CN110304449A - Feeding device - Google Patents
Feeding device Download PDFInfo
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- CN110304449A CN110304449A CN201910697253.1A CN201910697253A CN110304449A CN 110304449 A CN110304449 A CN 110304449A CN 201910697253 A CN201910697253 A CN 201910697253A CN 110304449 A CN110304449 A CN 110304449A
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- grasping mechanism
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- 230000007246 mechanism Effects 0.000 claims abstract description 213
- 230000001105 regulatory effect Effects 0.000 claims abstract description 26
- 238000006073 displacement reaction Methods 0.000 claims description 48
- 238000003825 pressing Methods 0.000 claims description 23
- 238000001514 detection method Methods 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 claims description 14
- 239000000047 product Substances 0.000 description 19
- 238000010586 diagram Methods 0.000 description 12
- 238000005452 bending Methods 0.000 description 8
- 238000011179 visual inspection Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000001360 synchronised effect Effects 0.000 description 6
- 229910003460 diamond Inorganic materials 0.000 description 3
- 239000010432 diamond Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000013013 elastic material Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000003031 feeding effect Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
Abstract
Present invention discloses a kind of feeding devices comprising feeding load-bearing part, regulating mechanism and grasping mechanism, regulating mechanism are set to feeding load-bearing part, and grasping mechanism is slidably connected to feeding load-bearing part, and connect with regulating mechanism；Grasping mechanism is used to adjust the position of grasping mechanism crawl product for grabbing product, regulating mechanism.The application is adjusted by the position that regulating mechanism grabs product to grasping mechanism, grasping mechanism is enabled flexibly to carry out crawl feeding, good compatibility, applicability height to multiple products of different interval arrangement, it is easy to use, and then guarantee going on smoothly for the subsequent handling that product matches.
Description
Technical field
The present invention relates to automatic producing technology fields, are specifically related to a kind of feeding device.
Background technique
Battery core pairing is the important procedure in automatic battery production process, and the speed shadow of clock synchronization feeding battery core is matched to battery core
The process of subsequent handling is rung, in order to guarantee the continual progress of subsequent handling, in the battery core feeding matched to battery core, often
The multiple battery cores of disposable feeding can be used.And feeding device in the prior art can only to fixed intervals arrange multiple battery cores into
Row feeding can not be adjusted flexibly, poor compatibility, cause using inconvenience.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of feeding device.
A kind of feeding device includes feeding load-bearing part, regulating mechanism and grasping mechanism；Regulating mechanism is set to feeding load-bearing part；
Grasping mechanism is slidably connected to feeding load-bearing part, and connect with regulating mechanism；Grasping mechanism is used for grabbing product, regulating mechanism
In the position for adjusting grasping mechanism crawl product.
According to an embodiment of the present invention, regulating mechanism includes adjusting driving assembly and link assembly；Adjust driving group
Part is connect by link assembly with multiple grasping mechanisms；Driving assembly drive link component is adjusted, link assembly adjusts more respectively
The position of a grasping mechanism crawl product.
According to an embodiment of the present invention, link assembly includes multiple link members；Multiple link member linkages, and drive respectively
Multiple grasping mechanism displacements.
According to an embodiment of the present invention, grasping mechanism includes crawl load-bearing part, crawl driving assembly and grabbing assembly；
Crawl load-bearing part is slidably connected to feeding load-bearing part；It grabs driving assembly and is set to crawl load-bearing part, output end and grabbing assembly
Connection；Driving assembly driving grabbing assembly is grabbed to clamp product.
According to an embodiment of the present invention, grasping mechanism further includes pressing driving assembly and pressing part；Press driving group
The output end of part is connect with pressing part；The product that pressing driving assembly driving pressing part clamps grabbing assembly presses.
According to an embodiment of the present invention, grasping mechanism further includes crawl detection piece；Detection piece is grabbed for detecting crawl
Whether component has grabbed product.
It according to an embodiment of the present invention, further include clamping displacement mechanism；It clamps displacement mechanism and feeding load-bearing part connects
It connects；It is mobile to clamp displacement mechanism driving feeding load-bearing part, and then drives grasping mechanism mobile.
It according to an embodiment of the present invention, further include gantry mechanism；Gantry mechanism includes portal frame and gantry driving
Component；Clamping displacement mechanism is slidably connected to portal frame；The output end of gantry driving assembly is connect with clamping displacement mechanism, is driven
Dynamic clamping displacement mechanism drives grasping mechanism mobile in moving on portal frame.
It according to an embodiment of the present invention, further include feeding transfer mechanism；Feeding transfer mechanism is moved set on grasping mechanism
On dynamic path, the product of grasping mechanism crawl is placed in feeding transfer mechanism；Feeding transfer mechanism is for transferring product.
It according to an embodiment of the present invention, further include transfer transfer mechanism；Transfer mechanism is transferred to move set on grasping mechanism
On dynamic path, and it is located at the side of feeding transfer mechanism, the positioning transfer before being used for feeding transfer mechanism transfer product.
Compared with the existing technology, the application is adjusted by the position that regulating mechanism grabs product to grasping mechanism, is made
Obtaining grasping mechanism flexibly can carry out crawl feeding to multiple products of different interval arrangement, and good compatibility, applicability is high, uses
It is convenient, and then guarantee going on smoothly for the subsequent handling that product matches.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of feeding device in the present embodiment；
Fig. 2 is the structural schematic diagram of link assembly in the present embodiment；
Fig. 3 is the structural schematic diagram of link member in the present embodiment；
Fig. 4 is the structural schematic diagram of grasping mechanism in the present embodiment；
Fig. 5 is the structural schematic diagram that displacement mechanism and gantry mechanism are clamped in the present embodiment；
Fig. 6 is the structural schematic diagram of feeding transfer mechanism in the present embodiment.
Description of symbols:
1, feeding load-bearing part；11, feeding loading plate；12, guide rail；13, sliding block；2, regulating mechanism；21, driving group is adjusted
Part；211, actuator is adjusted；212, adjustable plate；22, link assembly；221, link member；2211, the first hinge joint；2212, second
Hinge joint；2213, third hinge joint；2214, the 4th hinge joint；3, grasping mechanism；31, load-bearing part is grabbed；311, upper crawl is held
Support plate；312, lower crawl loading plate；313, connecting plate；32, driving assembly is grabbed；321, actuator is grabbed；33, grabbing assembly；
331, clamping jaw slide plate；3311, tooth hole；332, jaw plate；333, clip；3331, bending part；34, driving assembly is pressed；341, it presses
Close actuator；35, pressing part；351, briquetting；36, detection piece is grabbed；37, auxiliary adjustment actuator；371, fixed plate；4, it clamps
Displacement mechanism；41, displacement frame is clamped；42, displacement drive part is clamped；43, guide part；51, portal frame；52, gantry driving assembly；
6, feeding transfer mechanism；7, transfer mechanism is transferred；71, transfer rack；72, positioning table；8, visual inspection machine structure 7；9, barcode scanning mechanism.
Specific embodiment
Multiple embodiments of the invention will be disclosed with schema below, as clearly stated, the details in many practices
It will be explained in the following description.It should be appreciated, however, that the details in these practices is not applied to limit the present invention.Also
It is to say, in some embodiments of the invention, the details in these practices is non-essential.In addition, for the sake of simplifying schema,
Some known usual structures and component will be painted it in the drawings in simply illustrative mode.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only in the embodiment of the present invention
For explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if
When the particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, not especially censure
The meaning of order or cis-position, also non-to limit the present invention, the component described just for the sake of difference with same technique term
Or operation, it is not understood to indicate or imply its relative importance or implicitly indicates the number of indicated technical characteristic
Amount." first " is defined as a result, the feature of " second " can explicitly or implicitly include at least one of the features.In addition, each
Technical solution between a embodiment can be combined with each other, but must can be implemented as base with those of ordinary skill in the art
Plinth will be understood that the combination of this technical solution is not present when conflicting or cannot achieve when occurs in the combination of technical solution,
Also not the present invention claims protection scope within.
For that can further appreciate that the contents of the present invention, feature and effect, the following examples are hereby given, and cooperates attached drawing detailed
It is described as follows:
Referring to Fig.1, Fig. 1 is the structural schematic diagram of feeding device in the present embodiment.Feeding device includes upper in the present embodiment
Expect load-bearing part 1, regulating mechanism 2 and grasping mechanism 3.Regulating mechanism 2 is set to feeding load-bearing part 1, and grasping mechanism 3 is slidably connected to
Expect load-bearing part 1, and is connect with regulating mechanism 2.Grasping mechanism 3 is for grabbing product, and regulating mechanism 2 is for adjusting grasping mechanism 3
Grab the position of product.
It is adjusted by the position that regulating mechanism 2 grabs product to grasping mechanism 3, enables grasping mechanism 3 flexible
Crawl feeding is carried out to multiple products of different interval arrangement, good compatibility, applicability is high, and it is easy to use, and then guarantee product
The subsequent handling of pairing is gone on smoothly.Product in the present embodiment is battery core.
Again referring to Fig.1, further, regulating mechanism 2 includes adjusting driving assembly 21 and link assembly 22.Adjust driving group
Part 21 is connect by link assembly 22 with multiple grasping mechanisms 3.Adjust 21 drive link component 22 of driving assembly, link assembly 22
The position that multiple grasping mechanisms 3 grab battery core is adjusted respectively.
It is understood that when battery core is in transmission, the interval between the battery core of each adjacent two be it is certain, it is multiple to grab
When mechanism 3 being taken to grab multiple battery cores, the corresponding crawl position of battery core is that needs are corresponding with the interval of battery core.This implementation
Adjusting of the link assembly 22 to multiple grasping mechanisms 3 crawl battery core position in example is the position by adjusting multiple grasping mechanisms 3
It moves, and then adjusts the spacing distance between each adjacent two grasping mechanism 3, reach adaptation crawl position, then grasping mechanism 3 is right
Battery core is grabbed.
Again referring to Fig.1, further, feeding load-bearing part 1 includes feeding loading plate 11, guide rail 12 and multiple sliding blocks 13.
Feeding loading plate 11 is approximately rectangle tabular, and guide rail 12 is layed in feeding loading plate along the length direction of feeding loading plate 11
11 lower surface, it is preferred that the quantity of guide rail 12 is two, and two guide rails 12 are arranged side by side.Multiple sliding blocks 13 company of sliding respectively
It is connected on two guide rails 12 arranged side by side, and the sliding block 13 on two guide rails 12 arranged side by side corresponds, corresponds
Sliding block 13 form a sliding block group, the quantity of the sliding block group in the present embodiment is three groups, and three sliding block groups are along arranged side by side
The length direction of guide rail 12 is sequentially arranged at intervals.
The upper surface that driving assembly 21 is set to feeding loading plate 11 is adjusted, and close to one end of feeding loading plate 11, even
Bar assembly 22 is located at the lower section of feeding loading plate 11, and the output end for adjusting driving assembly 21 is connect with link assembly 22, multiple to grab
Mechanism 3 is taken to connect respectively with link assembly 22, it is flexible to adjust 21 drive link component 22 of driving assembly, the band respectively of link assembly 22
Move multiple 3 synchronous shifts of grasping mechanism.Multiple 3 synchronous shifts of grasping mechanism are driven respectively by link assembly 22, and are made every
The displacement of one grasping mechanism 3 is different, and then changes the spacing between two neighboring grasping mechanism 3, reaches adjusting gripper
The purpose of 3 spacing of structure.The quantity of grasping mechanism 3 in the present embodiment is four, wherein three grasping mechanisms 3 are connected to three
A sliding block group, a remaining grasping mechanism 3 are directly fixed on the lower surface of feeding loading plate 11, and close to adjusting driving assembly
21；Four grasping mechanisms 3 are sequentially arranged at intervals, and are connect respectively with link assembly 22.
Again referring to Fig.1, further, adjusting driving assembly 21 includes adjusting actuator 211 and adjustable plate 212.It adjusts
Actuator 211 is set to the upper surface of feeding loading plate 11, and the output end for adjusting actuator 211 is connect with one end of adjustable plate 212,
The another of adjustable plate 212 connect after feeding loading plate 11 with link assembly 22.Feeding loading plate 11 is along length side
To strip channel is offered, adjustable plate 212 can adjust the driving of actuator 211 and adjust in carrying out linear movement in the strip channel
Length direction linear movement of the plate 212 along feeding loading plate 11, the drive progress expanding-contracting action of link assembly 22 of adjustable plate 212,
Link assembly 22 drives four grasping mechanisms 3 to carry out spacing adjusting.Linear mould can be used in adjusting actuator 211 in the present embodiment
Other actuators can also be used, herein without limitation in the cooperation of group or driving motor and screw pair certainly.
It is the structural schematic diagram of link assembly in the present embodiment with continued reference to Fig. 2 and Fig. 3, Fig. 2, Fig. 3 is in the present embodiment
The structural schematic diagram of link member.Further, the output end for adjusting driving assembly 21 is connect with link assembly 22, adjusts driving group
21 drive link component 22 of part is flexible, and the multiple grasping mechanisms 3 of the flexible drive of link assembly 22 are in sync bit on feeding load-bearing part 1
It moves.
Link assembly 22 includes multiple link members 221 in the present embodiment, and multiple link members 221 link, multiple link members 221
It is connect respectively with multiple grasping mechanisms 3, multiple link members 221 of linkage drive multiple grasping mechanisms 3 to be displaced respectively, wherein one
Link member 221 is corresponding to drive a grasping mechanism 3 to be displaced.Specifically, multiple link members 221 are hinged, driving assembly 21 is adjusted
Output end connect with the hinge joint of multi link part 221, adjust driving assembly 21 drive multiple 221 synchronization telescopes of link member, into
And multiple 3 synchronous shifts of grasping mechanism are driven, achieve the purpose that while adjusting to be spaced between multiple grasping mechanisms 3.
Specifically, the link member 221 in the present embodiment is three as shown in figure 3, link member 221 is four-bar linkage
The continuous hinge screw body of diamond structure composition, there are four hinge joints for tool, are divided by one end of link member 221 to the other end
Not Wei the first hinge joint 2211, the second hinge joint 2212, third hinge joint 2213 and the 4th hinge joint 2214, when one of them
When hinge joint is mobile, other hinge joints, which can synchronize, follows movement, and angular displacement, angular speed and the angular acceleration of link member 221
Also equal always.The quantity of link member 221 in the present embodiment is three, and the angle of the diamond structure of three link members 221
Angle it is different so that three link members 221 form different tensile elongations.Refer again to Fig. 2, the first of three link members 221
Hinge joint 2211 is hinged, and is articulated on the grasping mechanism 3 for being fixed on the lower surface of feeding loading plate 11.Three connecting rods
Second hinge joint 2212 of part 22 is hinged with the other end of adjustable plate 212 respectively, is slidably connected to the following table of feeding loading plate 11
One grasping mechanism 3 in face is connect with adjustable plate 212, and the grasping mechanism 3 be fixed on grabbing for 11 lower surface of feeding loading plate
Take mechanism 3 adjacent.The grasping mechanism 3 that other two is slidably connected to feeding loading plate 11 is successively drawn with three link members 221
The third hinge joint 2213 of longer two link members 221 of elongation and the connection of the 4th hinge joint 2214, specifically, one
Grasping mechanism 3 is connect with the third hinge joint 2213 of a link member 221, another grasping mechanism 3 and another link member 221
The 4th hinge joint 2214 connection.In this way, the first hinge joint 2211 of three link members 221 is not relative to moving, adjustable plate 212 is moved
When dynamic, the movement of a grasping mechanism 3 is driven, by having driven three link members 221 to stretch, synchronous drive second
Hinge joint 2212 is mobile, so that three link members 221 are synchronized and are displaced, and because, the diamond structure folder of three link members 221
The angle at angle is different, so that the length of telescopic displacement is different while three link member 211, in this way, making three grasping mechanisms 3
The different distance of synchronizing moving, and then have adjusted the interval between four grasping mechanisms 3.
It is the structural schematic diagram of grasping mechanism in the present embodiment with continued reference to Fig. 1 and Fig. 4, Fig. 4.Further, grasping mechanism 3
Including crawl load-bearing part 31, crawl driving assembly 32 and grabbing assembly 33.Crawl load-bearing part 31 is slidably connected to feeding carrying
Part 1；It grabs driving assembly 32 and is set to crawl load-bearing part 31, output end is connect with grabbing assembly 33；Driving assembly 32 is grabbed to drive
Dynamic grabbing assembly 33 clamps battery core.
Specifically, crawl load-bearing part 31 includes upper crawl loading plate 311, lower crawl loading plate 312 and two connecting plates
313.Upper crawl loading plate 311 and lower crawl loading plate 312 are arranged in parallel.The both ends of one connecting plate 313 respectively with upper crawl
Loading plate 311 and it is lower crawl loading plate 312 one end connection, the both ends of another connecting plate 313 respectively with upper crawl loading plate
311 and it is lower crawl loading plate 312 the other end connection so that crawl load-bearing part 31 longitudinal section formed a rectangular frame knot
Structure.It grabs loading plate 311 on one of them to connect with the end of feeding loading plate 11, the upper crawl loading plate 311 of excess-three divides
It is not connect with three sliding block groups.Three link members 221 are respectively positioned between crawl loading plate 311 and lower crawl loading plate 312,
The hinge joint of three link members 221 is connect with upper crawl loading plate 311 respectively, and then forms the connection relationship with grasping mechanism 3.
It grabs driving assembly 32 and is set to lower crawl loading plate 312.Specifically, crawl driving assembly 32 includes that two crawls are driven
Moving part 321, two crawl actuators 321 are respectively arranged on lower 312 lower surface of crawl loading plate, and carry respectively close in lower crawl
Two long sides of plate 312, and the output end of two crawl actuators 321 is disposed opposite to each other.Crawl actuator in the present embodiment
321 can be used cylinder.
Grabbing assembly 33 includes two clamping jaw slide plates, 331, two jaw plates 332 and two clips 333.Two clamping jaws are sliding
Plate 331 is parallel with lower crawl loading plate 312, and is slidably connected to the lower surface of lower crawl loading plate 312 respectively, and two clamping jaws are sliding
The end of plate 331 is opposite, and has interval between the two.The output end of two crawl actuators 321 is sliding with two clamping jaws respectively
Plate 331 connects, and two crawl actuators 321 drive two clamping jaw slide plates 331 sliding along the length direction of lower crawl loading plate 312
It is dynamic, so that two clamping jaw slide plates 331 can be close to each other or be located remotely from each other.One end of two jaw plates 332 is respectively perpendicular set on two
The lower surface of a clamping jaw slide plate 331, two clips 333 are respectively arranged on the other end of two jaw plates 332.Two clamping jaw slide plates
331 synchronous drive two jaw plates 332 close to each other when being perhaps located remotely from each other are close to each other or are located remotely from each other, so that
Two clips 333 realize the clamping to battery core close to battery core or separate release battery core is clamped.Preferably, the end of clip 333
The bending part 3331 of bending part 3331 with L-type, two clips 333 is oppositely arranged, when two clips 333 clamp battery core
When, the bending part 3331 of L-type holds the lower surface of battery core, so that battery core is in support clip-like state, ensure that battery core in moving process
Stability.Preferably, clip 333 can be used elastic material and be made, and can also be used and wraps up elastic material in the external of hard material
Matter, such as flexible glue damage battery core when clip 333 so being avoided to clamp battery core and 3331 support battery core of bending part.
Preferably, multiple tooth holes 3311 are offered on clamping jaw slide plate 331, multiple tooth holes 3311 are along clamping jaw slide plate 331
Length direction is arranged successively.The end of jaw plate 332 is vertically fixed on the following table of clamping jaw slide plate 331 by fixing pieces such as screws
Face.When two jaw plates 332 are separately fixed on tooth hole 3311 different on two clamping jaw slide plates 331, the adjusting that can be adapted to
The distance between relative distance between two jaw plates 332, and then adjust two clips 333, it is driven in this way, realizing in crawl
The distance between two jaw plates 332 are adjusted except the driving trip of moving part 321, to be fitted to different specification size
The clamping of battery core improves the adaptability of grabbing assembly 33, so that the clamping of clip 333 battery core is more adapted to and consolidates.
Multiple reference Fig. 4, further, grasping mechanism 3 further includes pressing driving assembly 34 and pressing part 35.Pressing driving
Component 34 is set to grabbing assembly 33, and output end is connect with pressing part 35；It presses driving assembly 34 and drives 35 pairs of pressing part crawls
The battery core that component 33 clamps is pressed.
Specifically, pressing driving assembly 34 includes two pressing actuators 341, pressing part 35 includes two briquettings 351.Two
A pressing actuator 341 is respectively arranged on the insides of two jaw plates 332, two briquettings 351 respectively with two pressing actuators 341
Output end connection and two briquettings 351 it is opposite with the bending part 3331 of two clips 333 respectively.Actuator 341 is pressed to drive
Briquetting 351 is moved back and forth towards the direction close to and far from bending part 3331, when 333 support of clip clamps battery core, pressing driving
Part 341 drives briquetting 351 to be pressed in the upper surface of battery core, further increases the stability that grabbing assembly 33 clamps battery core, protects
When demonstrate,proving the movement of grabbing assembly 33, the battery core of clamping will not be moved.Preferably, briquetting 351 is coated with elastic material, keeps away
When exempting from the pressing of briquetting 351, battery core is damaged.
Multiple reference Fig. 4, further, grasping mechanism 3 further include crawl detection piece 36.Crawl detection piece 36 is set to crawl and holds
Holder 31, is used to detect whether grabbing assembly 33 to have grabbed battery core.Specifically, crawl detection piece 36 is set to jaw plate 332
On, and between clip 333 and briquetting 351, the test side of detection piece 36 is grabbed towards bending part 3331, when 333 support of clip
When clamping battery core, crawl detection piece 36 can detect the presence or absence of battery core, in order to the driven management of clamping.In the present embodiment
Crawl detection piece 36 photoelectric sensor can be used.
Again referring to Fig.1, further, grasping mechanism 3 further includes auxiliary adjustment actuator 37.Specifically, respectively with third
Auxiliary adjustment actuator 37 is provided on hinge joint 2213 and the grasping mechanism 3 of the 4th hinge joint 2214 connection.Specifically setting
When setting, lower crawl loading plate 312 is that sliding connects by the connection relationship that two connecting plates 313 and upper crawl loading plate 311 are formed
Connect relationship.Auxiliary adjustment actuator 37 is set on lower crawl loading plate 312, and the output end of auxiliary adjustment actuator 37 passes through
One fixed plate 371 is connect with upper crawl loading plate 311, and 37 driving force effect of auxiliary adjustment actuator is in fixed plate 371, in turn
Feedback is on upper crawl loading plate 311 and lower crawl loading plate 312, so that upper crawl loading plate 311 and lower crawl carrying
The position of position relative changes and then change grabbing assembly 33 relative to upper crawl loading plate 311 between plate 312, to crawl group
The crawl position of part 33 is adjusted.Cylinder can be used in auxiliary adjustment actuator 37 in the present embodiment.It is driven by auxiliary adjustment
The setting of moving part 37 can supplement the adjusting of regulating mechanism 2, so that grabbing assembly 33 can be carried out the tune more refined
Section.
It is the structural schematic diagram that displacement mechanism and gantry mechanism are clamped in the present embodiment with continued reference to Fig. 1 and Fig. 5, Fig. 5.More
Further, feeding device further includes clamping displacement mechanism 4 in the present embodiment.Clamping displacement mechanism 4 is connect with feeding load-bearing part 1；
Clamping displacement mechanism 4 drives feeding load-bearing part 1 mobile, and then drives grasping mechanism 3 mobile towards battery core.Gantry mechanism 5 includes
Portal frame 51 and gantry driving assembly 52.Clamping displacement mechanism 4 is slidably connected to portal frame 51；Gantry driving assembly 52 it is defeated
Outlet is connect with clamping displacement mechanism 4, and driving clamping displacement mechanism 4 is moved on portal frame 51, and then drives grasping mechanism 3
It is mobile.
Specifically, clamping displacement mechanism 4 includes clamping displacement frame 41 and clamping displacement drive part 42.Clamp displacement frame 41
Longitudinal section be rectangular frame structure, clamping displacement drive part 42 is set in clamping displacement frame 41, clamping displacement drive part 42
Output end is connect after passing through the lower surface for clamping displacement frame 41 with 11 center of feeding loading plate.Displacement drive part 42 is clamped to drive
Dynamic 11 linear movement of feeding loading plate, and then 3 linear movement of grasping mechanism is driven, so that grasping mechanism 3 is close to or far from battery core.
Clamping displacement drive part 42 in the present embodiment is cylinder, and output rod is carried by the cooperation of axis connected device and fixing seat and feeding
Plate 11 forms a fixed connection relationship.
Preferably, clamping displacement mechanism 4 further includes guide part 43.The quantity of guide part 43 in the present embodiment is four,
The both ends of each guide part 43 are connect with feeding loading plate 11 and clamping displacement frame 41 respectively, and guide part 43 and clamping displacement are driven
Moving part 42 is parallel, specifically, guide part 43 is parallel with the clamping output rod of displacement drive part 42.Four guide parts 43 are around clamping
The peripheral direction of displacement drive part 42 is successively spaced setting, and the interval of two neighboring guide part 43 is identical.Preferably, four guiding
The sequentially line of part 43 is rectangle, and clamping displacement drive part 42 is located at the center of the rectangle, to keep the balance of guiding.This implementation
The cooperation of guide pillars and bushes can be used in guide part in example.
The upper surface of clamping displacement frame 41 is slidably connected with portal frame 51, the driving clamping displacement frame 41 of gantry driving assembly 52
It is moved along the direction that the crossbeam of portal frame 51 is arranged, and then grasping mechanism 3 is driven to be moved in X-direction, clamped
Displacement drive part 42 drives grasping mechanism 3 to move along the Y direction perpendicular to 51 crossbeam of portal frame.Gantry in the present embodiment
Driving assembly 52 may be selected to use linear mechanical hand.In this way, being realized by gantry driving assembly 52 and clamping displacement drive part 42
Linear movement of the grasping mechanism 3 on XY axis, so that grasping mechanism 3 flexibly carries out crawl movement to battery core.
It is the structural schematic diagram of feeding transfer mechanism in the present embodiment with continued reference to Fig. 6, Fig. 6.Electric wire in the present embodiment
Feeding device further includes feeding transfer mechanism 6.Feeding transfer mechanism 6 is set in 3 movement routine of grasping mechanism, and grasping mechanism 3 is grabbed
The battery core taken is placed in feeding transfer mechanism 6；Feeding transfer mechanism 6 is for transferring battery core.
Specifically, one end of feeding transfer mechanism 6 is located at the lower section of portal frame 51, the other end of feeding transfer mechanism 6 to
Portal frame 51 outside extend.The battery core that grasping mechanism 3 grabs is arranged on feeding transfer mechanism 6 by orderly, on
Material transfer mechanism 6 drives battery core to be thereon moved to next station.Conveyer belt can be used in feeding transfer mechanism 6 in the present embodiment
Device.
Multiple reference Fig. 5, further, the feeding device in the present embodiment further include transfer transfer mechanism 7.Transfer transfer machine
Structure 7 is set in 3 movement routine of grasping mechanism, and is located at the side of feeding transfer mechanism 6, is used for the transfer of feeding transfer mechanism 6
Positioning transfer before battery core.
Specifically, transfer transfer mechanism 7 includes transfer rack 71 and four positioning tables 72.Transfer rack 71 is located at portal frame 51
Lower section, four positioning tables 72 are set to the upper surface of transfer rack 71 along the length direction of transfer rack 71.Four positioning tables 72
Corresponding with four grasping mechanisms 3 respectively, the battery core that grasping mechanism 3 grabs, which can correspond to, to be placed on positioning table 72, passes through positioning table
72 pairs of battery cores position.The jig positioning of adaptation can be used in positioning table 72 in the present embodiment.By positioning table 72 to gripper
The battery core that structure 3 grabs once is positioned, it is ensured that the position of the battery core of 3 feeding of grasping mechanism is accurate.
Preferably, the cooperation machine of the formation of feeding load-bearing part 1, regulating mechanism 2, grasping mechanism 3 and clamping displacement mechanism 4
Structure shares two groups, wherein one group of matching mechanism then should for grabbing battery core and carrying out transfer positioning on transfer mechanism 7 to transferring
Group matching mechanism returns again to the subsequent battery core of crawl, and at the same time, another group of matching mechanism crawl transfer transfer mechanism 7 has been determined
Battery core behind position is to feeding transfer mechanism 6.By the collective effect of two groups of matching mechanisms, segmentation is transferred battery core, is avoided
The time for waiting battery core positioning, further increase the feeding speed of feeding device.
It is multiple referring to Fig.1, further, the feeding device in the present embodiment further include further include visual inspection machine structure 8 and
Barcode scanning mechanism 9.Visual inspection machine structure 8 and barcode scanning mechanism 9 are set on the transfer path of feeding transfer mechanism 6, are transferred to feeding
The battery core that mechanism 6 transfers carries out appearance detection and barcode scanning, and visual inspection machine structure 8 is used for convenient for excluding battery core rejected product in time,
Barcode scanning mechanism 9 is used to manage typing information to the subsequent production of battery core.In specific setting, visual inspection machine structure 8 and barcode scanning
Mechanism 9 is all set in the side of feeding transfer mechanism 6, and the test side of visual inspection machine structure 8 and the scanning end of barcode scanning mechanism 9 are equal
Positioned at the top of feeding transfer mechanism 6, detection and barcode scanning are carried out to the battery core of process.Visual inspection machine structure 8 in the present embodiment
CCD vision detection system can be used, barcode scanning gun can be used in barcode scanning mechanism 9.
To sum up, the feeding device in the present embodiment synchronizes tune by spacing of the regulating mechanism to multiple grasping mechanisms
Section enables grasping mechanism flexibly to carry out crawl feeding, good compatibility, applicability to multiple battery cores of different interval arrangement
Height, it is easy to use, and then guarantee going on smoothly for the subsequent handling that battery core is matched.Moreover, grabbing assembly can be according to the rule of battery core
Clamping is adjusted in lattice size, and adaptability is high.In addition, being passed again after being positioned to battery core by the setting of transfer transfer mechanism
It send, it is ensured that the accuracy of battery core feeding, meanwhile, the setting of two groups of matching mechanisms further improves the feeding effect of feeding device
Rate.
The upper only embodiments of the present invention, are not intended to restrict the invention.For those skilled in the art
For, the invention may be variously modified and varied.All any modifications made in spirit and principles of the present invention are equal
Replacement, improvement etc., should all be included within scope of the presently claimed invention.
Claims (10)
1. a kind of feeding device, which is characterized in that including feeding load-bearing part (1), regulating mechanism (2) and grasping mechanism (3)；It is described
Regulating mechanism (2) is set to the feeding load-bearing part (1)；The grasping mechanism (3) is slidably connected to the feeding load-bearing part (1),
And it is connect with the regulating mechanism (2)；The grasping mechanism (3) is for grabbing product, and the regulating mechanism (2) is for adjusting institute
State the position that grasping mechanism (3) grab the product.
2. feeding device according to claim 1, which is characterized in that the regulating mechanism (2) includes adjusting driving assembly
(21) and link assembly (22)；The adjusting driving assembly (21) passes through the link assembly (22) and multiple grippers
Structure (3) connection；The adjusting driving assembly (21) drives the link assembly (22), and the link assembly (22) adjusts more respectively
The position of a grasping mechanism (3) crawl product.
3. feeding device according to claim 2, which is characterized in that the link assembly (22) includes multiple link members
(221)；The multiple link member (221) linkages, and multiple grasping mechanisms (3) is driven to be displaced respectively.
4. feeding device according to claim 1, which is characterized in that the grasping mechanism (3) includes crawl load-bearing part
(31), driving assembly (32) and grabbing assembly (33) are grabbed；The crawl load-bearing part (31) is slidably connected to the feeding and holds
Holder (1)；The crawl driving assembly (32) is set to the crawl load-bearing part (31), output end and the grabbing assembly (33)
Connection；The crawl driving assembly (32) drives the grabbing assembly (33) to clamp the product.
5. feeding device according to claim 4, which is characterized in that the grasping mechanism (3) further includes pressing driving group
Part (34) and pressing part (35)；The output end of pressing driving assembly (34) is connect with the pressing part (35)；The pressure
The product that driving assembly (34) drive the pressing part (35) to clamp the grabbing assembly (33) is closed to press.
6. feeding device according to claim 4, which is characterized in that the grasping mechanism (3) further includes crawl detection piece
(36)；The crawl detection piece (36) is for detecting whether the grabbing assembly (33) has grabbed the product.
7. -6 any feeding device according to claim 1, which is characterized in that it further includes clamping displacement mechanism (4)；Institute
Clamping displacement mechanism (4) is stated to connect with the feeding load-bearing part (1)；The clamping displacement mechanism (4) drives the feeding carrying
Part (1) is mobile, and then drives the grasping mechanism (3) mobile.
8. feeding device according to claim 7, which is characterized in that it further includes gantry mechanism (5)；The gantry mechanism
It (5) include portal frame (51) and gantry driving assembly (52)；The clamping displacement mechanism (4) is slidably connected to the portal frame
(51)；The output end of gantry driving assembly (52) is connect with the clamping displacement mechanism (4), drives the clamping displacement
It is moved on mechanism (4) Yu Suoshu portal frame (51), and then drives the grasping mechanism (3) mobile.
9. feeding device according to claim 8, which is characterized in that it further includes feeding transfer mechanism (6)；The feeding
Transfer mechanism (6) is set in the grasping mechanism (3) movement routine, and the product of grasping mechanism (3) crawl is placed in
The feeding transfer mechanism (6)；The feeding transfer mechanism (6) is for transferring the product.
10. feeding device according to claim 9, which is characterized in that it further includes transfer transfer mechanism (7)；The shifting
It send transfer mechanism (7) to be set in the grasping mechanism (3) movement routine, and is located at the side of the feeding transfer mechanism (6),
Positioning transfer before transferring the product for the feeding transfer mechanism (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910697253.1A CN110304449A (en) | 2019-07-30 | 2019-07-30 | Feeding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910697253.1A CN110304449A (en) | 2019-07-30 | 2019-07-30 | Feeding device |
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| Publication Number | Publication Date |
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| CN110304449A true CN110304449A (en) | 2019-10-08 |
Family
ID=68082562
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910697253.1A Pending CN110304449A (en) | 2019-07-30 | 2019-07-30 | Feeding device |
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| CN (1) | CN110304449A (en) |
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| CN110641998A (en) * | 2019-10-14 | 2020-01-03 | 珠海格力智能装备有限公司 | Clamp and conveying equipment with same |
| CN112173704A (en) * | 2020-10-26 | 2021-01-05 | 广东博智林机器人有限公司 | Feeding system and feeding detection method |
| CN112499228A (en) * | 2020-11-11 | 2021-03-16 | 珠海格力智能装备有限公司 | Combined clamp for air conditioner compressor and middle partition plate |
| CN112893189A (en) * | 2021-01-18 | 2021-06-04 | 惠州市德赛自动化技术有限公司 | Appearance detection method and equipment |
| CN113212852A (en) * | 2021-05-11 | 2021-08-06 | 马海洪 | Suspension type wire coil holding arm |
| CN113816141A (en) * | 2021-11-01 | 2021-12-21 | 博众精工科技股份有限公司 | Battery cell taking and placing device |
| CN114632846A (en) * | 2022-03-21 | 2022-06-17 | 浙江大学 | Pipe fitting clamping tail end execution device suitable for feeding and discharging in bending forming of pipe fittings with different pipe diameters |
| CN115649557A (en) * | 2022-12-23 | 2023-01-31 | 广州蓝海机器人系统有限公司 | Packaging production line |
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