A profiled workpiece transfer device

Abstract

The utility model relates to the technical field of transportation operation, specifically disclose a special-shaped workpiece transfer device for shifting special-shaped workpiece, wherein, the special-shaped workpiece includes large size part and tiny size part, and special-shaped workpiece transfer device includes: adsorption unit, including the workpiece suction head for adsorbing the large size part top surface and the suction head Z axle direct drive mechanism of drive the workpiece suction head up and down motion, bevel clamping unit, including two bevel clamping plates that are arranged in two sides of the tiny size part and drive the two bevel clamping plates to each other close or each other away drive jaw, wherein, the surface of the bevel clamping plate close to the tiny size part is inclined surface. The special-shaped workpiece transfer device provided by the utility model is used for shifting the complex workpiece with large size difference, can overcome electrostatic adsorption problem, and can avoid damaging workpiece due to excessive clamping force.

Description

Technical Field

[0001] This utility model relates to the field of transportation operation technology, and in particular to a device for transferring irregularly shaped workpieces. Background Technology

[0002] In the field of industrial automation, especially in precision electronic assembly and optical module packaging, automated workpiece transfer is a fundamental and crucial process. Currently, the mainstream technologies for workpiece transfer typically rely on vacuum adsorption (achieved through a suction head) or mechanical clamping (achieved through cylinder-driven grippers). These methods are quite mature and efficient when dealing with workpieces that are regularly shaped and uniform in size.

[0003] However, as products become smaller and more integrated, many composite structures with significant size differences have emerged, posing a serious challenge to traditional transfer technologies. A typical example is certain optical modules, whose structures simultaneously include large control components (such as circuit boards) and extremely delicate and fragile optical path systems (such as lenses and lens barrels). For these types of components, traditional single transfer methods have revealed significant limitations:

[0004] (1) Shortcomings of the adsorption method: For FPC parts with large dimensions on the workpiece, it is technically feasible to use the suction head for adsorption and transfer. However, when the adsorption point is located in a small optical path system part, although the suction head can hold the workpiece, the workpiece is very easy to stick to the suction head due to the residual electrostatic adsorption effect or van der Waals force on the material surface after the transfer is completed, and cannot be reliably removed, resulting in placement failure or workpiece damage.

[0005] (2) Shortcomings of mechanical clamping: If a cylinder-driven gripper is used to directly clamp small-sized optical path system parts, the problem of controlling the clamping force will be faced. To ensure the stability of the transfer process, the gripper needs to apply sufficient force to prevent the workpiece from slipping; however, on the other hand, due to the small size and fragile structure of the workpiece, if the clamping force is slightly too large, it will easily cause plastic deformation, indentation or even breakage of the workpiece. The force control accuracy and response speed of existing grippers are often insufficient to achieve stable and gentle gripping at this microscale.

[0006] Therefore, existing technologies lack a transfer device that can effectively handle irregularly shaped workpieces with large size differences.

[0007] The information disclosed in this background section is included only to enhance the understanding of the context of this disclosure, and therefore may contain information that does not constitute prior art known to those skilled in the art. Utility Model Content

[0008] One objective of this invention is to provide a device for transferring irregularly shaped workpieces, which can be used to transfer complex workpieces with large size differences, overcome the problem of electrostatic adsorption, and avoid damage to the workpiece due to excessive clamping force.

[0009] To achieve the above objectives, this utility model provides an irregularly shaped workpiece transfer device for transferring irregularly shaped workpieces, wherein the irregularly shaped workpieces include large-sized parts and small-sized parts, and the irregularly shaped workpiece transfer device includes:

[0010] The adsorption unit includes a workpiece suction head for adsorbing the top surface of the large-sized part, and a suction head Z-axis direct drive mechanism for driving the workpiece suction head to move up and down.

[0011] The inclined clamping unit includes two inclined clamping plates arranged on both sides of the micro-sized part, and a driving gripper that drives the two inclined clamping plates to move closer to each other or further away from each other.

[0012] The surface of the inclined clamp plate near the tiny part is an inclined surface.

[0013] Optionally, the distance between the two inclined surfaces gradually decreases from top to bottom.

[0014] Optionally, the inclined clamping plate includes a clamping jaw multiplexer fixedly connected to the driving end of the driving jaw, and a clamping jaw replaceable part whose one end is detachably connected to the clamping jaw multiplexer;

[0015] The inclined surface is located at the end of the replaceable gripper that is away from the reusable gripper.

[0016] Optionally, the gripper multiplexer includes a transverse portion fixedly connected to the driving end of the driving gripper, and a longitudinal portion fixedly connected to the transverse portion and protruding downward.

[0017] The two longitudinal portions have interchangeable gripper parts on their opposing surfaces.

[0018] Optionally, the longitudinal portion is bolted to the corresponding replaceable gripper.

[0019] Optionally, a pressure sensor is provided between the longitudinal portion and the corresponding replaceable gripper.

[0020] Optionally, the longitudinal portion is magnetically connected to the corresponding interchangeable gripper.

[0021] Optional, also includes:

[0022] Z-axis mounting plate;

[0023] A rotating base is located below the Z-axis mounting plate, and both the adsorption unit and the inclined clamping unit are mounted on the rotating base.

[0024] The Z-axis rotary drive mechanism is mounted on the Z-axis mounting plate, and the drive end of the Z-axis rotary drive mechanism is connected to the rotating base through a coupling to drive the rotating base to rotate.

[0025] Optional, also includes:

[0026] An upper light-blocking plate is fixedly mounted on the coupling;

[0027] An upper photoelectric sensor is mounted on the Z-axis mounting plate and is used to detect the upper light-blocking plate;

[0028] A lower light-blocking plate, which is fixed to the coupling;

[0029] A lower photoelectric sensor is mounted on the Z-axis mounting plate and is used to detect the lower light-blocking plate;

[0030] Both light-blocking sheets protrude radially, and the protrusion directions of the two light-blocking sheets are different.

[0031] The beneficial effects of this utility model are as follows: It provides a device for transferring irregularly shaped workpieces. The adsorption unit adsorbs the top surface of the large-sized part of the irregularly shaped workpiece through the workpiece suction head, and the Z-axis direct drive mechanism of the suction head drives the workpiece suction head to move up and down, realizing the picking and placing of the large-sized part. At the same time, the inclined clamping unit is activated, and the driving jaws drive the two inclined clamping plates to move closer to each other, using their inclined surfaces to contact and constrain the small-sized part from both sides. During the clamping process, the inclined surfaces decompose the horizontal clamping force into a clamping component pointing towards the center of the workpiece and a downward component. When the applied clamping force is within the normal range, the workpiece is stably held. When the clamping force is too large, due to the effect of the inclined surfaces, the excessive horizontal force is converted into a significantly increased downward component. This downward force overcomes the static friction between the workpiece and the clamping plates, forcing the small-sized part downward along the inclined surfaces, thereby escaping the clamping state.

[0032] Therefore, the irregular workpiece transfer device provided by this utility model can overcome the problem of electrostatic adsorption and avoid damage to the workpiece due to excessive clamping force. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 A schematic diagram of the irregular workpiece transfer device provided in the embodiment;

[0035] Figure 2 This is a schematic diagram of the bottom surface of the irregular workpiece transfer device provided in the embodiment.

[0036] In the picture:

[0037] 1. Adsorption unit; 101. Workpiece suction head; 102. Suction head Z-axis direct drive mechanism;

[0038] 2. Inclined clamping unit; 201. Inclined clamping plate; 2011. Gripper reusable component; 2011a. Lateral part; 2011b. Longitudinal part; 2012. Gripper replaceable component; 2012a. Inclined surface; 202. Drive gripper;

[0039] 3. Z-axis mounting plate;

[0040] 4. Rotating base;

[0041] 5. Z-axis rotary drive mechanism;

[0042] 6. Couplings;

[0043] 7. Install a light-blocking sheet;

[0044] 8. Install photoelectric sensors;

[0045] 9. Lower light-blocking plate;

[0046] 10. Lower photoelectric sensor. Detailed Implementation

[0047] In this utility model, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of this utility model. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this utility model, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0048] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit the invention.

[0049] In the description of this utility model, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " generally indicates that the preceding and following objects have an "or" logical relationship.

[0050] In this invention, 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 actual quantity, hierarchy, or order between these entities or operations.

[0051] Without further limitations, the use of terms such as “comprising,” “including,” “having,” or other similar expressions in this invention is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a series of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0052] Similar to the understanding in the Examination Guidelines, in this utility model, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments of this utility model, "multiple" means two or more (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.

[0053] In the description of the embodiments of this utility model, the space-related expressions used, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or drawings. They are only for the convenience of describing the specific embodiments of this utility model or for the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this utility model.

[0054] Unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this utility model, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components or the interaction between two components. For those skilled in the art to which this utility model pertains, the specific meaning of the above terms in the embodiments of this utility model can be understood according to the specific circumstances.

[0055] The direct drive mechanism in this invention can be a linear motor, a cylinder, a hydraulic cylinder, or a motor lead screw and slider assembly, etc.; the rotary drive mechanism can be a servo motor, a stepper motor, or a rotary cylinder, etc.

[0056] This embodiment provides an irregularly shaped workpiece transfer device for transferring complex workpieces with large size differences. It overcomes the problem of electrostatic adsorption and avoids damage to the workpiece due to excessive clamping force. Specifically, the irregularly shaped workpiece includes large parts and small parts.

[0057] See Figure 1 The irregularly shaped workpiece transfer device includes:

[0058] Adsorption unit 1 includes a workpiece suction head 101 for adsorbing the top surface of the large-sized part, and a suction head Z-axis direct drive mechanism 102 for driving the workpiece suction head 101 to move up and down; optionally, the workpiece suction head 101 is an electromagnetic suction head or a vacuum suction head.

[0059] The inclined clamping unit 2 includes two inclined clamping plates 201 arranged on both sides of the small-sized part, and a driving gripper 202 that drives the two inclined clamping plates 201 to move closer to each other or further away from each other.

[0060] The surface of the inclined clamping plate 201 near the minute portion is an inclined surface 2012a. Optionally, the distance between the two inclined surfaces 2012a gradually decreases from top to bottom. Furthermore, the angle between the inclined surface 2012a and the horizontal plane is 80°-85°, which ensures good clamping and allows the minute portion to be forced downwards along the inclined surface 2012a when necessary.

[0061] The irregular workpiece transfer device provided in this embodiment uses an adsorption unit 1 to adsorb the top surface of the large-sized portion of the irregular workpiece via a workpiece suction head 101. The workpiece suction head 101 is driven up and down by a Z-axis direct drive mechanism 102, enabling the picking and placing of the large-sized portion. Simultaneously, the inclined clamping unit 2 operates, with the driving jaws 202 driving the two inclined clamping plates 201 closer together. The inclined surfaces 2012a of these plates contact and constrain the small-sized portion from both sides. During clamping, the inclined surfaces 2012a decompose the horizontal clamping force into a clamping component pointing towards the center of the workpiece and a downward component. When the applied clamping force is within the normal range, the workpiece is stably held. When the clamping force is too large, due to the action of the inclined surfaces 2012a, the excessive horizontal force is converted into a significantly increased downward component. This downward force overcomes the static friction between the workpiece and the clamping plates, forcing the small-sized portion downwards along the inclined surfaces 2012a, thus escaping the clamping state.

[0062] The inclined surface 2012a design provides an inherently safe overload protection mechanism. Unlike traditional grippers using vertical clamping surfaces, the inclined surface 2012a does not completely convert the energy into a huge compressive force on the workpiece, causing it to "burst" when the clamping force increases abnormally. Instead, it decomposes the excessive clamping force into a downward sliding motion that causes the workpiece to slip out. This "forced-out" effect fundamentally avoids crushing damage to fragile workpieces due to force control failure or setting errors, greatly improving the safety of the transfer process for small-sized parts. Simultaneously, combined with the adsorption unit 1, it enables differentiated and highly reliable transfer of different parts of irregularly shaped workpieces.

[0063] In this embodiment, the inclined clamping plate 201 includes a clamping jaw multiplexer 2011 fixedly connected to the driving end of the driving jaw 202, and a clamping jaw replaceable part 2012 detachably connected to the clamping jaw multiplexer 2011 at one end; wherein, the inclined surface 2012a is located at the end of the clamping jaw replaceable part 2012 away from the clamping jaw multiplexer 2011.

[0064] The detachable design allows the interchangeable gripper 2012 to be replaced according to the shape and size of different workpieces. When it is necessary to replace the gripping component, the interchangeable gripper 2012 can be replaced separately without replacing the entire inclined clamping plate 201, thereby improving the versatility and flexibility of the device and reducing maintenance costs.

[0065] Optionally, the gripper reuse member 2011 includes a transverse portion 2011a fixedly connected to the driving end of the driving gripper 202, and a longitudinal portion 2011b fixedly connected to the transverse portion 2011a and protruding downward; wherein, the gripper replaceable member 2012 is provided on the opposing surfaces of the two longitudinal portions 2011b.

[0066] As an optional implementation, the longitudinal portion 2011b is bolted to the corresponding replaceable gripper component 2012. Further, a pressure sensor is provided between the longitudinal portion 2011b and the corresponding replaceable gripper component 2012. The bolted connection ensures a secure connection between the longitudinal portion 2011b and the corresponding replaceable gripper component 2012. When replacement is needed, the bolts can be loosened for disassembly. The pressure sensor can monitor the force applied to the replaceable gripper component 2012 in real time during clamping, providing feedback on the clamping force. This allows for precise control of the clamping force, preventing excessive force from damaging the small-sized components and improving the safety and controllability of clamping.

[0067] As another optional implementation, the longitudinal portion 2011b is magnetically connected to the corresponding replaceable gripper 2012. When the clamping force is too large, the magnetic attraction is broken, forcing the longitudinal portion 2011b to separate from the corresponding replaceable gripper 2012, thereby interrupting clamping. The magnetic connection, as an overload protection mechanism, automatically separates when the clamping force is too large, avoiding damage to the workpiece, providing non-contact force protection, and enhancing the safety of the device.

[0068] In this embodiment, the irregular workpiece transfer device further includes:

[0069] Z-axis mounting plate 3;

[0070] A rotating base 4 is located below the Z-axis mounting plate 3, and the adsorption unit 1 and the inclined clamping unit 2 are both mounted on the rotating base 4.

[0071] Z-axis rotary drive mechanism 5 is mounted on the Z-axis mounting plate 3, and the drive end of the Z-axis rotary drive mechanism 5 is connected to the rotating base 4 through a coupling 6 to drive the rotating base 4 to rotate.

[0072] When it is necessary to adjust the placement angle of the irregular workpiece, the Z-axis rotary drive mechanism 5 drives the rotating base 4 to rotate, thereby driving the adsorption unit 1 and the inclined clamping unit 2 installed on it to rotate as a whole.

[0073] Furthermore, the irregularly shaped workpiece transfer device also includes:

[0074] Upper light-blocking plate 7, which is fixed to the coupling 6;

[0075] Upper photoelectric sensor 8 is mounted on the Z-axis mounting plate 3 and is used to detect the upper light-blocking plate 7;

[0076] Lower light-blocking plate 9, which is fixed to the coupling 6;

[0077] The lower photoelectric sensor 10 is mounted on the Z-axis mounting plate 3 and is used to detect the lower light-blocking plate 9.

[0078] Both light-blocking sheets protrude radially, and the protrusion directions of the two light-blocking sheets are different.

[0079] When the drive end of the Z-axis rotary drive mechanism 5 rotates forward until the upper photoelectric sensor 8 detects the upper light-blocking plate 7, it indicates that the first preset limit position has been reached, and the forward rotation stops.

[0080] When the drive end of the Z-axis rotary drive mechanism 5 rotates in the reverse direction until the lower photoelectric sensor 10 detects the lower light-blocking plate 9, it indicates that the second preset limit position has been reached, and the reverse transmission stops.

[0081] This allows for limiting the rotation angle, preventing excessive rotation from interfering with other equipment on the production line.

[0082] Finally, it should be noted that although the above embodiments have been described in the text and drawings of this application, this should not limit the scope of patent protection of this application. Any technical solutions that are based on the essential concept of this application and utilize the content described in the text and drawings of this application, resulting in equivalent structural or procedural substitutions or modifications, as well as the direct or indirect application of the technical solutions of the above embodiments to other related technical fields, are all included within the scope of patent protection of this application.

Claims

1. A device for transferring irregularly shaped workpieces, wherein the irregularly shaped workpieces include large-sized parts and small-sized parts, characterized in that, include: The adsorption unit (1) includes a workpiece suction head (101) for adsorbing the top surface of the large-sized part, and a suction head Z-axis direct drive mechanism (102) for driving the workpiece suction head (101) to move up and down. The inclined clamping unit (2) includes two inclined clamping plates (201) arranged on both sides of the small-sized part, and a driving gripper (202) that drives the two inclined clamping plates (201) to move closer to each other or further away from each other. The surface of the inclined clamp (201) near the small-sized part is an inclined surface (2012a).

2. The irregular workpiece transfer device according to claim 1, characterized in that, The distance between the two inclined surfaces (2012a) gradually decreases from top to bottom.

3. The irregular workpiece transfer device according to claim 1, characterized in that, The inclined clamping plate (201) includes a clamping jaw multiplexer (2011) fixedly connected to the driving end of the driving jaw (202), and a clamping jaw replaceable part (2012) detachably connected to the clamping jaw multiplexer (2011) at one end. The inclined surface (2012a) is located at the end of the replaceable gripper (2012) away from the reusable gripper (2011).

4. The irregular workpiece transfer device according to claim 3, characterized in that, The gripper multiplexer (2011) includes a transverse portion (2011a) fixedly connected to the drive end of the drive gripper (202), and a longitudinal portion (2011b) fixedly connected to the transverse portion (2011a) and protruding downward. The two longitudinal portions (2011b) have opposite surfaces provided with the interchangeable gripper (2012).

5. The irregular workpiece transfer device according to claim 4, characterized in that, The longitudinal portion (2011b) is bolted to the corresponding replaceable gripper (2012).

6. The irregular workpiece transfer device according to claim 5, characterized in that, A pressure sensor is provided between the longitudinal portion (2011b) and the corresponding replaceable gripper (2012).

7. The irregular workpiece transfer device according to claim 4, characterized in that, The longitudinal portion (2011b) is magnetically connected to the corresponding interchangeable gripper (2012).

8. The irregular workpiece transfer device according to claim 1, characterized in that, Also includes: Z-axis mounting plate (3); A rotating base (4) is located below the Z-axis mounting plate (3), and the adsorption unit (1) and the inclined clamping unit (2) are both mounted on the rotating base (4). Z-axis rotary drive mechanism (5) is mounted on the Z-axis mounting plate (3), and the drive end of the Z-axis rotary drive mechanism (5) is connected to the rotating base (4) through a coupling (6) to drive the rotating base (4) to rotate.

9. The irregular workpiece transfer device according to claim 8, characterized in that, Also includes: Upper light-blocking plate (7), the upper light-blocking plate (7) is fixed to the coupling (6); Upper photoelectric sensor (8) is mounted on the Z-axis mounting plate (3) and is used to detect the upper light-blocking plate (7). Lower light-blocking plate (9), the lower light-blocking plate (9) is fixed to the coupling (6); The lower photoelectric sensor (10) is mounted on the Z-axis mounting plate (3) and is used to detect the lower light-blocking plate (9). Both light-blocking sheets protrude radially, and the protrusion directions of the two light-blocking sheets are different.

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