CN106475842B - A kind of self-feeding and reclaimer device - Google Patents
A kind of self-feeding and reclaimer device Download PDFInfo
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- CN106475842B CN106475842B CN201611114999.8A CN201611114999A CN106475842B CN 106475842 B CN106475842 B CN 106475842B CN 201611114999 A CN201611114999 A CN 201611114999A CN 106475842 B CN106475842 B CN 106475842B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/043—Construction of the grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/005—Lifting devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/03—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of endless chain conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/048—Multiple gripper units
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The present invention relates to a kind of self-feeding and reclaimer device, including the material path frame being extended with along its length and multiple two shaft mechanicals arms, space type is provided with two conveyer belts on the material path frame, workpiece is undertaken on two conveyer belts and conveys, and the intermediate channel of perforation material path frame top and the bottom is constituted between two conveyer belts；It is provided with multiple feeding stations along its length on material saddle, each feeding station is made of positioning device and lifting device；Positioning device is mounted on material path frame top, including two backgauge modules and a locating module, and constituting preparation between two backgauge modules promotes section, and positioning is constituted between locating module and adjacent backgauge module and promotes section；Positioning promotes the material path frame lower part below section and is provided with lifting device, and lifting device includes the lift lever extended vertically into intermediate channel, and lift lever is driven by lifting cylinder and stepper motor；Have automatic positioning function, constitutes the workpiece conveying and transfer of continous way, multistation.
Description
Technical field
The present invention relates to the device field of conveying workpieces, especially a kind of self-feeding and reclaimer device.
Background technology
Currently, existing numerical control machining center, the clamping of workpiece generally also needs to human hand charging and feeding, lead in this way
Processing efficiency is caused to be restricted, processing efficiency is low, and carries out the development trend that charging and feeding have been industries using manipulator,
And the structure of manipulator has developed into ripe, the action of mechanical arm is very flexibly.And how cooperative mechanical hand is by storing
Side and the side of processing are effectively coordinated, and are to put the project to be solved in face of engineering staff, and the present invention provides a kind of
The chain-type material path of pipeline system is selected for producer.
Invention content
It is an object of the invention to solve above-mentioned the deficiencies in the prior art, and present invention offer is a kind of simple and reasonable for structure
A kind of self-feeding and reclaimer device, have automatic positioning function, multiple manipulators and multiple numerical controls can be coordinated simultaneously
Machining center uses, and constitutes the workpiece conveying of continous way, multistation, effectively improves processing efficiency, and cope with special workpiece
Processing.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of self-feeding and reclaimer device, including a chain-type material path and multiple two shaft mechanicals arms, chain-type
Material path includes the material path frame being extended with along its length, and material path frame bottom is equipped with support leg, material path frame upper edge length extension side
To the conveyer belt for being equipped with conveying workpieces, characterized in that space type is provided with two conveyer belts on the material path frame, and workpiece is accepted
It is conveyed on two conveyer belts, the intermediate channel of perforation material path frame top and the bottom is constituted between two conveyer belts；
Multiple feeding stations are provided on material path frame along its length, each feeding station is by positioning device and lifting device
Composition, there are one two shaft mechanical arms for each feeding station side setting；
Positioning device is between material path frame top, including two backgauge modules and a locating module, two backgauge modules
It constitutes preparation and promotes section, positioning is constituted between locating module and adjacent backgauge module and promotes section；
Positioning promotes the material path frame lower part below section and is provided with lifting device, and lifting device includes extending vertically into centre
Lift lever in channel, lift lever are driven by lifting cylinder and stepper motor, are successively realized the rising and rotation of lift lever, are made
Lift lever realizes rotation after promoting workpiece；
Each two shaft mechanicals arm includes pedestal, and the Chuck top is fixed with the X-axis support arm extended in X direction, X-axis branch
Arm top surface both sides are extended along its length two X-axis guide rails, and X-axis rack, two X-axis guide rails are fixed between two X-axis guide rails
It is upper that X-axis slide is equipped with by X-axis slide block seat, it is vertically and fixedly provided with X-axis servo motor, the output shaft of X-axis servo motor on X-axis slide
Across X-axis slide and it is connected with the X-axis driving gear engaged with X-axis rack；
Be fixed with Z axis fixed seat on X-axis slide, the side of Z axis fixed seat is equipped with Z axis sliding block, Z axis fixed seat it is another
Side is horizontally installed with Z axis servo motor, and the output shaft of Z axis servo motor is connected with Z axis driving gear, and Z axis sliding block drives with Z axis
X-axis support arm outside vertical between gear is provided with Z axis support arm, and both sides edge extends vertically direction and is provided with Z axis guide rail and Z axis tooth
Item, Z axis guide rail are slidably matched with Z axis sliding block, and Z axis rack is engaged with Z axis driving gear；
The bottom end of Z axis support arm is rotatably connected to feeding plate, and feeding plate is set up in parallel there are two feeding clamp hand, on Z axis support arm
It is fixed with feeding tumble cylinder, the telescopic rod of feeding tumble cylinder is connect with the side of feeding plate.
Using the material path of the structure, workpiece is placed on the length extending direction conveying of two conveyer belt upper edge material path framves, with it
In for a feeding station, when workpiece one close to be delivered to two backgauge modules for one when, first by a work of foremost
Part is delivered to forward positioning and promotes section, is touched with locating module, and subsequent multiple workpiece are kept off by two backgauge modules respectively
It firmly rests on preparation and promotes section, will not be moved forward conveyer belt is in conveying, at this time the lifting cylinder in lifting device
Lift lever is driven, positioning, which is promoted the workpiece on section, to be promoted, and after reaching specified altitude assignment, bar is rotated and upgraded by stepper motor,
The angle for making workpiece moving in rotation, after rotation specified angle, you can to pass through the two shaft mechanical arms for having been prepared for work
It by the workpiece grabbing on lift lever, is then put on numerical control machining center and processes, subsequent processing is not that the present invention claims guarantors
The content of shield be not described in detail secondary.After the workpiece that positioning promotes section is crawled, lift lever, which declines, to be resetted, and prepares promotion
The workpiece of foremost can be conveyed into positioning and be promoted in section on section, the action for repeating promotion and rotating, and subsequent workpiece
It is promoted on section in preparation by a backgauge module gear, so recycles interoperation, realize quick conveying workpieces, and and manipulator
Cooperation, high in machining efficiency, high degree of automation, then coordinate the setting of multiple feeding stations, effectively reduce human cost.
And the setting of two backgauge modules, effect are, most preceding workpiece can be conveyed into positioning and be promoted in section
Bar is elevated to be promoted and rotated, and the preparation that two backgauge modules are formed promotes section, for that will prepare into positioning lifting zone
Between workpiece positioned, and separated with front and back workpiece, and come subsequent multiple workpiece by a backgauge mould rearward
Block blocks positioning, avoid below multiple workpiece with preparation promoted section interfere, make two backgauge modules and a locating module
Different regions is formed, and according to the setting of numerical control program, feeding is carried out according to priority step, it is simple and reasonable for structure, to carry
High feeding efficiency provides basis.
In addition, two conveyer belts are arranged in space type, are formed and be suitable for the intermediate channel that lift lever passes through, clever structure makes
Total is compacter.
Extracting jaw on feeding plate can be made by the way that X-axis guide rail and Z axis guide rail is arranged using the mechanical arm of the structure
Hand realizes the sliding of X-axis and Z-direction, then realizes that overturning is swung to feeding plate by feeding tumble cylinder, to make extracting jaw
Hand is transferred to corresponding position more easily by the workpiece grabbing in material path frame on lift lever, simple and reasonable for structure, X-axis
The control of servo motor and Z axis servo motor, can accurate setting speed, and the transmission of rack and pinion coordinate, transmission accuracy
Height, although overall structure is using linear motion, structure combination is ingenious, can workpiece be accurately transferred to numerical control by feeding station
Processing stations effectively improve production efficiency.
Two feeding clamp hands are set on one feeding plate, are to complete feeding on numerical control machine tool for convenience and put
Material, effectively improves processing efficiency.
The present invention can also use following technical measures to solve：
Material path frame is equipped with two transmission shafts along the both ends of length extending direction, and each transmission shaft space type is provided with two transmissions
Wheel, each conveyer belt both ends driving wheel connection corresponding on two transmission shafts respectively a, wherein transmission shaft is driven by conveyer belt
Device drive connects；Drive mechanism is simple, reasonable, and dismounting is easy to maintain；Driving device can be the combination of motor and speed reducer, or
Other combinations.
Two backgauge modules are disposed adjacent, and each backgauge module includes backgauge pedestal, backgauge cylinder and backgauge wheel, backgauge base
Seat is fixed on material path frame side, and backgauge cylinder is fixed on the side of backgauge pedestal, and the telescopic rod in backgauge cylinder is connected with backgauge
The other end of connecting rod, backgauge connecting rod extends toward belt direction and is connected with backgauge wheel；Two backgauge modules are adjacent and spacing is arranged,
By backgauge cylinder, backgauge is realized to workpiece, stops that workpiece advances when needed, backgauge wheel can be with respect to backgauge connecting rod certainly
By rotating, after avoiding backgauge connecting rod from retracting, allows workpiece to advance, even if workpiece touches backgauge wheel, workpiece surface will not be caused
Scratch etc. is formed, and workpiece is allowed smoothly to advance.
It is provided with the first detector on material path frame between two backgauge modules；Play the role of position detection, system is made to obtain
Corresponding detection data；And make corresponding instruction.
Locating module includes positioning pedestal, positioning cylinder and locating wheel, and positioning pedestal is fixed on material path frame side, positioning
Cylinder is fixed on the side of positioning pedestal, and the telescopic rod on positioning cylinder is connected with positioning linkage rod, and the other end of positioning linkage rod is past
Belt direction extends and is connected with locating wheel；By the work of positioning cylinder, the positioning of workpiece is realized, enable lift lever will
Accurately workpiece is promoted.
It is provided with the second detector on material path frame between locating module and adjacent backgauge module；Play position detection work
With making system obtain corresponding detection data；And make corresponding instruction.
Position checking module, including position check and correction pedestal, position are provided between locating module and adjacent backgauge module
Cylinder and third detector are proofreaded, position check and correction pedestal is fixed on material path frame side, and position check and correction cylinder is fixed on position school
To on pedestal, the telescopic rod on position check and correction cylinder is connected with position check and correction connector, and inspection is equipped on position check and correction connector
Device holder is surveyed, third detector is mounted on detector bracket, and through-hole corresponding with third detector is offered on corresponding workpiece；
After position checking module is elevated bar promotion primarily directed to workpiece, the rotation angle of stepper motor output is controlled,
Specifically, it also needs to open up hole on workpiece or other carries out counter structure feature with third detector, pass through after workpiece promotion
Stepper motor is rotated, when third detector on workpiece hole carry out it is vertical to it is corresponding when third detector understand output signal
So that stepper motor is stopped rotating, signal rotation in place, the manipulator of peripheral hardware can grabbing workpiece at any time, structure letter
It is single, reasonable, ingenious, fully achieve automation.
Two detector brackets are installed on position check and correction connector, third detector is installed in each detection support；Two
Two third detectors in a detection support are needed on corresponding workpiece to open up two holes and are corresponding to it, and a pair of combination can
Keep running accuracy more accurate.
Lifting device further includes being arranged to promote guide post the two of material path frame lower part both sides, and two promote the bottom end connection of guide post
It is connected to promotion substrate, lifting cylinder, which is fixed on, to be promoted on substrate, and the telescopic rod of lifting cylinder passes through promotion substrate connection to have guiding
Slide plate, blade fin both ends promote guide post with two and are oriented to connection, connecting plate for electric motor are connected on blade fin, stepper motor hangs down
It is directly mounted on connecting plate for electric motor, the output shaft of stepper motor is connected with the lift lever extended into intermediate channel；Pass through promotion
The driving of cylinder makes blade fin that will be lifted up along two promotion guide posts, the promotion of stepper motor and lift lever is realized, when carrying
After rising to specified altitude assignment, the step of rotating to lift lever output torque by stepper motor, realize above-mentioned grabbing workpiece；Two carry
Rising guide post makes lift structure stablize.
The bottom end of the Z axis support arm is connected with feeding pedestal, and feeding pedestal, which is turned under, is connected to feeding pedestal extension board, feeding
Branch sleeve is installed, feeding plate is set in by rotational sleeve on branch sleeve on pedestal extension board；Rotational sleeve be arranged into
In branch sleeve, feeding plate is made to have rotating function, in the driving of cooperation feeding tumble cylinder, feeding plate can be fast implemented
Overturn feeding, blowing.
The side of feeding plate is fixed with cylinder connector, and telescopic rod and the rotation of cylinder connector of feeding tumble cylinder connect
It connects；Structure connection is simple, and installation is quick.
The side vertical type of Z axis fixed seat is equipped with two Z axis sliding blocks；Two Z axis sliding blocks make structure more stablize.
Z axis fixed seat both sides are equipped with the two Z axis fixed supported slabs extended on the outside of X-axis support arm, and Z axis support arm is vertically set on two
Between Z axis fixed supported slab, Z axis sliding block and Z axis servo motor are separately fixed on two Z axis fixed supported slabs；Space layout is rationally, tightly
It gathers, two Z axis sliding blocks are set as fixed, and Z axis guide rail makees lifting carriage, to realize the Z axis oscilaltion of feeding plate.
Chuck top is equipped with support base, and X-axis support arm horizontal base is located at support base top surface；Support base has extension, can
More to support X-axis support arm, keep structure stress more reasonable, the sliding of X-axis slide is more stablized, and sliding precision is guaranteed.
The beneficial effects of the invention are as follows：
（1）A kind of self-feeding of the present invention and reclaimer device, chain-type material path it is simple and reasonable for structure, can fast implement
The conveying of workpiece, and coordinate with existing manipulator, by workpiece fast transfer, and chain-type（Or continuous-flow type）Material path frame, energy
Multiple stations are enough set, working efficiency is effectively improved, and by lifting device, workpiece is promoted and is rotated to specified angle conveniently
Crawl, compact-sized, convenient for installation and maintenance, feeding is accurate.
（2）A kind of self-feeding of the present invention and reclaimer device, simple and reasonable for structure, the automation journey of two shaft mechanical arms
Degree is high, by setting X-axis guide rail and Z axis guide rail, the feeding clamp hand on feeding plate can be made to realize the sliding of X-axis and Z-direction,
Overturning, which is swung, to be realized to feeding plate by feeding tumble cylinder again, to make feeding clamp hand more easily by lift lever in material path frame
On workpiece grabbing, and be transferred to corresponding position, simple and reasonable for structure, the control of X-axis servo motor and Z axis servo motor
System, can accurate setting speed, and the transmission of rack and pinion coordinate, high transmission accuracy, although overall structure is transported using straight line
It is dynamic, but structure combination is ingenious, can workpiece be accurately transferred to digital control processing station by feeding station, effectively improves production effect
Rate.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention.
Fig. 2 is the structural schematic diagram of chain-type material path in the present invention.
Fig. 3 is the vertical view of chain-type material path in the present invention.
Fig. 4 is the enlarged drawing of F1 in Fig. 2.
Fig. 5 is the enlarged drawing of F2 in Fig. 2.
Fig. 6 is the enlarged drawing of F3 in Fig. 3.
Fig. 7 is the structural schematic diagram of two shaft mechanical arms in the present invention.
Fig. 8 is the structural schematic diagram of two shaft mechanical arms in the present invention.
Fig. 9 is the structural schematic diagram of two shaft mechanical arms in the present invention.
Specific implementation mode
Present invention will be further explained below with reference to the attached drawings and examples.
As shown in Figures 1 to 9, a kind of self-feeding and reclaimer device, including a chain-type material path A and multiple two axis
Mechanical arm C, chain-type material path A include the material path frame A1 being extended with along its length, and the bottoms material path frame A1 are equipped with support leg
A2, material path frame A1 upper edge length extending directions are equipped with the conveyer belt A4 of conveying workpieces A3, characterized in that the material path frame A1
Upper space type is provided with two conveyer belt A4, and workpiece A3 is undertaken on two conveyer belt A4 and conveys, and perforation is constituted between two conveyer belt A4
The intermediate channel A5 of the top and the bottom material path frame A1；
Be provided with multiple feeding station A6 on material path frame A1 along its length, each feeding station A6 by positioning device A7 and
Lifting device A8 composition, the sides each feeding station A6 are correspondingly arranged that there are one two shaft mechanical arm C；
Positioning device A7 is mounted on the tops material path frame A1, including two backgauge modules As 701 and a locating module A702, and two
Preparation is constituted between backgauge modules A 701 and promotes section A703, is constituted between locating module A702 and adjacent backgauge modules A 701
Positioning promotes section A704；
Positioning promotes the lower parts material path frame A1 below the A704 of section and is provided with lifting device A8, and lifting device A8 includes vertical
The lift lever A801 in intermediate channel A5 is extended into, lift lever A801 is driven by lifting cylinder A802 and stepper motor A803,
The rising and rotation for successively realizing lift lever A801 are realized after so that lift lever A801 is promoted workpiece A3 and are rotated；
Each two shaft mechanicals arm C includes pedestal C1, and the tops the pedestal C1 are fixed with the X-axis support arm extended in X direction
C2, the X-axis top surfaces support arm C2 both sides are extended between having two X-axis guide rail C3, two X-axis guide rail C3 and are fixed with X-axis along its length
X-axis slide C6 is equipped with by X-axis slide block C5 on rack C4, two X-axis guide rail C3, X-axis servo is vertically and fixedly provided on X-axis slide C6
The output shaft of motor C7, X-axis servo motor C7 pass through X-axis slide C6 and are connected with the X-axis driving gear engaged with X-axis rack C4
C8；
Z axis fixed seat C9 is fixed on X-axis slide C6, the side of Z axis fixed seat C9 is equipped with Z axis sliding block C10, and Z axis is solid
The other side of reservation C9 is horizontally installed with Z axis servo motor C11, and the output shaft of Z axis servo motor C11 is connected with Z axis sliding tooth
C12 is taken turns, the X-axis support arm C2 outside verticals between Z axis sliding block C10 and Z axis driving gear C12 are provided with Z axis support arm C13, both sides
Along extending vertically, direction is provided with Z axis guide rail C14 and Z axis rack C15, Z axis guide rail C14 are slidably matched with Z axis sliding block C10, Z axis
Rack C15 is engaged with Z axis driving gear C12；
The bottom end of Z axis support arm C13 is rotatably connected to feeding plate C17, and feeding plate C17 is set up in parallel that there are two feeding clamp hands
Feeding tumble cylinder C19, the telescopic rod of feeding tumble cylinder C19 and the one of feeding plate C17 are fixed on C18, Z axis support arm C13
Side connects.
Using the chain-type material path of the structure, workpiece A3 is placed on the length extension side of two conveyer belt A4 upper edge material path framves A1
To conveying, by taking one of feeding station A6 as an example, when workpiece A3 mono- close to be delivered to two backgauge modules As 701 for one when,
A workpiece A3 of foremost is first delivered to forward to positioning and promotes section A704, is touched with locating module A702, it is subsequent more
A workpiece A3 is blocked by two backgauge modules As 701 respectively, one of them rests on preparation and promotes section A703, even if conveying
Band A4 will not be moved forward in conveying, and the lifting cylinder A802 in lifting device A8 drives lift lever A801 at this time, will position
The workpiece A3 promoted on the A704 of section is promoted, and after reaching specified altitude assignment, is rotated and upgraded bar A801 by stepper motor A803, is made work
The angle of part A3 moving in rotations, after rotation specified angle, you can will be carried by feeding clamp hand C18 on two shaft mechanical arms
Workpiece A3 crawl on rising stem A801, is then put on numerical control machining center and processes, subsequent processing be not the present invention claims
The content of protection be not described in detail again.After the workpiece A3 that positioning promotes section A704 is captured by feeding clamp hand C18, lift lever
A801, which declines the workpiece A3 for resetting, and preparing foremost on promotion section A703, can be conveyed into positioning promotion section A704,
The action for being promoted and being rotated is repeated, and subsequent workpiece A3 is kept off by a backgauge modules A 701 and being promoted on the A703 of section in preparation, such as
This recycles interoperation, realizes quick conveying workpieces, and coordinate with manipulator, high in machining efficiency, high degree of automation, then
The setting for coordinating multiple feeding stations, effectively reduces human cost.
And the setting of two backgauge modules As 701, effect are, most preceding workpiece A3 can be conveyed into positioning and be promoted
Bar A801 is elevated in the A704 of section to be promoted and rotated, and the preparation that two backgauge modules As 701 are formed promotes section A703, uses
It positions in the workpiece A3 for promoting section A704 into positioning will be prepared, and is separated with front and back workpiece, and come below
Multiple workpiece positioning is blocked by a backgauge modules A 701 rearward, avoid below multiple workpiece with preparation promoted section A703
It interferes, two backgauge modules As 701 and a locating module A702 is made to form different regions, and setting according to numerical control program
It is fixed, feeding is carried out according to priority step, it is simple and reasonable for structure, provide basis to improve feeding efficiency.
In addition, two conveyer belt A4 are arranged in space type, are formed and be suitable for the intermediate channel A5 that lift lever A801 is passed through, structure
It is ingenious, keep total compacter.
It can make feeding plate by the way that X-axis guide rail C3 and Z axis guide rail C14 is arranged using two shaft mechanical arms of the structure
Feeding clamp hand C18 on C17 realizes the sliding of X-axis and Z-direction, then is realized to feeding plate C17 by feeding tumble cylinder C19
Overturning is swung, and to make feeding clamp hand C18 more easily by the workpiece A3 crawls on lift lever A801, and is transferred to digital control processing
The position of equipment, simple and reasonable for structure, the control of X-axis servo motor C7 and Z axis servo motor C11 can precisely set speed
Degree, and the transmission of rack and pinion coordinates, high transmission accuracy, although overall structure, using linear motion, structure combination is ingenious,
Can workpiece A3 be accurately transferred to digital control processing station by feeding station A6, effectively improve production efficiency.
Two feeding clamp hand C18 are set on one feeding plate C17, are to complete feeding on numerical control machine tool for convenience
And blowing, effectively improve processing efficiency.
More specific embodiment as the present embodiment：
Material path frame A1 is equipped with two transmission shaft A9 along the both ends of length extending direction, and each transmission shaft A9 space types are provided with
Two both ends driving wheel A10, each conveyer belt A4 driving wheel A10 connections corresponding on two transmission shaft A9 respectively a, wherein transmission
Axis A9 is connect by transfer drive A11 drives；Drive mechanism is simple, reasonable, and dismounting is easy to maintain；Driving device A11 can be with
It is the combination or other combinations of motor and speed reducer.
Two backgauge modules As 701 are disposed adjacent, and each backgauge modules A 701 includes backgauge pedestal A701-1, backgauge cylinder
A701-2 and backgauge wheel A701-3, backgauge pedestal A701-1 are fixed on the sides material path frame A1, and backgauge cylinder A701-2 is fixed on
The side of backgauge pedestal A701-1, the telescopic rod on backgauge cylinder A701-2 are connected with backgauge connecting rod A701-4, backgauge connecting rod
The other end of A701-4 extends toward belt direction and is connected with backgauge wheel A701-3；Two backgauge modules As, 701 adjacent and spacing
Setting realizes backgauge by backgauge cylinder A701-2 to workpiece A3, stops that workpiece A3 advances when needed, backgauge wheel
A701-3 can be freely rotated with respect to backgauge connecting rod A701-4, after avoiding backgauge connecting rod A701-4 from retracting, allow workpiece A3 to advance, i.e.,
So that workpiece A3 is touched backgauge wheel 701-3, the surfaces workpiece A3 will not be caused to form scratch etc., and workpiece A3 is allowed smoothly to advance.
It is provided with the first detector A12 on material path frame A1 between two backgauge modules As 701；Play the role of position detection, makes
System obtains corresponding detection data；And make corresponding instruction.
Locating module A702 includes positioning pedestal A702-1, positioning cylinder A702-2 and locating wheel A702-3, positions base
Seat A702-1 is fixed on the sides material path frame A1, and positioning cylinder A702-2 is fixed on the side of positioning pedestal A702-1, positioning cylinder
Telescopic rod on A702-2 is connected with positioning linkage rod A702-4, and the other end of positioning linkage rod A702-4 extends simultaneously toward belt direction
It is connected with locating wheel A702-3；By the work of positioning cylinder A702-2, realizes the positioning of workpiece A3, enable lift lever A801
Accurately workpiece A3 will be promoted.
The second detector A13 is provided on material path frame between locating module A702 and adjacent backgauge modules A 701；It rises
It is acted on to position detection, system is made to obtain corresponding detection data；And make corresponding instruction.
Position checking module A705, including position school are provided between locating module A702 and adjacent backgauge modules A 701
Cylinder A705-2 and third detector A705-3 is proofreaded to pedestal A705-1, position, position check and correction pedestal A705-1 is fixed on
The sides material path frame A1, position check and correction cylinder A705-2 are fixed on the check and correction pedestal A705-1 of position, and cylinder A705-2 is proofreaded in position
On telescopic rod be connected with position check and correction connector A705-4, detector bracket is installed on position check and correction connector A705-4
A705-5, third detector A705-3 are mounted on detector bracket A705-5, are offered on corresponding workpiece A3 and are detected with third
The corresponding through-hole A301 of device A705-3；It is right after position checking module A705 is elevated bar A801 promotions primarily directed to workpiece A3
What the rotation angle of stepper motor A803 output was controlled, specifically, also need to open up hole or other and third on workpiece A3
Detector carries out counter structure feature, is rotated by stepper motor A803 after workpiece A3 is promoted, when third detector
A705-3 and the hole on workpiece A3 carry out it is vertical to it is corresponding when third detector A705-3 understand output signal stepper motor A803 made to stop
Spin-ended turn, signal rotation in place, the manipulator of peripheral hardware can grabbing workpiece at any time, it is simple and reasonable for structure, ingenious,
Fully achieve automation.
It is equipped on two detector bracket A705-5, each detection support A705-5 and pacifies on the check and correction connector A705-4 of position
Equipped with third detector A705-3；On two third detector A705-3 on two detection support A705-5, corresponding workpiece A3
It needs to open up two holes and be corresponding to it, a pair of combination can make running accuracy more accurate.
Lifting device A8 further includes being arranged to promote guide post A804 the two of the material path lower parts frame A1 both sides, and two promote guide post
The bottom end connection of A804, which has, promotes substrate A805, and lifting cylinder A802, which is fixed on, to be promoted on substrate A805, lifting cylinder A802's
Telescopic rod passes through the A805 connections of promotion substrate to have blade fin A806, the both ends blade fin A806 to be led with two promotion guide post A804
To connection, connecting plate for electric motor A807 is connected on blade fin A806, stepper motor A803 is vertically mounted on connecting plate for electric motor
On A807, the output shaft of stepper motor A803 is connected with the lift lever A801 extended into intermediate channel A5；Pass through lifting cylinder
The driving of A802 makes blade fin A806 that will be lifted up along two promotion guide post A804, realizes stepper motor A803 and promotion
The promotion of bar 801 rotates lift lever A801 output torques by stepper motor A803, makes outer after being promoted to specified altitude assignment
If manipulator the step of realizing above-mentioned grabbing workpiece A3；Two promotion guide post A804 make lift structure stablize.
The bottom end of the Z axis support arm C13 is connected with feeding pedestal C20, and feeding pedestal C20, which is turned under, to be connected to feeding pedestal and prolong
Plate C21 is stretched, branch sleeve C22 is installed on feeding pedestal extension board C21, feeding plate C17 is set in company by rotational sleeve C23
On female connector cylinder C22；Rotational sleeve C23 is arranged in branch sleeve C22, and feeding plate C17 is made to have rotating function, in cooperation feeding
The driving of tumble cylinder C19 can fast implement overturning feeding, the blowing of feeding plate C17.
The side of feeding plate C17 is fixed with cylinder connector C24, and the telescopic rod of feeding tumble cylinder C19 is connect with cylinder
Head C24 rotation connections；Structure connection is simple, and installation is quick.
The side vertical type of Z axis fixed seat C9 is equipped with two Z axis sliding block C10；Two Z axis sliding block C10 keep structure more steady
It is fixed.
The both sides Z axis fixed seat C9 are equipped with the two Z axis fixed supported slab C901, Z axis support arm C13 extended on the outside of X-axis support arm C2
It is vertically set between two Z axis fixed supported slab C901, Z axis sliding block C10 and Z axis servo motor C11 are separately fixed at two Z axis and fix
On support plate C901；Space layout is reasonable, compact, and two Z axis sliding block C10 are set as fixed, and Z axis guide rail C14 makees lifting carriage, to
Realize feeding plate C17 along Z axis oscilaltion.
The tops pedestal C1 are equipped with support base C25, and X-axis support arm C2 horizontal bases are located at the top surfaces support base C25；Support base C25
Have extension, can more support X-axis support arm X2, keep structure stress more reasonable, the C6 slidings of X-axis slide are more stablized, sliding
Dynamic precision is guaranteed.
Particular embodiments described above, only preferred embodiments of the present invention, such as according to the present patent application patent
The equivalent arrangements that range is done, the technology that should be the present invention are covered.
Claims (10)
1. a kind of self-feeding and reclaimer device, including a chain-type material path（A）And multiple two shaft mechanicals arms（C）, chain
Formula material path（A）Including the material path frame being extended with along its length（A1）, material path frame（A1）Bottom is equipped with support leg（A2）, material
Road frame（A1）Upper edge length extending direction is equipped with conveying workpieces（A3）Conveyer belt（A4）, characterized in that the material path frame
（A1）Upper space type is provided with two conveyer belts（A4）, workpiece（A3）It is undertaken on two conveyer belts（A4）Upper conveying, two conveyer belts（A4）
Between constitute perforation material path frame（A1）The intermediate channel of top and the bottom（A5）；
Material path frame（A1）On be provided with multiple feeding stations along its length（A6）, each feeding station（A6）By positioning device
（A7）And lifting device（A8）Composition, each feeding station（A6）There are one two shaft mechanical arms for side setting（C）；
Positioning device（A7）Mounted on material path frame（A1）Top, including two backgauge modules（A701）With a locating module
（A702）, two backgauge modules（A701）Between constitute preparation promoted section（A703）, locating module（A702）With adjacent backgauge
Module（A701）Between constitute positioning promoted section（A704）；
Positioning promotes section（A704）The material path frame of lower section（A1）Lower part is provided with lifting device（A8）, lifting device（A8）Including
Extend vertically into intermediate channel（A5）Interior lift lever（A801）, lift lever（A801）Pass through lifting cylinder（A802）With stepping electricity
Machine（A803）Driving, successively realizes lift lever（A801）Rising and rotation, make lift lever（A801）By workpiece（A3）After promotion
Realize rotation；
Each two shaft mechanicals arm（C）Including pedestal（C1）, the pedestal（C1）Top is fixed with the X-axis branch extended in X direction
Arm（C2）, X-axis support arm（C2）Top surface both sides are extended along its length two X-axis guide rails（C3）, two X-axis guide rails（C3）Between
It is fixed with X-axis rack（C4）, two X-axis guide rails（C3）On pass through X-axis slide block（C5）Seat is equipped with X-axis slide（C6）, X-axis slide（C6）
On be vertically and fixedly provided with X-axis servo motor（C7）, X-axis servo motor（C7）Output shaft pass through X-axis slide（C6）And it is connected with and X
Axis rack（C4）The X-axis of engagement drives gear（C8）；
X-axis slide（C6）On be fixed with Z axis fixed seat（C9）, Z axis fixed seat（C9）Side Z axis sliding block is installed（C10）, Z
Axis fixed seat（C9）The other side be horizontally installed with Z axis servo motor（C11）, Z axis servo motor（C11）Output shaft be connected with
（Z）Axis drives gear（C12）, Z axis sliding block（C10）Gear is driven with Z axis（C12）Between X-axis support arm（C2）Outside vertical is set
It is equipped with Z axis support arm（C13）, both sides edge extends vertically direction and is provided with Z axis guide rail（C14）With Z axis rack（C15）, Z axis guide rail
（C14）With Z axis sliding block（C10）It is slidably matched, Z axis rack（C15）Gear is driven with Z axis（C12）Engagement；
Z axis support arm（C13）Bottom end be rotatably connected to feeding plate（C17）, feeding plate（C17）Feeding clamp hand there are two being set up in parallel
（C18）, Z axis support arm（C13）On be fixed with feeding tumble cylinder（C19）, feeding tumble cylinder（C19）Telescopic rod and feeding plate
（C17）Side connection.
2. a kind of self-feeding and reclaimer device according to claim 1, characterized in that material path frame（A1）Along length extension side
To both ends two transmission shafts are installed（A9）, each transmission shaft（A9）Space type is provided with two driving wheels（A10）, each conveyer belt
（A4）Both ends respectively with two transmission shafts（A9）Upper corresponding driving wheel（A10）Connection a, wherein transmission shaft（A9）Pass through conveyer belt
Driving device（A11）Drive connects.
3. a kind of self-feeding and reclaimer device according to claim 1, characterized in that two backgauge modules（A701）It is adjacent to set
It sets, each backgauge module（A701）Including backgauge pedestal（A701-1）, backgauge cylinder（A701-2）And backgauge wheel（A701-3）,
Backgauge pedestal（A701-1）It is fixed on material path frame（A1）Side, backgauge cylinder（A701-2）It is fixed on backgauge pedestal（A701-1）'s
Side, backgauge cylinder（A701-2）On telescopic rod be connected with backgauge connecting rod（A701-4）, backgauge connecting rod（A701-4）It is another
It holds toward belt direction and extends and be connected with backgauge wheel（A701-3 ）.
4. a kind of self-feeding and reclaimer device according to claim 3, characterized in that two backgauge modules（A701）Between
Material path frame（A1）On be provided with the first detector（A12）.
5. a kind of self-feeding and reclaimer device according to claim 1, characterized in that locating module（A702）Including positioning
Pedestal（A702-1）, positioning cylinder（A702-2）And locating wheel（A702-3）, positioning pedestal（A702-1）It is fixed on material path frame
（A1）Side, positioning cylinder（A702-2）It is fixed on positioning pedestal（A702-1）Side, positioning cylinder（A702-2）On stretch
Contracting bar is connected with positioning linkage rod（A702-4）, positioning linkage rod（A702-4）The other end extend toward belt direction and be connected with it is fixed
Position wheel（A702-3）.
6. a kind of self-feeding and reclaimer device according to claim 5, characterized in that locating module（A702）With it is adjacent
Backgauge module（A701）Between material path frame on be provided with the second detector（A13）.
7. a kind of self-feeding and reclaimer device according to claim 1, characterized in that locating module（A702）With it is adjacent
Backgauge module（A701）Between be provided with position checking module（A705）, including position check and correction pedestal（A705-1）, position check and correction
Cylinder（A705-2）And third detector（A705-3）, pedestal is proofreaded in position（A705-1）It is fixed on material path frame（A1）Side,
Proofread cylinder in position（A705-2）It is fixed on position check and correction pedestal（A705-1）On, cylinder is proofreaded in position（A705-2）On it is flexible
Bar is connected with position check and correction connector（A705-4）, connector is proofreaded in position（A705-4）On detector bracket is installed（A705-
5）, third detector（A705-3）Mounted on detector bracket（A705-5）On, corresponding workpiece（A3）On offer and third examine
Survey device（A705-3）Corresponding through-hole（A301）.
8. a kind of self-feeding and reclaimer device according to claim 7, characterized in that proofread connector in position（A705-4）
On two detector brackets are installed（A705-5）, each detection support（A705-5）On third detector is installed（A705-3）.
9. a kind of self-feeding and reclaimer device according to claim 1, characterized in that lifting device（A8）It further include setting
In material path frame（A1）The two of lower part both sides promote guide post（A804）, two promote guide post（A804）Bottom end connection have promotion base
Plate（A805）, lifting cylinder（A802）It is fixed on promotion substrate（A805）On, lifting cylinder（A802）Telescopic rod pass through promoted
Substrate（A805）Connection has blade fin（A806）, blade fin（A806）Both ends promote guide post with two（A804）The company of guiding
It connects, blade fin（A806）On be connected with connecting plate for electric motor（A807）, stepper motor（A803）It is vertically mounted on connecting plate for electric motor
（A807）On, stepper motor（A803）Output shaft be connected with and extend into intermediate channel（A5）Interior lift lever（A801）.
10. a kind of self-feeding and reclaimer device according to claim 1, characterized in that the Z axis support arm（C13）Bottom
End is connected with feeding pedestal（C20）, feeding pedestal（C20）It is turned under and is connected to feeding pedestal extension board（C21）, the extension of feeding pedestal
Plate（C21）On branch sleeve is installed（C22）, feeding plate（C17）Pass through rotational sleeve（C23）It is set in branch sleeve（C22）
On；
Feeding plate（C17）Side be fixed with cylinder connector（C24）, feeding tumble cylinder（C19）Telescopic rod and cylinder connect
Connector（C24）Rotation connection；
Z axis fixed seat（C9）Side vertical type two Z axis sliding blocks are installed（C10）；
Z axis fixed seat（C9）Both sides, which are equipped with, extends X-axis support arm（C2）The two Z axis fixed supported slabs in outside（C901）, Z axis support arm
（C13）It is vertically set on two Z axis fixed supported slabs（C901）Between, Z axis sliding block（C10）With Z axis servo motor（C11）It fixes respectively
In two Z axis fixed supported slabs（C901）On；
Pedestal（C1）Top is equipped with support base（C25）, X-axis support arm（C2）Horizontal base is located at support base（C25）Top surface.
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| CN201611114999.8A CN106475842B (en) | 2016-12-07 | 2016-12-07 | A kind of self-feeding and reclaimer device |
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| CN201611114999.8A CN106475842B (en) | 2016-12-07 | 2016-12-07 | A kind of self-feeding and reclaimer device |
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| CN106475842B true CN106475842B (en) | 2018-11-02 |
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| CN108408396A (en) * | 2018-03-07 | 2018-08-17 | 天津煊宇包装制品有限公司 | A kind of bottle embryo pitches bottle-fetching mechanism |
| CN109454242B (en) * | 2018-12-07 | 2024-04-19 | 亿缙机械(嘉兴)有限公司 | Horizontal precise double-head numerical control lathe and processing method |
| CN112138617A (en) * | 2020-09-09 | 2020-12-29 | 西安仙峒科技有限责任公司 | Fast starting operation method for cavitation |
| CN113579923B (en) * | 2021-07-15 | 2022-07-01 | 安徽新境界自动化技术有限公司 | Robot is polished with accurate system of taking of work piece |
| CN114670049B (en) * | 2022-04-14 | 2023-12-08 | 广西凯硕智能科技有限公司 | Automatic feeding device and method for numerical control automatic plate processing |
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| JP3895054B2 (en) * | 1998-08-19 | 2007-03-22 | 株式会社小松製作所 | 3D drive device of transfer feeder in transfer press machine |
| CN201091873Y (en) * | 2007-08-20 | 2008-07-30 | 中国船舶重工集团公司第七二二研究所 | Parts transport cleaning machine |
| CN103112612B (en) * | 2013-03-11 | 2015-02-25 | 潍坊硕恒机械制造有限公司 | Ceramic tile automatic packaging production line |
| CN103287628B (en) * | 2013-05-27 | 2015-09-30 | 贵阳普天物流技术有限公司 | Automatically method and the device of different in width packing chest side seal lid is opened |
| CN203993132U (en) * | 2014-07-17 | 2014-12-10 | 苏州华源包装股份有限公司 | A kind of intelligent automation multi-station steel-drum production line |
| CN206296720U (en) * | 2016-12-07 | 2017-07-04 | 佛山市圣特斯数控设备有限公司 | Self-feeding and reclaimer device |
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Address after: 528300 Foshan, Shunde District, Daliang street, the new sand road, No. five, No. 1, Applicant after: Guangdong new NC Equipment Co. Ltd. Address before: 528300 Foshan, Shunde District, Daliang street, the new sand road, No. five, No. 1, Applicant before: Foshan Shengtesi Unmerical Control Co., Ltd. |
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