CN108706330B - Feeding system - Google Patents
Feeding system Download PDFInfo
- Publication number
- CN108706330B CN108706330B CN201810692833.7A CN201810692833A CN108706330B CN 108706330 B CN108706330 B CN 108706330B CN 201810692833 A CN201810692833 A CN 201810692833A CN 108706330 B CN108706330 B CN 108706330B
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- clamping
- feeding
- rail
- feeding system
- clamp
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- 239000000463 material Substances 0.000 claims abstract description 121
- 238000007599 discharging Methods 0.000 claims abstract description 34
- 230000007306 turnover Effects 0.000 claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims description 21
- 210000000078 claw Anatomy 0.000 claims description 14
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000006872 improvement Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 230000003014 reinforcing effect Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G27/00—Jigging conveyors
- B65G27/04—Load carriers other than helical or spiral channels or conduits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
- Feeding Of Articles To Conveyors (AREA)
Abstract
The invention discloses a feeding system. The feeding system comprises a fixing device used for fixing the feeding system at a preset position, a feeding device used for feeding the material parts into the feeding system in a turnover manner, a material placing device used for receiving the material parts fed by the feeding device and placing the material parts, and a discharging device used for discharging the material parts placed by the material placing device to a discharging position. According to the feeding system provided by the embodiment of the invention, the 180-degree self-overturning of the material piece is realized through the overturning rail, one overturning station is simplified, and the cost is effectively saved; the feeding system comprises two mechanical arms for material swinging and clamping, realizes the parallelism of material clamping and material swinging, greatly shortens the working time and effectively improves the feeding efficiency.
Description
Technical Field
The invention relates to the technical field of automatic equipment, in particular to a feeding system.
Background
At present, the feeding system is generally divided into a single full-automatic vacuum feeding machine and a split high-power full-automatic vacuum feeding machine. Both the feeding machines can only realize feeding of large-sized instruments or quicksand and the like, and cannot realize feeding of small-sized parts. Further, the existing two feeding systems cannot realize high-precision and high-specification feeding. Therefore, the existing feeding system cannot meet the feeding requirement of small parts, and the production and processing efficiency of the small parts is severely restricted.
In order to solve the feeding demand of the small parts, feeding systems for the small parts appear on the market. Because the small-size part self structure is not regular enough, current feeding system needs personnel to overturn small-size part at the in-process of small-size part blowing to increase the material loading cost and reduced material loading efficiency. At present, the feeding system only has one mechanical arm, and can not realize material placing and clamping in parallel, so that the working time is longer.
Therefore, in order to solve the above technical problems, it is necessary to provide a feeding system capable of automatically turning over small parts and realizing clamping and swinging in parallel.
Disclosure of Invention
In view of the above, the present invention aims to provide a feeding system capable of automatically turning over small parts and realizing clamping and swinging in parallel.
In order to achieve the above object, an embodiment of the present invention provides the following technical solution: the feeding system comprises a fixing device, wherein the fixing device is used for fixing the feeding system at a preset position; the feeding device is used for feeding the material piece into the feeding system in a turnover manner; the material placing device is used for receiving the material pieces fed by the feeding device and placing the material pieces; and the discharging device is used for discharging the material piece placed by the material placing device to the discharging position.
As a further improvement of the present invention, the feeding device includes: the straight track is used for providing a track for passing the material pieces; the overturning rail is communicated with the straight running rail and is used for providing a rail for passing the material pieces; the direct vibration feeder is positioned below the overturning rail and is used for providing vibration force; the first photoelectric sensor is positioned at a preset position of the straight track and is used for monitoring whether the material piece reaches the preset position.
As a further improvement of the present invention, the material arranging device includes: the clamp is used for receiving the material pieces sent by the feeding device of the feeding system; the first mechanical arm is positioned above the clamp and used for clamping the material piece on the clamp and placing the material piece into a discharging device of the feeding system; the second mechanical arm is positioned above the clamp and used for clamping the material piece on the clamp and placing the material piece into a discharging device of the feeding system; the first direct-acting motor is used for driving the first mechanical arm and the second mechanical arm to move to a position above the material piece; the mounting mechanism is used for mounting the first mechanical arm and the second mechanical arm, and is fixed on a fixing device of the feeding system.
As a further improvement of the present invention, the jig includes: the base is used for fixing the clamp on a fixing device of the feeding system; the clamp rail is used for providing a rail for passing the material pieces; a first slider for receiving a workpiece traveling out of the jig rail; a slider track for providing a track for the first slider to travel; the first cylinder is used for driving the first sliding block to move back and forth in the sliding block track; the first clamping piece and the second clamping piece are used for clamping the material piece on the first sliding block.
As a further improvement of the invention, a gap with the length of 0.5 millimeter is arranged between the clamp and the direct vibration feeder in the feeding device.
As a further improvement of the present invention, the first robot arm includes: the first clamping claw and the second clamping claw are used for clamping a material piece on the clamp; the second cylinder is used for providing power for the grabbing and placing movement of the first clamping claw and the second clamping claw; a third cylinder for providing power for the first and second clamping claws to move up and down; and the grating reading head is used for providing position information on the grating of the steel belt to control the first clamping claw and the second clamping claw to move to a position with a preset height.
As a further improvement of the present invention, the discharging device includes: the upper plate mechanism is used for conveying the light plate for storing the material pieces; the tray is used for supporting the light plate conveyed by the plate feeding mechanism; the sliding plate is arranged below the tray and used for driving the tray to move; a slide plate track for providing a track for horizontal movement of the slide plate; a sixth cylinder for providing a driving force for the up-and-down movement of the slide plate; a servo driver for driving the driving force of the horizontal movement of the slide plate; the first clamping piece and the second clamping piece are used for clamping the light plate; and the second sliding block is used for driving the first clamping piece and the second clamping piece to realize a clamping function.
As a further improvement of the present invention, the upper plate mechanism includes: the base body is used for fixing the upper plate mechanism on a fixing device of the feeding system; a first hook and a second hook for hooking the light plate; and a fifth cylinder for driving the first hook and the second hook to release the light panel.
As a further improvement of the invention, the discharging device further comprises a guide rod and a fourth photoelectric sensor arranged on the guide rod, wherein the fourth photoelectric sensor detects whether a material piece on the light plate reaches a preset height.
The invention has the following advantages: according to the feeding system provided by the invention, the 180-degree self-overturning of the material piece is realized through the overturning rail, one overturning station is simplified, and the cost is effectively saved; the feeding system comprises two mechanical arms for material swinging and clamping, realizes the parallelism of material clamping and material swinging, greatly shortens the working time and effectively improves the feeding efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
FIG. 1 is a schematic diagram of a feeding system according to a first embodiment of the present invention;
FIG. 2 is a schematic view of a feeding device for a loading system according to the embodiment shown in FIG. 1;
FIG. 3 is a schematic view of a clamp structure for the loading system in the embodiment shown in FIG. 1;
FIG. 4 is a schematic structural view of the swing device for the feeding system in the embodiment shown in FIG. 1 in the X-axis direction;
FIG. 5 is a schematic structural view of a first mechanical arm in the swing device in the embodiment shown in FIG. 4;
FIG. 6 is a schematic view of the structure of the discharging device and the swinging device in the Y-axis direction in the embodiment shown in FIG. 1;
FIG. 7 is a schematic view of the upper plate mechanism of the discharging device in the embodiment shown in FIG. 1;
FIG. 8 is a schematic view illustrating the internal structure of the discharging device and the swinging device in the embodiment shown in FIG. 1;
fig. 9 is a schematic flow chart of a feeding method according to an embodiment of the present invention.
Description of the labels in the drawings:
100. system 10, feeding device 20, and material arranging device
30. Discharging device 40, fixing device 11 and direct vibration feeder
12. Straight track 13, first photoelectric sensor 14, and parts
15. Turnover track 28, clamp 281 and base
282. Clamp rail 283, cover plate 284, first clamp
285. Second photosensor 286, first slider 287, and slider track
288. First cylinder 289, third photoelectric sensor 2810, and second clamp
211. First fixing plate 221, first reinforcing rib 231, and first supporting plate
241. First mechanical arm 251, first wire arranging channel 252 and second wire arranging channel
242. Second mechanical arm 232, second supporting plate 222 and second reinforcing rib
212. Second fixing plate 262, first direct motor 2411, first gripper jaw
2412. Second cylinder 2413, third fixing plate 2414, third cylinder
2415. First rail channel 2416, second linear motor 2417, and second rail channel
2418. Support panel beating 2419, grating reading head 24110, photoelectric switch
24111. Connecting plate 24112, second clamping jaw 301 and guide rod
303. Fourth photosensor 304, fifth photosensor 305, and sixth photosensor
307. Fourth cylinder 308, shell 39 and upper plate mechanism
391. Base 392, first hook 393, second hook
394. Fifth cylinder 3015, servo driver 3016, sixth cylinder
3017. First top plate 3018, first tray 3019, and slide plate
3020. Second top plate 3021, second tray 3022, and fourth fixing plate
3023. First clamping member 3024, second slider 3025, and second clamping member
3026. Track 121, straight track feed inlet 122, straight track discharge outlet
151. Feed inlet 152 of turnover track and discharge outlet of turnover track
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
Referring to fig. 1, a schematic structure of a feeding system according to a first embodiment of the present invention is shown. In this embodiment, the feeding system 100 includes a fixing device 40 for fixing the feeding system 100 at a preset position, a feeding device 10 for feeding the material into the feeding system 100 in a turned manner, a placing device 20 for receiving the material fed by the feeding device 10 and placing the material, and a discharging device 30 for discharging the material placed by the placing device 20 to a discharge place.
As shown in fig. 2, a feeding device for a feeding system according to a first embodiment of the present invention is schematically shown. In this embodiment, the feeding device 10 includes a straight rail 12 for providing a rail through which the material 14 passes, a reverse rail 15 communicating with the straight rail 12 and for providing a rail through which the material 14 passes, a direct vibration feeder 11 located below the reverse rail 15 and for providing a vibration force, and a first photosensor 13 located at a preset position of the straight rail 12 and for monitoring whether the material 14 reaches the preset position. In this embodiment, various types of parts are collectively referred to as the stock 14. The material 14 shown in fig. 2 is only one structural form of a part and is not limiting of the invention.
With continued reference to fig. 2, in this embodiment, the direct-vibration feeder 11 is fixed to the fixing device 40 by bolts. The straight track 12 comprises a feed inlet 121 and a discharge outlet 122, and the track structure from the feed inlet 121 to the discharge outlet 122 is straight. In order to enable the material piece 14 to slowly advance along the straight track 12 to the material outlet 122 by itself after entering from the material inlet 121, the straight track 12 has a certain inclination with respect to the horizontal plane, and the inclination degree range is greater than 0 degrees and less than or equal to 3 degrees. The straight rail 12 is inclined upward from the horizontal plane in an inclined direction with respect to the horizontal plane.
In this embodiment, the track structure of the flipping track 15 is a spiral. The turnover track comprises a feed inlet 151 and a discharge outlet 152. The angle of the feed inlet 151 of the inverting rail 15 and the discharge outlet 152 of the inverting rail 15 are 180 degrees apart. In order to smoothly receive the material piece 14 conveyed by the straight rail 12, the discharge port 122 of the straight rail 12 is aligned with the feed port 151 of the inverting rail 15, so that the straight rail 12 and the inverting rail 15 communicate.
In this embodiment, the first photosensor 13 is disposed at an intermediate position of the total length of the straight track 12. As shown, the first photoelectric sensor 13 is disposed at a side of the straight track 12 so as not to affect the advance of the material 14 in the straight track. Since the material 14 is subject to resistance such as friction when advancing in the straight track 12, the initial force provided at the feed opening 121 of the straight track 12 cannot support the movement of the material 14 from the feed opening 121 all the way to the discharge opening 122. Therefore, it is necessary to provide a start signal for starting the direct-vibration feeder 11 at a certain preset position of the material piece 14 on the straight track 12. When the first photoelectric sensor 13 detects the material piece 14, the direct vibration feeder 14 is started, and the material piece 14 provides vibration power. The material piece 14 can automatically advance along the direction of the straight track 12 and the turning track 15 to want to swing the material device 20 under the vibration effect.
In the embodiment, the feeding device effectively realizes 180-degree overturning of the material piece through the combination of the overturning rail and the straight running rail, and omits one overturning station, thereby effectively saving the production cost.
As shown in fig. 3, a structural schematic diagram of a fixture according to an embodiment of the present invention is provided. In this embodiment, the gripper 28 comprises a base 281 for securing the gripper 28 to the fixture 40 of the loading system 100, a gripper rail 282 for providing a track for the passage of the material pieces, a first slider 286 for receiving the material pieces travelling from the gripper rail 282, a slider rail 287 for providing a first slider 286 travelling track, a first cylinder 288 for driving the first slider 286 to move back and forth in the slider rail 287, a first clamping member 284 for clamping the first slider 286 material pieces and a second clamping member 2810.
The clamp 28 further includes a second photosensor 285, the second photosensor 285 for detecting whether the first slider 286 is moved to a position where the first clamp 284 is located; the clamp 28 further includes a third photoelectric sensor 289, the third photoelectric sensor 289 being configured to detect whether the first slider 286 is moved to a position where the second clamp 2810 is located. When the first slider 286 moves to the position where the first clamp 284 is located or the position where the second clamp 2810 is located, the first cylinder 288 stops driving force, and the first slider 286 stops moving and is stationary at the position. Thus, the first clamp 284 or the second clamp 2810 clamps a workpiece on the first slider 286. To ensure that the parts run smoothly from the clamp rail 282 to the first slider 286, the surface of the first slider 286 needs to be maintained at a 180 degree level with the upper surface of the clamp 28.
In this embodiment, the base 281 is fixed to the fixing device 40 by bolts. The feed port of the clamp rail 282 communicates with the discharge port 152 of the invert rail 15. In order to achieve that the clamp rail 282 can seamlessly receive the material transferred by the inverting rail 15, the feed opening of the clamp rail 282 is aligned on the same horizontal plane as the discharge opening of the inverting rail 15. To enable the material to automatically advance in the clamp rail 282, the clamp rail 282 has a slight angle of inclination, such as in particular 2.86 degrees, to the vertical.
In a preferred embodiment, to ensure that the clamp 28 does not receive the vibratory action of the direct-vibration feeder 11, the clamp 28 is caused to vibrate with the direct-vibration feeder 11, with a gap of 0.5 mm in length being provided between the clamp 28 and the direct-vibration feeder 11.
As shown in fig. 4, a schematic structural diagram of an X-axis direction of a material placing device for a feeding system according to an embodiment of the present invention. The swing device 20 includes a gripper 28 (not shown in fig. 4, see fig. 3) for receiving a workpiece fed from the feeding device 10 of the feeding system 100, a first robot 241 and a second robot 242 located above the gripper 28 and for gripping the workpiece on the gripper 28 and placing the workpiece into the discharging device 30 of the feeding system, and a first direct-acting motor 262 for driving the first robot 241 and the second robot 241 to a position above the workpiece, and for mounting a mounting mechanism for mounting the first robot 241 and the second robot 242. In this embodiment, the mounting mechanism is fixed to the fixture 40 of the loading system.
With continued reference to fig. 4, the mounting mechanism includes: a first fixing plate 211, a first support plate 231 coupled to the first fixing plate 211, and a first reinforcing rib 221 provided on the first support plate 231; the second fixing plate 212, a second support plate 232 connected to the second fixing plate 212, and a second reinforcing rib 222 provided on the second support plate 232. The first fixing plate 211 and the second fixing plate 212 are spaced apart by a predetermined distance and are fixed to the fixing device 40 by bolts, respectively. The first support plate 231 and the second support plate 232 are parallel to each other with a horizontal bracket therebetween. The first support plate 231 and the second support plate 232 are respectively in a vertical form at 90 degrees to the horizontal plane. The first and second robot arms 241 and 242 run on a horizontal support between the first and second support plates 231 and 232. The first direct motor 262 is located between the first support plate 231 and the second support plate 232. A first wire-arranging channel 251 and a second wire-arranging channel 252 are also provided between the first support plate 231 and the second support plate 232. The first wire arranging channel 251 and the second wire arranging channel 252 are used for arranging the electronic circuits of the first mechanical arm 241, the second mechanical arm 242 and the direct-acting motor 262.
In this embodiment, the mechanical structure and control manner of the first robot 241 and the second robot 242 are the same. The present invention will be described in detail with reference to the first robot 241 as an example only.
As shown in fig. 5, a first mechanical arm according to an embodiment of the present invention is shown. In this embodiment, the first robot 241 includes a first gripper jaw 2411 and a second gripper jaw 24112 for gripping the feeding member of the gripper 28, a second cylinder 2412 for providing power for gripping and releasing movement of the first gripper jaw 2411 and the second gripper jaw 24112, and a third cylinder 2414 for providing power for up-and-down movement of the first gripper jaw 2411 and the second gripper jaw 24112. The first manipulator 241 is configured to provide a first rail channel 2415 and a second rail channel 2417 for a channel for horizontal movement of the first manipulator 241 along the mounting mechanism, and a second linear motor 2416 for providing power for horizontal movement of the first manipulator 241. The first robot 241 further includes a grating reading head 2419, the grating reading head 2419 is configured to provide information of the position on the grating of the steel strip to control the movement of the first robot 241 to the position at the discharge device 30 of the feeding system.
As shown in fig. 5, the first mechanical arm 241 further includes a component for connecting the above components into a unitary structure, such as a third fixing plate 2413, a supporting metal plate 2418, a connecting plate 24111, and the like. Preferably, the first manipulator 241 further comprises a photoelectric switch 24110. The photoelectric switch 24110 is used to detect the position of the first robot 241.
In a preferred embodiment, a stop is provided at one end of the cylinder cover of the third cylinder 2414 to control the range of motion of the third cylinder 2414. The third cylinder 2414 does not move all the way under the stopper, so the first robot 241 does not move excessively downward. Similarly, a stop is also provided in the horizontal direction of movement of the first robot 241 in order to prevent breakage of the workpiece during clamping by the first and second clamping jaws 2411, 24112.
In this embodiment, the pendulum material device includes two robotic arms and the first slider of pay-off with robotic arm cooperation, has practiced thrift the time of grabbing the material and pendulum material effectively, has shortened operating time by a wide margin to production efficiency has been improved effectively.
Referring to fig. 6 to 8, a discharging device according to an embodiment of the present invention is shown in schematic structural views. In this embodiment, the discharging device 30 includes an upper plate mechanism 39 for conveying a light plate (plate without a discharging member) for storing a material, a tray for holding the light plate conveyed by the upper plate mechanism 39, the tray including a first tray 3018 and a second tray 3021, a slide plate 3019 provided below the tray for driving the tray to move, a slide plate rail 3026 for providing a rail for horizontally moving the slide plate 3019, a sixth cylinder 3016 for providing a driving force for vertically moving the slide plate 3026, a servo driver 3015 for driving the slide plate 3016 and the driving force for horizontally moving, a first clamp 3023 and a second clamp 3025 for clamping the light plate, and a second slide block 3024 for driving the first clamp 3023 and the second clamp 3025 to realize a clamping function.
As shown in fig. 7, a schematic structural diagram of an upper plate mechanism according to an embodiment of the present invention is provided. In this embodiment, the upper plate mechanism 39 includes a base 391 for fixing the upper plate mechanism 39 to the fixing means 40 of the loading system 100, a first hook 392 and a second hook 393 for hooking the light panel, and a fifth cylinder 394 for driving the first hook 392 and the second hook 393 to release the light panel. When discharging is to be performed, the fifth air cylinder 394 drives the hooks of the first hooks 392 and the second hooks 393 to be released, so that the light panel originally hooked by the first hooks 392 and the second hooks 393 falls down. The light panel falls onto the first tray 3018 or the second tray 302110. Either the first tray 3018 or the second tray 302110 can be moved by the slide 3016.
With continued reference to fig. 6 and 8, in this embodiment, the discharge apparatus 30 further includes a guide rod 301, and a fourth photosensor 303 disposed on the guide rod 301. The fourth photosensor 303 detects whether the material on the light panel reaches a preset height. The discharge device 30 further comprises a housing 308, the housing 308 being adapted to accommodate the components of the discharge device 30 described above. The discharge device 30 further comprises a fifth photo sensor 304 and a sixth photo sensor 305 for detecting the position of the material piece or the light panel from a plurality of directions.
According to the feeding system provided by the invention, the 180-degree self-overturning of the material piece is realized through the overturning rail, one overturning station is simplified, and the cost is effectively saved; the feeding system comprises two mechanical arms for swinging materials and is combined with the first sliding block for feeding, so that the working time is greatly shortened, and the feeding efficiency is effectively improved.
As shown in fig. 9, the present invention further provides a feeding method. In this embodiment, the feeding method includes six steps, and the specific steps are as follows.
Step S1: when the first photosensor 13 detects that the material piece reaches the preset position in the straight track 12, the straight vibration feeder 11 is started. In this step, the first photosensor 13 sends a start signal to the direct vibration feeder 11 by detecting the position of the feeding member, so that the feeding member provides power to proceed. The material piece enters the overturning rail 15 from the straight rail 12.
Step S2: the material piece enters the overturning rail 15 and enters the clamp rail 282 after overturning under the vibration action of the direct vibration feeder 11. In this embodiment, the angles of the feed and discharge ports of the flip track are 180 degrees apart. Thus, when the material piece reaches the discharge opening of the turning rail 15, turning of 180 degrees is achieved.
Step S3: the material piece moves along the clamp rail 282 to the first slider 286, and the first slider 286 moves back and forth along the slider rail 287 under the drive of the first cylinder 288. The material piece enters the clamp rail 282 from the discharge port of the inverting rail 15, and the material piece still advances along the clamp rail 282 because the direct-vibration feeder 11 is still vibrating. To prevent the material from vibrating up and down, a cover is provided on the clamp 28. The material runs along the clamp rail 282 onto the first slider 286. The first slider 286 moves back and forth along the slider track 287 under the drive of the first cylinder 288.
Step S4: when the second photo sensor 285 or the third photo sensor 289 detects the first slider 286, the first cylinder 288 stops driving force, and the first slider 286 stops moving and is stationary at the preset position.
Step S5: the first gripper jaw 2411 and the second gripper jaw 24112 of the first mechanical arm 241 or the second mechanical arm 242 grip the material piece on the first slider 246 and place the material piece on the light plate of the discharging device 30.
After the first slider 286 stops moving and is stationary at the preset position, the first mechanical arm 241 or the second mechanical arm 242 is driven by the second linear motor 2416 to move along the first rail channel 2415 and the second rail channel 2417 in the horizontal direction until moving to the position above the first slider 286. The third cylinder 2414 drives the first clamping jaw 2411 and the second clamping jaw 24112 up and down until one clamping jaw 2411 and the second clamping jaw 24112 are located at the gripping position. The second cylinder 2412 drives the first gripper 2411 and the second gripper 24112 to perform a gripping and releasing movement, thereby gripping the material.
After the material is grabbed, the first mechanical arm 241 or the second mechanical arm 242 is retracted, and the material is moved and placed at the position of the material discharging device 30 under the driving of the second direct-acting motor 2416. The first manipulator 241 or the second manipulator 242 positions the first manipulator 241 or the second manipulator 242 to the position of the discharge device 30 of the feeding system by reading the position information on the steel strip grating by the grating reading head 2419.
While the first robot 241 or the second robot 242 is performing the pick-up process, the gripper channel 282 receives another part delivered from the inverting guide 15. When the first mechanical arm 241 or the second mechanical arm 242 captures the material, the first slider 286 receives another material successfully, and the first slider 286 moves in the opposite direction under the driving of the first cylinder 288 until the second photoelectric sensor 285 or the third photoelectric sensor 289 on the other side is touched, and then the same command is executed.
Step S6: when the fourth photosensor 303 detects that the material on the light plate reaches the preset height, the slide plate 3019 of the discharging device 30 slides to the discharging position with the light plate on the tray under the drive of the servo driver 3015.
The discharge device 30 moves along the X-axis and simultaneously moves along the Y-axis. The first hook 393 and the second hook 393 of the discharging device 30 are moved by the fifth air cylinder 394 and place the light panel on the tray of the slide 3019. The tray includes a first tray 3018 and a second tray 3021. The second slider 3024 of the discharging device drives the first clamping member 3023 and the second clamping member 3025 to move under the driving of the sixth air cylinder 3016, so as to lock the light plate. Meanwhile, the slide plate 3019 drives the tray and the light plate and the material piece on the tray to feed to the Y axis under the drive of the servo driver 3015. In this embodiment, when the fourth photoelectric sensor 303 detects that the material on the light plate reaches the preset height, the first mechanical arm 241 or the second mechanical arm 242 stops placing the material, and the material on the surface light plate is already full. The slide 3019 will carry the tray full of material to the discharge opening.
According to the technical scheme, the feeding method provided by the invention has the following advantages: according to the method, 180-degree self-overturning of the material piece is realized through the overturning rail, one overturning station is simplified, and the cost is effectively saved; according to the method, the material is arranged by two mechanical arms and the first sliding block is combined for feeding, so that the working time is greatly shortened, and the feeding efficiency is effectively improved.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (5)
1. The utility model provides a feeding system which characterized in that, feeding system includes:
the fixing device is used for fixing the feeding system at a first preset position;
the feeding device is used for feeding the material piece into the material placing device in a turnover manner;
the feeding device comprises: the straight track is used for providing a track for passing the material pieces; the overturning rail is communicated with the straight running rail and is used for providing a rail for passing the material pieces, and the rail structure of the overturning rail is spiral; the direct vibration feeder is positioned below the overturning rail and is used for providing vibration force; the first photoelectric sensor is positioned at a second preset position of the straight track and is used for monitoring whether the material piece reaches the second preset position;
the material placing device is used for receiving the material pieces fed by the feeding device and placing the material pieces;
the material arranging device comprises: the clamp is used for receiving the material pieces sent by the feeding device of the feeding system; the first mechanical arm is positioned above the clamp and used for clamping the material piece on the clamp and placing the material piece into a discharging device of the feeding system; the second mechanical arm is positioned above the clamp and used for clamping the material piece on the clamp and placing the material piece into a discharging device of the feeding system; a discharging device is arranged below the two mechanical arm arms respectively; the first direct-acting motor is used for driving the first mechanical arm and the second mechanical arm to move to a position above the material piece; the mounting mechanism is used for mounting the first mechanical arm and the second mechanical arm and is fixed on a fixing device of the feeding system;
the clamp comprises: the base is used for fixing the clamp on a fixing device of the feeding system; the clamp rail is used for providing a rail for passing the material pieces; a first slider for receiving a workpiece traveling out of the jig rail; a slider track for providing a track for the first slider to travel; the first cylinder is used for driving the first sliding block to move back and forth in the sliding block track; the first clamping piece and the second clamping piece are used for clamping the material piece on the first sliding block; the second photoelectric sensor is used for detecting whether the first sliding block moves to the position where the first clamping piece is located; the third photoelectric sensor is used for detecting whether the first sliding block moves to the position where the second clamping piece is located;
the discharging device is used for discharging the material pieces placed by the material placing device to a discharge position;
the discharging device comprises: the upper plate mechanism is used for conveying the light plate for storing the material pieces; the tray is used for supporting the light plate conveyed by the plate feeding mechanism; the sliding plate is arranged below the tray and used for driving the tray to move; a slide plate track for providing a track for horizontal movement of the slide plate; a sixth cylinder for providing a driving force for the up-and-down movement of the slide plate; a servo driver for driving the driving force of the horizontal movement of the slide plate; the first clamping piece and the second clamping piece are used for clamping the light plate;
and the second sliding block is used for driving the first clamping piece and the second clamping piece to realize a clamping function.
2. The feeding system of claim 1, wherein a gap of 0.5 mm is provided between the clamp and the direct vibration feeder in the feeding device.
3. The loading system of claim 1, wherein the first mechanical arm comprises:
the first clamping claw and the second clamping claw are used for clamping a material piece on the clamp;
the second cylinder is used for providing power for the grabbing and placing movement of the first clamping claw and the second clamping claw;
a third cylinder for providing power for the first and second clamping claws to move up and down;
and the grating reading head is used for providing position information on the grating of the steel belt to control the first clamping claw and the second clamping claw to move to a position with a preset height.
4. The loading system of claim 1, wherein the upper plate mechanism comprises:
the base body is used for fixing the upper plate mechanism on a fixing device of the feeding system;
a first hook and a second hook for hooking the light plate;
and a fifth cylinder for driving the first hook and the second hook to release the light panel.
5. The feeding system of claim 1, wherein the discharging device further comprises a guide rod, and a fourth photoelectric sensor disposed on the guide rod, wherein the fourth photoelectric sensor detects whether the material on the light panel reaches a preset height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810692833.7A CN108706330B (en) | 2018-06-28 | 2018-06-28 | Feeding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810692833.7A CN108706330B (en) | 2018-06-28 | 2018-06-28 | Feeding system |
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| Publication Number | Publication Date |
|---|---|
| CN108706330A CN108706330A (en) | 2018-10-26 |
| CN108706330B true CN108706330B (en) | 2023-10-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810692833.7A Active CN108706330B (en) | 2018-06-28 | 2018-06-28 | Feeding system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115557209B (en) * | 2022-09-03 | 2023-12-05 | 江苏威马悦达智能装备有限公司 | Quick stable bolt bilateral discharge mechanism |
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| Publication number | Publication date |
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| CN108706330A (en) | 2018-10-26 |
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