CN109941765A - A kind of multiduty feeding device and charging method - Google Patents
A kind of multiduty feeding device and charging method Download PDFInfo
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- CN109941765A CN109941765A CN201910360791.1A CN201910360791A CN109941765A CN 109941765 A CN109941765 A CN 109941765A CN 201910360791 A CN201910360791 A CN 201910360791A CN 109941765 A CN109941765 A CN 109941765A
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- 210000000078 claw Anatomy 0.000 claims abstract description 44
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 230000008859 change Effects 0.000 claims description 27
- 230000001360 synchronised effect Effects 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000000926 separation method Methods 0.000 claims description 5
- 238000003825 pressing Methods 0.000 claims description 3
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- 238000010586 diagram Methods 0.000 description 7
- 239000000463 material Substances 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000004080 punching Methods 0.000 description 2
- 230000008094 contradictory effect Effects 0.000 description 1
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- 230000037431 insertion Effects 0.000 description 1
- 238000003698 laser cutting Methods 0.000 description 1
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- 230000008092 positive effect Effects 0.000 description 1
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- 239000007787 solid Substances 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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Abstract
The present invention provides a kind of multiduty feeding devices and charging method in manipulator feeding technical field, mechanism is replaced including feed mechanism and terminal-collecting machine, feed mechanism includes feed frame, it includes replacement rack that terminal-collecting machine, which replaces mechanism, the periphery of replacement rack is placed with several support claws for being used to support terminal-collecting machine, it replaces rack and is equipped at least two groups replacement component, replacement component includes the claw and liftable movable plate that can be rotated and can move left and right, and is hinged with rotatable hook on movable plate；The side of feed frame is equipped with slide unit rack and backgauge frame, feed frame is equipped with the Mobile base that can be moved left and right, Mobile base is equipped with liftable elevating lever, the terminal-collecting machine for drawing tablet is connected on elevating lever, the vacuum chuck for being connected with support rod on terminal-collecting machine and can be mobile in short transverse, inductor is equipped in vacuum chuck, slide unit rack is equipped with the slide unit that can be moved left and right；The present invention work it is laborsaving, work efficiency is high, it can be achieved that tablet automatic charging.
Description
Technical field
The invention belongs to manipulator feeding technical field, in particular to a kind of feeding device and charging method.
Background technique
For punching press or the plate of laser cutting, before being stamped or cut out, need for plate to be placed in work；Punching press
Or after the completion of cutting, plate need to be removed from workbench, current feeder has a single function, for now current industrial processes
Be no longer satisfied the working efficiency of now current feeder.Traditional feeder only transports material to another from certain
Place, can not righting material position, existing plate feed when much all using movable workbench drive, reach plate
Specified machining position, use is manually removed after processing is completed or workbench transmission is removed, and therefore, whole work process need to expend the time
It is more, and more energy need to be consumed, cost of energy and labor intensive cost are improved, production efficiency is greatly reduced, also increases
The work intensity of operator.
Summary of the invention
For the defects in the prior art, it is an object of the invention to solve shortcoming in the prior art, solves
Job difficult in the prior art, ineffective technical problem provide a kind of multiduty feeding device, and the work of this device saves
Power, work efficiency is high.
The object of the present invention is achieved like this: a kind of multiduty feeding device, including feed mechanism and terminal-collecting machine are more
It changes planes structure, the feed mechanism includes feed frame, and terminal-collecting machine replacement mechanism includes replacement rack, the replacement rack
Periphery is placed with several support claws for being used to support terminal-collecting machine, and the replacement rack is equipped at least two groups and replaces component, institute
Stating replacement component includes that the claw that can be rotated and can do in the lateral direction reciprocating linear movement and liftable movable plate, end are picked up
Device support is arranged when on support claw, and the claw can block the top of terminal-collecting machine, be hinged on the movable plate and prolong upward
It stretches and rotatable hook；The side of the feed frame is equipped with for transmitting the slide unit rack of tablet and for placing tablet
Backgauge frame, the feed frame are equipped with the Mobile base that can be moved back and forth in left and right directions, and the Mobile base is equipped with liftable
Elevating lever, elevating lever one end directed downwardly is connected with the terminal-collecting machine for drawing tablet, is connected with support rod on the terminal-collecting machine
With the vacuum chuck that can be moved back and forth in short transverse, vacuum chuck is on the outside of support rod, and backgauge frame is in the lower section of terminal-collecting machine, institute
It states slide unit rack and is equipped with the slide unit that can be moved back and forth in left and right directions.
Tablet is deposited on backgauge frame in advance, according to the shape of tablet can first replacement end be picked up in terminal-collecting machine replacement mechanism
Device is replacement component one for the replacement component of separation machinery hand and terminal-collecting machine, picks up for connecting manipulator with end to be replaced
The replacement component of device be replacement component two, terminal-collecting machine install on a robotic arm, manipulator be driving terminal-collecting machine to replace rack institute
In mobile or mobile far from the replacement rack direction device in direction, terminal-collecting machine to be replaced is put into close to replacement component two
Support claw on, mechanical hand-motion terminal-collecting machine is mobile towards the support claw direction close to replacement component one, and terminal-collecting machine is put into
On support claw, the claw of replacement component one is mobile towards the direction of terminal-collecting machine in the lateral direction and rotates, and claw picks up end
Device is fixed in replacement rack, and hook is rotated to manipulator direction, and hook is made to block manipulator, movable plate drive hook to
Upper movement, hook promotion robot, manipulator are separated with terminal-collecting machine, and then hook is rotated to far from manipulator direction, hook
Pawl is separated with manipulator, and manipulator is moved to the designated position on terminal-collecting machine to be replaced, and manipulator stops movement, replaces component
Two support claw makes terminal-collecting machine to be replaced be fixed on replacement rack towards terminal-collecting machine direction moving in rotation to be replaced
On, movable plate drives hook to be moved upwards up to designated position, and hook is rotated to manipulator direction, and hook blocks manipulator,
Then movable plate drives hook to move down, and hook pulls manipulator to connect manipulator with terminal-collecting machine, and last hook is to separate
The direction of manipulator rotates, and is detached from hook and manipulator, and hook, movable plate, support claw return to initial position, complete terminal-collecting machine
Automatic replacement, the terminal-collecting machine after mechanical hand-motion replacement leaves the downside that replacement rack is moved to elevating lever, manually picks up end
Device is fixed to elevating lever lower end, and toggle handle is detached from terminal-collecting machine and manipulator, can carry out tablet feeding at this time, make elevating lever
Mobile to tablet direction, when vacuum chuck contradicts tablet, tablet is sucked in vacuum chuck, and elevating lever moves up a spacing
From Mobile base drives elevating lever to be moved to above slide unit, and tablet is put on slide unit by elevating lever, and vacuum chuck unclamps tablet, so
Expansion plate is flexible by tablet righting afterwards, and slide unit drives tablet to be moved to next station；The present invention can according to practical tablet shape,
The replacement that different size terminal-collecting machine is carried out using terminal-collecting machine replacement mechanism, improves the efficiency of terminal-collecting machine replacement；Feed mechanism is set
It sets, works laborsaving, work efficiency is high；It is arranged by the joint of support rod and liftable vacuum chuck, realizes saying good-bye for tablet,
Further increase loading efficiency；It can be applied in the feeding work of tablet.
In order to realize the replacement of terminal-collecting machine, the terminal-collecting machine replacement mechanism further includes the quick change female of connection on a robotic arm
With the quick change male connector being connected on terminal-collecting machine, the quick change female is interior to be equipped with accommodating chamber, the one end of quick change male connector far from terminal-collecting machine
It is inserted upwardly into accommodating chamber, at least one guide runner, institute is provided on the outside of one end that the quick change female is arranged with respect to terminal-collecting machine
It states quick change male connector and is equipped with to clamp and sell, be hinged at least one clamp hook on the outside of quick change female, the clamp hook, which can be caught on, to be stretched
The clamping pin of guide runner out is fixedly connected with outwardly directed handle on clamp hook, and the hook can hook handle.
In order to realize that terminal-collecting machine can drawn and tablet of saying good-bye, the terminal-collecting machine includes terminal-collecting machine supervisor, terminal-collecting machine supervisor
Upper end is equipped with connecting plate, and terminal-collecting machine can be connected to elevating lever lower end through connecting plate, be connected at least two pieces points on terminal-collecting machine supervisor
It is not responsible for the terminal-collecting machine branch pipe that two side directions extend to terminal-collecting machine, one end that terminal-collecting machine branch pipe stretches out outwardly is equipped with fixed plate, institute
It states vacuum chuck and is connected to drive rod one end directed downwardly, the fixed plate is equipped with linear actuator one, the linear actuator
One is equipped with the drive rod that can be moved back and forth in short transverse, and the vacuum chuck is connected to drive rod one end directed downwardly.
In order to realize that handle can be hooked or be disengaged by hook, the upper end of the replacement rack is equipped with corner lower air cylinder,
The rotating down pressing cylinder is equipped with and can reciprocatingly move in left and right directions and rotatable telescopic rod one, one end of the claw
It is fixedly connected with the one end of telescopic rod one outwardly, the other end of claw can block terminal-collecting machine；The replacement component further includes solid
Surely the linear actuator two being connected in replacement rack, the linear actuator two is equipped with can lower reciprocal shifting in the height direction
Dynamic moving body, the movable plate are fixedly connected with moving body；Linear actuator three, the straight line are hinged on the movable plate
Driver three is equipped with the push-pull rod that can be moved back and forth down and stretch out in the height direction upwards, the one end of the push-pull rod upward
It is hinged with hook.
In order to realize that Mobile base can move back and forth in the lateral direction, the feed frame is equipped at least one sliding rail,
It is slidably connected on the slide rail on the Mobile base, mounting plate is fixedly connected on Mobile base, mounting plate is on feed frame
It is square, it is connected with driving motor and two contact rollers on mounting plate, driving synchronizing wheel is connected on the output shaft of driving motor, is driven
Synchronizing wheel drives synchronizing wheel and contact roller through driving synchronous belt to link together, drives synchronous belt between two contact rollers
Both ends are respectively fixedly connected at the both ends of feed frame.
In order to limit the mobile range of Mobile base, the both ends of the feed frame in the height direction are equipped with limited block, limit
The one end of position block inwardly is equipped with end buffer stopper, and Mobile base can move left and right between two end buffer stoppers.
In order to realize that elevating lever liftable, the Mobile base are equipped with guide rail, the elevating lever, which is slidably connected to, is led
On rail, it is also fixedly connected with motor mount on the Mobile base, lifting motor and two tensionings are installed on motor mount
Wheel is connected with lifting synchronizing wheel on the output shaft of lifting motor, goes up and down synchronizing wheel between two tensioning wheels, lifting synchronizing wheel with
Tensioning wheel through go up and down synchronous belt link together, go up and down synchronous belt both ends be respectively fixedly connected with elevating lever in the height direction
Both ends.
In order to realize that slide unit can move back and forth in left and right directions, the upper end of the slide unit rack is pacified equipped at least one slide unit
Seat is filled, one end of the slide unit mounting base of opposite backgauge frame setting is fixedly connected with driving wheel mounting base one, driving wheel mounting base one
It is inside rotatably connected with driving wheel one, the other end of slide unit mounting base is fixedly connected with driving wheel mounting base two, driving wheel peace
It is rotatably connected with driving wheel two in dress seat two, shaft, one He of driving wheel have been rotatably coupled in driving wheel mounting base two
Driving wheel two links together through transmission belt, and the slide unit mounting base is equipped with slide guide rail, slidably connects on the slide guide rail
It is connected to sliding shoe, the slide unit is fixedly connected on sliding shoe, slide unit and transmission band connection, is connected with biography in the slide unit rack
Dynamic motor is connected with driving wheel on the output shaft of the driving motor, is connected with driven wheel in the shaft, driving wheel with it is driven
Take turns communicated band connection together.
In order to realize expansion plate can righting tablet, the surrounding of the slide unit is placed with several linear actuators four, straight line
Driver four is equipped with telescopic telescopic rod two, and one end that telescopic rod two stretches out outwardly is connected with expansion plate.
In order to for a kind of method that multiduty feeding device carries out feeding, comprising the following steps:
(1) terminal-collecting machine to be replaced is put into rack in advance, mechanical hand-motion terminal-collecting machine is mobile and terminal-collecting machine is placed into machine
On the support claw of frame, manipulator stopping movement；
(2) replacement component movements, the movement of corner lower air cylinder make claw rotate and move towards terminal-collecting machine direction, block
Pawl blocks terminal-collecting machine, and linear actuator three acts, and rotates hook towards handle direction, when hook catches on handle, straight line
Three stopping of driver movement, linear actuator two act, and move up Mobile base, and hook pushes handle to be rotated up, and clamp
When hook and clamping pin are detached from, two stopping of linear actuator is acted, the separation of manipulator and terminal-collecting machine, and linear actuator two reversely moves
Make, when hook and handle are detached from, two stopping of linear actuator movement；
(3) mechanical hand-motion Quick Release female is mobile to terminal-collecting machine direction to be replaced, and Quick Release male connector is made to be inserted into Quick Release female
Accommodating chamber in, manipulator stop movement；
(4) another replacement component movement, claw is towards the rotation of terminal-collecting machine direction and movement to be replaced, by end to be replaced
It picks up device to be fixed on the rack, movable plate drives hook to be moved upward to behind designated position to stop movement, and hook is towards handle place side
To rotation, hook is made to catch on handle, movable plate drives hook to move down, and hook drives handle to rotate down, and hooks clamp hook
Pin is firmly clamped, realizes the connection of Quick Release male connector and Quick Release female, the i.e. connection of completion manipulator and terminal-collecting machine to be replaced, hook
It is rotated towards far from handle direction, realizes that hook and handle are detached from, the completion that more changes jobs of terminal-collecting machine；
(5) terminal-collecting machine that mechanical hand-motion has been replaced, contradicts connecting plate in elevating lever lower end, manually by connecting plate and elevating lever
It is fixed, it pushes handle aside, clamps pin and separated with pin is clamped, realize that the terminal-collecting machine of replacement is separated with manipulator；
(6) lifting motor acts, and keeps elevating lever mobile to tablet direction, when support rod and vacuum chuck conflict tablet,
Tablet is sucked in vacuum generator control vacuum chuck, and inductor incudes tablet weight, when inductor senses that vacuum chuck is drawn
Tablet be more than a piece of tablet weight when, control linear actuator one movement, make tablet with vacuum chuck lifting for several times after,
Until when the tablet that inductor senses that vacuum chuck is drawn is the weight of a piece of tablet, one stopping of linear actuator movement is risen
Motor counteragent drops, after making elevating lever that terminal-collecting machine be driven to move up suitable distance, lifting motor stopping movement, and driving motor
Movement is moved to Mobile base above slide unit, and lifting motor acts again, and tablet is put on slide unit by elevating lever, vacuum chuck
Tablet is unclamped, linear actuator four acts, and expansion plate is flexible by tablet righting, and driving motor movement makes slide unit that tablet be driven to move
It moves to next station.
Detailed description of the invention
Fig. 1 is main view of the invention.
Fig. 2 is three-dimensional structure diagram one of the invention.
Fig. 3 is the partial enlarged view in Fig. 2 at A.
Fig. 4 is the partial enlarged view in Fig. 2 at B.
Fig. 5 is the three-dimensional structure diagram one of feed mechanism in the present invention.
Fig. 6 is the partial enlarged view in Fig. 5 at C.
Fig. 7 is the three-dimensional structure diagram two of feed mechanism in the present invention.
Fig. 8 is the partial enlarged view in Fig. 7 at D.
The three-dimensional structure diagram of terminal-collecting machine replacement mechanism in Fig. 9 present invention.
Figure 10 is the partial enlarged view in Fig. 9 at E.
The three-dimensional structure diagram of quick change female in Figure 11 present invention.
The three-dimensional structure diagram of quick change male connector in Figure 12 present invention.
Figure 13 is the three-dimensional structure diagram of terminal-collecting machine in the present invention.
Figure 14 is the partial enlarged view in Figure 13 at F.
Wherein, 1 terminal-collecting machine replaces mechanism, and 101 replacement racks, 101a support claw, 102 corner lower air cylinders, 103 is flexible
Bar one, 104 claws, 105 linear actuators two, 106 moving bodys, 107 movable plates, 108 linear actuators three, 109 push-pull rods,
110 hooks, 2 quick change toolings, 201 quick change females, 201a accommodating chamber, 201b guide runner, 201c clamp hook, 201d handle, 202 is fast
Male connector is changed, 202a clamps pin, 3 terminal-collecting machines, and 301 terminal-collecting machines are responsible for, 302 connecting plates, 303 terminal-collecting machine branch pipes, 304 fixed plates, and 305
Linear actuator one, 306 drive rods, 307 vacuum chucks, 308 inductors, 309 support rods, 4 feed mechanisms, 401 feed frames,
401a sliding rail, 402 Mobile bases, 402a guide rail, 402b mounting plate, 403 driving motors, 404 contact rollers, 405 driving synchronizing wheels,
406 driving synchronous belts, 407 limited blocks, 408 end buffer stoppers, 409 elevating levers, 410 motor mounts, 411 lifting motors, 412
Tensioning wheel, 413 lifting synchronizing wheels, 414 lifting synchronous belts, 415 slide unit racks, 416 slide unit mounting bases, 417 driving wheel mounting bases
One, 418 driving wheels one, 419 driving wheel mounting bases two, 420 driving wheels two, 421 transmission belts, 422 shafts, 423 slide guide rails, 424
Sliding shoe, 425 slide units, 426 driving motors, 426a output shaft, 427 driving wheels, 428 driven wheels, 429 conveyer belts, 430 straight lines drive
Dynamic device four, 431 telescopic rods two, 432 expansion plates, 433 backgauge framves, 434 magnetic splitting devices, 5 material buttress.
Specific embodiment
The present invention will be further described below with reference to the drawings.
A kind of multiduty feeding device as shown in Fig. 1~14, including feed mechanism 4 and terminal-collecting machine 3 replace mechanism 1,
Feed mechanism 4 includes feed frame 401, and it includes replacement rack 101, the periphery row of replacement rack 101 that terminal-collecting machine 3, which replaces mechanism 1,
Several support claw 101a for being used to support terminal-collecting machine 3 are furnished with, replacement rack 101 is equipped at least two groups and replaces component, replacement
Component includes that can be rotated and can do in the lateral direction reciprocating linear mobile claw 104 and liftable movable plate 107, and end is picked up
The support of device 3 is arranged when on support claw 101a, and claw 104 can block the top of terminal-collecting machine 3, be hinged with court on movable plate 107
Upper extension and rotatable hook 110, the upper end of replacement rack 101 are equipped with corner lower air cylinder 102, set in rotating down pressing cylinder
Having can reciprocatingly move and rotatable telescopic rod 1 in left and right directions, and one end of claw 104 and telescopic rod 1 are outwardly
One end be fixedly connected, the other end of claw 104 can block terminal-collecting machine 3；Replacing component further includes being fixedly connected on changing machine
Linear actuator 2 105 on frame 101, linear actuator 2 105 is equipped with can the lower movement moved back and forth in the height direction
Body 106, movable plate 107 are fixedly connected with moving body 106；Linear actuator 3 108, linear drives are hinged on movable plate 107
Device 3 108 be equipped with can the lower push-pull rod 109 for moving back and forth and stretching out upwards in the height direction, push-pull rod 109 upward one
End is hinged with hook 110；It further includes quick change tooling 2 that terminal-collecting machine 3, which replaces mechanism 1, and quick change tooling 2 includes connecting on a robotic arm
Quick change female 201 and the quick change male connector 202 being connected on terminal-collecting machine 3, quick change female 201 is interior to be equipped with accommodating chamber 201a, and quick change is public
First 202 one end far from terminal-collecting machine 3 are inserted upwardly into accommodating chamber 201a, and quick change female 201 is with respect to one end that terminal-collecting machine 3 is arranged
Outside is provided at least one guide runner 201b, and quick change male connector 202, which is equipped with, clamps pin 202a, and the outside of quick change female 201 is hinged
There are at least one clamp hook 201c, clamp hook 201c that can catch on to stretch out on clamping the pin 202a, clamp hook 201c of guide runner 201b
It is fixedly connected with outwardly directed handle 201d, hook 110 can hook handle 201d；The side of feed frame 401, which is equipped with, to be used
Slide unit rack 415 in transmission tablet and backgauge frame 433 for placing tablet, the side of backgauge frame 433 is fixedly connected with magnetic
Power is said good-bye device 434；Feed frame 401 is equipped with the Mobile base 402 that can be moved back and forth in left and right directions, sets on feed frame 401
There is at least one sliding rail 401a, is slidably connected on sliding rail 401a on Mobile base 402, is fixedly connected on Mobile base 402
Mounting plate 402b, mounting plate 402b are connected with driving motor 403 and two pressures above feed frame 401 on mounting plate 402b
Bearing up pulley 404, driving synchronizing wheel 405 is connected on the output shaft 426a of driving motor 403, and driving synchronizing wheel 405 is compressed at two
Between wheel 404, driving synchronizing wheel 405 is driven synchronous belt 406 to link together with contact roller 404, drives the two of synchronous belt 406
End is respectively fixedly connected at the both ends of feed frame 401, and the both ends of feed frame 401 in the height direction are equipped with limited block 407,
The one end of limited block 407 inwardly is equipped with end buffer stopper 408, and Mobile base 402 can move left and right between two end buffer stoppers 408
It is dynamic；Mobile base 402 is equipped with liftable elevating lever 409, and Mobile base 402 is equipped with guide rail 402a, and elevating lever 409 is slidable
It is connected on guide rail 402a, motor mount 410 is also fixedly connected on Mobile base 402, liter is installed on motor mount 410
Motor 411 and two tensioning wheels 412 are dropped, lifting synchronizing wheel 413 is connected on the output shaft 426a of lifting motor 411, lifting is same
Between two tensioning wheels 412, lifting synchronizing wheel 413 links together with tensioning wheel 412 through going up and down synchronous belt 414 step wheel 413,
The both ends of lifting synchronous belt 414 are respectively fixedly connected with the both ends in elevating lever 409 in the height direction；Elevating lever 409 is directed downwardly
One end is connected with the terminal-collecting machine 3 for drawing tablet, and 307 backgauge frame 433 of vacuum chuck is wrapped in the lower section of terminal-collecting machine 3, terminal-collecting machine 3
Terminal-collecting machine supervisor 301 is included, terminal-collecting machine is responsible for 301 upper ends and is equipped with connecting plate 302, and terminal-collecting machine 3 can be connected to lifting through connecting plate 302
409 lower end of bar, terminal-collecting machine supervisor 301 on be connected at least two respectively to terminal-collecting machine be responsible for 301 liang of side directions extend end pick up
Device branch pipe 303, one end that terminal-collecting machine branch pipe 303 stretches out outwardly are equipped with fixed plate 304, and vacuum chuck 307 is connected to drive rod 306
One end directed downwardly, fixed plate 304 are equipped with linear actuator 1, and linear actuator 1 is equipped with can be past in short transverse
The drive rod 306 moved again, vacuum chuck 307 are connected to the one end directed downwardly of drive rod 306；Slide unit rack 415 is equipped with can be
The slide unit 425 that left and right directions moves back and forth, the upper end of slide unit rack 415 are equipped at least one slide unit mounting base 416, opposite backgauge
The one end for the slide unit mounting base 416 that frame 433 is arranged is fixedly connected with driving wheel mounting base 1, in driving wheel mounting base 1
It is rotatably connected with driving wheel 1, the other end of slide unit mounting base 416 is fixedly connected with driving wheel mounting base 2 419, passes
It is rotatably connected with driving wheel 2 420 in driving wheel mounting base 2 419, has been rotatably coupled in driving wheel mounting base 2 419
Shaft 422, driving wheel 1 and driving wheel 2 420 link together through transmission belt 421, and slide unit mounting base 416 is equipped with slide guide
It is slidably connected with sliding shoe 424 on rail 423401a, slide guide rail 423401a, slide unit 425 is fixedly connected on sliding shoe 424
On, slide unit 425 is connect with transmission belt 421, and driving motor 426, the output shaft of driving motor 426 are connected in slide unit rack 415
It is connected with driving wheel 427 on 426a, driven wheel 428, driving wheel 427 and the communicated band of driven wheel 428 are connected in shaft 422
429 link together；The surrounding of slide unit 425 is placed with several linear actuators 4 430, and linear actuator 4 430 is equipped with
Telescopic telescopic rod 2 431, one end that telescopic rod 2 431 stretches out outwardly are connected with expansion plate 432；In the present invention, straight line is driven
Dynamic device 2 105 is guide-bar electromagnetic coupling rodless cylinder.
In order to further to the present invention carry out feeding method the following steps are included:
(1) terminal-collecting machine 3 to be replaced is put into rack in advance, mechanical hand-motion terminal-collecting machine 3 is mobile and is placed into terminal-collecting machine 3
On the support claw 101a of rack, manipulator stopping movement；
(2) replacement component movements, corner lower air cylinder 102 act, and rotate claw 104 simultaneously towards 3 direction of terminal-collecting machine
Mobile, claw 104 blocks terminal-collecting machine 3, and linear actuator 3 108 acts, and turns hook 110 towards handle 201d direction
Dynamic, when hook 110 catches on handle 201d, 3 108 stopping of linear actuator movement, linear actuator 2 105 is acted, and makes Mobile base
402 move up, and hook 110 pushes handle 201d to be rotated up, when clamp hook 201c and clamping pin 202a are detached from, linear drives
2 105 stopping of device movement, the separation of manipulator and terminal-collecting machine 3,2 105 counteragent of linear actuator, hook 110 and handle
When 201d is detached from, 2 105 stopping of linear actuator movement；
(3) mechanical hand-motion Quick Release female is mobile to 3 direction of terminal-collecting machine to be replaced, and Quick Release male connector is made to be inserted into Quick Release female
Accommodating chamber 201a in, manipulator stop movement；
(4) another replacement component movement, claw 104, will be to be replaced towards the rotation of 3 direction of terminal-collecting machine and movement to be replaced
Terminal-collecting machine 3 be fixed on the rack, movable plate 107 drives hook 110 to be moved upward to behind designated position to stop movement, hook
110 rotate towards handle 201d direction, and hook 110 is made to catch on handle 201d, and movable plate 107 drives hook 110 to move down,
Hook 110 drives handle 201d to rotate down, and so that clamp hook 201c is caught on clamping pin 202a, realizes Quick Release male connector and Quick Release female
Connection, i.e. the connection of completion manipulator and terminal-collecting machine 3 to be replaced, hook 110 rotates towards far from handle 201d direction,
Realize that hook 110 and handle 201d are detached from, the completion that more changes jobs of terminal-collecting machine 3；
(5) terminal-collecting machine 3 that mechanical hand-motion has been replaced, contradicts connecting plate 302 in 409 lower end of elevating lever, manually by connecting plate
302 is fixed with elevating lever 409, pushes handle 201d aside, clamps pin 202a and separates with pin 202a is clamped, realizes the terminal-collecting machine 3 of replacement
It is separated with manipulator；
(6) lifting motor 411 acts, and keeps elevating lever 409 mobile to tablet direction, when support rod 309 and vacuum chuck 307
When contradicting tablet, tablet is sucked in vacuum generator control vacuum chuck 307, and inductor 308 incudes tablet weight, works as inductor
When 308 tablets for sensing that vacuum chuck 307 is drawn are more than the weight of a piece of tablet, the movement of linear actuator 1 is controlled,
After going up and down tablet for several times with vacuum chuck 307, until inductor 308 senses that the tablet that vacuum chuck 307 is drawn is a piece of
When the weight of tablet, one 305 stopping of linear actuator movement, 411 counteragent of lifting motor picks up elevating lever 409 with moved end
After device 3 moves up suitable distance, 411 stopping of lifting motor movement, driving motor 403 is acted, and Mobile base 402 is made to be moved to cunning
425 top of platform, lifting motor 411 act again, and tablet is put on slide unit 425 by elevating lever 409, and vacuum chuck 307 unclamps material
Piece, linear actuator 4 430 act, and expansion plate 432 is flexible by tablet righting, and driving motor 426 acts, and drive slide unit 425
Tablet is moved to next station.
When the present invention works, several layers tablet is deposited on backgauge frame 433 in advance, forms material buttress 5, magnetic splitting
Device 434 says good-bye the tablet of 5 1~5 layer of the top of material buttress, makes to say good-bye slightly between 1~5 layer of every tablet, convenient true
Suction disk 307 draws tablet；It can first be replaced in terminal-collecting machine 3 according to the shape of tablet and replace terminal-collecting machine 3 in mechanism 1, for separating
The replacement component of manipulator and terminal-collecting machine 3 is replacement component one, for connecting the replacement group of manipulator Yu terminal-collecting machine 3 to be replaced
Part is replacement component two, and terminal-collecting machine 3 is installed on a robotic arm, and manipulator is to drive terminal-collecting machine 3 to replacement 101 direction of rack
Mobile or mobile far from replacement 101 direction of rack device, terminal-collecting machine 3 to be replaced is put into close to replacement component two
On support claw 101a, mechanical hand-motion terminal-collecting machine 3 is mobile towards the support claw 101a direction close to replacement component one, and end is picked up
Device 3 is put on support claw 101a, and the corner lower air cylinder 102 of replacement component one acts, the telescopic rod one of corner lower air cylinder 102
103 drive claws 104 are mobile towards the direction of terminal-collecting machine 3 in the lateral direction and rotate, and claw 104 is fixed by terminal-collecting machine 3
In replacement rack 101, linear actuator 3 108 is acted, and push-pull rod 109 pushes hook 110 to turn towards handle 201d direction
Dynamic, when hook 110 catches on handle 201d, 3 108 stopping of linear actuator movement, linear actuator 2 105 controls moving body 106
It moves up, moving body 106 drives movable plate 107 to move up, and movable plate 107 pushes hook 110 to move up, hook 110
Handle 201d is pushed to be rotated up, when clamp hook 201c and clamping pin 202a are detached from, the separation of manipulator and terminal-collecting machine 3, straight line
2 105 stopping of driver movement, 3 108 counteragent of linear actuator, push-pull rod 109 push hook 110 towards far from handle
The rotation of 201d direction, hook 110 disengage handle 201d, i.e. hook 110 and Quick Release female is detached from, and mechanical hand-motion Quick Release is female
Head is mobile to 3 direction of terminal-collecting machine to be replaced, and in the accommodating chamber 201a for making Quick Release male connector insertion Quick Release female, manipulator stops
It only moves, replacement component two acts, and the corner lower air cylinder 102 of replacement component two acts, the telescopic rod of corner lower air cylinder 102
One 103 drive claw 104 towards the rotation of 3 direction of terminal-collecting machine and movement to be replaced, and terminal-collecting machine 3 to be replaced is fixed on machine
On frame, linear actuator 2 105 is acted, and linear actuator 2 105 drives moving body 106 to move up, until 107 band of movable plate
Dynamic hook 110 is moved upward to designated position, 2 105 stopping of linear actuator movement, and linear actuator 3 108 acts, push-and-pull
Bar 109 pushes hook 110 to rotate towards handle 201d direction, when hook 110 catches on handle 201d, linear actuator 3 108
Stopping movement, 2 105 counteragent of linear actuator driving moving body 106 move down, and moving body 106 drives movable plate 107
It moves down, makes movable plate 107 that hook 110 be pushed to move down, 110 pull handle 201d of hook is rotated down, clamp hook
When 201c catches on clamping pin 202a, manipulator is connect with terminal-collecting machine 3 to be replaced, 2 105 stopping of linear actuator movement, straight line
3 108 counteragent of driver, push-pull rod 109 push hook 110 to rotate towards far from handle 201d direction, and hook 110 is de-
Opened handle 201d, i.e. hook 110 and Quick Release female are detached from, the completion that more changes jobs of terminal-collecting machine 3；Mechanical hand-motion has been replaced new
Terminal-collecting machine 3 is mobile to 409 direction of elevating lever, and when connecting plate 302 is contradicted at 409 lower end of elevating lever, manipulator stops moving
It is dynamic, it is manually that connecting plate 302 and elevating lever 409 is fixed, it pushes handle 201d aside, clamps pin 202a and separated with pin 202a is clamped, it is real
Now new terminal-collecting machine 3 is separated with manipulator；Lifting motor 411 acts, and the movement of lifting motor 411 makes to go up and down the rotation of synchronizing wheel 413,
The setting of bearing up pulley 412, it is ensured that engaged transmission between lifting synchronizing wheel 413 and lifting synchronous belt 414 makes 409 edge of elevating lever
Guide rail 402a is moved down on Mobile base 402, when support rod 309 and the conflict tablet of vacuum chuck 307, lifting motor 411
Tablet is sucked in stopping movement, vacuum chuck 307 on the upside of material buttress 5, and inductor 308 incudes tablet weight, when inductor 308 incudes
To vacuum chuck 307 draw tablet be more than a piece of tablet weight when, control linear actuator 1 repeatedly positive action and
Counteragent for several times, the drive rod 306 of linear actuator 1 make tablet with vacuum chuck 307 lifting for several times after, until induction
When the tablet that device 308 senses that vacuum chuck 307 is drawn is the weight of a piece of tablet, one 305 stopping of linear actuator movement is risen
411 counteragent of motor drops, and after making elevating lever 409 that terminal-collecting machine 3 be driven to move up suitable distance, lifting motor 411 stops dynamic
Make, driving motor 403 acts, and the movement of driving motor 403 makes that synchronizing wheel 405 is driven to rotate, the setting of contact roller 404, Ke Yibao
Engaged transmission between card driving synchronizing wheel 405 and driving synchronous belt 406, makes Mobile base 402 along sliding rail 401a in feed frame 401
On be moved to the left, so that Mobile base 402 is moved to the top of slide unit 425, lifting motor 411 acts, and tablet is put into cunning by elevating lever 409
On platform 425, vacuum chuck 307 unclamps tablet, and linear actuator 4 430 acts, the telescopic rod 2 431 of linear actuator 4 430
Expansion plate 432 is driven to stretch tablet righting, driving motor 426 acts again, and the output shaft 426a of driving motor 426 drives master
Driving wheel 427 rotates, and the communicated band 429 of power is passed to driven wheel 428 by driving wheel 427 rotates driven wheel 428, driven wheel 428
Rotation drive shaft 422 to rotate, the rotation of shaft 422 drives driving wheel 1 to rotate, and driving wheel 1 is by power through passing
Dynamic band 421, which passes to driving wheel 2 420, rotates driving wheel 2 420, and the mobile drive slide unit 425 of transmission belt 421 is moved to the left,
Make slide unit 425 that tablet be driven to be moved to next station, expansion plate 432, slide unit 425, Mobile base 402 and elevating lever 409 return to
Initial position can carry out the feeding work of tablet next time；The present invention can be replaced according to practical tablet shape using terminal-collecting machine 3
Mechanism 1 carries out the replacement of different size terminal-collecting machine 3, and the setting of feed mechanism 4 works laborsaving, and work efficiency is high；It can be applied to expect
In the feeding work of piece.
The invention patent is not limited to above-described embodiment, on the basis of the technical solution disclosed in the invention patent, this
For the technical staff in field according to disclosed technology contents, not needing creative labor can be special to some of which technology
Sign makes some replacements and deformation, these replacements and deformation are in the scope of protection of the patent of the present invention.
Claims (10)
1. a kind of multiduty feeding device, it is characterised in that: replace mechanism, the feeder including feed mechanism and terminal-collecting machine
Structure includes feed frame, and terminal-collecting machine replacement mechanism includes replacement rack, and the periphery of the replacement rack is placed with several
It is used to support the support claw of terminal-collecting machine, the replacement rack is equipped at least two groups and replaces component, and the replacement component includes can
Rotation and the claw and liftable movable plate that can do reciprocating linear movement in the lateral direction, terminal-collecting machine support setting are supporting
When on pawl, the claw can block the top of terminal-collecting machine, and extension and rotatable hook upward are hinged on the movable plate；
The side of the feed frame is equipped with the backgauge frame for transmitting the slide unit rack of tablet and for placing tablet, the feeder
Frame is equipped with the Mobile base that can be moved back and forth in left and right directions, and the Mobile base is equipped with liftable elevating lever, elevating lever court
Under one end be connected with the terminal-collecting machine for drawing tablet, support rod and can be reciprocal in short transverse is connected on the terminal-collecting machine
Mobile vacuum chuck, vacuum chuck is on the outside of support rod, and for backgauge frame in the lower section of terminal-collecting machine, the slide unit rack is equipped with can
The slide unit moved back and forth in left and right directions.
2. a kind of multiduty feeding device according to claim 1, it is characterised in that: terminal-collecting machine replacement mechanism is also
Including the quick change male connector for connecting quick change female on a robotic arm and being connected on terminal-collecting machine, it is equipped with and accommodates in the quick change female
Chamber, quick change male connector are inserted upwardly into accommodating chamber far from one end of terminal-collecting machine, and the quick change female is with respect to one end that terminal-collecting machine is arranged
Outside be provided at least one guide runner, the quick change male connector, which is equipped with, clamps pin, is hinged at least one on the outside of quick change female
A clamp hook, the clamp hook can catch on the clamping pin for stretching out guide runner, be fixedly connected with outwardly directed handle on clamp hook,
The hook can hook handle.
3. a kind of multiduty feeding device according to claim 1, it is characterised in that: the terminal-collecting machine includes terminal-collecting machine
Supervisor, terminal-collecting machine are responsible for upper end and are equipped with connecting plate, and terminal-collecting machine can be connected to elevating lever lower end through connecting plate, connect on terminal-collecting machine supervisor
It is connected at least two and is responsible for the terminal-collecting machine branch pipe that two side directions extend, one end that terminal-collecting machine branch pipe stretches out outwardly to terminal-collecting machine respectively
Equipped with fixed plate, the vacuum chuck is connected to drive rod one end directed downwardly, and the fixed plate is equipped with linear actuator one, institute
It states linear actuator one and is equipped with the drive rod that can be moved back and forth in short transverse, the vacuum chuck is connected to drive rod downward
One end, inductor is equipped in vacuum chuck.
4. a kind of multiduty feeding device according to claim 1, which is characterized in that the upper end of the replacement rack is set
Angled lower air cylinder, the rotating down pressing cylinder are equipped with and can reciprocatingly move in left and right directions and rotatable telescopic rod
One, one end of the claw is fixedly connected with the one end of telescopic rod one outwardly, and the other end of claw can block terminal-collecting machine；It is described
Replacement component further includes the linear actuator two being fixedly connected in replacement rack, and the linear actuator two is equipped with can be in height
The moving body that degree direction moves back and forth up and down, the movable plate are fixedly connected with moving body；Straight line is hinged on the movable plate
Driver three, the linear actuator three are equipped with the push-pull rod that can be moved back and forth down and stretch out in the height direction upwards, institute
It states the one end of push-pull rod upward and hook is hinged.
5. a kind of multiduty feeding device according to claim 1, it is characterised in that: the feed frame is equipped with extremely
Lack a sliding rail, is slidably connected on the slide rail on the Mobile base, mounting plate is fixedly connected on Mobile base, mounting plate exists
Above feed frame, it is connected with driving motor and two contact rollers on mounting plate, is connected with driving on the output shaft of driving motor
Synchronizing wheel drives synchronizing wheel between two contact rollers, drives synchronizing wheel and contact roller that synchronous belt is driven to link together, drives
The both ends of dynamic synchronous belt are respectively fixedly connected at the both ends of feed frame.
6. a kind of multiduty feeding device according to claim 5, it is characterised in that: the feed frame is in height side
Upward both ends are equipped with limited block, and the one end of limited block inwardly is equipped with end buffer stopper, and Mobile base can be in two end buffer stoppers
Between move left and right.
7. a kind of multiduty feeding device according to claim 1, it is characterised in that: the Mobile base is equipped with and leads
Rail, the elevating lever are slidably connected on guide rail, and motor mount, motor installation are also fixedly connected on the Mobile base
Lifting motor and two tensioning wheels are installed on seat, lifting synchronizing wheel is connected on the output shaft of lifting motor, goes up and down synchronizing wheel
It between two tensioning wheels, goes up and down synchronizing wheel and tensioning wheel and links together through going up and down synchronous belt, go up and down the both ends point of synchronous belt
It is not fixedly connected on the both ends of elevating lever in the height direction.
8. a kind of multiduty feeding device according to claim 1, it is characterised in that: the upper end of the slide unit rack is set
There is at least one slide unit mounting base, one end of the slide unit mounting base of opposite backgauge frame setting is fixedly connected with driving wheel mounting base
One, driving wheel one is rotatably connected in driving wheel mounting base one, and the other end of slide unit mounting base is fixedly connected with driving wheel
Mounting base two is rotatably connected with driving wheel two in driving wheel mounting base two, is rotatably coupled in driving wheel mounting base two
There is shaft, driving wheel one and driving wheel two link together through transmission belt, and the slide unit mounting base is equipped with slide guide rail, described to lead
Sliding shoe is slidably connected on sliding rail, slide unit described in slide unit is fixedly connected on sliding shoe, slide unit and transmission band connection, institute
It states and is connected with driving motor in slide unit rack, driving wheel is connected on the output shaft of the driving motor, is connected in the shaft
There is driven wheel, driving wheel is together with the communicated band connection of driven wheel.
9. a kind of multiduty feeding device according to claim 8, it is characterised in that: the surrounding of the slide unit is placed with
Several linear actuators four, linear actuator four are equipped with telescopic telescopic rod two, one end that telescopic rod two stretches out outwardly
It is connected with expansion plate.
10. using according to any one of claims 1 to 99 a kind of described in any item methods that multiduty feeding device carries out feeding, feature
It is, comprising the following steps:
(1) terminal-collecting machine to be replaced is put into rack in advance, mechanical hand-motion terminal-collecting machine is mobile and terminal-collecting machine is placed into machine
On the support claw of frame, manipulator stopping movement；
(2) replacement component movements, the movement of corner lower air cylinder make claw rotate and move towards terminal-collecting machine direction, block
Pawl blocks terminal-collecting machine, and linear actuator three acts, and rotates hook towards handle direction, when hook catches on handle, straight line
Three stopping of driver movement, linear actuator two act, and move up Mobile base, and hook pushes handle to be rotated up, and clamp
When hook and clamping pin are detached from, two stopping of linear actuator is acted, the separation of manipulator and terminal-collecting machine, and linear actuator two reversely moves
Make, when hook and handle are detached from, two stopping of linear actuator movement；
(3) mechanical hand-motion Quick Release female is mobile to terminal-collecting machine direction to be replaced, and Quick Release male connector is made to be inserted into Quick Release female
Accommodating chamber in, manipulator stop movement；
(4) another replacement component movement, claw is towards the rotation of terminal-collecting machine direction and movement to be replaced, by end to be replaced
It picks up device to be fixed on the rack, movable plate drives hook to be moved upward to behind designated position to stop movement, and hook is towards handle place side
To rotation, hook is made to catch on handle, movable plate drives hook to move down, and hook drives handle to rotate down, and hooks clamp hook
Pin is firmly clamped, realizes the connection of Quick Release male connector and Quick Release female, the i.e. connection of completion manipulator and terminal-collecting machine to be replaced, hook
It is rotated towards far from handle direction, realizes that hook and handle are detached from, the completion that more changes jobs of terminal-collecting machine；
(5) terminal-collecting machine that mechanical hand-motion has been replaced, contradicts connecting plate in elevating lever lower end, manually by connecting plate and elevating lever
It is fixed, it pushes handle aside, clamps pin and separated with pin is clamped, realize that the terminal-collecting machine of replacement is separated with manipulator；
(6) lifting motor acts, and keeps elevating lever mobile to tablet direction, when support rod and vacuum chuck conflict tablet,
Tablet is sucked in vacuum chuck, and inductor incudes tablet weight, when inductor senses that the tablet that vacuum chuck is drawn is more than a piece of
When the weight of tablet, the movement of linear actuator one is controlled, after going up and down tablet for several times with vacuum chuck, until inductor incudes
When the tablet drawn to vacuum chuck is the weight of a piece of tablet, one stopping of linear actuator movement, lifting motor counteragent,
After making elevating lever that terminal-collecting machine be driven to move up suitable distance, lifting motor stopping movement, driving motor movement moves Mobile base
It moves to slide unit, lifting motor acts again, and tablet is put on slide unit by elevating lever, and vacuum chuck unclamps tablet, and straight line drives
Dynamic device four acts, and expansion plate is flexible by tablet righting, and driving motor movement makes slide unit that tablet be driven to be moved to next station.
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|---|---|---|---|
| CN201910360791.1A CN109941765B (en) | 2019-04-30 | 2019-04-30 | Multipurpose feeding device and feeding method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910360791.1A CN109941765B (en) | 2019-04-30 | 2019-04-30 | Multipurpose feeding device and feeding method |
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| Publication Number | Publication Date |
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| CN109941765A true CN109941765A (en) | 2019-06-28 |
| CN109941765B CN109941765B (en) | 2023-12-22 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110406957A (en) * | 2019-07-29 | 2019-11-05 | 博众精工科技股份有限公司 | A kind of feeding assembly line |
| CN110480167A (en) * | 2019-07-29 | 2019-11-22 | 东普雷（佛山）汽车部件有限公司 | A kind of feeding system of plate with laser welding |
| CN110842280A (en) * | 2019-12-13 | 2020-02-28 | 无锡庆源激光科技有限公司 | Automatic feeding device |
| CN111003491A (en) * | 2019-11-29 | 2020-04-14 | 中国东方电气集团有限公司 | Automatic feeding device |
| CN111217155A (en) * | 2020-03-06 | 2020-06-02 | 苏州青林自动化设备有限公司 | Single-arm unstacking system |
| CN113859992A (en) * | 2021-11-09 | 2021-12-31 | 株洲新时代输送机械有限公司 | Full-automatic plywood hook plate stacker |
| CN114538089A (en) * | 2022-02-18 | 2022-05-27 | 青岛融合光电科技有限公司 | Adsorption device |
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| CN109941765B (en) | 2023-12-22 |
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