CN108638093A - A kind of feed mechanism - Google Patents
A kind of feed mechanism Download PDFInfo
- Publication number
- CN108638093A CN108638093A CN201810349101.8A CN201810349101A CN108638093A CN 108638093 A CN108638093 A CN 108638093A CN 201810349101 A CN201810349101 A CN 201810349101A CN 108638093 A CN108638093 A CN 108638093A
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- China
- Prior art keywords
- sheet metal
- metal component
- gag lever
- lever post
- jacking apparatus
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
The present invention relates to machining equipment technical fields, disclose a kind of feed mechanism, which includes loading plate, and loading plate is equipped with gag lever post, and lamination stack is placed with multiple sheet metal components on gag lever post, and each sheet metal component is arranged on gag lever post；Jacking apparatus, manipulator and control device, jacking apparatus for lifting the sheet metal component being arranged on gag lever post under control of the control means, and manipulator for capturing the sheet metal component being arranged on gag lever post under control of the control means；Control device is for sending lifting signal to jacking apparatus, control jacking apparatus lifts the sheet metal component being arranged on gag lever post, and when the sheet metal component far from loading plate one end on gag lever post rises to setting position, it sends and stops lifting signal to jacking apparatus, it controls jacking apparatus and stops lifting, and crawl signal is sent to manipulator, sheet metal component of the control machinery hand crawl positioned at setting position；After being additionally operable to the sheet metal component in manipulator crawl positioned at setting position, lifting signal is sent to jacking apparatus.
Description
Technical field
The present invention relates to machining equipment technical field more particularly to a kind of feed mechanisms.
Background technology
It is higher to sheet metal component locking required precision since the reinforcing sheet metal part thickness of electronic product, volume are generally smaller, because
This in the prior art, such sheet metal component mostly through it is artificial get in batches after, be distributed to station, which completed by field worker
Installation.But the development of robot technology in recent years provides possibility for automation installation sheet metal component, this is just to metal plate
The feeding process of part proposes new demand.
In a kind of plan of establishment, using pallet feeding, sheet metal component is positioned one by one and is placed on the specified position of pallet,
Pallet is moved to robot again and captures range, but robot needs to position multiple positions to complete the crawl of sheet metal component, this
Not requiring nothing more than robot has larger crawl range, and also to the precision of robot localization crawl, more stringent requirements are proposed.
Invention content
The present invention provides a kind of feed mechanism, to improve the crawl precision of robot.
An embodiment of the present invention provides a kind of feed mechanism, which includes loading plate, and the loading plate is equipped with
Gag lever post, lamination stack is placed with multiple sheet metal components on the gag lever post, and each sheet metal component is arranged on the gag lever post；It further include top
Rise device, manipulator and control device, and the control device respectively with the jacking apparatus and the manipulator signal
Connection, wherein
The jacking apparatus is located on the loading plate, is arranged described for being lifted under the control of the control device
Sheet metal component on gag lever post, or stop the sheet metal component that lifting is arranged on the gag lever post；
The manipulator under the control of the control device for capturing the sheet metal component being arranged on the gag lever post；
The control device controls the jacking apparatus lifting setting and exists for sending lifting signal to the jacking apparatus
Sheet metal component on the gag lever post, and when the sheet metal component far from described loading plate one end on the gag lever post rises to setting position
When, it sends and stops lifting signal to the jacking apparatus, control the jacking apparatus and stop lifting, and send crawl signal to institute
Manipulator is stated, sheet metal component of the manipulator crawl positioned at the setting position is controlled；It is additionally operable to capture position in the manipulator
After the sheet metal component of the setting position, lifting signal is sent to the jacking apparatus.
In above-described embodiment, the sheet metal component on gag lever post is lifted upwards by jacking apparatus, every time when lifting, makes to be located at
The sheet metal component of the top rises to setting position, at this point, sheet metal component of the manipulator crawl positioned at the setting position, in this way, mechanical
Hand only needs to position a crawl position, ensure that the crawl precision of manipulator.
When specific setting, it is additionally provided with separator on the loading plate, the separator includes separating plate and driving
The separating plate is along the first driving means stretched out or retracted perpendicular to the direction of the gag lever post；
The control device is connect with the first driving means signal, and the control device is additionally operable in the gag lever post
After the upper sheet metal component far from described loading plate one end rises to setting position, transmission stretching signal to the first driving means,
It controls the separating plate to stretch out, and is inserted between the sheet metal component and sheet metal component adjacent thereto of the setting position；Institute
Manipulator crawl is stated after the sheet metal component of the setting position, retraction signal is sent to the first driving means, controls institute
Separating plate retraction is stated, and lifting signal is sent to the jacking apparatus after separating plate retraction.
Manipulator, due to the compartmentation of separating plate, is effectively prevented to lower section metal plate when capturing the sheet metal component of the top
Phenomena such as tilting, falling off caused by golden part reduces the influence to adjacent sheet metal component.
When specific setting, rotating disc and the second driving dress of the driving turn disc are additionally provided on the loading plate
It sets, the rotating disc is rotatablely connected with the loading plate；
The number of the gag lever post is multiple, and each gag lever post is fixed on the rotating disc, and the gag lever post is along circle
Week distribution；
The control device is connect with the second driving device signal, and the control device is additionally operable to control the rotation
Disk rotates, and so that one of gag lever post is located at jacking station corresponding with the jacking apparatus, and control the jacking apparatus
In place by the sheet metal component lifting on the gag lever post of the jacking station.
By the way that rotating disc and multiple gag lever posts is arranged, it not only ensure that manipulator can capture metal plate in fixed position
Part, while but also the feed mechanism can store a large amount of sheet metal component.
When specific setting, first sensor, the first sensor and the control device are additionally provided on the loading plate
Signal connects, and the first sensor rises for the sheet metal component far from described loading plate one end on detecting the gag lever post
To setting position, the control device is sent a signal to；The control device is receiving what the first sensor was sent out
After signal, sends and stop lifting signal to the jacking apparatus, control the jacking apparatus and stop lifting.
Preferably, after the sheet metal component of the setting position, the control device is additionally operable to control for the manipulator crawl
Make the thickness that the sheet metal component on the gag lever post is lifted a sheet metal component by the jacking apparatus upwards.In the whole process, when
Lifting is arranged in the sheet metal component on gag lever post jacking apparatus for the first time, and the sheet metal component of the top is judged by first sensor
Whether reach setting position, later second, the lifting of third time, n-th when, so that sheet metal component is risen a sheet metal component every time
Thickness.
In order to improve accuracy of detection and the sensitivity of first sensor, driving described first is additionally provided on the loading plate
Sensor is along the third driving device stretched out or retracted perpendicular to the direction of the gag lever post.
With each rotation of rotating disc, run out of the gag lever post of sheet metal component in rotational direction far from jacking position or
It is described to hold to ensure the continuous service of equipment in order to which in time these gag lever posts are supplemented with new material close to jacking position
Second sensor is additionally provided on support plate, the second sensor is connect with the control device signal, when one of gag lever post
When turning to detection station corresponding with the second sensor, the second sensor is located at the detection work for detecting
Whether the gag lever post of position stacks and is provided with sheet metal component, when detect there is no sheet metal component on the gag lever post when, send a signal to institute
Control device is stated, the control device sends out feed supplement signal.
When specific setting, the jacking apparatus includes the 4th driving dress that raising plate and the driving raising plate rise
It sets, the rotating disc is circumferentially equipped with multiple notches corresponding with the raising plate, and the notch and the gag lever post one
One corresponds to；When the raising plate rises, the raising plate passes through the notch, and will be positioned at the gag lever post of the jacking station
On sheet metal component lift upwards.
Preferably, the four-drive device is spindle gear, ensures higher transmission accuracy.
Description of the drawings
Fig. 1 is the three-dimensional structure diagram of feed mechanism provided in an embodiment of the present invention；
Fig. 2 is the vertical view of feed mechanism shown in FIG. 1；
Fig. 3 is the structural schematic diagram of sheet metal component provided in an embodiment of the present invention.
Reference numeral：
10- loading plates 11- the first loading plate the second loading plates of 12-
20- gag lever post 30- sheet metal component 31- limit holes
40- jacking apparatus 41- raising plate 42- four-drive devices
50- first sensor 60- third driving devices
70- separator 71- separating plate 72- first driving means
80- rotating discs the second driving devices of 90-
100- second sensors
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without making creative work
All other embodiment, shall fall within the protection scope of the present invention.
An embodiment of the present invention provides a kind of feed mechanisms, and the automatic charging for sheet metal component can also in addition to sheet metal component
For the automatic charging of other similar materials, which includes loading plate, and loading plate is equipped with gag lever post, gag lever post upper layer
It stacks and is placed with multiple sheet metal components, each sheet metal component is arranged on gag lever post；Further include jacking apparatus, manipulator and control dress
It sets, and control device is connect with jacking apparatus and manipulator signal respectively, wherein
Jacking apparatus is located on loading plate, for lifting the metal plate being arranged on gag lever post under control of the control means
Part, or stop the sheet metal component that lifting is arranged on gag lever post；
Manipulator for capturing the sheet metal component being arranged on gag lever post under control of the control means；
For control device for sending lifting signal to jacking apparatus, control jacking apparatus lifts the metal plate being arranged on gag lever post
Golden part, and when the sheet metal component far from loading plate one end on gag lever post rises to setting position, send stopping lifting signal and extremely push up
Device is risen, control jacking apparatus stops lifting, and sends crawl signal to manipulator, and control machinery hand crawl is located at setting position
Sheet metal component；After being additionally operable to the sheet metal component in manipulator crawl positioned at setting position, lifting signal is sent to jacking apparatus.
In above-described embodiment, ranked and stacked pile is lifted upwards in the sheet metal component on gag lever post by jacking apparatus, also, every
When secondary lifting, the sheet metal component positioned at the top is all made to rise to setting position, at this point, manipulator crawl is positioned at the setting position
Sheet metal component, after manipulator completes crawl, jacking apparatus lifts sheet metal component again, repeats the above steps, until manipulator is completed most
The crawl of the latter sheet metal component, in this process, manipulator only need to position a crawl position, to ensure that machine
The crawl precision of tool hand.
Understanding to feed mechanism provided in an embodiment of the present invention for convenience, with reference to specific attached drawing and implementation
Its structure and operation principle is described in detail in example.
As shown in Figure 1, the feed mechanism includes loading plate 10, loading plate 10 is metal plate in the present embodiment for carrying material
Golden part 30 further includes manipulator, and manipulator is used to capture sheet metal component 30 from loading plate 10, completes the subsequent installation of sheet metal component 30
Deng operation.In order to ensure that manipulator can capture sheet metal component 30 from fixed position, to ensure that it captures precision, the present embodiment
In, loading plate 10 is equipped with gag lever post 20, and gag lever post 20 is vertically arranged and perpendicular to loading plate 10；20 upper layer of gag lever post
Stack and be placed with multiple sheet metal components 30, each sheet metal component 30 is threaded through on gag lever post 20, specifically, each sheet metal component 30 be equipped with
The limit hole 31 that gag lever post 20 coordinates, sheet metal component 30 are threaded through by limit hole 31 on gag lever post 20 and form stacked structure successively,
In this way, the position of each sheet metal component 30 in the horizontal direction is fixed, differed between adjacent sheet metal component 30 in the vertical direction
The thickness of one sheet metal component 30；The feed mechanism further includes jacking apparatus 40 and control device, and control device respectively with top
Rise device 40 and the connection of manipulator signal, wherein jacking apparatus 40 is being limited for lifting setting under control of the control means
Sheet metal component 30 on the bar 20 of position, or stop the sheet metal component 30 that lifting is arranged on gag lever post 20, manipulator is used in control device
Control under capture the sheet metal component 30 that is arranged on gag lever post 20；Control device is the core of entire mechanism, for sending lifting
Signal to jacking apparatus 40, control jacking apparatus 40 lifts the sheet metal component 30 being arranged on gag lever post 20, and when on gag lever post 20
When sheet metal component 30 far from 10 one end of loading plate rises to setting position, sends and stop lifting signal to jacking apparatus 40, control
Jacking apparatus 40 stops lifting, and sends crawl signal to manipulator, sheet metal component of the control machinery hand crawl positioned at setting position
30；After sheet metal component 30 of the manipulator crawl positioned at setting position, control device is additionally operable to send lifting signal to jacking apparatus
40, it repeats the above steps, until manipulator completes the crawl of the last one sheet metal component 30, in this process, manipulator only needs
A crawl position is positioned, to ensure that the crawl precision of manipulator.
In the feed mechanism, since sheet metal component 30 is arranged on gag lever post 20, when sheet metal component 30 by jacking apparatus 40 to
On when lifting power, will be moved up along gag lever post 20, until the sheet metal component 30 positioned at the top rises to setting position, this
When, manipulator crawl is positioned at the sheet metal component 30 of the setting position, and after manipulator completes crawl, jacking apparatus 40 lifts metal plate again
Part 30.In order to realize being precisely controlled for feeding process, ensureing can essence by each sheet metal component of the lifting of jacking apparatus 40 30
The crawl position of true mobile manipulator is additionally provided with first sensor 50, first sensor 50 and control device on loading plate 10
Signal connects, and first sensor 50 rises to for the sheet metal component 30 far from 10 one end of loading plate on detecting gag lever post 20 and sets
Positioning postpones, and sends a signal to control device, and control device sends and stops after receiving the signal that first sensor 50 is sent out
Signal is lifted to jacking apparatus 40, control jacking apparatus 40 stops lifting, i.e. lifting upwards by jacking apparatus 40, sheet metal component
30 constantly rise, and after first sensor 50 is in sheet metal component 30 for detecting the top, control device are sent a signal to, by controlling
Device controls jacking apparatus 40 and stops lifting, at this point, the sheet metal component 30 of the top is located exactly at setting position；Manipulator captures position
After the sheet metal component 30 of setting position, control device, which is additionally operable to control jacking apparatus 40, keeps the sheet metal component 30 on gag lever post 20 upward
The thickness of a mobile sheet metal component 30, so that the sheet metal component 30 of lower section rises to setting position again.
In this scenario, it rises from top to down, first on gag lever post 20 sheet metal component 30 is judged by first sensor 50
Setting position whether is risen to, after first sheet metal component 30 is captured by manipulator, from second sheet metal component 30, is filled by jacking
The jacking for setting 40 makes the whole thickness for moving up a sheet metal component 30 every time of sheet metal component 30, to ensure the metal plate of the top
Part 30 is located at the crawl position of manipulator, it is of course also possible to use other schemes, such as all pass through the detection of first sensor 50
To judge.In addition, in order to ensure the accuracy of detection of first sensor 50, in a specific embodiment, on loading plate 10 also
Equipped with driving first sensor 50 along the third driving device 60 stretched out or retracted perpendicular to the direction of gag lever post 20, third driving
Cylinder etc. may be used in device 60, and third driving device 60 is connect with control device signal, is needing to detect on gag lever post 20
When first sheet metal component 30, third driving device 60 under control of the control means, pushes first sensor 50 to stretch out, to make
First sensor 50, as shown in Figure 1, when first sensor 50 stretches out, is located exactly at right over gag lever post 20 close to gag lever post 20,
After detecting that first sheet metal component 30 reaches setting position, third driving device 60 drives first under control of the control means
Sensor 50 is retracted to initial position.
Manipulator, due to the active force between adjacent sheet metal component 30, is likely to result in lower section metal plate when capturing sheet metal component 30
Golden part 30 falls off, tilts, in order to prevent the generation of the above situation, in the feed mechanism, is additionally provided on loading plate 10 point
From device 70, as shown in Fig. 2, separator 70 includes separating plate 71 and drives separating plate 71 along perpendicular to the side of gag lever post 20
To the first driving means 72 stretched out or retracted, cylinder etc., the energy when stretching out of separating plate 71 may be used in first driving means 72
It is enough plugged between the sheet metal component 30 and the sheet metal component 30 adjacent with the sheet metal component 30 of setting position, the two is isolated,
So that when sheet metal component 30 of the manipulator above crawl, will not the sheet metal component 30 adjacent to lower section impact.Above-mentioned behaviour
Make to send out instruction by control device, specifically, control device is connect with 72 signal of first driving means, control device is used for
After sheet metal component 30 far from 10 one end of loading plate rises to setting position, sends and stretch out signal to first driving means 72, control
Separating plate 71 is stretched out and is inserted between the sheet metal component 30 and sheet metal component 30 adjacent thereto of setting position；It is incited somebody to action in separating plate 71
After the isolation of the two sheet metal components 30, control device sends crawl signal to manipulator, in manipulator crawl positioned at setting position
After sheet metal component 30, retraction signal is sent to first driving means 72, control separating plate 71 is retracted, and is sent out after the retraction of separating plate 71
It send lifting signal to jacking apparatus 40, the sheet metal component of the top 30 is lifted to setting position again by jacking apparatus 40, is repeated
Above-mentioned steps.
In the actual production process, as shown in figure 3, sheet metal component 30 is equipped with threaded post, threaded post protrudes sheet metal component 30
When sheet metal component 30 is stacked, gap is formed between adjacent sheet metal component 30 for main body, heat dissipation cotton is equipped in the gap, for dissipating
Heat, heat dissipation cotton have certain viscosity so that manipulator easily causes inclining for lower section sheet metal component 30 when capturing sheet metal component 30
Tiltedly, it falls off, and by above-mentioned separator 70 it is possible to prevente effectively from influence between adjacent sheet metal component 30, is the suitable of manipulator
Profit crawl provides guarantee.
Sheet metal component 30, if the thickness of heat dissipation cotton is more than the height of threaded post, will cause adjacent after the heat dissipation cotton that is sticked
Difference in height on sheet metal component 30 between corresponding position is more than the thickness of a sheet metal component 30, in this way, in jacking apparatus 40
Under effect, when each entirety of sheet metal component 30 being made to move up the thickness of a sheet metal component 30, some sheet metal components 30 may be caused
There are deviations between final position and setting position, influence the crawl of manipulator, in a specific embodiment, on manipulator
Equipped with vacuum cup, spring is connected between vacuum cup and the main body of manipulator, manipulator is mobile when capturing sheet metal component 30
To after fixed crawl position, it can ensure that vacuum cup adsorbs sheet metal component 30 by the variation of amount of spring compression；However, due to
Deviation between sheet metal component 30 and setting position, at this point, separating plate 71 will be unable to accurately reach the sheet metal component positioned at setting
Between 30 and sheet metal component 30 adjacent thereto, to solve the above-mentioned problems, realized by adjusting the controlling extent of control device,
Specifically, after the sheet metal component 30 far from 10 one end of loading plate rises to setting position, control device control machinery hand is stretched out, and is made
It obtains vacuum cup and adsorbs the sheet metal component 30, and control machinery hand is moved up along gag lever post 20, until the sheet metal component 30 and therewith
Position between adjacent sheet metal component 30 is corresponding with the position that separating plate 71 stretches out (and most upper since heat dissipation cotton has viscosity
The sheet metal component 30 that the sheet metal component 30 at end is adjacent may be moved up with 30 1 pieces of the sheet metal component of the top), at this point, control device
Control machinery hand stopping movement, and control the stretching of separating plate 71 so that separating plate 71 is inserted into 30 lower section of sheet metal component, thus by phase
Adjacent sheet metal component 30 separates, and last control machinery hand works on removes gag lever post 20 by sheet metal component 30, and controls separating plate
71 retract.
In order to increase the storing function of the feed mechanism, multiple gag lever posts 20 can be set on loading plate 10, it is each to limit
Position bar 20 is all used to stack sheet metal component 30, meanwhile, in order to make the sheet metal component 30 on each gag lever post 20 that can be moved to manipulator
Crawl position, in the feed mechanism, together with reference to figure 1, Fig. 2, rotating disc 80 and driving rotation are additionally provided on loading plate 10
The second driving device 90 that disk 80 rotates, and rotating disc 80 is rotatablely connected with loading plate 10, these gag lever posts 20 are fixed on rotation
It on disk 80, and is circumferentially uniformly distributed, in this way, after the sheet metal component 30 on a gag lever post 20 is depleted wherein, second drives
Dynamic device 90 drives rotating disc 80 to rotate, and other gag lever posts 20 for containing material is made to turn to top corresponding with jacking apparatus 40
Rise station makes the sheet metal component being arranged on gag lever post 20 30 rise to setting position successively by the lifting of jacking apparatus 40, by
Manipulator captures, until the sheet metal component 30 on the gag lever post 20 is all depleted.Wherein, the second driving device 90 is filled with control
Confidence number connects, and relevant action instruction is sent out by control device, specifically, control device control rotating disc 80 rotates, makes wherein
One gag lever post 20 is located at jacking station corresponding with jacking apparatus 40, and control jacking apparatus 40 will be positioned at the limit of jacking station
The lifting of sheet metal component 30 on the bar 20 of position is in place.
In specifically setting jacking apparatus 40, jacking apparatus 40 include raising plate 41 and drive that raising plate 41 rises the
Four-drive device 42, to ensure that screw rod transmission may be used in higher transmission accuracy, four-drive device 42；Rotating disc 80 is along circle
Multiple notches corresponding with raising plate 41 are equipped with week, and these notches are corresponded with gag lever post 20, when one of limit
When bar 20 turns to jacking station, raising plate 41 is located at bottom of the gap corresponding with the gag lever post 20, at this point, sheet metal component 30 is successively
Stacking is threaded through on the gag lever post 20, and is fallen on rotating disc 80 positioned at the lowermost sheet metal component 30, and covers one of notch
Divide or all divide, under the driving of four-drive device 42, raising plate 41 passes through notch, and is pressed on sheet metal component 30, by metal plate
Golden part 30 is held up upwards, and the lifting of sheet metal component 30 to will be located on the gag lever post 20 of jacking station is in place.
At work, rotating disc 80 often rotates once the feed mechanism, will all be stacked with 20 turns of the gag lever post of sheet metal component 30
Jacking station is moved, while the gag lever post 20 for making sheet metal component 30 be depleted turns to next station, in order to zero be deposited to these
The gag lever post 20 of storage, which is made, to be replenished in time, and ensures that the feed mechanism continual can be run, and improves working efficiency, the feeder
In structure, second sensor 100 is additionally provided on loading plate 10, Fig. 2 shows vertical view in, second sensor 100 be located at turn
The edge of Moving plate 80, second sensor 100 are connect with control device signal, are passed with second when one of gag lever post 20 is turned to
When 100 corresponding detection station of sensor, second sensor 100 is used to detect the gag lever post 20 positioned at detection station, also, works as
It detects that this is located at when not having sheet metal component 30 on the gag lever post 20 of detection station, then sends a signal to control device, filled by control
It sets and sends out feed supplement signal, in this way, when manipulator crawl is located at the sheet metal component 30 on the gag lever post 20 of jacking station, it can be by people
Work makes supplement to the gag lever post 20 for having run out of sheet metal component 30 in time from machine, realizes that feeding is carried out at the same time with feed supplement.
The operation principle of the feed mechanism is described in detail with a specific embodiment below, together with reference to figure 1,
Fig. 2, the feed mechanism include mainly loading plate 10, rotating disc 80, jacking apparatus 40, separator 70, first sensor 50, the
Two sensors 100 etc., wherein to save space, loading plate 10 includes the first loading plate 11, the second loading plate 12, the first carrying
Plate 11 and the second loading plate 12 are stacked, and are connected by column；Rotating disc 80 and driving rotating disc 80 rotate second
Driving device 90 is arranged on the first loading plate 11, and rotating disc 80 and the first loading plate 11 are rotatablely connected, solid on rotating disc 80
Determine there are four gag lever post 20 and be circumferentially uniformly distributed, each gag lever post 20 is vertically arranged and perpendicular to rotating disc 80；
Second loading plate 10 is equipped with through-hole, is pierced by from below with accommodating gag lever post 20, first sensor 50, jacking apparatus 40, separation
Device 70 and second sensor 100 are all disposed on the second loading plate 12, and first sensor 50 is distinguished with separator 70
Positioned at the both sides of jacking apparatus 40, rotating disc 80 often rotates once, and jacking is reached after a gag lever post 20 can be made to turn over 90 °
Station passes through the phase interworking between each component it is also possible to reach detection station after so that another gag lever post 20 is turned over 90 °
It closes the feeding for completing sheet metal component 30 and feed supplement, detailed process is as follows：
Step 1：Second driving device 90 drives rotating disc 80 to rotate, one of them is made to be stored with the limit of sheet metal component 30
Bar 20 turns to jacking position, at this point, raising plate 41 is located at bottom of the gap；
Step 2：Four-drive device 42 drives raising plate 41 to be raised above, and bottom is pressed on when passing through gap position
Sheet metal component 30 on, and lift sheet metal component 30 upwards, sheet metal component 30 is moved up along gag lever post 20 is whole；
Step 3：Third driving device 60 drives first sensor 50 to stretch out, and first sensor 50 is made to be located exactly at limit
The surface of bar 20, when first sensor 50 is detected positioned at the sheet metal component 30 of 20 the top of the gag lever post, the 4th driving dress
It sets 42 to be stopped, raising plate 41 and sheet metal component 30 no longer move up；
Step 4：Third driving device 60 drives first sensor 50 to return to initial position；
Step 5：First driving means 72 drive separating plate 71 to stretch out, and separating plate 71 is made to be inserted into the sheet metal component 30 of the top
Between sheet metal component 30 adjacent thereto；
Step 6：Manipulator crawl is positioned at the sheet metal component 30 of 20 the top of gag lever post, the driving separation of first driving means 72
Plate 71 is retracted；
Step 7：Four-drive device 42 drives raising plate 41 to move up the distance of a sheet metal component 30, makes to be located at limit
The sheet metal component 30 of position 20 the top of bar rises to the crawl position of manipulator；
Alternatively, in step 5, the sheet metal component 30 of the top is captured by manipulator, keeps manipulator upward along gag lever post 20
It is mobile, until this is located at what the position between the sheet metal component 30 of the top and sheet metal component 30 adjacent thereto was stretched out with separating plate 71
Position is corresponding (since heat dissipation cotton has viscosity, the sheet metal component 30 adjacent with the sheet metal component 30 of the top may be with this topmost
30 1 pieces of sheet metal component move up)；In step 6, drives separating plate 71 to stretch out by first driving means 72, make separating plate
71 are inserted between the sheet metal component 30 and sheet metal component 30 adjacent thereto of the top；Manipulator is continued to move to the sheet metal component of the top
30 remove gag lever post 20, at this point, first driving means 72 drive separating plate 71 to retract again；
Step 8：Step 5~step 7 is repeated, until, only there are one when sheet metal component 30, raising plate 41 will on gag lever post 20
After the sheet metal component 30 gives rise to crawl position, which is captured by manipulator, 30 quilt of sheet metal component on the gag lever post 20
It runs out of；
Step 9：Four-drive device 42 drives raising plate 41 to be moved downward to initial position；
Step 10：Second driving device 90 driving rotating disc 80 rotates in the counterclockwise direction, makes next to be stored with metal plate
The gag lever post 20 of part 30 turns to jacking position, repeats step 1~step 9；
Step 11：In 80 rotation process of rotating disc, when second sensor 100 detects the limit positioned at detection station
When not having sheet metal component 30 on bar 20, control signal is sent out to control device, feed supplement signal is sent out by control device；The above driving dress
The various actions set send out dependent instruction by control device, are accurately coordinated between component with reaching.
It can be seen from the above description that in the embodiment of the present invention, it will be positioned at the limit of jacking station by jacking apparatus 40
Sheet metal component 30 on the bar 20 of position lifts upwards so that the sheet metal component 30 positioned at the top rises to setting position, at this point, by machinery
Hand crawl is located at the sheet metal component 30 of the setting position, and repeats aforesaid operations, in this way, in the whole process, manipulator only needs
A crawl position is positioned, to ensure that the crawl precision of manipulator.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (9)
1. a kind of feed mechanism, which is characterized in that including：Loading plate, the loading plate is equipped with gag lever post, on the gag lever post
Lamination stack is placed with multiple sheet metal components, and each sheet metal component is arranged on the gag lever post；Further include jacking apparatus, manipulator and control
Device processed, and the control device is connect with the jacking apparatus and the manipulator signal respectively, wherein
The jacking apparatus is located on the loading plate, is arranged in the limit for being lifted under the control of the control device
Sheet metal component on bar, or stop the sheet metal component that lifting is arranged on the gag lever post；
The manipulator under the control of the control device for capturing the sheet metal component being arranged on the gag lever post；
The control device controls the jacking apparatus lifting and is arranged described for sending lifting signal to the jacking apparatus
Sheet metal component on gag lever post, and when the sheet metal component far from described loading plate one end on the gag lever post rises to setting position,
It sends and stops lifting signal to the jacking apparatus, control the jacking apparatus and stop lifting, and send crawl signal to described
Manipulator controls sheet metal component of the manipulator crawl positioned at the setting position；It is additionally operable to be located in manipulator crawl
After the sheet metal component of the setting position, lifting signal is sent to the jacking apparatus.
2. feed mechanism as described in claim 1, which is characterized in that it is additionally provided with separator on the loading plate, described point
Include that separating plate and the driving separating plate drive along first for stretching out or retracting perpendicular to the direction of the gag lever post from device
Dynamic device；
The control device is connect with the first driving means signal, and the control device is additionally operable on the gag lever post far
After sheet metal component from described loading plate one end rises to setting position, sends and stretch out signal to the first driving means, control
The separating plate is stretched out and is inserted between the sheet metal component and sheet metal component adjacent thereto of the setting position；In the machinery
Hand crawl sends retraction signal to the first driving means, controls the separation after the sheet metal component of the setting position
Plate is retracted, and sends lifting signal to the jacking apparatus after separating plate retraction.
3. feed mechanism as described in claim 1, which is characterized in that be additionally provided with rotating disc and driving institute on the loading plate
The second driving device of turn disc is stated, the rotating disc is rotatablely connected with the loading plate；
The number of the gag lever post is multiple, and each gag lever post is fixed on the rotating disc, and the gag lever post circumferentially divides
Cloth；
The control device is connect with the second driving device signal, and the control device is additionally operable to control the rotating disc turn
It is dynamic, so that one of gag lever post is located at jacking station corresponding with the jacking apparatus, and control the jacking apparatus by position
In place in the sheet metal component lifting on the gag lever post of the jacking station.
4. feed mechanism as described in claim 1, which is characterized in that first sensor is additionally provided on the loading plate, it is described
First sensor is connect with the control device signal, and the first sensor is used on detecting the gag lever post far from institute
State loading plate one end sheet metal component rise to setting position after, send a signal to the control device；The control device is connecing
After receiving the signal that the first sensor is sent out, sends and stop lifting signal to the jacking apparatus, control the jacking dress
Set stopping lifting.
5. feed mechanism as claimed in claim 4, which is characterized in that metal plate of the manipulator crawl positioned at the setting position
After golden part, the control device is additionally operable to control the jacking apparatus by sheet metal component one metal plate of upward lifting on the gag lever post
The thickness of golden part.
6. feed mechanism as claimed in claim 4, which is characterized in that be additionally provided with driving first sensing on the loading plate
Device is along the third driving device stretched out or retracted perpendicular to the direction of the gag lever post.
7. feed mechanism as claimed in claim 3, which is characterized in that second sensor is additionally provided on the loading plate, it is described
Second sensor is connect with the control device signal, when one of gag lever post turn to it is corresponding with the second sensor
Detection station when, whether the second sensor is used to detect is located at the gag lever post of the detection station and stacks and is provided with metal plate
Part, when detect there is no sheet metal component on the gag lever post when, send a signal to the control device, the control device sends out benefit
Expect signal.
8. feed mechanism as claimed in claim 3, which is characterized in that the jacking apparatus includes described in raising plate and driving
The four-drive device that raising plate rises, the rotating disc are circumferentially equipped with multiple notches corresponding with the raising plate, and
The notch is corresponded with the gag lever post；When the raising plate rises, the raising plate passes through the notch, and by position
It is lifted upwards in the sheet metal component on the gag lever post of the jacking station.
9. feed mechanism as claimed in claim 8, which is characterized in that the four-drive device is spindle gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810349101.8A CN108638093A (en) | 2018-04-18 | 2018-04-18 | A kind of feed mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810349101.8A CN108638093A (en) | 2018-04-18 | 2018-04-18 | A kind of feed mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108638093A true CN108638093A (en) | 2018-10-12 |
Family
ID=63746554
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810349101.8A Pending CN108638093A (en) | 2018-04-18 | 2018-04-18 | A kind of feed mechanism |
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| Country | Link |
|---|---|
| CN (1) | CN108638093A (en) |
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| CN110588133A (en) * | 2019-09-25 | 2019-12-20 | 深圳市深科达智能装备股份有限公司 | Full-automatic laminating production equipment |
| CN112623707A (en) * | 2020-12-17 | 2021-04-09 | 珠海格力智能装备有限公司 | Feeding device |
| CN115401606A (en) * | 2022-08-23 | 2022-11-29 | 湖北诺御汽车零部件科技股份有限公司 | Continuous feeding device for disc tooth polished blanks |
| CN118136561A (en) * | 2024-05-07 | 2024-06-04 | 深圳市凯之成智能装备有限公司 | Paving equipment and photovoltaic panel acquisition method |
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