机构的配合驱动下，通过工件取装头将第一上料工位的第一工件转移至第二上料工位的第二工件中时，通过到位感应器检测第一安装座在第二安装座上的位置变化。以根据该位置变化，分别控制旋转机构和升降机构的工作，来确保第一工件能够完全装配到第二工件中(即第一工件能安装至第二工件中的指定安装位置)。一般而言，当到位感应器在此过程中检测到第一安装座在第二安装座上的位置发生变化时，表示当前第一工件在第二工件中的安装受阻，即第一工件与第二工件内对应的部件之间的摆放角度出现不吻合的情形，此时，需通过旋转机构驱动工件取装头整体或部分转动，来调整第一工件的摆放角度或第二工件内对应的部件的摆放角度，直至到位感应器检测到第一安装座回到原来的位置为止，即表示第一工件与第二工件内对应的部件之间的摆放角度已吻合，使得当前第一工件已完全装配到第二工件中。如此，本申请的技术方案，可自动完成两个工件间的准确装配，确保一个工件能够完全装配到另一个工件上，以提升工件取装效率和确保工件取装效果。可见，本技术方案，其可有效改善现有取装机构在面对一些需要两个工件之间的摆放角度吻合才能进行装配的装配操作时，容易出现由于待装配的两个工件之间的摆放角度不吻合，而导致对应的工件无法顺利地装配到另一个工件中，进而影响工件取装效率及工件取装效果的技术问题。
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Figure CN224825292U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of gearbox assembly technology, and in particular to a loading and unloading mechanism. Background Technology
[0002] In the assembly of planetary gearboxes, numerous assembly operations are typically involved, including but not limited to assembling a planetary gear assembly (such as a first-stage planetary gear assembly including a first-stage sun gear planet carrier and three first-stage planetary gears, a second-stage planetary gear assembly including a second-stage sun gear planet carrier and three second-stage planetary gears, or a third-stage planetary gear assembly including a third-stage sun gear planet carrier and three third-stage planetary gears) into a corresponding gearbox semi-finished product, assembling multiple self-locking pins into a corresponding gearbox semi-finished product, assembling an internal gear ring into a corresponding gearbox semi-finished product, and assembling an end cover module into a corresponding gearbox semi-finished product. In related technologies, these assembly operations are primarily accomplished through a workpiece loading / unloading head. Driven by a lifting mechanism and a translation mechanism, the workpiece loading / unloading head lifts a workpiece from its corresponding loading station and then, through translation and lifting, transfers it to another workpiece at a corresponding loading station. However, in actual production, it was found that the placement angle of each workpiece at the corresponding loading station is uncertain. Therefore, when facing assembly operations that require the placement angles of two workpieces to match before assembly, if the above-mentioned loading and unloading mechanism is still used, it is easy for the placement angles of the two workpieces to be assembled to not match, resulting in the corresponding workpiece not being able to be successfully assembled into the other workpiece, thus affecting the workpiece loading and unloading efficiency and the workpiece loading and unloading effect. Utility Model Content
[0003] The main purpose of this application is to propose a loading and unloading mechanism, which aims to improve the technical problem that existing loading and unloading mechanisms are prone to fail to be successfully assembled into another workpiece when facing assembly operations that require the placement angles of two workpieces to match. This is because the placement angles of the two workpieces to be assembled do not match, thus affecting the workpiece loading and unloading efficiency and effect.
[0004] To achieve the above objectives, this application provides a loading and unloading mechanism for assembling a first workpiece into a second workpiece. The loading and unloading mechanism includes a workpiece loading and unloading head, a first mounting base, a second mounting base, a position sensor, a rotating mechanism, a lifting mechanism, and a translational mechanism.
[0005] The workpiece loading and unloading head is rotatably mounted on the first mounting base;
[0006] The first mounting base is elastically mounted on the second mounting base in the vertical direction;
[0007] The position sensor is configured to detect changes in the position of the first mounting base on the second mounting base;
[0008] The rotating mechanism is fixedly mounted on the first mounting base and driven to drive the workpiece loading head to rotate.
[0009] The lifting mechanism is driven to the second mounting base to drive the second mounting base to perform lifting movements;
[0010] The translation mechanism is driven to connect with the second mounting base to drive the second mounting base to perform translational movement between the top of the first loading station and the top of the second loading station.
[0011] Optionally, in some embodiments of this application, the workpiece loading and unloading head includes a first loading and unloading head base, two workpiece clamping blocks, and a clamping block driving cylinder. The first loading and unloading head base is rotatably mounted on the first mounting base. The two workpiece clamping blocks are respectively movably mounted on the first loading and unloading head base, and the two workpiece clamping blocks are arranged opposite to each other. The clamping block driving cylinder is respectively drivenly connected to the two workpiece clamping blocks to drive the two workpiece clamping blocks to move towards each other or away from each other.
[0012] Optionally, in some embodiments of this application, the workpiece loading and unloading head includes a second loading and unloading head base, at least one magnetic component, and a magnetic component telescopic cylinder. The second loading and unloading head base is rotatably mounted on the first mounting base, and a magnetic adsorption surface is provided on the bottom side of the second loading and unloading head base. The magnetic adsorption surface is recessed with at least one magnetic component mounting groove, and a magnetic component is movably mounted in each magnetic component mounting groove. All the magnetic components are driven and connected to the magnetic component telescopic cylinder so that, under the drive of the magnetic component telescopic cylinder, the outer surface of the magnetic component can be flush with the magnetic adsorption surface.
[0013] Optionally, in some embodiments of this application, the workpiece loading and unloading head includes a third loading and unloading head base and a mandrel. The third loading and unloading head base is mounted on the first mounting base, and the bottom side of the third loading and unloading head base is provided with a slot capable of engaging the outer periphery of the second workpiece. The mandrel is located in the slot, and one end of the mandrel is rotatably mounted on the first mounting base. The other end of the mandrel is provided with a transmission component capable of engaging with a component inside the second workpiece.
[0014] Optionally, in some embodiments of this application, the rotating mechanism includes a rotary motor, the motor shaft of which is connected to one end of the mandrel in a transmission connection.
[0015] Optionally, in some embodiments of this application, the motor shaft of the rotary motor is connected to one end of the mandrel via a coupling.
[0016] Optionally, in some embodiments of this application, a rotating shaft is fixedly provided on the top side of the workpiece loading and unloading head, and the rotating shaft is rotatably mounted on the first mounting base.
[0017] Optionally, in some embodiments of this application, the rotating mechanism includes a power cylinder, and the cylinder shaft of the power cylinder is connected to the rotating shaft via a rack and pinion transmission.
[0018] Optionally, in some embodiments of this application, the lifting mechanism includes a first mechanism base, a first guide rail, and a lifting cylinder. The first guide rail extends vertically and is disposed on the first mechanism base. The second mounting seat is slidably disposed on the first guide rail. The lifting cylinder is fixedly disposed on the first mechanism base and is drivenly connected to the second mounting seat to drive the second mounting seat to move up and down along the first guide rail.
[0019] Optionally, in some embodiments of this application, the translation mechanism includes a second mechanism seat, a second guide rail, and a translation cylinder. The second guide rail extends horizontally and is disposed on the second mechanism seat. The first mechanism seat is slidably disposed on the first guide rail. The translation cylinder is fixedly disposed on the second mechanism seat and is drivenly connected to the first mechanism seat to drive the first mechanism seat to perform translational movement along the second guide rail.
[0020] The loading and unloading mechanism provided in this application, through the aforementioned structural configuration, can, under the coordinated drive of the lifting mechanism and the translation mechanism, transfer the first workpiece from the first loading station to the second workpiece at the second loading station via the workpiece loading and unloading head. A position sensor detects changes in the position of the first mounting seat on the second mounting seat. Based on these position changes, the operation of the rotation mechanism and the lifting mechanism are controlled respectively to ensure that the first workpiece can be fully assembled into the second workpiece (i.e., the first workpiece can be installed in the designated installation position within the second workpiece). Generally, when the position sensor detects a change in the position of the first mounting seat on the second mounting seat during this process, it indicates that the installation of the first workpiece in the second workpiece is obstructed, meaning that the placement angle between the first workpiece and the corresponding component within the second workpiece is mismatched. In this case, the workpiece loading and unloading head needs to be driven to rotate entirely or partially via the rotation mechanism to adjust the placement angle of the first workpiece or the placement angle of the corresponding component within the second workpiece until the position sensor detects that the first mounting seat has returned to its original position. This indicates that the placement angle between the first workpiece and the corresponding component within the second workpiece has matched, ensuring that the first workpiece is fully assembled into the second workpiece. Thus, the technical solution of this application can automatically complete the accurate assembly between two workpieces, ensuring that one workpiece can be completely assembled onto the other, thereby improving workpiece loading and unloading efficiency and ensuring workpiece loading and unloading effect. It is evident that this technical solution can effectively improve the technical problem of existing loading and unloading mechanisms when facing assembly operations that require the two workpieces to be aligned at the same angle. In such cases, misalignment between the two workpieces prevents the corresponding workpiece from being successfully assembled onto the other, thus affecting workpiece loading and unloading efficiency and effect. Attached Figure Description
[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0022] Figure 1 This is a schematic diagram of the loading and unloading mechanism in an embodiment of this application.
[0023] Figure 2 This is a flowchart of the loading and unloading method according to an embodiment of this application.
[0024] Figure label:
[0025] 100. Picking and loading mechanism; 110. Workpiece picking and loading head; 120. First mounting base; 130. Second mounting base; 140. Position sensor; 150. Rotation mechanism; 160. Lifting mechanism; 170. Translation mechanism; 200. First workpiece; 300. Second workpiece; 400. First loading station; 500. Second loading station. Detailed Implementation
[0026] The specific embodiments of this application will be further described below with reference to the accompanying drawings. It should be noted that these descriptions are for the purpose of aiding understanding of this application and do not constitute a limitation thereof. Furthermore, the technical features involved in the various embodiments of this application described below can be combined with each other as long as they do not conflict with each other.
[0027] like Figure 1 As shown in the illustration, this application provides a loading and unloading mechanism 100, which specifically includes a workpiece loading and unloading head 110, a first mounting base 120, a second mounting base 130, a position sensor 140, a rotating mechanism 150, a lifting mechanism 160, and a translation mechanism 170. The workpiece loading and unloading head 110 is rotatably mounted on the first mounting base 120. The first mounting base 120 is elastically mounted on the second mounting base 130 in the vertical direction. The position sensor 140 is configured to detect changes in the position of the first mounting base 120 on the second mounting base 130. The rotating mechanism 150 is fixedly mounted on the first mounting base 120 and drivenly connected to the workpiece loading and unloading head 110 to drive the workpiece loading and unloading head 110 to rotate. The lifting mechanism 160 is drivenly connected to the second mounting base 130 to drive the second mounting base 130 to lift. The translation mechanism 170 is driven to connect with the second mounting base 130 to drive the second mounting base 130 to perform translational movement between the first loading station 400 and the second loading station 500.
[0028] It is understood that the loading and unloading mechanism 100 of this application embodiment is mainly used in the gearbox assembly process to assemble the first workpiece 200 into the second workpiece 300. The first workpiece 200 includes, but is not limited to, planetary gear assemblies, self-locking pins, internal gear rings, and end cover modules. The aforementioned rotatable assembly of the workpiece loading and unloading head 110 onto the first mounting base 120 specifically refers to the workpiece loading and unloading head 110 being able to rotate relative to the first mounting base 120 when needed. The aforementioned elastic assembly of the first mounting base 120 onto the second mounting base 130 in the vertical direction specifically refers to the first mounting base 120 being able to move within a small range in the vertical direction relative to the second mounting base 130 by undergoing elastic deformation in the vertical direction when compressed. Therefore, this elastic assembly can be achieved using a conventional spring structure or other elastic components. The aforementioned position sensor 140 can detect positional changes of the first mounting base 120 on the second mounting base 130. Specifically, when the first mounting base 120 is under pressure and undergoes a small vertical movement relative to the second mounting base 130, it can be detected by the position sensor 140. However, when the first mounting base 120 is not under pressure and does not undergo a small vertical movement relative to the second mounting base 130, it will not be detected by the position sensor 140. The position sensor 140 mentioned here can be a conventional photoelectric switch, infrared position sensor 140, pressure position sensor 140, or other structure capable of position detection. The pressure on the first mounting base 120 mentioned here generally occurs because, under the downward drive of the lifting mechanism 160, when the first workpiece 200 on the workpiece loading head 110 is placed into the second workpiece 300, if the placement angle between the first workpiece 200 and the corresponding component within the second workpiece 300 does not match, the installation of the first workpiece 200 in the second workpiece 300 will be obstructed. In this case, the obstructed first workpiece 200 will cause pressure on the first mounting base 120 through transmission. Conversely, if the placement angle between the first workpiece 200 and the corresponding component within the second workpiece 300 matches, the first workpiece 200 will be smoothly and completely assembled into the designated installation position of the second workpiece 300, and the first mounting base 120 will not be pressured. Taking the first workpiece 200 as a planetary gear assembly and the second workpiece 300 as the corresponding gearbox semi-finished product as an example, when the multiple planetary gears on the planetary gear assembly and the gears on the corresponding gearbox semi-finished product have mismatched placement angles (i.e., the multiple planetary gears on the planetary gear assembly cannot mesh with the gears on the corresponding gearbox semi-finished product), the planetary gear assembly cannot be placed in the designated installation position of the corresponding gearbox semi-finished product, thus obstructing the installation of the planetary gear assembly in the corresponding gearbox semi-finished product. At this time, the obstructed planetary gear assembly will cause the first mounting base 120 to be pressed through transmission.Conversely, if the multiple planetary gears on the planetary gear assembly match the gear placement angles on the corresponding gearbox semi-finished product (i.e., the multiple planetary gears on the planetary gear assembly mesh with the gears on the corresponding gearbox semi-finished product), the planetary gear assembly will be smoothly and completely assembled into the designated installation position of the corresponding gearbox semi-finished product. In this case, the first mounting base 120 will not be subjected to pressure. In summary, whether the position sensor 140 detects a change in the position of the first mounting base 120 on the second mounting base 130 can be used to determine whether there is a mismatch in the placement angles between the corresponding components in the first workpiece 200 and the second workpiece 300.
[0029] In addition, the first loading station 400 mentioned above is mainly used to load the first workpiece 200, and the second loading station 500 mentioned above is mainly used to load the second workpiece 300.
[0030] In this way, the loading and unloading mechanism 100 in this embodiment of the application, through the above-described structural configuration, can, under the coordinated drive of the lifting mechanism 160 and the translation mechanism 170, transfer the first workpiece 200 from the first loading station 400 to the second workpiece 300 from the second loading station 500 via the workpiece loading and unloading head 110. Simultaneously, the position sensor 140 detects the position change of the first mounting base 120 on the second mounting base 130. Based on this position change, the operation of the rotating mechanism 150 and the lifting mechanism 160 are controlled respectively to ensure that the first workpiece 200 can be fully assembled into the second workpiece 300 (i.e., the first workpiece 200 can be installed in the designated installation position within the second workpiece 300). Generally, when the position sensor 140 detects a change in the position of the first mounting base 120 on the second mounting base 130 during this process, it indicates that the installation of the first workpiece 200 in the second workpiece 300 is obstructed, meaning that the placement angles between the corresponding components of the first workpiece 200 and the second workpiece 300 are not aligned. In this case, the workpiece loading / unloading head 110 needs to be rotated, either entirely or partially, via the rotating mechanism 150 to adjust the placement angle of the first workpiece 200 or the corresponding component of the second workpiece 300, until the position sensor 140 detects that the first mounting base 120 has returned to its original position. This indicates that the placement angles between the corresponding components of the first workpiece 200 and the second workpiece 300 have aligned, allowing the first workpiece 200 to be fully installed in the second workpiece 300. Thus, the technical solution of this application can automatically complete the accurate assembly between two workpieces, ensuring that one workpiece can be fully assembled onto the other, thereby improving workpiece loading / unloading efficiency and ensuring the workpiece loading / unloading effect.
[0031] In some examples, such as Figure 1As shown, the workpiece loading and unloading head 110 includes a first loading and unloading head base, two workpiece clamping blocks, and clamping block driving cylinders. The first loading and unloading head base is rotatably mounted on a first mounting base 120. The two workpiece clamping blocks are movably mounted on the first loading and unloading head base, and the two workpiece clamping blocks are arranged opposite to each other. The clamping block driving cylinders are respectively driven by the two workpiece clamping blocks to drive the two workpiece clamping blocks to move towards or away from each other. Thus, with the above structural configuration, the workpiece loading and unloading head 110 of this example can realize the clamping and unloading operation of the first workpiece 200 by means of the two workpiece clamping blocks cooperating to hold it.
[0032] In some examples, such as Figure 1 As shown, the workpiece loading / unloading head 110 includes a second loading / unloading head base, at least one magnetic component, and a magnetic component telescopic cylinder. The second loading / unloading head base is rotatably mounted on the first mounting base 120, and a magnetic adsorption surface is provided on the bottom side of the second loading / unloading head base. The magnetic adsorption surface has at least one magnetic component mounting groove recessed therein, and a magnetic component is movably mounted in each magnetic component mounting groove. All magnetic components are driven and connected to the magnetic component telescopic cylinder so that, under the drive of the magnetic component telescopic cylinder, the outer surface of the magnetic component can be flush with the magnetic adsorption surface. Thus, with the above structural configuration, the workpiece loading / unloading head 110 of this example can realize the adsorption and placement operation of the first workpiece 200 by magnetic adsorption of the magnetic component.
[0033] It should be noted that when all magnetic components in this example are driven by the magnetic component telescopic cylinders, making their outer surfaces flush with the magnetic adsorption surface, the magnetic adsorption surface can adsorb the corresponding first workpiece 200. When all magnetic components are retracted into their corresponding magnetic component mounting slots under the drive of the magnetic component telescopic cylinders, the magnetic force of the magnetic adsorption surface will weaken or even disappear, allowing the corresponding first workpiece 200 to be placed down. The magnetic components in this example can specifically be magnets. The structure of the workpiece loading / unloading head 110 in this example is mainly suitable for the loading and unloading operation of the first workpiece 200 made of ferromagnetic material.
[0034] In some examples, such as Figure 1 As shown, the workpiece loading / unloading head 110 includes a third loading / unloading head base and a mandrel. The third loading / unloading head base is mounted on the first mounting base 120, and the bottom side of the third loading / unloading head base is provided with a slot for locking the outer periphery of the second workpiece 300. The mandrel is located in the slot, and one end of the mandrel is rotatably mounted on the first mounting base 120. The other end of the mandrel is provided with a transmission component that can perform transmission cooperation with the components inside the second workpiece 300. Thus, with the above structural configuration, the workpiece loading / unloading head 110 of this example can realize the locking and unlocking operation of the first workpiece 200 by locking it in the slot, and can also realize the adjustment of the placement angle of the components inside the second workpiece 300 by driving the components inside the second workpiece 300 to rotate synchronously.
[0035] It should be noted that the transmission component in this example can specifically be a transmission gear, which can drive the gear in the second workpiece 300 to rotate synchronously. The workpiece loading / unloading head 110 in this example can be specifically applied to the assembly operation where the first workpiece 200 is an end cap module and the second workpiece 300 is a gearbox semi-finished product with all planetary components assembled. In this case, to ensure the end cap module is smoothly assembled into the gearbox semi-finished product, the teeth of the end cap module and the gears inside the gearbox semi-finished product must be aligned. Therefore, the mandrel can be rotated to make the transmission gear at the other end of the mandrel mesh with the gears inside the gearbox semi-finished product, thereby driving the gears inside the gearbox semi-finished product to rotate, so that the teeth of the gears inside the gearbox semi-finished product are aligned with the end cap module.
[0036] In some examples, such as Figure 1 As shown, the rotating mechanism 150 includes a rotary motor, the motor shaft of which is connected to one end of the mandrel. Thus, with this structural arrangement, the mandrel can be rotated by the rotation of the motor shaft.
[0037] It should be noted that the transmission connection in this example can be implemented using a structure such as a coupling.
[0038] In some examples, such as Figure 1 As shown, a rotating shaft is fixed to the top side of the workpiece loading head 110, and the rotating shaft is rotatably mounted on the first mounting base 120. In this way, the workpiece loading head 110 can be well rotated and mounted on the first mounting base 120 through the above structural arrangement.
[0039] It should be noted that the rotating assembly in this example can be achieved through a bearing structure.
[0040] In some examples, such as Figure 1 As shown, the rotating mechanism 150 includes a power cylinder, the cylinder shaft of which is connected to the rotating shaft via a rack and pinion transmission. Thus, through this structural arrangement, the linear motion of the power cylinder's cylinder shaft can be converted into the rotational motion of the rotating shaft via the rack and pinion transmission.
[0041] It should be noted that the rack in this example is specifically a rod extending along the extension and retraction direction of the cylinder shaft, and one side of the rod is provided with teeth that can mesh with gears for transmission.
[0042] In some examples, such as Figure 1As shown, the lifting mechanism 160 includes a first mechanism base, a first guide rail, and a lifting cylinder. The first guide rail extends vertically and is mounted on the first mechanism base. A second mounting base 130 is slidably mounted on the first guide rail. The lifting cylinder is fixedly mounted on the first mechanism base and is drivenly connected to the second mounting base 130 to drive the second mounting base 130 to move up and down along the first guide rail. Thus, with the above structural arrangement, the second mounting base 130 can move smoothly up and down along the first guide rail under the drive of the lifting cylinder.
[0043] In some examples, such as Figure 1 As shown, the translation mechanism 170 includes a second mechanism seat, a second guide rail, and a translation cylinder. The second guide rail extends horizontally and is mounted on the second mechanism seat. The first mechanism seat is slidably mounted on the first guide rail. The translation cylinder is fixedly mounted on the second mechanism seat and is drivenly connected to the first mechanism seat to drive the first mechanism seat to perform translational movement along the second guide rail. Thus, through this structural arrangement, the second mounting base 130 can be indirectly driven to the translation mechanism 170 via the first mechanism seat, meaning that the first mechanism seat can drive the second mounting base 130 to perform smooth translational movement along the second guide rail under the drive of the translation cylinder.
[0044] In one embodiment, such as Figure 2 As shown, this application embodiment also provides a loading and unloading method for the loading and unloading mechanism 100. This loading and unloading method can be specifically applied to the loading and unloading mechanism 100 of the above embodiment. The loading and unloading method includes:
[0045] Step S110: Under the combined drive of the lifting mechanism and the translation mechanism, when the first workpiece at the first loading station is transferred to the second workpiece at the second loading station by the workpiece loading head, the position change of the first mounting seat on the second mounting seat is detected by the position sensor.
[0046] Step S120: Based on the position change, control the operation of the rotating mechanism and the lifting mechanism respectively to ensure that the first workpiece can be fully assembled onto the second workpiece.
[0047] It should be noted that, generally speaking, when the position sensor 140 detects a change in the position of the first mounting base 120 on the second mounting base 130 during this process, it indicates that the installation of the first workpiece 200 in the second workpiece 300 is obstructed, that is, the placement angle between the first workpiece 200 and the corresponding component in the second workpiece 300 does not match. At this time, the workpiece loading and unloading head 110 needs to be driven to rotate as a whole or partially by the rotating mechanism 150 to adjust the placement angle of the first workpiece 200 or the placement angle of the corresponding component in the second workpiece 300 until the position sensor 140 detects that the first mounting base 120 has returned to its original position, which means that the placement angle between the first workpiece 200 and the corresponding component in the second workpiece 300 has matched, so that the first workpiece 200 has been completely installed in the second workpiece 300. When the positioning sensor 140 does not detect a change in the position of the first mounting base 120 on the second mounting base 130 during this process, it indicates that the installation of the first workpiece 200 in the second workpiece 300 is successful, that is, the placement angle between the corresponding parts of the first workpiece 200 and the second workpiece 300 is matched. At this time, there is no need for the rotating mechanism 150 to drive the workpiece loading and unloading head 110 to rotate as a whole or in part to adjust the placement angle of the first workpiece 200 or the placement angle of the corresponding parts of the second workpiece 300.
[0048] In this way, the loading and unloading method of this application embodiment, through the above method steps, can automatically complete the accurate assembly between two workpieces, ensuring that one workpiece can be completely assembled onto another workpiece, thereby improving the workpiece loading and unloading efficiency and ensuring the workpiece loading and unloading effect.
[0049] Although this application has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art based on a reading and understanding of this specification and drawings. This application includes all such modifications and variations and is limited only by the scope of the appended claims. In particular, with respect to the various functions performed by the aforementioned components, the terminology used to describe such components is intended to correspond to any component (unless otherwise indicated) that performs the specified function of said component (e.g., is functionally equivalent to it), even if structurally not equivalent to the disclosed structure performing the functions in the exemplary implementations of this specification shown herein.
[0050] That is, the above description is only an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural changes made using the content of this application’s specification and drawings, such as the combination of technical features between different embodiments, or direct or indirect application in other related technical fields, are similarly included within the patent protection scope of this application.
[0051] Furthermore, it should be understood that in the description of this application, the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Additionally, for structural elements with the same or similar characteristics, this application may use the same or different reference numerals for identification. Moreover, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0052] In this application, the term "exemplary" is used to mean "serving as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as more preferred or advantageous than other embodiments. This application has been provided above to enable any person skilled in the art to implement and use it. Various details have been set forth in the above description for purposes of explanation. It should be understood that those skilled in the art will recognize that this application can be implemented without using these specific details. In other embodiments, well-known structures and processes will not be described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed herein.
Claims
1. A loading and unloading mechanism for assembling a first workpiece into a second workpiece, characterized in that, The loading and unloading mechanism includes a workpiece loading and unloading head, a first mounting base, a second mounting base, a position sensor, a rotation mechanism, a lifting mechanism, and a translation mechanism, wherein... The workpiece loading and unloading head is rotatably mounted on the first mounting base; The first mounting base is elastically mounted on the second mounting base in the vertical direction; The position sensor is configured to detect changes in the position of the first mounting base on the second mounting base; The rotating mechanism is fixedly mounted on the first mounting base and driven to drive the workpiece loading head to rotate. The lifting mechanism is driven to the second mounting base to drive the second mounting base to perform lifting movements; The translation mechanism is driven to connect with the second mounting base to drive the second mounting base to perform translational movement between the top of the first loading station and the top of the second loading station.
2. The loading and unloading mechanism according to claim 1, characterized in that, The workpiece loading and unloading head includes a first loading and unloading head base, two workpiece clamping blocks, and clamping block driving cylinders. The first loading and unloading head base is rotatably mounted on the first mounting base. The two workpiece clamping blocks are respectively movably mounted on the first loading and unloading head base, and the two workpiece clamping blocks are arranged opposite to each other. The clamping block driving cylinders are respectively driven connected to the two workpiece clamping blocks to drive the two workpiece clamping blocks to move towards each other or away from each other.
3. The loading and unloading mechanism according to claim 1, characterized in that, The workpiece loading and unloading head includes a second loading and unloading head base, at least one magnetic component, and a magnetic component telescopic cylinder. The second loading and unloading head base is rotatably mounted on the first mounting base, and a magnetic adsorption surface is provided on the bottom side of the second loading and unloading head base. The magnetic adsorption surface is recessed with at least one magnetic component mounting groove, and a magnetic component is movably mounted in each magnetic component mounting groove. All the magnetic components are driven and connected to the magnetic component telescopic cylinder so that, under the drive of the magnetic component telescopic cylinder, the outer surface of the magnetic component can be flush with the magnetic adsorption surface.
4. The loading and unloading mechanism according to claim 1, characterized in that, The workpiece loading and unloading head includes a third loading and unloading head base and a mandrel. The third loading and unloading head base is mounted on the first mounting base, and the bottom side of the third loading and unloading head base is provided with a slot that can hold the outer periphery of the second workpiece. The mandrel is located in the slot, and one end of the mandrel is rotatably mounted on the first mounting base. The other end of the mandrel is provided with a transmission component that can perform transmission cooperation with the components inside the second workpiece.
5. The loading and unloading mechanism according to claim 4, characterized in that, The rotating mechanism includes a rotary motor, and the motor shaft of the rotary motor is connected to one end of the mandrel in a transmission connection.
6. The loading and unloading mechanism according to claim 5, characterized in that, The motor shaft of the rotary motor is connected to one end of the mandrel via a coupling.
7. The loading and unloading mechanism according to claim 1, characterized in that, A rotating shaft is fixedly mounted on the top side of the workpiece loading and unloading head, and the rotating shaft is rotatably mounted on the first mounting base.
8. The loading and unloading mechanism according to claim 7, characterized in that, The rotating mechanism includes a power cylinder, and the cylinder shaft of the power cylinder is connected to the rotating shaft through a rack and pinion transmission.
9. The loading and unloading mechanism according to claim 1, characterized in that, The lifting mechanism includes a first mechanism base, a first guide rail, and a lifting cylinder. The first guide rail extends vertically and is disposed on the first mechanism base. The second mounting seat is slidably disposed on the first guide rail. The lifting cylinder is fixedly disposed on the first mechanism base and is drivenly connected to the second mounting seat to drive the second mounting seat to move up and down along the first guide rail.
10. The loading and unloading mechanism according to claim 9, characterized in that, The translation mechanism includes a second mechanism base, a second guide rail, and a translation cylinder. The second guide rail extends horizontally and is disposed on the second mechanism base. The first mechanism base is slidably disposed on the first guide rail. The translation cylinder is fixedly disposed on the second mechanism base and is drivenly connected to the first mechanism base to drive the first mechanism base to perform translational movement along the second guide rail.