CN108638108A - Vacuum feeding device for being coupled with manipulator - Google Patents

Abstract

A kind of vacuum feeding device for being coupled with manipulator, including manipulator connecting plate, there is left rail in the edge of the left lower of length direction, the edge of lower right side has right guide rail, lean-with to install cam resigning chamber；Position of the sheet material front end holding mechanism below the front end corresponding to manipulator connecting plate is slidably matched with the front end of left and right guide rail simultaneously, and position of the sheet material rear end holding mechanism below the rear end corresponding to manipulator connecting plate is slidably matched with the rear end of left and right guide rail simultaneously；Sliding panel driving mechanism is being connect with sheet material front end holding mechanism and sheet material rear end holding mechanism simultaneously corresponding to the position between sheet material front end holding mechanism and sheet material rear end holding mechanism, is fixed corresponding to the position of cam resigning chamber and side of the manipulator connecting plate under.It ensures and only extracts one piece of sheet material every time；Be not in the relative friction between upper and lower two adjacent sheet in sheet material extraction process and be able to protection sheet material；Meet the interconnection demands with manipulator.

Description

Vacuum feeding device for being coupled with manipulator

Technical field

The invention belongs to technical field of automation equipment, and in particular to a kind of vacuum feeding dress for being coupled with manipulator It sets.

Background technology

Vacuum feeding device above-mentioned is by mechanical hand-motion and realizes automatic material taking and uses and significantly improve production efficiency simultaneously And save valuable human resources.For sheet class feeding generally by means of sucker, under the action of negative pressure by sucker by piece Material, which is sucked and lifts sheet material under the action of manipulator and be transferred to subsequent work stations, such as transfers station.The typical case of first-mentioned sheet And the example being not limited to such as light guide plate, silicon chip（Monocrystalline silicon or polysilicon）, screen piece, all kinds of sheet metals, pcb board etc., this Based sheet leads to the station residing for vacuum feeding device usually after completing preceding working procedure with neat orderly stacked state, with Just by manipulator by a piece extraction.

It is mostly not only smooth but also relatively slim and graceful due to being not limited to sheet material exemplified above, thus when the knot of vacuum feeding device The vacuum cup of structure system often will appear in uppermost one piece of sheet material in drawing the pile sheet material in stacked state The situation for drawing more pieces simultaneously, to be had an impact to subsequent work stations, it is necessary to be disposed in time by online assignment personnel.

The technical information of vacuum feeding device, such as CN1808230A can be seen in disclosed Chinese patent literature（Feeding Device）、CN102730414A（Feeding device）、CN205555477U（A kind of feeding device of pole piece Bag Making Machine）、 CN106276229A（A kind of product movement feeding device）、CN105836465A（A kind of feeding device）、CN106276282A（Silicon Piece material fetching mechanism and its method for fetching and silicon test screening installation）And CN106393576A（A kind of feeding device and feeding side Method）, etc., it is not limited to how to avoid once extracting more pieces of sheet material feelings when the aforementioned patent enumerated is not given at extraction sheet material The enlightenment of shape.

Chinese patent CN203143679U（A kind of feeding device）、CN205602253U（A kind of vacuum vibrating type facial mask folding Folded machine）And CN206087471U（Enhanced shake suction and conveying charge level film folding machine）, it is not limited to these patent formula energy enumerated The sheet material more drawn is shaken off and uses guarantee and only draws one piece of sheet material every time, but the existing shortcoming of this feeding mode is： It is not to be afraid of to fall damage based on facial mask integrally to shake off the sheet material more drawn in extraction state（It is not in damage that i.e. facial mask, which is shaken off, Situation）Premised on, thus when sheet material is the aforementioned product for avoiding such as light guide sheet etc fallen, these patents are can not to fit .

CN106218956A recommendations have " a kind of vacuum suction rolling type separation material fetching mechanism and method ", due to the patent side Case is to be designed for the feeding of specific facial mask articles of sheet material, thus be fitted in one each other by upper and lower two in the way of rubbing The facial mask separation risen can prove effective, but when product light guide plate as the aforementioned, silicon chip, screen piece, each metalloid faced When piece and pcb board etc., then this mode（Rubbing mode）It can not prove effective because of " not acclimatized ".

CN106494898A be provided with " a method of for transmit sheet material feeding and extraction sheet material ", structure is： Including cross drive mechanism, the suction piece elevating mechanism of the end for drawing sheet material is provided in the cross drive mechanism；Also Include the limiting mechanism for limiting sheet material, an end of sheet material is lifted by suction piece elevating mechanism, and is limited by limiting mechanism Another end of film-making material, an end of the sheet material by being lifted by suction piece elevating mechanism bend and with adjacent piece It is formed between material in the state of separated space and the traversing extraction sheet material of suction piece elevating mechanism is driven by cross drive mechanism（Can specifically it join See the 0024th section of the patent specification）Although the patent formula can fulfil the technology effect of the 0016th section of record of its specification Fruit, but there are following shortcoming：First, since suction piece elevating mechanism only adsorbs one end of sheet material and the one end of sheet material is made to send out Raw elastic bending deflection, thus upper layer, that is, topsheet is not resiliently deflected deformation laterally extract sheet material out during Part and lower layer of sheet material between will produce dragging friction, and dragging friction when feeding between upper and lower two adjacent sheet material or Pull-out type friction is totally unfavorable for fragile light guide plate, silicon chip, screen piece, pcb board etc., that is, exists and undermine sheet material Anxiety；Second, due to need to be made by the collaboration of cross drive mechanism, suction piece elevating mechanism, limiting mechanism and gas separating mechanism etc. With being just able to sheet material by a piece extraction, thus structure is relative complex, is unfavorable for manufacture, assembly and daily manages and protects；Third, passing through To the transmission line introduced in the patent specification（The 0025th section of specification）It is found that the patent is not to match with manipulator , and the feeding device that can not match with manipulator, and match with manipulator usually requires that structure is terse, action is steady It is fixed it is reliable, light-weight, using convenient with daily inspection.

For above-mentioned prior art, the applicant has made beneficial design, forms technology described below finally Scheme and in the case where taking secrecy provision through computer simulate deduce experiment be proved to be practicable.

Invention content

Task of the invention lies in provide one kind to help upper layer of sheet material and lower layer of sheet material reliable separation using guarantee One piece of sheet material is extracted every time, is conducive to prevent the relative friction for occurring between two adjacent sheets up and down during extracting sheet material And it uses and avoids undermining sheet material, be beneficial to simplify structure and ensure the reliable and stable and light-weight of action and use satisfaction and machine The vacuum feeding device for being coupled with manipulator of the mating requirement of tool palmistry.

The task of the present invention is in this way to complete, a kind of vacuum feeding device for being coupled with manipulator, including one Manipulator connecting plate is fixed with a left rail in the edge of the left lower of the length direction of the manipulator connecting plate, and It is fixed with a right guide rail, the left rail and right guide rail in the edge of the lower right side of the length direction of manipulator connecting plate Rear end is extended to from the front end of manipulator connecting plate, a cam resigning chamber is offered in the middle position of manipulator connecting plate； One for the sheet material front end holding mechanism of the front end sticking of sheet material and one to be used to inhale the sheet material rear end of the rear end sticking of sheet material Mechanism is held, position of the sheet material front end holding mechanism below the front end corresponding to the manipulator connecting plate is led with the left side simultaneously The front end of rail and the front end of right guide rail are slidably matched, and sheet material rear end holding mechanism is in the rear end corresponding to manipulator connecting plate The position of lower section is slidably matched with the rear end of left rail and the rear end of right guide rail simultaneously；One for making the sheet material front end inhale It holds mechanism and sheet material rear end holding mechanism opposite displacement or the sliding panel driving mechanism denounceed out each other, the sliding panel driving machine Structure corresponding to the position between sheet material front end holding mechanism and sheet material rear end holding mechanism simultaneously with sheet material front end holding mechanism And the connection of sheet material rear end holding mechanism, and under corresponding to the position of the cam resigning chamber and manipulator connecting plate direction Side fix, wherein when making the sheet material front end holding mechanism and sheet material rear end sticking by the sliding panel driving mechanism When the opposite displacement of mechanism, front end in the sheet material by sheet material front end holding mechanism sticking state and in being inhaled by sheet material rear end The rear end for holding the sheet material of mechanism sticking state is resiliently deflected deformation, and is also in the middle part of sheet material by sliding panel driving mechanism The state of sticking.

In the specific embodiment of the present invention, being constituted on the top of the length direction of the left rail has a left side to lead Rail fixed plate, the left rail fixed plate fix the left side of plate bolt and the length direction of the manipulator connecting plate by left rail The edge of lower part is fixed, and being constituted on the top of the length direction of the right guide rail has a right guide rail fixed plate, the right guide rail Fixed plate is solid by the edge of right guide rail fixed plate screw and the lower right side of the length direction of the manipulator connecting plate It is fixed.

In another specific embodiment of the present invention, on the manipulator connecting plate and corresponding to described convex The position for taking turns the front and back of resigning chamber respectively offers a pipeline relief hole, and corresponding to cam resigning chamber left and The position of right respectively offers manipulator connecting screw hole, and manipulator attachment screw is equipped on the manipulator connecting screw hole.

In another specific embodiment of the present invention, the sheet material front end holding mechanism includes advancing slip movable plate, preceding Sliding panel left slider, the right sliding block of advancing slip movable plate, a pair of of anterior sucker fixing pipe and a pair of of anterior sucker, advancing slip movable plate left slider with it is advancing slip The left end of movable plate is fixed towards upper side and is slidably matched with the front end of the left rail, the advancing slip right sliding block of movable plate with it is advancing slip The right end of movable plate is fixed towards upper side and is slidably matched with the front end of the right guide rail, and a pair of of anterior sucker fixing pipe is right Position that should be between advancing slip movable plate left slider and the right sliding block of advancing slip movable plate is fixed with advancing slip movable plate, and a pair of of anterior sucker is located at advancing slip The lower section of the movable plate and lower end with a pair of of anterior sucker fixing pipe is fixed respectively, and the upper end of a pair of of anterior sucker fixing pipe respectively passes through Pipeline is connect with depression generator；The sheet material rear end holding mechanism includes rear sliding panel, rear sliding panel left slider, slides afterwards The right sliding block of movable plate, a pair of of posterior sucker fixing pipe and a pair of of posterior sucker, the left end of rear sliding panel left slider and rear sliding panel is towards upper Side fix and be slidably matched with the rear end of the left rail, the right end of the rear right sliding block of sliding panel and rear sliding panel is towards upper Side fix and be slidably matched with the rear end of the right guide rail, a pair of of posterior sucker fixing pipe is corresponding to the left cunning of rear sliding panel Position between block and the right sliding block of rear sliding panel is fixed with rear sliding panel, and a pair of of posterior sucker is located at the lower section of rear sliding panel and divides Lower end not with a pair of of posterior sucker fixing pipe is fixed, and the upper end of a pair of of posterior sucker fixing pipe is respectively filled by pipeline and negative pressure Set connection；The sliding panel driving mechanism corresponding to the position between the advancing slip movable plate and rear sliding panel simultaneously with it is advancing slip Movable plate and the connection of rear sliding panel；On the manipulator connecting plate and in the position in the left side corresponding to the cam resigning chamber It sets and offers a pair of left camshaft holder fixing screw hole, and a pair is offered in the position on the right side corresponding to camshaft resigning chamber Right camshaft holder fixing screw hole, the sliding panel driving mechanism is corresponding to a pair of left camshaft holder fixing screw hole and one The position and side of the manipulator connecting plate under of right camshaft holder fixing screw hole are fixed.

In another specific embodiment of the present invention, on the advancing slip movable plate and corresponding to described a pair The position of anterior sucker fixing pipe offers a pair of of anterior sucker fixing pipe mounting hole, and a pair of of anterior sucker fixing pipe is before corresponding to a pair The position of sucker fixing pipe mounting hole is respectively fixed by anterior sucker fixing pipe lock nut and advancing slip movable plate, in the rear sliding panel Above and in the position corresponding to a pair of of posterior sucker fixing pipe offer a pair of of posterior sucker fixing pipe mounting hole, Yi Duihou Sucker fixing pipe corresponding to the position of a pair of of posterior sucker fixing pipe mounting hole respectively by posterior sucker fixing pipe lock nut with after Sliding panel is fixed.

In specific embodiment there are one the present invention, the outer wall in the upper end of a pair of of anterior sucker fixing pipe Upper each composition has anterior sucker fixing pipe external screw thread, the anterior sucker fixing pipe lock nut and the anterior sucker fixing pipe external screw thread It matches；Respectively being constituted on the outer wall of the upper end of a pair of of posterior sucker fixing pipe has posterior sucker fixing pipe external screw thread, described Posterior sucker fixing pipe lock nut matched with the posterior sucker fixing pipe external screw thread.

In a still more specific embodiment of the invention, the depression generator is vacuum pumping pump.

The present invention's and then in a specific embodiment, the sliding panel driving mechanism is solid including a camshaft holder Tension spring, a camshaft, one after tension spring, one before sliding panel push rod, one after fixed board, a pair of intermediate sucker, an advancing slip movable plate push rod, one To intermediate sucker suction nozzle actuating cam, a pushrod actuation cam and a motor, camshaft holder fixed plate corresponds to the front slide Between plate and rear sliding panel, the position of sucker offers a pair in the camshaft holder fixed plate and among corresponding to a pair Intermediate sucker suction nozzle sliding eye, a pair of intermediate sucker be located at the lower section of camshaft holder fixed plate and respectively with a pair of centre sucker The lower end of suction nozzle is fixed, and the middle part of a pair of intermediate sucker suction nozzle is slidably matched with a pair of intermediate sucker suction nozzle sliding eye, a centering Between the upper end of sucker suction nozzle be stretched over the top of cam chair fixed plate and be respectively fixed with intermediate sucker suction nozzle roller mount, in this Between be rotationally provided with an intermediate sucker suction nozzle idler wheel in sucker suction nozzle roller mount, be respectively arranged on sucker suction nozzle among a pair The upper end of one intermediate sucker suction nozzle return spring, the intermediate sucker suction nozzle return spring is supported on intermediate sucker suction nozzle roller mount Bottom, and the lower end of intermediate sucker return spring is supported in cam chair fixed plate, is equipped in the following side of intermediate sucker suction nozzle One negative pressure line interface, the negative pressure line interface are connect with depression generator, front end and the advancing slip movable plate of advancing slip movable plate push rod Push rod fixed seat connects, and movable plate push rod fixed seat that this is advancing slip and the middle part of advancing slip movable plate towards the upper side are fixed, advancing slip The middle part of movable plate push rod and advancing slip movable plate pusher slide move guide plate and are slidably matched, and the advancing slip movable plate pusher slide move guide plate corresponding to The position of advancing slip movable plate push rod fixed seat is fixed with the posterior edges position of advancing slip movable plate, and the rear end of advancing slip movable plate push rod is stretched over Camshaft holder fixed plate and it is fixed with an advancing slip movable plate push rod roller mount, is rotationally set in the advancing slip movable plate push rod roller mount Be equipped with an advancing slip movable plate push rod idler wheel, this is advancing slip, and movable plate push rod idler wheel is corresponding with pushrod actuation cam, rear sliding panel push rod with The advancing slip movable plate push rod is corresponding, and the rear end of the rear sliding panel push rod is connect with rear sliding panel push rod fixed seat, the rear cunning Movable plate push rod fixed seat and the middle part of rear sliding panel towards the upper side are fixed, the middle part of rear sliding panel push rod and rear sliding Plate push rod sliding guide is slidably matched, and the rear sliding panel push rod sliding guide is in the position corresponding to rear sliding panel push rod fixed seat It sets and is fixed with the forward edge position of rear sliding panel, the front end of rear sliding panel push rod is stretched over camshaft holder fixed plate and fixation Sliding panel push rod roller mount after having one, sliding panel push rod rolls after being rotationally provided with one in the rear sliding panel push rod roller mount Wheel, the rear sliding panel push rod idler wheel is corresponding with pushrod actuation cam, and the front end of preceding tension spring is hung in the advancing slip movable plate push rod On sliding guide, and the rear end of preceding tension spring is hung on preceding tension spring hanging feet, which steps down corresponding to the cam Position below the front side of chamber is fixed with the manipulator connecting plate, and the front end of rear tension spring is hung on rear tension spring hanging feet, should Position of the tension spring hanging feet below the rear side corresponding to cam resigning chamber is fixed with manipulator connecting plate afterwards, then the rear end of tension spring It hangs on sliding panel push rod sliding guide in the rear, the left end of camshaft is rotatably supported on camshaft left bracket, cam The right end of axis is rotatably supported on camshaft right axle seat, and pushrod actuation cam is fixed on the middle part of camshaft, a pair of intermediate suction Disk suction nozzle actuating cam is fixed on camshaft and divides in the position of the top corresponding to the intermediate sucker suction nozzle idler wheel Not Wei Yu pushrod actuation cam both sides, motor and reduction box transmission cooperation and by reduction box together with motor and the camshaft The right side of right axle seat is fixed, and the reduction gearbox output shaft of reduction box and the right end of camshaft are sequentially connected, the camshaft left bracket And the bottom of camshaft right axle seat is fixed with the camshaft holder fixed plate, and the top of camshaft left bracket is corresponding to institute The position for the left camshaft holder fixing screw hole of a pair stated is fixed with the manipulator connecting plate, and the top of camshaft right axle seat exists It is fixed with manipulator connecting plate corresponding to the position of the right camshaft holder fixing screw hole of a pair, when the pushrod actuation is convex When taking turns while acting on the advancing slip movable plate push rod idler wheel and rear sliding panel push rod idler wheel, the forward and backward sliding panel push rod The direction displacement and drive opposite towards each other forward and backward sliding panel phase mutual exclusion is opened, and when pushrod actuation cam releases When to the effect of advancing slip movable plate push rod idler wheel and rear sliding panel push rod idler wheel, under the reply force effect of the forward and backward tension spring, The opposite displacement of forward and backward sliding panel, in the sheet material by a pair of of anterior sucker and a pair of of posterior sucker sticking state Front-end and back-end are resiliently deflected deformation, and the intermediate sucker suction nozzle actuating cam of a pair acts on the intermediate suction Disk suction nozzle idler wheel, a pair of intermediate sucker suction nozzle is to bottom offset, middle part sticking of a pair of intermediate sucker to sheet material.

The depression generator is vacuum pumping pump in yet a further embodiment of the present invention.

Again and then in a specific embodiment, a pair is equipped in the front end of the advancing slip movable plate push rod in the present invention The front end of advancing slip movable plate push rod is locked in institute by advancing slip movable plate push rod adjusting nut by this to advancing slip movable plate push rod adjusting nut In the advancing slip movable plate push rod fixed seat stated；The rear end of sliding panel push rod is equipped with sliding panel push rod adjustment spiral shell after a pair in the rear The rear end of rear sliding panel push rod is locked in the rear sliding panel push rod to rear sliding panel push rod adjusting nut by this and consolidated by mother In reservation；It is moved on guide plate in the advancing slip movable plate pusher slide and tension spring is hung before being fixed with one corresponding to the position of preceding tension spring The front end of axis, preceding tension spring is hung on the preceding tension spring hanging scroll；On the rear sliding panel push rod sliding guide and in correspondence Tension spring hanging scroll after the position of tension spring is fixed with one after described, the rear end of rear tension spring is hung on the rear tension spring hanging scroll.

One of the technique effect of technical solution provided by the invention, will be before and after sheet material by sheet material front and back ends holding mechanism End sticking and forced when sliding panel driving mechanism makes sheet material front and back ends holding mechanism displacement the front-end and back-end of sheet material generate to It is upper that the sheet separation of the sheet material and lower layer that make upper layer is used with downward elastic bending deflection, thus can ensure and only extract every time One piece of sheet material；Two, since two adjacent sheets up and down can be made in the state that sheet material front end and rear end form elastic bending deflection Central region easily detach, thus be not in relative friction between upper and lower two adjacent sheet in sheet material extraction process and It is able to protection sheet material；Three, since overall structure is terse and motion stability is reliable and light-weight, thus can meet with machinery The interconnection demands of hand.

Description of the drawings

Fig. 1 is the embodiment of the present invention structure chart.

Fig. 2 is the schematic diagram of intermediate suction nozzle cam shown in FIG. 1.

First state schematic diagram when Fig. 3 is suction of the present invention.

The second status diagram when Fig. 4 is suction of the present invention.

Third state schematic diagram when Fig. 5 is suction of the present invention.

The 4th status diagram when Fig. 6 is suction of the present invention.

Specific implementation mode

In order to which the technical spirit and advantageous effect of the present invention is more clearly understood, applicant is below with embodiment Mode elaborate, but be not limitation to the present invention program, any structure according to the present invention to the description of embodiment Think made only formal but not substantive equivalent transformation and is regarded as technical scheme of the present invention scope.

The concept of every directionality for being related to upper, lower, left, right, front and rear or directionality is all in the following description For location status shown in FIG. 1, thus it cannot be understood as being particularly limited to technical solution provided by the invention.

Fig. 1 is referred to, a manipulator connecting plate 1 is shown, in the left lower of the length direction of the manipulator connecting plate 1 Edge be that edge of the left side under is fixed with a left rail 11, and in the length direction of manipulator connecting plate 1 The edge of lower right side be that edge of the right side under is fixed with a right guide rail 12, the left rail 11 and the right side are led Rail 12 extends to rear end from the front end of manipulator connecting plate 1, and offering a cam in the middle position of manipulator connecting plate 1 allows Position chamber 13；Show that one is used for sheet material 5（Fig. 2 and Fig. 3 show）Front end sticking sheet material front end holding mechanism 2 and one be used for will The sheet material rear end holding mechanism 3 of the rear end sticking of sheet material, sheet material front end holding mechanism 2 is corresponding to aforementioned mechanical hand connecting plate 1 Front end below position be slidably matched simultaneously with the front end of aforementioned left rail 11 and the front end of right guide rail 12, and sheet material rear end Position of the holding mechanism 3 below the rear end corresponding to manipulator connecting plate 1 while the rear end with left rail 11 and right guide rail 12 rear end is slidably matched；One is shown for making 3 phase of sheet material front end holding mechanism 2 above-mentioned and sheet material rear end holding mechanism Denounce to displacement or each other and opens（Towards opposite direction displacement）Sliding panel driving mechanism 4, the sliding panel driving mechanism 4 is in correspondence Position between sheet material front end holding mechanism 2 and sheet material rear end holding mechanism 3 simultaneously with sheet material front end holding mechanism 2 and piece Material rear end holding mechanism 3 connects, and in position and the manipulator connecting plate 1 corresponding to aforementioned cam resigning chamber 13 under Side is fixed.

When making 3 phase of first-mentioned sheet front end holding mechanism 2 and sheet material rear end holding mechanism by aforementioned sliding panel driving mechanism 4 To when displacement, front end in the sheet material 5 by 2 sticking state of sheet material front end holding mechanism and in by sheet material rear end sticking machine The rear end of the sheet material of 3 sticking state of structure is resiliently deflected deformation, and is also in the middle part of sheet material and is inhaled by sliding panel driving mechanism 4 The state held.

Continue to see Fig. 1, constituting on the top of the length direction of aforementioned left rail 11 has a left rail fixed plate 111, the left side Guide rail fixed plate 111 fixes the left lower of plate bolt 1111 and the length direction of aforementioned mechanical hand connecting plate 1 by left rail Edge fix, aforementioned right guide rail 12 length direction top constitute have a right guide rail fixed plate 121, the right guide rail The side that fixed plate 121 passes through right guide rail fixed plate screw 1211 and the lower right side of the length direction of aforementioned mechanical hand connecting plate 1 Edge position is fixed.

It is on aforementioned mechanical hand connecting plate 1 and each in the position of the front and back corresponding to aforementioned cam resigning chamber 13 A pipeline relief hole 14 is offered, and manipulator is respectively offered in the position of the left and right corresponding to cam resigning chamber 13 Connecting screw hole 15 is equipped with manipulator attachment screw 151 on the manipulator connecting screw hole 15, by the manipulator attachment screw 151 fix manipulator connecting plate 1 and manipulator not shown in the figure.

Continue to see Fig. 1, sheet material front end holding mechanism 2 above-mentioned includes advancing slip movable plate 21, advancing slip movable plate left slider 22, advancing slip The right sliding block 23 of movable plate, a pair of of anterior sucker fixing pipe 24 and a pair of of anterior sucker 25, advancing slip movable plate left slider 22 by screw with it is advancing slip The left end of movable plate 21 is fixed towards upper side and is slidably matched with the front end of aforementioned left rail 11, the right sliding block of advancing slip movable plate 23 It is fixed towards upper side by the right end of screw and advancing slip movable plate 21 and is slidably matched with the front end of aforementioned right guide rail 12, one To anterior sucker fixing pipe 24 corresponding between advancing slip movable plate left slider 22 and the right sliding block of advancing slip movable plate 23 position and front slide Plate 21 is fixed, and a pair of of anterior sucker 25 is located at the lower section of advancing slip movable plate 21 and consolidates respectively with the lower end of a pair of of anterior sucker fixing pipe 24 It is fixed, and the upper end of a pair of of anterior sucker fixing pipe 24 is respectively connect by pipeline with depression generator.

Sheet material rear end above-mentioned holding mechanism 3 includes rear sliding panel 31, rear sliding panel left slider 32, the right sliding block of rear sliding panel 33, a pair of of posterior sucker fixing pipe 34 and a pair of of posterior sucker 35, the left side that rear sliding panel left slider 32 passes through screw and rear sliding panel 31 End fix towards upper side and be slidably matched with the rear end of aforementioned left rail 11, the rear right sliding block 33 of sliding panel by screw with The right end of sliding panel 31 is fixed towards upper side and is slidably matched with the rear end of aforementioned right guide rail 12 afterwards, and a pair of of posterior sucker is solid Fixed tube 34 is fixed corresponding to the position between rear sliding panel left slider 32 and the right sliding block of rear sliding panel 33 with rear sliding panel 31, and one The lower section of rear sliding panel 31 is located to posterior sucker 35 and the lower end with a pair of of posterior sucker fixing pipe 34 is fixed respectively, and after a pair The upper end of sucker fixing pipe 34 is respectively connect by pipeline with depression generator.

As shown in Figure 1, sliding panel driving mechanism 4 above-mentioned is corresponding between aforementioned advancing slip movable plate 21 and rear sliding panel 31 Position connect simultaneously with advancing slip movable plate 21 and rear sliding panel 31；On aforementioned mechanical hand connecting plate 1 and corresponding to before The position for stating the left side of cam resigning chamber 13 offers a pair of left camshaft holder fixing screw hole 16, and is allowed corresponding to camshaft The position on the right side of position chamber 13 offers a pair of right camshaft holder fixing screw hole 17, and aforementioned sliding panel driving mechanism 4 is in correspondence It is connect with manipulator in the position of a pair of left camshaft holder fixing screw hole 16 and a pair of right camshaft holder fixing screw hole 17 Side of the plate 1 under is fixed.

Above mentioned pipeline is introduced through pipeline relief hole 14 and is connect respectively with forward and backward sucker fixing pipe 24,34.

Continue to see Fig. 1, on aforementioned advancing slip movable plate 21 and in the position corresponding to a pair of of anterior sucker fixing pipe 24 above-mentioned It sets and offers a pair of of anterior sucker fixing pipe mounting hole 211, a pair of of anterior sucker fixing pipe 24 is corresponding to a pair of of anterior sucker fixing pipe The position of mounting hole 211 is respectively fixed by anterior sucker fixing pipe lock nut 241 and advancing slip movable plate 21.The sliding panel 31 after aforementioned A pair of of posterior sucker fixing pipe mounting hole 311 above and in the position corresponding to a pair of of posterior sucker fixing pipe 34 above-mentioned is offered, A pair of of posterior sucker fixing pipe 34 is respectively locked by posterior sucker fixing pipe in the position corresponding to a pair of of posterior sucker fixing pipe mounting hole 311 Determine nut 341 to fix with rear sliding panel 31.

Respectively being constituted on the outer wall of the upper end of a pair of of anterior sucker fixing pipe 24 above-mentioned has anterior sucker fixing pipe external screw thread 242, anterior sucker fixing pipe lock nut 241 above-mentioned is matched with the anterior sucker fixing pipe external screw thread 242；Same example, aforementioned A pair of of posterior sucker fixing pipe 34 upper end outer wall on respectively constitute have posterior sucker fixing pipe external screw thread 342, posterior sucker above-mentioned Fixing pipe lock nut 341 is matched with the posterior sucker fixing pipe external screw thread 342.

In the present embodiment, depression generator above-mentioned is vacuum pumping pump.

Sliding panel driving mechanism 4 above-mentioned includes a camshaft holder fixed plate 41, a pair of intermediate sucker 42, an advancing slip movable plate Tension spring 45b, a camshaft 46, a pair of intermediate sucker suction nozzle cause after tension spring 45a, one before sliding panel push rod 44, one after push rod 43, one Moving cam 47, a pushrod actuation cam 48 and a motor 49, camshaft holder fixed plate 41 correspond to aforementioned advancing slip movable plate 21 with after Between sliding panel 31, the position of sucker 42 offers a pair in the camshaft holder fixed plate 41 and among corresponding to a pair Intermediate sucker suction nozzle sliding eye 411, a pair of intermediate sucker 42 be located at the lower section of camshaft holder fixed plate 41 and respectively with a pair The lower end of intermediate sucker suction nozzle 421 is fixed, middle part and a pair of intermediate sucker suction nozzle sliding eye of a pair of intermediate sucker suction nozzle 421 411 are slidably matched, during the upper end of sucker suction nozzle 421 is stretched over the top of cam chair fixed plate 41 and is respectively fixed among a pair Between sucker suction nozzle roller mount 4211, be rotationally provided among one by roller shaft in sucker suction nozzle roller mount 4211 among this Sucker suction nozzle idler wheel 42111 is respectively arranged with an intermediate sucker suction nozzle return spring 4212 among a pair on sucker suction nozzle 421, The upper end of the intermediate sucker suction nozzle return spring 4212 is supported on the bottom of intermediate sucker suction nozzle roller mount 4211, and intermediate sucker The lower end of return spring 4212 is supported in cam chair fixed plate 41, and a negative pressure is equipped in the following side of intermediate sucker suction nozzle 421 Pipe interface 4213（Fig. 2 and Fig. 3 show）, which connect with depression generator, advancing slip movable plate push rod 43 Front end connect with advancing slip movable plate push rod fixed seat 431, movable plate push rod fixed seat 431 that this is advancing slip and aforementioned 21 direction of advancing slip movable plate On the middle part of side fix, the middle part of advancing slip movable plate push rod 43 moves guide plate 432 with advancing slip movable plate pusher slide and is slidably matched, and is somebody's turn to do Rear side of the dynamic guide plate 432 of advancing slip movable plate pusher slide in position and advancing slip movable plate 21 corresponding to advancing slip movable plate push rod fixed seat 431 Edge is fixed, and the rear end of advancing slip movable plate push rod 43 is stretched over camshaft holder fixed plate 41 and is fixed with an advancing slip movable plate and pushes away Bar roller mount 433 is rotationally provided with an advancing slip movable plate push rod rolling in the advancing slip movable plate push rod roller mount 433 by roller shaft Wheel 4331, this is advancing slip, and movable plate push rod idler wheel 4331 is corresponding with pushrod actuation cam 48, rear sliding panel push rod 44 and it is above-mentioned before Sliding panel push rod 43 is corresponding, and the rear end of the rear sliding panel push rod 44 is connect with rear sliding panel push rod fixed seat 441, the rear sliding Plate push rod fixed seat 441 and it is aforementioned after the middle part of sliding panel 31 towards upper side fix, the middle part of rear sliding panel push rod 44 with Sliding panel push rod sliding guide 442 is slidably matched afterwards, and the rear sliding panel push rod sliding guide 442 is pushed away corresponding to rear sliding panel The position of bar fixed seat 441 and the forward edge position of rear sliding panel 31 are fixed, and the front end of rear sliding panel push rod 44 is stretched over convex Axle block fixed plate 41 and sliding panel push rod roller mount 443 after being fixed with one, lead in the rear sliding panel push rod roller mount 443 Sliding panel push rod idler wheel 4431 after roller shaft is rotationally provided with one is crossed, the rear sliding panel push rod idler wheel 4431 is convex with pushrod actuation To take turns 48 corresponding, the front end of preceding tension spring 45a, which is hung, to be moved in aforementioned advancing slip movable plate pusher slide on guide plate 432, and after preceding tension spring 45a End is hung on preceding tension spring hanging feet 40a, positions of the preceding tension spring hanging feet 40a below the front side corresponding to aforementioned cam resigning chamber 13 It sets and is fixed with manipulator connecting plate 1 above-mentioned, the front end of rear tension spring 45b is hung on rear tension spring hanging feet 40b, the rear tension spring hanging feet Positions of the 40b below the rear side corresponding to cam resigning chamber 13 is fixed with manipulator connecting plate 1, then the rear end of tension spring 45b It hangs on aforementioned rear sliding panel push rod sliding guide 442, the left end of camshaft 46 is rotatably supported at camshaft by bearing On left bracket 461, the right end of camshaft 46 is rotatably supported at again by bearing on camshaft right axle seat 462, pushrod actuation Cam 48 is fixed on the middle part of camshaft 46, and a pair of intermediate sucker suction nozzle actuating cam 47 is inhaled corresponding to intermediate sucker above-mentioned The position of the top of mouth idler wheel 42111 is fixed on camshaft 46 and is located at the both sides of pushrod actuation cam 48（Left side The right side and）, motor 49 is with the transmission of reduction box 491 cooperation and by reduction box 491 together with motor 49 and aforementioned cam axis right axle seat 462 right side is fixed, and the reduction gearbox output shaft of reduction box 491 is sequentially connected with the right end of camshaft 46, aforementioned cam axis left axle The bottom of seat 461 and camshaft right axle seat 462 is fixed with aforementioned cam axle bed fixed plate 41, and camshaft left bracket 461 Top offers a pair of of left bracket screw hole 4611, by screw corresponding to the left camshaft holder fixing screw hole of a pair above-mentioned 16 Position is fixed with aforementioned mechanical hand connecting plate 1, and the top of camshaft right axle seat 462 offers a pair of of right axle seat screw hole 4621, by Screw is fixed in the position corresponding to the right camshaft holder fixing screw hole of a pair above-mentioned 17 with manipulator connecting plate 1.

When aforementioned pushrod actuation cam 48 simultaneously act on aforementioned advancing slip movable plate push rod idler wheel 4331 and after sliding panel push away When bar idler wheel 4431, forward and backward sliding panel push rod 43,44 above-mentioned direction displacement opposite towards each other and drive above-mentioned Forward and backward sliding panel 21,31 phase mutual exclusions are opened, and when pushrod actuation cam 48 is released to advancing slip movable plate push rod idler wheel 4331 and rear cunning When the effect of movable plate push rod idler wheel 4431, under the reply force effect of aforementioned forward and backward tension spring 45a, 45b, aforementioned forward and backward sliding panel 21,31 opposite displacement, front end in the sheet material by 35 sticking state of a pair of of anterior sucker 25 above-mentioned and a pair of of posterior sucker and Rear end is resiliently deflected deformation, and a pair of intermediate sucker suction nozzle actuating cam 47 above-mentioned acts on aforementioned intermediate sucker and inhales Mouth idler wheel 42111, a pair of intermediate sucker suction nozzle 421 is to bottom offset, middle part sticking of a pair of intermediate sucker 42 to sheet material.

In the present embodiment, depression generator above-mentioned is vacuum pumping pump.For with aforementioned negative pressure pipe interface 4213 The pipeline of connection is introduced by way of pipeline relief hole 14 and is connect with negative pressure line interface 421.

As shown in Figure 1, it is equipped with a pair of advancing slip movable plate push rod adjusting nut in the front end of aforementioned advancing slip movable plate push rod 43 434, advancing slip movable plate above-mentioned is locked in by the front end of advancing slip movable plate push rod 43 to advancing slip movable plate push rod adjusting nut 434 by this In push rod fixed seat 431；The sliding panel push rod adjusting nut 444 after the rear end of aforementioned rear sliding panel push rod 44 is equipped with a pair, Rear sliding panel push rod above-mentioned is locked in by the rear end of rear sliding panel push rod 44 to rear sliding panel push rod adjusting nut 444 by this In fixed seat 441；It moves on guide plate 432 in advancing slip movable plate pusher slide above-mentioned and is fixed in the position corresponding to preceding tension spring 45a The front end of tension spring hanging scroll 4321 before having one, preceding tension spring 45a is hung on the preceding tension spring hanging scroll 4321；Sliding panel pushes away after above-mentioned Tension spring hanging scroll 4421, rear tension spring on bar sliding guide 442 and after being fixed with one corresponding to the position of tension spring 45b after aforementioned The rear end of 45b is hung on the rear tension spring hanging scroll 4421.

It refers to Fig. 2 and combines Fig. 3 to Fig. 6, Fig. 2 shows the structures of sliding panel driving mechanism 4 as shown in Figure 1 The intermediate sucker suction nozzle actuating cam 47 of a pair of system drives sucker among a pair under the rotation of camshaft 46 by camshaft 46 Suction nozzle actuating cam 47, when first cam surface 471 to intermediate sucker suction nozzle actuating cam 47 corresponds to intermediate suction above-mentioned Disk idler wheel 42111 and in forward and backward sliding panel 21,31 opposite displacement, in by a pair of forward and backward sucker 25,35 and a pair The front-end and back-end of the sheet material 5 of state are sucked in intermediate sucker 42（It is the same below by taking Fig. 1 location status as an example）It is curved that elasticity upwards occurs Song deformation, as shown in Figure 4, the middle part of sheet material 5 is recessed, and both ends upwarp for state；The sucker suction nozzle actuating cam among a pair When 47 the second cam surface 472 corresponds to intermediate sucker idler wheel 42111, forward and backward sliding panel 21,31 at this time is opened in reprimand each other State, that is, the state that duplicates with Fig. 3 is in, at this point, in by a pair of forward and backward sucker 25,35 and a pair of intermediate sucker 42 The state evolution of the front-end and back-end of the sheet material 5 of state as shown in Figure 4 is sucked to be or revert to flattening shape as shown in Figure 5 State；Among a pair the third cam surface 473 of sucker suction nozzle actuating cam 47 correspond to intermediate sucker idler wheel 42111 and When forward and backward sliding panel 21,31 opposite displacement, state is sucked in sucker 42 among by a pair of forward and backward sucker 25,34 and a pair The front-end and back-end of sheet material 5 downward elastic bending deflection occurs, as shown in Figure 6, the middle part of sheet material 5 is upwardly formed arc to state Arch, and the front-end and back-end of sheet material 5 are to recessed.

The above process can ensure through the primary above repetition and only draw a sheet material 5 every time.

Referring to Fig. 3, Fig. 3 to Fig. 6 shows manipulator 6 and has been carried above showing to Fig. 6 and combined with Figure 1 and Figure 2, And sheet material 5, in the present embodiment, sheet material 5 is light guide plate, but is not limited to light guide plate.

First, applicant is explained as follows the operation principle of aforementioned sliding panel driving mechanism 4 in conjunction with Fig. 1：49 work of motor Make, reduction box 491 driven by motor 49, the camshaft 46 being sequentially connected with it is driven by the reduction gearbox output shaft of reduction box 491, Forward and backward sliding panel push rod idler wheel 4331,4431 is acted on simultaneously by pushrod actuation cam 48, forward and backward sliding panel push rod 43,44 courts Displacement in the opposite directions to each other, makes the also opposite towards each other direction displacement of forward and backward sliding panel 21,31, forward and backward tension spring 45a, 45b extends and energy storage.When camshaft 46 drives pushrod actuation cam 48 to be in the state in Fig. 4, then in forward and backward tension spring Claim forward and backward sliding panel 21,31 opposite positions under the reply force effect of 45a, 45b, such circulation change.

Applicant illustrates in conjunction with Fig. 1 to Fig. 3, and Fig. 3 is the first state of suction process of the present invention, and push rod at this time causes Moving cam 48 is in the active state to forward and backward sliding panel push rod 43,44, and forward and backward sliding panel 21,31 is in reprimand open state, place It is in the horizontality of linear type in the sheet material 5 that state is sucked by a pair of forward and backward sucker 25,35 and a pair of intermediate sucker 42, is somebody's turn to do State is the original state of sheet material 5.In this state, the second cam surface 472 of a pair of intermediate sucker suction nozzle actuating cam 47 Corresponding to intermediate sucker suction nozzle idler wheel 42111 above-mentioned, forward and backward tension spring 45a, 45b stretch energy storage shape that is long and being replied in waiting State.

Applicant illustrates in conjunction with Fig. 1 to Fig. 4, when camshaft 46 is rotated by 90 ° by Fig. 3 states, pushrod actuation at this time Cam 48 releases effect to forward and backward sliding panel push rod 43,44, that is, is discharged to forward and backward sliding panel slide bar 43,44, it is preceding, Afterwards under the reply force effect of tension spring 45a, 45b, make forward and backward sliding panel 21,31 opposite displacements, is now in by a pair of forward and backward suction Upward flexible deformation is distinguished in the front-end and back-end that the sheet material 5 of state is sucked in disk 25,35, and is in and is sucked by sucker 42 among a pair The middle part of the sheet material 5 of state is relative to both ends（Front-end and back-end）State in a concave shape, whole piece of sheet material 5 are in the state of " ︶ " font, First cam surface 471 of intermediate sucker suction nozzle actuating cam a pair of at this time 47 corresponds to intermediate sucker suction nozzle 42111 above-mentioned.

Applicant illustrates in conjunction with Fig. 1 to Fig. 5, when camshaft 46 rotates 180 ° by Fig. 3 states, since sheet material 5 is extensive State identical with Fig. 3, forward and backward sliding panel 21,23, intermediate sucker suction nozzle actuating cam 47 have been arrived again（With the second cam surface 472 4th cam surface 474 of corresponding side corresponds to the top of a pair of intermediate sucker suction nozzle 421）Etc. having also returned to and Fig. 3 Identical state, therefore no longer repeat.

Applicant illustrates in conjunction with Fig. 1 to Fig. 6, when camshaft 46 rotates 270 ° by Fig. 3 states, among a pair The third cam surface 473 of sucker suction nozzle actuating cam 47 corresponds to intermediate sucker suction nozzle 42111 above-mentioned, thus in by a pair The front-end and back-end of the sheet material 5 of state elastic bending deflection separately down is sucked in forward and backward sucker 25,35, and in by a centering Between the middle part of the sheet material 5 that state is sucked of sucker 42 formed and arch upward upwards, whole piece of sheet material 5 is in the state of " ⌒ " font.

Period with the plural number time of camshaft 46 or circulation rotating, sheet material 5 is just corresponding to generate upspringing for plural number time Property flexural deformation and downward elastic bending deflection, uppermost one piece of sheet material 5 detaches with one piece of following sheet material 5.By manipulator It is transferred to next station and such as transfers station.At next station, under the work of motor 49, by the preceding description of applicant, by The effect of pushrod actuation cam 48 and so that forward and backward sliding panel 21,31 is in reprimand open state, while a pair of intermediate sucker suction nozzle actuating Second cam surface 472 of cam 47 corresponds to intermediate sucker suction nozzle 42111, and sheet material 5 just restores extremely by Fig. 3, shown in fig. 5 open and flat State, the forward and backward sucker 25,35 of a pair and a pair of intermediate sucker 42 at this time are in barotropic state, to discharge extremely sheet material 5 Next station above-mentioned.

As shown in the above description, if by the shape of intermediate sucker suction nozzle cam 47 be designed to tend to it is shown in FIG. 1 The identical shape of pushrod actuation cam 48, then due to reducing cam surface, thus at work, sheet material 5 is only capable of upward elasticity Flexural deformation, and cannot downward elastic bending deflection.This should also be as to be considered as protection scope of the present invention of not dissociating.

In conclusion technical solution provided by the invention compensates for the shortcoming in prior art, invention has been favorably accomplished Task has faithfully fulfilled the technique effect that applicant refers in technical effect column above.

Claims (10)

1. a kind of vacuum feeding device for being coupled with manipulator, it is characterised in that including a manipulator connecting plate (1), at this The edge of the left lower of the length direction of manipulator connecting plate (1) is fixed with a left rail (11), and connects in manipulator The edge of the lower right side of the length direction of fishplate bar (1) is fixed with a right guide rail (12), and the left rail (11) and the right side are led Rail (12) extends to rear end from the front end of manipulator connecting plate (1), and one is offered in the middle position of manipulator connecting plate (1) Cam resigning chamber (13)；One for by the sheet material front end holding mechanism (2) of the front end sticking of sheet material and one be used for will be after sheet material The sheet material rear end holding mechanism (3) of sticking is held, sheet material front end holding mechanism (2) is corresponding to the manipulator connecting plate (1) Position below front end is slidably matched with the front end of the left rail (11) and the front end of right guide rail (12) simultaneously, and after sheet material Hold holding mechanism (3) position below the rear end corresponding to manipulator connecting plate (1) simultaneously with the rear end of left rail (11) with And the rear end of right guide rail (12) is slidably matched；One for making the sheet material front end holding mechanism (2) and sheet material rear end sticking The sliding panel driving mechanism (4) mechanism (3) opposite displacement or denounceed out each other, the sliding panel driving mechanism (4) is corresponding to piece Position between material front end holding mechanism (2) and sheet material rear end holding mechanism (3) simultaneously with sheet material front end holding mechanism (2) and Sheet material rear end holding mechanism (3) connects, and in position and the manipulator connecting plate (1) corresponding to the cam resigning chamber (13) Side under is fixed, wherein when by the sliding panel driving mechanism (4) make the sheet material front end holding mechanism (2) and When sheet material rear end holding mechanism (3) opposite displacement, in by sheet material front end holding mechanism (2) sticking state sheet material front end with And it is resiliently deflected deformation in the rear end of the sheet material by sheet material rear end holding mechanism (3) sticking state, and the middle part of sheet material It is also at by the state of sliding panel driving mechanism (4) sticking.

2. the vacuum feeding device according to claim 1 for being coupled with manipulator, it is characterised in that led on the left side The top of the length direction of rail (11), which is constituted, a left rail fixed plate (111), which passes through left rail Fixed plate bolt (1111) and the edge of the left lower of the length direction of the manipulator connecting plate (1) are fixed, in institute The top composition for stating the length direction of right guide rail (12) has a right guide rail fixed plate (121), which passes through Right guide rail fixed plate screw (1211) and the edge of the lower right side of the length direction of the manipulator connecting plate (1) are solid It is fixed.

3. the vacuum feeding device according to claim 1 for being coupled with manipulator, it is characterised in that in the machinery A pipeline is offered on hand connecting plate (1) and respectively in the position of the front and back corresponding to the cam resigning chamber (13) to allow Position hole (14), and respectively offer manipulator connecting screw hole in the position of the left and right corresponding to cam resigning chamber (13) (15), it is equipped with manipulator attachment screw (151) on the manipulator connecting screw hole (15).

4. the vacuum feeding device according to claim 1 for being coupled with manipulator, it is characterised in that the sheet material Front end holding mechanism (2) includes advancing slip movable plate (21), advancing slip movable plate left slider (22), the right sliding block of advancing slip movable plate (23), Yi Duiqian Sucker fixing pipe (24) and a pair of of anterior sucker (25), the left end of advancing slip movable plate left slider (22) and advancing slip movable plate (21) is towards upper Side is fixed and is slidably matched with the front end of the left rail (11), the advancing slip right sliding block of movable plate (23) and advancing slip movable plate (21) Right end is fixed towards upper side and is slidably matched with the front end of the right guide rail (12), and a pair of of anterior sucker fixing pipe (24) exists It is fixed with advancing slip movable plate (21) corresponding to the position between advancing slip movable plate left slider (22) and the right sliding block of advancing slip movable plate (23), it is a pair of Anterior sucker (25) is located at the lower section of advancing slip movable plate (21) and the lower end with a pair of of anterior sucker fixing pipe (24) is fixed respectively, and one The upper end of anterior sucker fixing pipe (24) is respectively connect by pipeline with depression generator；The sheet material rear end holding mechanism (3) include rear sliding panel (31), rear sliding panel left slider (32), the right sliding block of rear sliding panel (33), a pair of of posterior sucker fixing pipe (34) it is fixed simultaneously towards upper side with a pair of of posterior sucker (35), rear sliding panel left slider (32) and the left end of rear sliding panel (31) And be slidably matched with the rear end of the left rail (11), the right end of the rear right sliding block of sliding panel (33) and rear sliding panel (31) is towards upper Side fix and be slidably matched with the rear end of the right guide rail (12), a pair of of posterior sucker fixing pipe (34) is sliding corresponding to after Position and rear sliding panel (31) between movable plate left slider (32) and the right sliding block of rear sliding panel (33) is fixed, a pair of of posterior sucker (35) The lower end with a pair of of posterior sucker fixing pipe (34) is fixed positioned at the lower section of rear sliding panel (31) and respectively, and a pair of of posterior sucker is solid The upper end of fixed tube (34) is respectively connect by pipeline with depression generator；The sliding panel driving mechanism (4) is corresponding to institute The position between advancing slip movable plate (21) and rear sliding panel (31) is stated to connect with advancing slip movable plate (21) and rear sliding panel (31) simultaneously； A pair of of a left side is offered on the manipulator connecting plate (1) and in the position in the left side corresponding to the cam resigning chamber (13) Camshaft holder fixing screw hole (16), and offer a pair of right cam in the position on the right side corresponding to camshaft resigning chamber (13) Axle bed fixing screw hole (17), the sliding panel driving mechanism (4) is corresponding to a pair of left camshaft holder fixing screw hole (16) And the position of a pair of right camshaft holder fixing screw hole (17) is fixed with side of the manipulator connecting plate (1) under.

5. the vacuum feeding device according to claim 4 for being coupled with manipulator, it is characterised in that described advancing slip A pair of of anterior sucker fixing pipe is offered on movable plate (21) and in the position corresponding to a pair of of anterior sucker fixing pipe (24) Mounting hole (211), a pair of of anterior sucker fixing pipe (24) are each logical in the position corresponding to a pair of of anterior sucker fixing pipe mounting hole (211) It is fixed with advancing slip movable plate (21) to cross anterior sucker fixing pipe lock nut (241), in the rear on sliding panel (31) and in correspondence A pair of of posterior sucker fixing pipe mounting hole (311) is offered in the position of a pair of of posterior sucker fixing pipe (34), is inhaled after a pair of Disk fixing pipe (34) respectively locks spiral shell in the position corresponding to a pair of of posterior sucker fixing pipe mounting hole (311) by posterior sucker fixing pipe Female (341) are fixed with rear sliding panel (31).

6. the vacuum feeding device according to claim 5 for being coupled with manipulator, it is characterised in that described one There are anterior sucker fixing pipe external screw thread (242), the anterior sucker to respectively being constituted on the outer wall of the upper end of anterior sucker fixing pipe (24) Fixing pipe lock nut (241) is matched with the anterior sucker fixing pipe external screw thread (242)；In a pair of of posterior sucker fixing pipe (34) respectively being constituted on the outer wall of upper end has posterior sucker fixing pipe external screw thread (342), the posterior sucker fixing pipe lock nut (341) it is matched with the posterior sucker fixing pipe external screw thread (342).

7. the vacuum feeding device according to claim 4 for being coupled with manipulator, it is characterised in that the negative pressure Generating means is vacuum pumping pump.

8. the vacuum feeding device according to claim 4 for being coupled with manipulator, it is characterised in that the sliding Plate driving mechanism (4) includes a camshaft holder fixed plate (41), a pair of intermediate sucker (42), an advancing slip movable plate push rod (43), one Tension spring (45b), a camshaft (46), a pair of intermediate sucker suction nozzle cause after tension spring (45a), one before sliding panel push rod (44), one afterwards Moving cam (47), a pushrod actuation cam (48) and a motor (49), camshaft holder fixed plate (41) correspond to the front slide Between plate (21) and rear sliding panel (31), in the camshaft holder fixed plate (41) and sucker (42) among corresponding to a pair Position offer sucker suction nozzle sliding eye (411) among a pair, a pair of intermediate sucker (42) is located at camshaft holder fixed plate (41) the lower section and lower end with sucker suction nozzle (421) among a pair is fixed respectively, in a pair of intermediate sucker suction nozzle (421) Portion is slidably matched with a pair of intermediate sucker suction nozzle sliding eye (411), and the upper end of a pair of intermediate sucker suction nozzle (421) is stretched over cam Seat fixed plate (41) top and be respectively fixed with intermediate sucker suction nozzle roller mount (4211), sucker suction nozzle roller mount among this (4211) it is rotationally provided with an intermediate sucker suction nozzle idler wheel (42111) on, is respectively arranged on sucker suction nozzle (421) among a pair There are an intermediate sucker suction nozzle return spring (4212), the upper end of the intermediate sucker suction nozzle return spring (4212) to be supported on intermediate suction The bottom of disk suction nozzle roller mount (4211), and the lower end of intermediate sucker return spring (4212) is supported on cam chair fixed plate (41) On, the following side of intermediate sucker suction nozzle (421) be equipped with a negative pressure line interface (4213), the negative pressure line interface (4213) with Depression generator connects, and the front end of advancing slip movable plate push rod (43) is connect with advancing slip movable plate push rod fixed seat (431), the front slide Plate push rod fixed seat (431) and the middle part of advancing slip movable plate (21) towards the upper side are fixed, advancing slip movable plate push rod (43) Middle part and advancing slip movable plate pusher slide move guide plate (432) and are slidably matched, and the advancing slip movable plate pusher slide move guide plate (432) corresponding to The position and the posterior edges position of advancing slip movable plate (21) of advancing slip movable plate push rod fixed seat (431) are fixed, advancing slip movable plate push rod (43) rear end is stretched over camshaft holder fixed plate (41) and is fixed with an advancing slip movable plate push rod roller mount (433), before this An advancing slip movable plate push rod idler wheel (4331) is rotationally provided in sliding panel push rod roller mount (433), movable plate push rod rolling that this is advancing slip Wheel (4331) is corresponding with pushrod actuation cam (48), and rear sliding panel push rod (44) is opposite with the advancing slip movable plate push rod (43) It answers, the rear end of the rear sliding panel push rod (44) is connect with rear sliding panel push rod fixed seat (441), the rear sliding panel push rod fixed seat (441) middle part with rear sliding panel (31) towards the upper side is fixed, the middle part of rear sliding panel push rod (44) and rear sliding Plate push rod sliding guide (442) is slidably matched, and the rear sliding panel push rod sliding guide (442) is corresponding to rear sliding panel push rod The position of fixed seat (441) and the forward edge position of rear sliding panel (31) are fixed, the front end stretching, extension of rear sliding panel push rod (44) Sliding panel push rod roller mount (443) to camshaft holder fixed plate (41) and after being fixed with one, in the rear sliding panel push rod idler wheel Sliding panel push rod idler wheel (4431), the rear sliding panel push rod idler wheel (4431) and push rod after being rotationally provided with one on seat (443) Actuating cam (48) is corresponding, and the front end of preceding tension spring (45a), which is hung, to be moved in the advancing slip movable plate pusher slide on guide plate (432), and The rear end of preceding tension spring (45a) is hung on preceding tension spring hanging feet (40a), which allows corresponding to the cam Position below the front side of position chamber (13) is fixed with the manipulator connecting plate (1), and the front end of rear tension spring (45b) is hung rear On tension spring hanging feet (40b), the position of the rear tension spring hanging feet (40b) below the rear side corresponding to cam resigning chamber (13) and machinery Hand connecting plate (1) is fixed, and then the rear end of tension spring (45b) is hung on sliding panel push rod sliding guide (442) in the rear, cam The left end of axis (46) is rotatably supported on camshaft left bracket (461), and the right end of camshaft (46) is rotatably supported at cam On axis right axle seat (462), pushrod actuation cam (48) is fixed on the middle part of camshaft (46), and a pair of intermediate sucker suction nozzle actuating is convex Wheel (47) be fixed on camshaft (46) in the position of the top corresponding to the intermediate sucker suction nozzle idler wheel (42111) and The both sides of pushrod actuation cam (48) are located at, motor (49) is with reduction box (491) transmission cooperation and by reduction box (491) It is fixed together with motor (49) and the right side of the camshaft right axle seat (462), the reduction gearbox output shaft and cam of reduction box (491) The right end of axis (46) is sequentially connected, the bottom of the camshaft left bracket (461) and camshaft right axle seat (462) with it is described convex Axle block fixed plate (41) is fixed, and the top of camshaft left bracket (461) is solid corresponding to the left camshaft holder of a pair The position for determining screw hole (16) is fixed with the manipulator connecting plate (1), and the top of camshaft right axle seat (462) is corresponding to institute The position for the right camshaft holder fixing screw hole (17) of a pair stated and manipulator connecting plate (1) are fixed, when the pushrod actuation is convex It is described when taking turns (48) while acting on the advancing slip movable plate push rod idler wheel (4331) and rear sliding panel push rod idler wheel (4431) Forward and backward sliding panel (21,31) described in the direction displacement opposite towards each other of forward and backward sliding panel push rod (43,44) and drive Phase mutual exclusion is opened, and when pushrod actuation cam (48) release to advancing slip movable plate push rod idler wheel (4331) and after sliding panel push rod idler wheel (4431) when effect, under the reply force effect of the forward and backward tension spring (45a, 45b), the forward and backward sliding panel (21,31) Opposite displacement, in the front end of the sheet material by a pair of of anterior sucker (25) and a pair of of posterior sucker (35) sticking state with after End is resiliently deflected deformation, and the intermediate sucker suction nozzle actuating cam (47) of a pair acts on the intermediate sucker and inhales Mouth idler wheel (42111), a pair of intermediate sucker suction nozzle (421) is to bottom offset, middle part sticking of a pair of intermediate sucker (42) to sheet material.

9. the vacuum feeding device according to claim 8 for being coupled with manipulator, it is characterised in that the negative pressure Generating means is vacuum pumping pump.

10. the vacuum feeding device according to claim 8 for being coupled with manipulator, it is characterised in that described advancing slip The front end of movable plate push rod (43) is equipped with a pair of advancing slip movable plate push rod adjusting nut (434), by this to advancing slip movable plate push rod tune The front end of advancing slip movable plate push rod (43) is locked on the advancing slip movable plate push rod fixed seat (431) by whole nut (434)；Institute The rear end for stating rear sliding panel push rod (44) is equipped with sliding panel push rod adjusting nut (444) after a pair, by this to rear sliding panel The rear end of rear sliding panel push rod (44) is locked in the rear sliding panel push rod fixed seat (441) by push rod adjusting nut (444) On；It is moved on guide plate (432) and before being fixed with one corresponding to the position of preceding tension spring (45a) in the advancing slip movable plate pusher slide The front end of tension spring hanging scroll (4321), preceding tension spring (45a) is hung on the preceding tension spring hanging scroll (4321)；It is pushed away in the rear sliding panel The tension spring hanging scroll (4421) on bar sliding guide (442) and after being fixed with one corresponding to the position of tension spring (45b) after described, after The rear end of tension spring (45b) is hung on the rear tension spring hanging scroll (4421).