CN109941765B - Multipurpose feeding device and feeding method - Google Patents

Multipurpose feeding device and feeding method Download PDF

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Publication number
CN109941765B
CN109941765B CN201910360791.1A CN201910360791A CN109941765B CN 109941765 B CN109941765 B CN 109941765B CN 201910360791 A CN201910360791 A CN 201910360791A CN 109941765 B CN109941765 B CN 109941765B
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China
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claw
end effector
feeding
driving
lifting
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CN109941765A (en
Inventor
李振岩
郭金山
陈哲
仲太生
詹俊勇
周智伟
张建华
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Yangli Group Corp ltd
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Yangli Group Corp ltd
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    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/50Manufacturing or production processes characterised by the final manufactured product

Abstract

The invention provides a multipurpose feeding device and a feeding method in the technical field of mechanical arm feeding, wherein the multipurpose feeding device comprises a feeding mechanism and an end effector replacement mechanism, the feeding mechanism comprises a feeding rack, the end effector replacement mechanism comprises a replacement rack, a plurality of supporting claws for supporting the end effector are arranged on the periphery of the replacement rack, at least two groups of replacement components are arranged on the replacement rack, each replacement component comprises a rotatable claw capable of moving left and right and a liftable movable plate, and the movable plate is hinged with a rotatable hook; a sliding table frame and a material blocking frame are arranged on one side of the feeding frame, a movable seat capable of moving left and right is arranged on the feeding frame, a lifting rod capable of lifting is arranged on the movable seat, an end pick-up device for sucking a material taking sheet is connected to the lifting rod, a supporting rod and a vacuum chuck capable of moving in the height direction are connected to the end pick-up device, an inductor is arranged in the vacuum chuck, and a sliding table capable of moving left and right is arranged on the sliding table frame; the automatic feeding device is labor-saving in work and high in working efficiency, and can realize automatic feeding of the material sheets.

Description

Multipurpose feeding device and feeding method
Technical Field
The invention belongs to the technical field of mechanical arm feeding, and particularly relates to a feeding device and a feeding method.
Background
Sheet material for stamping or laser cutting, prior to stamping or cutting, requires placing the sheet material on work; after stamping or cutting is completed, the plate needs to be removed from the workbench, the current feeding machine has single function, and the current working efficiency of the current feeding machine cannot be met for the current industrial processing. The traditional feeding machine only transports materials from one place to another place, and can not right the positions of the materials, and the existing plates are driven by the movement of a workbench when fed, so that the plates reach a designated processing station, and are manually moved or conveyed and moved by the workbench after processing, so that the whole working process needs to consume more time and more energy, the energy cost is increased, the labor cost is increased, the production efficiency is greatly reduced, and the labor intensity of operators is also increased.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to solve the defects in the prior art, solve the technical problems of labor-consuming work and low working efficiency in the prior art, and provide a multipurpose feeding device which is labor-saving in work and high in working efficiency.
The purpose of the invention is realized in the following way: the utility model provides a multipurpose loading attachment, includes feed mechanism and end effector change mechanism, feed mechanism includes the material loading frame, end effector changes the mechanism and includes and changes the frame, it has a plurality of support claw that is used for supporting end effector to change the periphery of frame to change, change and be equipped with two at least groups on the frame and change the subassembly, change the subassembly and include rotatable and can do reciprocating rectilinear movement's jack catch and liftable movable plate in the left and right directions, when end effector supports and sets up on the support claw, the jack catch can block the upper portion of end effector, articulated on the movable plate have upwards extending and rotatable hook claw; one side of material loading frame is equipped with the slip table frame that is used for the transmission pay-off piece and is used for placing the fender work or material rest of material piece, be equipped with the removal seat that can reciprocate in left and right directions in the material loading frame, be equipped with the lifter of liftable on the removal seat, the lifter one end down is connected with the end pick-up that is used for inhaling the material piece, be connected with the bracing piece on the end pick-up and can be in direction of height reciprocating motion's vacuum chuck, vacuum chuck is in the bracing piece outside, keeps off the work or material rest in the below of end pick-up, be equipped with the slip table that can reciprocate in left and right directions in the slip table frame.
Stacking the material sheets on the material blocking frame in advance, replacing the end pick-up on the end pick-up replacing mechanism according to the shape of the material sheets, separating the mechanical hand from the replacing component of the end pick-up to be a first replacing component, connecting the mechanical hand with the replacing component of the end pick-up to be replaced to be a second replacing component, arranging the end pick-up on the mechanical hand, moving the mechanical hand to the driving end pick-up towards the direction of the replacing frame or moving away from the direction of the replacing frame, placing the end pick-up to be replaced on the supporting jaw close to the second replacing component, moving the end pick-up towards the direction of the supporting jaw close to the first replacing component, placing the end pick-up on the supporting jaw, moving the claw of the first replacing component towards the direction of the end pick-up in the left-right direction and rotating the supporting jaw, fixing the end pick-up on the replacing frame, rotating the claw towards the direction of the mechanical hand, enabling the hook to be clamped in the direction, driving the hook claw to be clamped up to be moved upwards, pushing the mechanical hand to be separated from the end pick-up, then rotating the hook to be far away from the mechanical hand in the direction of the replacing frame, automatically moving the hook to be replaced, moving the hook to be separated from the separating the end pick-up from the end pick-up to be replaced, moving the end pick-up towards the direction of the end pick-up to be replaced in the direction, and moving the designated end pick-up in the direction, and moving the direction of the end pick-up to be moved towards the end on the direction of the end pick-up to be at the end opposite direction. The mechanical arm drives the replaced end pick-up device to leave the replacing rack and move to the lower side of the lifting rod, the end pick-up device is manually fixed to the lower end of the lifting rod, the handle is shifted, the end pick-up device is separated from the mechanical arm, at the moment, feeding of the material sheets can be carried out, the lifting rod moves towards the direction of the material sheets, when the vacuum suction disc abuts against the material sheets, the vacuum suction disc sucks the material sheets, the lifting rod moves upwards for a certain distance, the moving seat drives the lifting rod to move to the position above the sliding table, the lifting rod places the material sheets on the sliding table, the vacuum suction disc loosens the material sheets, then the telescopic plate stretches and straightens the material sheets, and the sliding table drives the material sheets to move to the next station; according to the invention, the end pick-up replacement mechanism can be utilized to replace the end pick-up with different specifications according to the shape of the actual material sheet, so that the replacement efficiency of the end pick-up is improved; the feeding mechanism is arranged, so that the work is labor-saving and the work efficiency is high; the support rods and the liftable vacuum suction disc are combined to realize the separation of the material sheets, so that the feeding efficiency is further improved; can be applied to the feeding work of the material sheets.
In order to realize the change of end effector, end effector change mechanism still includes the female head of quick change of connection on the manipulator and connects the public head of quick change on the end effector, be equipped with in the female head of quick change and hold the chamber, the public head of quick change is kept away from the one end of end effector and upwards is inserted and hold the intracavity, open the outside of the one end that the female head of quick change set up opposite end effector has at least one to lead the spout, be equipped with the clamp pin on the male head of quick change, the outside of the female head of quick change articulates there is at least one clamp hook, clamp hook can catch the clamp pin that stretches out to lead the spout, the outside handle that stretches out of fixedly connected with on the clamp hook, the hook can hook the handle.
In order to realize that the end effector can absorb and separate the tablet, the end effector includes that the end effector is responsible for, and the end effector is responsible for the upper end and is equipped with the connecting plate, and the end effector can be connected at the lifter lower extreme through the connecting plate, is responsible for and is connected with two at least and is responsible for the end effector branch pipes that both sides direction extends to the end effector respectively, and the one end that the end effector branch pipe stretches out outwards is equipped with the fixed plate, vacuum chuck connects the one end down at the actuating lever, be equipped with sharp driver one on the fixed plate, be equipped with the actuating lever that can reciprocate at the direction of height on the sharp driver one, vacuum chuck connects the one end down at the actuating lever.
In order to realize that the claw can hook or disconnect the handle, the upper end of the replacing rack is provided with a corner pressing cylinder, the rotating pressing cylinder is provided with a telescopic rod I which can reciprocate in the left-right direction and can rotate, one end of the claw is fixedly connected with one outward end of the telescopic rod I, and the other end of the claw can clamp the end picking device; the replacing assembly further comprises a second linear driver fixedly connected to the replacing rack, a moving body capable of moving up and down in the height direction is arranged on the second linear driver, and the moving plate is fixedly connected with the moving body; the movable plate is hinged with a linear driver III, a push-pull rod capable of moving up and down in the height direction in a reciprocating mode and extending upwards is arranged on the linear driver III, and one upward end of the push-pull rod is hinged with the hook claw.
In order to realize that the movable seat can reciprocate in the left-right direction, at least one sliding rail is arranged on the feeding frame, the movable seat is connected onto the sliding rail in a sliding manner, a mounting plate is fixedly connected onto the movable seat, a driving motor and two pressing wheels are connected onto the mounting plate above the feeding frame, a driving synchronizing wheel is connected onto an output shaft of the driving motor, the driving synchronizing wheel is arranged between the two pressing wheels, the driving synchronizing wheel is connected with the pressing wheels through a driving synchronizing belt, and two ends of the driving synchronizing belt are respectively and fixedly connected with two ends of the feeding frame.
In order to limit the moving range of the moving seat, limiting blocks are arranged at two ends of the feeding frame in the height direction, end buffer blocks are arranged at one inward end of each limiting block, and the moving seat can move left and right between the two end buffer blocks.
In order to realize lifting rod liftable, be equipped with the guide rail on the movable seat, lifter slidable connects on the guide rail, still fixedly connected with motor mount pad on the movable seat, install elevator motor and two take-up pulleys on the motor mount pad, be connected with the lift synchronizing wheel on elevator motor's the output shaft, the lift synchronizing wheel is between two take-up pulleys, and lift synchronizing wheel links together through the lift hold-in range with the take-up pulley, and the both ends of lift hold-in range are fixed connection at the both ends of lifter in the direction of height respectively.
In order to realize that the sliding table can reciprocate in the left-right direction, the upper end of sliding table frame is equipped with at least one sliding table mount pad, and the one end fixedly connected with drive wheel mount pad of the sliding table mount pad that keeps off the work or material rest setting relatively, rotationally be connected with drive wheel first in the drive wheel mount pad, the other end fixedly connected with drive wheel mount pad of sliding table mount pad, rotationally be connected with drive wheel second in the drive wheel mount pad, rotationally be connected with the pivot on the drive wheel mount pad, drive wheel first and drive wheel second link together through the drive belt, be equipped with on the sliding table mount pad and lead the slide rail, slidable connection has the sliding block on the slide rail, sliding table fixedly connected with is connected with the drive belt on the sliding block, be connected with driving motor in the sliding table frame, be connected with the action wheel on driving motor's the output shaft, be connected with the follow driving wheel in the pivot, action wheel and follow driving wheel link together through the drive belt.
In order to realize that the expansion plate can straighten the tablet, a plurality of linear drives IV have been arranged around the slip table, be equipped with telescopic link two on the linear drive IV, the one end that telescopic link two outwards stretches out is connected with the expansion plate.
In order to be used in a multi-purpose loading device for loading, the method comprises the following steps:
(1) The end effector to be replaced is put on the rack in advance, the mechanical arm drives the end effector to move and put the end effector on the supporting claw of the rack, and the mechanical arm stops acting;
(2) The first linear driver is in a stop action when the claw is rotated towards the direction of the handle, the second linear driver is in a stop action when the claw is hooked on the handle, the movable seat is moved upwards, the claw pushes the handle to rotate upwards, the second linear driver is in a stop action when the clamping hook is separated from the clamping pin, the mechanical arm is separated from the end pick-up, the second linear driver is in a reverse action, and the second linear driver is in a stop action when the claw is separated from the handle;
(3) The manipulator drives the quick-release female head to move towards the direction of the end pick-up to be replaced, so that the quick-release male head is inserted into the accommodating cavity of the quick-release female head, and the manipulator stops moving;
(4) The other replacement component acts, the claw rotates and moves towards the direction of the end effector to be replaced, the end effector to be replaced is fixed on the rack, the moving plate drives the claw to move upwards to a designated position and then stops moving, the claw rotates towards the direction of the handle, the claw hooks the handle, the moving plate drives the claw to move downwards, the claw drives the handle to rotate downwards, the clamping hook hooks the clamping pin, the connection of the quick-release male head and the quick-release female head is achieved, namely the connection of the manipulator and the end effector to be replaced is completed, the claw rotates towards the direction away from the handle, the claw is separated from the handle, and the replacement of the end effector is completed;
(5) The mechanical arm drives the replaced end pick-up device to enable the connecting plate to be abutted against the lower end of the lifting rod, the connecting plate is manually fixed with the lifting rod, the handle is pulled open, the clamping pin is separated from the clamping pin, and the replaced end pick-up device is separated from the mechanical arm;
(6) When the sensor senses that the material piece sucked by the vacuum chuck exceeds the weight of one material piece, the linear driver I is controlled to act, so that the material piece is lifted for a plurality of times along with the vacuum chuck, the linear driver I stops acting until the sensor senses that the material piece sucked by the vacuum chuck is the weight of one material piece, the lifting motor acts reversely, the lifting rod drives the end pick up device to move upwards for a proper distance, the lifting motor stops acting, the driving motor acts, the movable seat moves to the position above the sliding table, the lifting motor acts again, the lifting rod places the material piece on the sliding table, the vacuum chuck loosens the material piece, the linear driver IV acts, the telescopic plate stretches and contracts to right the material piece, and the driving motor acts, so that the sliding table drives the material piece to move to the next station.
Drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a perspective view of the first embodiment of the present invention.
Fig. 3 is a partial enlarged view at a in fig. 2.
Fig. 4 is a partial enlarged view at B in fig. 2.
Fig. 5 is a first perspective view of the feeding mechanism of the present invention.
Fig. 6 is a partial enlarged view at C in fig. 5.
Fig. 7 is a perspective view of a second embodiment of the feeding mechanism of the present invention.
Fig. 8 is a partial enlarged view at D in fig. 7.
Fig. 9 is a perspective view of an end effector changing mechanism according to the present invention.
Fig. 10 is a partial enlarged view at E in fig. 9.
Fig. 11 is a perspective view of a quick-change female in accordance with the present invention.
Fig. 12 is a perspective view of a quick-change male in accordance with the present invention.
Fig. 13 is a perspective view of an end effector according to the present invention.
Fig. 14 is a partial enlarged view of F in fig. 13.
Wherein, the 1-end pick-up replacement mechanism comprises a 101 replacement frame, a 101a supporting claw, a 102 corner pressing cylinder, a 103 telescopic rod I, a 104 claw, a 105 linear driver II, a 106 moving body, a 107 moving plate, a 108 linear driver III, a 109 push-pull rod, a 110 hook claw, a 2-quick-change tool, a 201-quick-change female head, a 201a accommodating cavity, a 201b guide chute, a 201c clamping hook, a 201d handle, a 202-quick-change male head, a 202a clamping pin, a 3-end pick-up, a 301-end pick-up main pipe, a 302 connecting plate, a 303-end pick-up branch pipe, a 304 fixed plate, a 305 linear driver I, a 306 driving rod, a 307 vacuum chuck, a 308 sensor, a 309 supporting rod, a 4-feeding mechanism, a 401-feeding frame, a 401a sliding rail, a 402 moving seat and a 402a guide rail, 402b mounting plate, 403 driving motor, 404 compressing wheel, 405 driving synchronous wheel, 406 driving synchronous belt, 407 limiting block, 408 end buffer block, 409 lifting rod, 410 motor mounting seat, 411 lifting motor, 412 tensioning wheel, 413 lifting synchronous wheel, 414 lifting synchronous belt, 415 sliding table rack, 416 sliding table mounting seat, 417 driving wheel mounting seat I, 418 driving wheel I, 419 driving wheel mounting seat II, 420 driving wheel II, 421 driving belt, 422 rotating shaft, 423 guiding sliding rail, 424 sliding block, 425 sliding table, 426 driving motor, 426a output shaft, 427 driving wheel, 428 driven wheel, 429 driving belt, 430 linear driver IV, 431 telescopic rod II, 432 telescopic plate, 433 blocking material rack, 434 magnetic force tension divider, 5 material stack.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The multipurpose feeding device shown in fig. 1-14 comprises a feeding mechanism 4 and an end effector 3 replacing mechanism 1, wherein the feeding mechanism 4 comprises a feeding rack 401, the end effector 3 replacing mechanism 1 comprises a replacing rack 101, a plurality of supporting claws 101a for supporting the end effector 3 are distributed on the periphery of the replacing rack 101, at least two groups of replacing components are arranged on the replacing rack 101, each replacing component comprises a claw 104 capable of rotating and performing reciprocating linear movement in the left-right direction and a liftable movable plate 107, when the end effector 3 is supported and arranged on the supporting claws 101a, the claw 104 can clamp the upper part of the end effector 3, the movable plate 107 is hinged with a hook claw 110 which extends upwards and is rotatable, the upper end of the replacing rack 101 is provided with a corner pressing cylinder 102, a telescopic rod 103 capable of performing reciprocating movement in the left-right direction is arranged on the rotating pressing cylinder, one end of the claw 104 is fixedly connected with one end of the telescopic rod 103 outwards, and the other end of the claw 104 can clamp the end effector 3; the replacing assembly further comprises a second linear driver 105 fixedly connected to the replacing frame 101, a moving body 106 capable of moving up and down in the height direction is arranged on the second linear driver 105, and a moving plate 107 is fixedly connected with the moving body 106; the movable plate 107 is hinged with a linear driver III 108, the linear driver III 108 is provided with a push-pull rod 109 which can reciprocate up and down in the height direction and extend upwards, and the upward end of the push-pull rod 109 is hinged with a hook claw 110; the end effector 3 replacing mechanism 1 further comprises a quick-change tool 2, the quick-change tool 2 comprises a quick-change female head 201 connected to the manipulator and a quick-change male head 202 connected to the end effector 3, a containing cavity 201a is formed in the quick-change female head 201, one end, far away from the end effector 3, of the quick-change male head 202 is inserted into the containing cavity 201a upwards, at least one guide chute 201b is formed in the outer side of the end effector 3 opposite to the quick-change female head 201, a clamping pin 202a is arranged on the quick-change male head 202, at least one clamping hook 201c is hinged to the outer side of the quick-change female head 201, the clamping hook 201c can hook the clamping pin 202a extending out of the guide chute 201b, a handle 201d extending outwards is fixedly connected to the clamping hook 201c, and the hook claw 110 can hook the handle 201 d; a sliding table frame 415 for conveying the material sheets and a material blocking frame 433 for placing the material sheets are arranged on one side of the feeding frame 401, and a magnetic force tension divider 434 is fixedly connected to one side of the material blocking frame 433; a movable seat 402 capable of reciprocating in the left-right direction is arranged on the feeding frame 401, at least one sliding rail 401a is arranged on the feeding frame 401, the movable seat 402 is slidably connected to the sliding rail 401a, a mounting plate 402b is fixedly connected to the movable seat 402, the mounting plate 402b is arranged above the feeding frame 401, a driving motor 403 and two hold-down wheels 404 are connected to the mounting plate 402b, a driving synchronizing wheel 405 is connected to an output shaft 426a of the driving motor 403, the driving synchronizing wheel 405 is arranged between the two hold-down wheels 404, the driving synchronizing wheel 405 and the hold-down wheels 404 are connected together through a driving synchronizing belt 406, two ends of the driving synchronizing belt 406 are fixedly connected to two ends of the feeding frame 401 respectively, two ends of the feeding frame 401 in the height direction are provided with limiting blocks 407, one end of each limiting block 407 facing inwards is provided with an end buffer block 408, and the movable seat 402 can move left and right between the two end buffer blocks 408; the movable seat 402 is provided with a lifting rod 409 which can be lifted, the movable seat 402 is provided with a guide rail 402a, the lifting rod 409 is slidably connected to the guide rail 402a, the movable seat 402 is also fixedly connected with a motor mounting seat 410, the motor mounting seat 410 is provided with a lifting motor 411 and two tensioning wheels 412, an output shaft 426a of the lifting motor 411 is connected with a lifting synchronizing wheel 413, the lifting synchronizing wheel 413 is arranged between the two tensioning wheels 412, the lifting synchronizing wheel 413 and the tensioning wheels 412 are connected together through a lifting synchronizing belt 414, and two ends of the lifting synchronizing belt 414 are respectively fixedly connected with two ends of the lifting rod 409 in the height direction; the lifting rod 409 is connected with an end pick-up device 3 for sucking and taking a material piece at one downward end, a material blocking rack 433 of the vacuum chuck 307 is arranged below the end pick-up device 3, the end pick-up device 3 comprises an end pick-up device main pipe 301, a connecting plate 302 is arranged at the upper end of the end pick-up device main pipe 301, the end pick-up device 3 can be connected to the lower end of the lifting rod 409 through the connecting plate 302, at least two end pick-up device branch pipes 303 which extend towards the two sides of the end pick-up device main pipe 301 respectively are connected to the end pick-up device main pipe 301, a fixing plate 304 is arranged at one outward end of the end pick-up device branch pipes 303, the vacuum chuck 307 is connected to one downward end of a driving rod 306, a first linear driver 305 is arranged on the fixing plate 304, a driving rod 306 which can reciprocate in the height direction is arranged on the first linear driver 305, and the vacuum chuck 307 is connected to one downward end of the driving rod 306; a sliding table 425 capable of reciprocating in the left-right direction is arranged on the sliding table frame 415, at least one sliding table mounting seat 416 is arranged at the upper end of the sliding table frame 415, one end of the sliding table mounting seat 416 arranged opposite to the material blocking frame 433 is fixedly connected with a driving wheel mounting seat 417, a driving wheel 418 is rotatably connected in the driving wheel mounting seat 417, the other end of the sliding table mounting seat 416 is fixedly connected with a driving wheel mounting seat 419, a driving wheel 420 is rotatably connected in the driving wheel mounting seat 419, a rotating shaft 422 is rotatably connected to the driving wheel mounting seat 419, the driving wheel 418 and the driving wheel 420 are connected together through a driving belt 421, a guide sliding rail 423401a is arranged on the sliding table mounting seat 416, a sliding block 424 is slidably connected to the guide sliding rail 423401a, the sliding table 425 is fixedly connected to the sliding block 424, the sliding table 425 is connected to the driving belt 421, a driving motor 426 is connected to the sliding table frame 415, a driving wheel 427 is connected to an output shaft 426a of the driving motor 426, a driven wheel 428 is rotatably connected to the rotating shaft 422, and the driving wheel 427 is connected to the driven wheel 428 through the driving belt; a plurality of linear drivers IV 430 are arranged around the sliding table 425, a telescopic rod II 431 is arranged on the linear drivers IV 430, and one end of the telescopic rod II 431 extending outwards is connected with a telescopic plate 432; in the invention, the second linear driver 105 is a guide rod type electromagnetic coupling rodless cylinder.
The method for feeding the invention further comprises the following steps:
(1) The end effector 3 to be replaced is put on the rack in advance, the mechanical arm drives the end effector 3 to move and places the end effector 3 on the supporting claw 101a of the rack, and the mechanical arm stops acting;
(2) A replacement assembly is operated, a corner pressing cylinder 102 is operated, the claw 104 rotates and moves towards the direction of the end effector 3, the claw 104 clamps the end effector 3, a third linear driver 108 is operated, when the claw 110 hooks the handle 201d, the third linear driver 108 stops operating, a second linear driver 105 is operated, a moving seat 402 moves upwards, the claw 110 pushes the handle 201d to rotate upwards, when the clamping hook 201c is separated from the clamping pin 202a, the second linear driver 105 stops operating, the manipulator is separated from the end effector 3, the second linear driver 105 reversely operates, and when the claw 110 is separated from the handle 201d, the second linear driver 105 stops operating;
(3) The manipulator drives the quick-release female head to move towards the direction of the end pick-up 3 to be replaced, so that the quick-release male head is inserted into the accommodating cavity 201a of the quick-release female head, and the manipulator stops moving;
(4) The other replacement component acts, the claw 104 rotates and moves towards the direction of the end effector 3 to be replaced, the end effector 3 to be replaced is fixed on the rack, the moving plate 107 drives the claw 110 to move upwards to a designated position and then stops moving, the claw 110 rotates towards the direction of the handle 201d, the claw 110 hooks the handle 201d, the moving plate 107 drives the claw 110 to move downwards, the claw 110 drives the handle 201d to rotate downwards, the clamping hook 201c hooks the clamping pin 202a, the connection of the quick-release male head and the quick-release female head is realized, the connection of the manipulator and the end effector 3 to be replaced is completed, the claw 110 rotates towards the direction far away from the handle 201d, the claw 110 is separated from the handle 201d, and the replacement of the end effector 3 is completed;
(5) The mechanical arm drives the replaced end effector 3 to enable the connecting plate 302 to be abutted against the lower end of the lifting rod 409, the connecting plate 302 is manually fixed with the lifting rod 409, the handle 201d is pulled out, the clamping pin 202a is separated from the clamping pin 202a, and the replaced end effector 3 is separated from the mechanical arm;
(6) When the supporting rod 309 and the vacuum chuck 307 abut against the web, the vacuum generator controls the vacuum chuck 307 to suck the web, the sensor 308 senses the weight of the web, when the sensor 308 senses that the web sucked by the vacuum chuck 307 exceeds the weight of one web, the linear driver 305 is controlled to act, so that the web is lifted and lowered along with the vacuum chuck 307 for a plurality of times, until the sensor 308 senses that the web sucked by the vacuum chuck 307 is the weight of one web, the linear driver 305 stops acting, the lifting motor 411 reversely acts, so that the lifting rod 409 drives the end effector 3 to move upwards for a proper distance, the lifting motor 411 stops acting, the driving motor 403 acts, the moving seat 402 moves to the position above the sliding table 425, the lifting motor 411 acts again, the lifting rod 409 places the web on the sliding table 425, the vacuum chuck loosens the web, the linear driver 430 acts, the telescopic plate 432 stretches and centers the web, and the driving motor 426 acts, so that the sliding table 307 drives the web to move to the next station.
When the invention works, a plurality of layers of tablets are piled on the material blocking rack 433 in advance to form a material stack 5, and the magnetic separator 434 separates the uppermost 1-5 layers of tablets of the material stack 5, so that each 1-5 layers of tablets are slightly separated, and the vacuum chuck 307 is convenient to absorb the tablets; according to the shape of the material sheet, the end picking device 3 can be replaced on the end picking device 3 replacing mechanism 1, a replacing component for separating the manipulator and the end picking device 3 is a replacing component I, a replacing component for connecting the manipulator and the end picking device 3 to be replaced is a replacing component II, the end picking device 3 is arranged on the manipulator, the manipulator is a device that the driving end picking device 3 moves towards the direction of the replacing rack 101 or moves away from the direction of the replacing rack 101, the end picking device 3 to be replaced is placed on a supporting claw 101a close to the replacing component II, the manipulator drives the end picking device 3 to move towards the direction of the supporting claw 101a close to the replacing component I, the end picking device 3 is placed on the supporting claw 101a, a corner pressing cylinder 102 of the replacing component I acts, a telescopic rod 103 of the corner pressing cylinder 102 drives a claw 104 to move towards the direction of the end picking device 3 in the left-right direction and rotate, the claw 104 fixes the end effector 3 on the replacement rack 101, the third linear driver 108 acts, the push-pull rod 109 pushes the claw 110 to rotate towards the direction of the handle 201d, when the claw 110 hooks the handle 201d, the third linear driver 108 stops acting, the second linear driver 105 controls the moving body 106 to move upwards, the moving body 106 drives the moving plate 107 to move upwards, the moving plate 107 pushes the claw 110 to move upwards, the claw 110 pushes the handle 201d to rotate upwards, when the clamping hook 201c is separated from the clamping pin 202a, the mechanical arm separates from the end effector 3, the second linear driver 105 stops acting, the third linear driver 108 acts reversely, the push-pull rod 109 pushes the claw 110 to rotate towards the direction away from the handle 201d, the claw 110 is separated from the handle 201d, namely the claw 110 is separated from the quick-release female head, the mechanical arm drives the quick-release female head to move towards the direction of the end effector 3 to be replaced, the quick-release male head is inserted into the accommodating cavity 201a of the quick-release female head, the mechanical arm stops moving, the replacing assembly II moves, the corner pressing cylinder 102 of the replacing assembly II moves, the telescopic rod 103 of the corner pressing cylinder 102 drives the claw 104 to rotate towards the direction of the end pick-up device 3 to be replaced and move, the end pick-up device 3 to be replaced is fixed on the rack, the linear driver II 105 moves, the linear driver II 105 drives the moving body 106 to move upwards until the moving plate 107 drives the claw 110 to move upwards to a designated position, the linear driver II 105 stops moving, the linear driver III 108 moves, the push-pull rod 109 pushes the claw 110 to rotate towards the direction of the handle 201d, when the claw 110 hooks the handle 201d, the linear driver III 108 stops moving, the linear driver II 105 reversely moves to drive the moving body 106 to move downwards, the moving body 106 drives the moving plate 107 to move downwards, the claw 110 is pushed to move downwards, the claw 110 pulls the handle 201d to rotate downwards, the clamping hook 201c hooks the clamping pin 202a, the mechanical arm is connected with the end pick-up device 3 to be replaced, the linear driver II 105 stops moving, the linear driver III 108 pushes the claw 109 to rotate towards the direction of the handle 201d, and the claw 201d is disconnected from the working end of the quick-change tool, and the claw 110 is disconnected from the working end of the hook 3; the mechanical arm drives the replaced new end effector 3 to move towards the direction of the lifting rod 409, when the connecting plate 302 is abutted against the lower end of the lifting rod 409, the mechanical arm stops moving, the connecting plate 302 is manually fixed with the lifting rod 409, the handle 201d is pulled out, the clamping pin 202a is separated from the clamping pin 202a, and the separation of the new end effector 3 from the mechanical arm is realized; the lifting motor 411 acts, the lifting motor 411 acts to enable the lifting synchronous wheel 413 to rotate, the tensioning wheel 412 is arranged, meshing transmission between the lifting synchronous wheel 413 and the lifting synchronous belt 414 can be guaranteed, the lifting rod 409 moves downwards on the moving seat 402 along the guide rail 402a, when the supporting rod 309 and the vacuum chuck 307 abut against the material sheets, the lifting motor 411 stops acting, the vacuum chuck 307 sucks the material sheets on the upper side of the material stack 5, the sensor 308 senses the weight of the material sheets, when the sensor 308 senses that the material sheets sucked by the vacuum chuck 307 exceed the weight of one material sheet, the linear driver 305 is controlled to repeatedly act in the forward direction and reverse direction for a plurality of times, after the driving rod 306 of the linear driver 305 lifts the material sheets along with the vacuum chuck 307 for a plurality of times, until the sensor 308 senses that the material sheets sucked by the vacuum chuck 307 are the weight of one material sheet, the linear driver 305 stops acting, and the lifting motor 411 reversely acts, after the lifting rod 409 drives the end effector 3 to move upwards for a proper distance, the lifting motor 411 stops moving, the driving motor 403 moves to enable the driving synchronous wheel 405 to rotate, the pressing wheel 404 is arranged to ensure that the driving synchronous wheel 405 and the driving synchronous belt 406 are in meshed transmission, the movable seat 402 moves leftwards on the feeding frame 401 along the sliding rail 401a, the movable seat 402 moves above the sliding table 425, the lifting motor 411 moves, the lifting rod 409 places a tablet on the sliding table 425, the vacuum chuck 307 releases the tablet, the linear driver four 430 moves, the telescopic rod two 431 of the linear driver four 430 drives the telescopic plate 432 to stretch and straighten the tablet, the transmission motor 426 moves again, the output shaft 426a of the transmission motor 426 drives the driving wheel 427 to rotate, the driving wheel 427 transmits force to the driven wheel 428 via the transmission belt 429 to enable the driven wheel 428 to rotate, the rotation of the driven wheel 428 drives the rotating shaft 422 to rotate, the rotation of the rotating shaft 422 drives the first driving wheel 418 to rotate, the first driving wheel 418 transmits power to the second driving wheel 420 through the driving belt 421 to enable the second driving wheel 420 to rotate, the sliding table 425 is driven by the movement of the driving belt 421 to move leftwards, the sliding table 425 drives the material sheet to move to the next station, and the telescopic plate 432, the sliding table 425, the movable seat 402 and the lifting rod 409 return to the initial positions, so that the next material sheet feeding work can be performed; according to the invention, the end pick-up 3 replacement mechanism 1 can be utilized to replace the end pick-up 3 with different specifications according to the actual shape of the material sheet, and the feeding mechanism 4 is arranged, so that the work is labor-saving and the work efficiency is high; can be applied to the feeding work of the material sheets.
The invention is not limited to the above embodiments, and based on the technical solutions disclosed in the invention, those skilled in the art may make some substitutions and modifications to some technical features without creative effort according to the disclosed technical contents, and these substitutions and modifications are all within the protection scope of the invention.

Claims (9)

1. Multipurpose loading attachment, its characterized in that: the device comprises a feeding mechanism and an end effector replacing mechanism, wherein the feeding mechanism comprises a feeding rack, the end effector replacing mechanism comprises a replacing rack, a plurality of supporting claws for supporting the end effector are arranged on the periphery of the replacing rack, at least two groups of replacing assemblies are arranged on the replacing rack, each replacing assembly comprises a claw capable of rotating and performing reciprocating linear movement in the left-right direction and a lifting moving plate, when the end effector is supported and arranged on the supporting claws, the claw can clamp the upper part of the end effector, and the moving plate is hinged with a hook claw extending upwards and capable of rotating; a sliding table frame for conveying the material sheets and a material blocking frame for placing the material sheets are arranged on one side of the feeding frame, a movable seat capable of reciprocating in the left-right direction is arranged on the feeding frame, a lifting rod capable of lifting is arranged on the movable seat, one end of the lifting rod facing downwards is connected with an end pick-up device for sucking the material sheets, the end pick-up device is connected with a supporting rod and a vacuum chuck capable of reciprocating in the height direction, the vacuum chuck is arranged outside the supporting rod, the material blocking frame is arranged below the end pick-up device, and a sliding table capable of reciprocating in the left-right direction is arranged on the sliding table frame; the quick-change female head is connected to the manipulator, the quick-change male head is connected to the end effector, the accommodating cavity is formed in the quick-change female head, one end of the quick-change male head, far away from the end effector, is inserted upwards into the accommodating cavity, at least one guide chute is formed in the outer side of one end, arranged opposite to the end effector, of the quick-change female head, a clamping pin is arranged on the quick-change male head, at least one clamping hook is hinged to the outer side of the quick-change female head, the clamping hook can hook the clamping pin extending out of the guide chute, the clamping hook is fixedly connected with an outwards extending handle, and the hook claw can hook the handle.
2. The multipurpose feeding apparatus according to claim 1, wherein: the end effector comprises an end effector main pipe, a connecting plate is arranged at the upper end of the end effector main pipe, the end effector can be connected to the lower end of the lifting rod through the connecting plate, at least two end effector branch pipes which extend towards the two sides of the end effector main pipe respectively are connected to the end effector main pipe, a fixing plate is arranged at one end of each end effector branch pipe which extends outwards, a first linear driver is arranged on the fixing plate, a driving rod capable of moving in a reciprocating manner in the height direction is arranged on the first linear driver, a vacuum chuck is connected to the downward end of the driving rod, and an inductor is arranged in the vacuum chuck.
3. The multipurpose feeding device according to claim 1, wherein a corner pressing cylinder is arranged at the upper end of the replacing rack, a telescopic rod I capable of reciprocating in the left-right direction and rotating is arranged on the corner pressing cylinder, one end of a claw is fixedly connected with one outward end of the telescopic rod I, and the other end of the claw can clamp the end pick-up device; the replacing assembly further comprises a second linear driver fixedly connected to the replacing rack, a moving body capable of moving up and down in the height direction is arranged on the second linear driver, and the moving plate is fixedly connected with the moving body; the movable plate is hinged with a linear driver III, a push-pull rod capable of moving up and down in the height direction in a reciprocating mode and extending upwards is arranged on the linear driver III, and one upward end of the push-pull rod is hinged with the hook claw.
4. The multipurpose feeding apparatus according to claim 1, wherein: the feeding machine comprises a feeding machine frame, a driving motor, a driving synchronous wheel, a driving synchronous belt and two pressing wheels, wherein the feeding machine frame is provided with at least one sliding rail, the moving seat is slidably connected onto the sliding rail, a mounting plate is fixedly connected onto the moving seat, the mounting plate is arranged above the feeding machine frame, the driving motor and the two pressing wheels are connected onto an output shaft of the driving motor, the driving synchronous wheel is arranged between the two pressing wheels, the driving synchronous wheel is connected with the pressing wheels through the driving synchronous belt, and two ends of the driving synchronous belt are fixedly connected with two ends of the feeding machine frame respectively.
5. The multipurpose feeding apparatus of claim 4, wherein: the feeding frame is equipped with the stopper at the both ends in the direction of height, and the inward one end of stopper is equipped with the end buffer block, removes the seat and can control between two end buffer blocks.
6. The multipurpose feeding apparatus according to claim 1, wherein: the lifting device is characterized in that a guide rail is arranged on the movable seat, the lifting rod is slidably connected to the guide rail, a motor installation seat is fixedly connected to the movable seat, a lifting motor and two tensioning wheels are installed on the motor installation seat, a lifting synchronous wheel is connected to an output shaft of the lifting motor, the lifting synchronous wheel is arranged between the two tensioning wheels, the lifting synchronous wheel is connected with the tensioning wheels through a lifting synchronous belt, and two ends of the lifting synchronous belt are fixedly connected to two ends of the lifting rod in the height direction respectively.
7. The multipurpose feeding apparatus according to claim 1, wherein: the upper end of the slipway rack is provided with at least one slipway mounting seat, one end of the slipway mounting seat arranged opposite to the material blocking frame is fixedly connected with a first driving wheel mounting seat, a first driving wheel is rotatably connected in the first driving wheel mounting seat, the other end of the slipway mounting seat is fixedly connected with a second driving wheel mounting seat, a second driving wheel is rotatably connected in the second driving wheel mounting seat, a rotating shaft is rotatably connected on the second driving wheel mounting seat, the first driving wheel and the second driving wheel are connected together through a driving belt, a guide slide rail is arranged on the slipway mounting seat, a sliding block is slidably connected on the guide slide rail, the slipway is fixedly connected on the sliding block, the slipway is connected with the driving belt, a driving motor is connected on an output shaft of the driving motor, a driven wheel is connected on the rotating shaft, and the driving wheel and the driven wheel are connected together through the driving belt.
8. The multipurpose feeding apparatus of claim 7, wherein: a plurality of linear drivers four are arranged around the sliding table, a telescopic rod two is arranged on the linear drivers four, and one end of the telescopic rod two, which extends outwards, is connected with a telescopic plate.
9. A method of loading using a multipurpose loading apparatus according to any one of claims 1 to 8, comprising the steps of:
(1) The end effector to be replaced is put on a replacing rack in advance, the mechanical arm drives the end effector to move and put the end effector on a supporting claw of the replacing rack, and the mechanical arm stops acting;
(2) The device comprises a replacement component, a corner pressing cylinder, a claw, a linear driver, a hook claw, a movable seat, a clamping hook, a manipulator, a handle, a clamping pin, a manipulator, a three-way linear driver and a three-way linear driver, wherein the replacement component acts, the corner pressing cylinder acts to enable the claw to rotate and move towards the direction in which the end effector is located, the claw clamps the end effector, the three-way linear driver acts to enable the hook claw to rotate towards the direction in which the handle is located, the three-way linear driver stops acting when the hook claw hooks the handle, the two-way linear driver acts to enable the movable seat to move upwards, the hook claw pushes the handle to rotate upwards, the two-way linear driver stops acting when the clamping hook is separated from the clamping pin, the manipulator is separated from the end effector, the three-way linear driver acts reversely, and the three-way linear driver stops acting when the hook claw is separated from the handle;
(3) The manipulator drives the quick-release female head to move towards the direction of the end pick-up to be replaced, so that the quick-release male head is inserted into the accommodating cavity of the quick-release female head, and the manipulator stops moving;
(4) The other replacement component acts, the claw rotates and moves towards the direction of the end effector to be replaced, the end effector to be replaced is fixed on the rack, the moving plate drives the claw to move upwards to a designated position and then stops moving, the claw rotates towards the direction of the handle, the claw hooks the handle, the moving plate drives the claw to move downwards, the claw drives the handle to rotate downwards, the clamping hook hooks the clamping pin, the connection of the quick-release male head and the quick-release female head is achieved, namely the connection of the manipulator and the end effector to be replaced is completed, the claw rotates towards the direction away from the handle, the claw is separated from the handle, and the replacement of the end effector is completed;
(5) The mechanical arm drives the replaced end pick-up device to enable the connecting plate to be abutted against the lower end of the lifting rod, the connecting plate is manually fixed with the lifting rod, the handle is pulled open, the clamping pin is separated from the clamping pin, and the replaced end pick-up device is separated from the mechanical arm;
(6) When the supporting rod and the vacuum chuck touch the material sheet, the vacuum chuck sucks the material sheet, the sensor senses the weight of the material sheet, when the sensor senses that the material sheet sucked by the vacuum chuck exceeds the weight of one material sheet, the linear driver I is controlled to act, so that the material sheet is lifted for a plurality of times along with the vacuum chuck, until the sensor senses that the material sheet sucked by the vacuum chuck is the weight of one material sheet, the linear driver I stops acting, the lifting motor reversely acts, the lifting rod drives the end pick up device to move upwards for a proper distance, the lifting motor stops acting, the driving motor acts, the movable seat moves to the upper part of the sliding table, the lifting motor acts again, the lifting rod places the material sheet on the sliding table, the vacuum chuck loosens the material sheet, the linear driver four acts, the telescopic plate is telescopic to straighten the material sheet, and the driving motor acts, so that the sliding table drives the material sheet to move to the next station.
CN201910360791.1A 2019-04-30 2019-04-30 Multipurpose feeding device and feeding method Active CN109941765B (en)

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