CN110436209A - A kind of feeder equipment, reclaimer system and method for fetching - Google Patents
A kind of feeder equipment, reclaimer system and method for fetching Download PDFInfo
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- CN110436209A CN110436209A CN201910735644.8A CN201910735644A CN110436209A CN 110436209 A CN110436209 A CN 110436209A CN 201910735644 A CN201910735644 A CN 201910735644A CN 110436209 A CN110436209 A CN 110436209A
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- lifting device
- mounting plate
- feeding device
- charging tray
- rack
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 239000000463 material Substances 0.000 claims abstract description 105
- 230000002745 absorbent Effects 0.000 claims description 15
- 239000002250 absorbent Substances 0.000 claims description 15
- 238000010521 absorption reaction Methods 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 16
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 206010015856 Extrasystoles Diseases 0.000 description 1
- 239000011358 absorbing material Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001684 chronic effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- 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
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
-
- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/915—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rotary movements only
-
- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
-
- 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
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
- B65G59/04—De-stacking from the top of the stack by suction or magnetic devices
- B65G59/045—De-stacking from the top of the stack by suction or magnetic devices with a stepwise upward movement of the stack
-
- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
This application provides a kind of feeder equipment, reclaimer system and method for fetching, which includes: rack；Feeding device is set in rack, including multiple charging trays, and charging tray is used to carry the multiple materials stacked；Lifting device is set to charging tray and jacks up material, and the material jacked up is contacted with feeding device close to rack side for applying the power far from rack direction to material；Wherein, when feeding device is moved to predetermined position of the feeding device far from rack side, lifting device is advanced to far from initial position direction；When the lifting device separate time being more than first threshold, lifting device is advanced to close to initial position, and when the lifting device close time being more than second threshold, feeding device takes the material contacted with feeding device away.By above embodiment, the application can be improved the feeding efficiency of feeder equipment.
Description
Technical field
This application involves material transmission technical field, in particular to a kind of feeder equipment, reclaimer system and method for fetching.
Background technique
With the development of science and technology, automated machine equipment plays vital role in the industrial production.Currently, from
The efficiency of dynamicization reclaimer system is constantly promoted, and automation reclaimer system just gradually replaces manual handling feeding.
Present inventor has found that existing reclaimer system includes robot and charging tray, machine in chronic study procedure
Device people needs first to identify material from charging tray, is then taken material away from charging tray in the way of adsorbing or grabbing.It should
Feeding mode efficiency is lower.
Summary of the invention
The application is mainly solving the technical problems that provide a kind of feeder equipment, reclaimer system and method for fetching, Neng Gouti
The feeding efficiency of high feeder equipment.
In order to solve the above technical problems, the technical solution that the application uses is: a kind of feeder equipment is provided, it is described to send
Expect that equipment includes: rack；Feeding device is set in the rack, including multiple charging trays, and the charging tray is used to carry stacking
Multiple materials；Lifting device is set to the charging tray close to the rack side, for applying to the material far from the machine
The power in frame direction, the material is jacked up, and the material jacked up is contacted with feeding device；Wherein, it is taken when described
When material device is moved to predetermined position of the feeding device far from the rack side, the lifting device is to far from initial bit
Set direction traveling；When the lifting device separate time being more than first threshold, the lifting device is to close to described initial
Position is advanced, and when the lifting device close time being more than second threshold, the feeding device will be with the feeding device
The material of contact is taken away.
Wherein, the feeding device includes: chassis, and the edge on the chassis is provided with multiple through slots being intervally arranged；
Baffle, the baffle extends from the table on the chassis away from the rack side, and sets around each through slot
It is equipped with multiple baffles, a through slot and setting and forms a charging tray in surrounding multiple baffles.
Wherein, the chassis is provided centrally with hole, the feeding device further include: the first actuator is arranged in institute
It states in hole, and is fixedly connected with the chassis, for driving the chassis to rotate under the action of power source.
Wherein, first actuator is Cam splitter；And/or the power source is frequency control motor.
Wherein, the feeder equipment further include: photoelectric sensor is fixed on the rack, presently described for detecting
Whether the material is had on charging tray；It is described when the photoelectric sensor, which detects, does not have the material on presently described charging tray
First actuator drives the chassis to rotate to next charging tray.
Wherein, the lifting device includes: cylinder, is located at the chassis close to the rack side, including input terminal and
Output end；Cylinder fixing piece connects between the cylinder and the rack for fixing the cylinder and the rack
It connects；Push plate is connect with the output end of the cylinder, and projection of the push plate on the chassis is located at the through slot
It is interior.
Wherein, the lifting device further include: pressure regulator valve is connect with the cylinder, for adjusting the jacking of the cylinder
Pressure, so that the lift-up pressure is more than or equal to the total force of the multiple materials stacked on the charging tray, and be less than etc.
In the maximum load of the feeding device；And/or solenoid valve, it is connect with the cylinder, for controlling the described defeated of the cylinder
Outlet is close or far from the initial position.
Wherein, the feeder equipment further include: electric mounting board is fixed on the rack, the pressure regulator valve and/or institute
Solenoid valve is stated to be fixed on the electric mounting board.
In order to solve the above technical problems, the another technical solution that the application uses is: a kind of reclaimer system is provided, it is described
Reclaimer system includes: the feeder equipment in any of the above-described embodiment；Feeding device, for that will be connect with the feeding device
The material of touching is taken away.
Wherein, the feeding device includes: absorbent module, including the first mounting plate and is located on first mounting plate
Multiple first vacuum chucks, first vacuum chuck have elasticity；Limited block is fixed on first mounting plate, institute
The relatively described limited block of the first vacuum chuck is stated far from first mounting plate；Feeding robot, including flange, the flange with
The first mounting plate connection.
Wherein, the absorbent module further include: ejection piece is located on first mounting plate；Second actuator, and it is described
Ejection piece connection, for driving the ejection piece far from first mounting plate when the absorbent module places the material,
So that the ejection piece forces in the material of the first vacuum chuck absorption.
Wherein, the absorbent module further include: the second mounting plate and on second mounting plate multiple second
Vacuum chuck, second mounting plate and the first mounting plate relative spacing are arranged；Fixing piece is arranged in first installation
Plate and second mounting plate, the position of first mounting plate and second mounting plate is relatively fixed；Flange installation
Plate is fixed with the side of first mounting plate and second mounting plate, and further and described in the feeding robot
Flange is fixed.
In order to solve the above technical problems, another technical solution that the application uses is: a kind of method for fetching is provided, it is described
Method for fetching includes: when feeding device is moved to predetermined position of the feeding device far from rack side, and lifting device is to separate
Initial position direction is advanced, and is applied with the material in one of charging tray into the feeding device towards the predetermined position
The power in direction；When the lifting device separate time being more than first threshold, the lifting device is close to the initial position
It advances；When the lifting device close time being more than second threshold, the feeding device will be contacted with the feeding device
The material take away.
Wherein, in the first threshold and the second threshold are moved by the lifting device speed, the charging tray most
It is determined close to the distance between the material of the lifting device and the predetermined position h.
Wherein, speed v1 far from the initial position of the first threshold T1, the lifting device, on the charging tray most
Meet following relationship: T1=h/v1+t1 close to the distance between the material of the lifting device and the predetermined position h,
Wherein, t1 is the first safety time；Speed v2 close to the initial position of the second threshold T2, the lifting device, institute
It states and meets following relationship: T2 closest to the distance between the material of the lifting device and the predetermined position h on charging tray
=h/v2+t2, wherein t2 is the second safety time.
Wherein, the method for fetching further include: when photoelectric sensor detects do not have the material on presently described charging tray
When, the first actuator drives the chassis in the feeding device to rotate to next charging tray.
The beneficial effect of the application is: being in contrast to the prior art, feeder equipment provided herein includes: machine
Frame, feeding device, lifting device；Wherein, feeding device can carry multiple materials, when to be moved to feeding device remote for feeding device
Disembark frame side predetermined position when, lifting device to far from initial position direction advance；It is super when the lifting device separate time
When crossing first threshold, lifting device is advanced to close to initial position, when the lifting device close time being more than second threshold, is taken
Material device takes the material contacted with feeding device away；Rack, feeding device and lifting in feeder equipment provided herein
Simply cost is relatively low for apparatus structure, and the purpose of feeding can be realized using simple time control mode for above-mentioned feeder equipment；
And the step of feeding is generally comprised due to automation feeding, the efficiency of automation feeding is improved through the above way, into
And the efficiency of automation feeding can be improved.
Detailed description of the invention
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.Wherein:
Fig. 1 is the structural schematic diagram of one embodiment of the application feeder equipment；
Fig. 2 is the structural schematic diagram of one embodiment of rack in Fig. 1；
Fig. 3 is the structural schematic diagram at another visual angle of feeder equipment in Fig. 1；
Fig. 4 is the structural schematic diagram of one embodiment of electric mounting board in Fig. 1；
Fig. 5 is the structural schematic diagram of one embodiment of the application reclaimer system；
Fig. 6 is the structural schematic diagram of one embodiment of absorbent module in Fig. 5；
Fig. 7 is the structural schematic diagram of one embodiment of Tu5Zhong feeding robot；
Fig. 8 is one embodiment flow diagram of the application method for fetching.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, rather than whole embodiments.Based on this
Embodiment in application, those of ordinary skill in the art are obtained every other under the premise of not making creative labor
Embodiment shall fall in the protection scope of this application.
Referring to Fig. 1, Fig. 1 is the structural schematic diagram of one embodiment of the application feeder equipment.The feeder equipment 1 includes:
Rack 10；In the present embodiment, rack 10 can be formed by multiple section assemblings.Also referring to Fig. 1 and Fig. 2, Fig. 2
For the structural schematic diagram of one embodiment of rack in Fig. 1.Rack 10 may include pedestal 100 and extend vertically from pedestal 100
Four support rods 102, four support rods 102 and ground or a certain plane contact.Pedestal 100 can be hollow structure,
Inside can accommodate circuit trace, certain components etc., and the button etc. of corresponding function can be set in the outer surface of pedestal 100.It should
Design method can make the structure of feeder equipment 1 more clean and tidy, beautiful and generous.
Feeding device 12 is set in rack 10, including multiple charging trays 120, and charging tray 120 is used to carry the multiple objects stacked
Material 122；In the present embodiment, multiple materials 122 can be vertically stacked on charging tray 120.
Lifting device 14 is set to charging tray 120 close to 10 side of rack, for applying to material 122 far from 10 side of rack
To power, material 122 is jacked up；The direction that material 122 jacks up is the direction far from charging tray 120.Wherein, when feeding device is moved
Move to feeding device 12 far from 10 side of rack predetermined position when, lifting device 14 to far from initial position direction advance；When
When the separate time of lifting device 14 is more than first threshold T1, lifting device 14 is advanced to close to initial position, works as lifting device
When 14 close times were more than second threshold T2, feeding device takes the material contacted with feeding device away.It is provided herein
Feeder equipment 1 in come into full contact with the material 122 for guaranteeing that lifting device 14 lifts with feeding device using first threshold T1, take
Material device can adsorb or grab material 122；Using second threshold T2 to guarantee that unadsorbed or crawl material 122 will not
It is bounced；In feeder equipment 1 provided herein rack 10, feeding device 12 and the simple cost of 14 structure of lifting device compared with
It is low, and the purpose of feeding can be realized using simple time control mode for above-mentioned feeder equipment 1, lifting device 14 only exists two
A station, i.e. initial position and the time far from initial position are not needed more than the position reached after first threshold as existing
Servo motor is fed layer by layer in technology, and control mode is relatively simple, improves the efficiency of automated system feeding.And due to automatic
Change the step of feeding generally comprises feeding, therefore improves the efficiency of automation feeding through the above way, and then can be improved
Automate the efficiency of feeding.
It in one embodiment, is the structure at another visual angle of feeder equipment in Fig. 1 also referring to Fig. 1 and Fig. 3, Fig. 3
Schematic diagram, the feeding device 12 include:
Chassis 124, the edge 1240 on chassis 124 are provided with multiple through slots 1242 being intervally arranged；Multiple through slots
1242 can uniformly arrange at the edge 1240 on chassis 124.
Baffle 126, baffle 126 extends from the surface 1244 on chassis 124 to far from 10 side of rack, and each through slot
It is provided with multiple baffles 126, a through slot 1242 and setting around 1242 and forms one in surrounding multiple baffles 126
Charging tray 120.In the present embodiment, multiple baffles 126 of a charging tray 120 enclose the region set and are equal to or slightly greater than material 122
The size of (not illustrating in Fig. 3), multiple baffles 126 can be used for carrying out coarse positioning to the material 122 being placed on chassis 124.
The height of the multiple materials 122 stacked on one charging tray 120 is less than or equal to the height of baffle 126.Baffle 126 and chassis 124 can
Dismantling connection to adjust the size of charging tray 120, and then is adapted to various sizes of material by changing the position of baffle 126
122。
In an application scenarios, chassis 124 is provided centrally with hole (not indicating), feeding device 12 further include: the
One actuator 128, is arranged in hole, and is fixedly connected with chassis 124, for driving under the action of power source (not shown)
Chassis 124 rotates.In the present embodiment, the first actuator 128 is Cam splitter；And/or power source is frequency control electricity
Machine.When carrying out station indexing using Cam splitter, precision is high, easy to control, and it is more that feeding device 12 is stored
A material 122.
In another application scenarios, referring to Fig. 3, feeder equipment 1 provided herein further include: photoelectric transfer
Sensor 18 is fixed in rack 10, whether has material 122 on current charging tray 120 for detecting；When photoelectric sensor 18 detects
When not having material 122 on current charging tray 120, the first actuator 128 drives the rotation of chassis 124 to next charging tray 120.In this reality
It applies in example, photoelectric sensor 18 can be set in the region close to lifting device 14.And before the start-up operation of feeder equipment 1,
Be provided with material 122 in all charging trays 120 on feeding device 12, the first actuator 128 drive chassis 124 by clockwise or
Person rotates counterclockwise, when photoelectric sensor 18 detects on current charging tray 120 and next charging tray 120 without material 122,
It then can be determined that on entire feeding device 12 without material 122, artificial or feeding system needed to carry out feeding at this time.
In another embodiment, referring to Fig. 1 and Fig. 3, lifting device 14 includes:
Cylinder 140, is located at chassis 124 close to 10 side of rack, including input terminal (not shown) and output end 1400,
In, input terminal can be connect with gas source, and output end 1400 can be mobile toward and away from initial position.
Cylinder fixing piece 142, between cylinder 140 and rack 10, for cylinder 140 to be fixedly connected with rack 10；
In the present embodiment, cylinder fixing piece 142 can be L-type fixing piece, and cylinder fixing piece 142 can be with the pedestal 100 of rack 10
It is fixedly connected by modes such as screws.
Push plate 144 is connect with the output end 1400 of cylinder 140, and projection of the push plate 144 on chassis 124 is located at through slot
In 1242；Push plate 144 is contacted with the material 122 in charging tray 120, push plate 144 under the action of output end 1400 of cylinder 140,
Drive the material 122 in charging tray 120 mobile toward and away from initial position.
In the present embodiment, cylinder 140 only exists two stations, i.e. initial position and the time far from initial position surpasses
The position reached after first threshold is crossed, does not need to feed layer by layer as servo motor, control mode is relatively simple, improves automatic
The efficiency of change system feeding.
In yet another embodiment, referring to Fig. 1, lifting device 14 provided herein further include:
Pressure regulator valve 146 is connect with cylinder 140, for adjusting the lift-up pressure of cylinder 140, so that lift-up pressure is greater than
Equal to the total force of the multiple materials 122 stacked on charging tray 120, and it is less than or equal to the maximum load of feeding device；The design side
Formula can make feeding device will not overload, to reduce damage to feeding device.
Solenoid valve 148 is connect with cylinder 140, and the output end 1400 for controlling cylinder 140 is close or far from initial bit
It sets.
In an application scenarios, feeder equipment 1 provided herein further include: electric mounting board 11 is fixed on machine
On frame 10, pressure regulator valve 146 and/or solenoid valve 148 are fixed on electric mounting board 11.In the present embodiment, electric mounting board 11
It can be fixed on the support rod 102 of rack 10, other components can be also fixed on electric mounting board 11, for example, such as Fig. 4 institute
Show, Fig. 4 is the structural schematic diagram of one embodiment of electric mounting board in Fig. 1.In addition to peace can be fixed on the electric mounting board 11
Except adjustment pressure valve 146, solenoid valve 148, integrated form vacuum transmitter 141, bigeminy part 143 etc. can also be installed.This is electrically pacified
Loading board 11 is integrated with all Pneumatic control modules and portions of circuitry, clean and tidy, generous, beautiful using modularized design.
Referring to Fig. 5, Fig. 5 is the structural schematic diagram of one embodiment of the application reclaimer system, which includes upper
The feeder equipment 1 and feeding device 16 in any embodiment are stated, feeding device 16 can take the material 122 being in contact with it
It walks, the course of work of the reclaimer system 2 can be with are as follows: when feeding device 16 is moved to feeding device 12 far from the pre- of 10 side of rack
When positioning is set, lifting device 14 is advanced to far from initial position direction；It is more than first threshold when the separate time of lifting device 14
When, lifting device 14 is advanced to close to initial position, when the close time of lifting device 14 being more than second threshold, feeding device
16 take the material contacted with feeding device 16 away.Wherein, the top lift of lifting device 14 is less than the load (jacking of feeding device 16
Power is adjusted by pressure regulator valve 146) so that feeding device 16 will not overload.
In one embodiment, the predetermined position that feeding device 16 is arranged can first pass through system debug in advance and determine that this is pre-
Positioning is set, current corresponding 120 three of charging tray of lifting device 14, lifting device 14 can be located along the same line.Above-mentioned first
Closest to the material 122 of lifting device 14 on speed v that threshold value T1 and second threshold T2 is moved by lifting device 14, charging tray 120
The distance between (i.e. the material 122 of lowermost end on charging tray 120) and predetermined position h are determined.Wherein, above-mentioned lifting device 14 is mobile
Speed v can be average speed.In the present embodiment, speed v1 far from initial position of first threshold T1, lifting device 14,
Meet following relationship: T1=h/v1+ closest to the distance between the material 122 of lifting device 14 and predetermined position h on charging tray 120
T1, wherein t1 is the first safety time；Second threshold T2, lifting device 14 are on the speed v2, charging tray 120 of initial position
Meet following relationship: T2=h/v2+t2 closest to the distance between the material 122 of lifting device 14 and predetermined position h, wherein
T2 is the second safety time.In the present embodiment, the first safety time t1, the second safety time t2 can be 0.5s, 1s etc., the
One threshold value T1 and second threshold T2 can be same or different, and first threshold T1 and second threshold T2 can be 3s-5s, for example,
3s, 4s, 5s etc..
In the present embodiment, wherein the top lift of lifting device 14 is less than the load of feeding device 16, and (top lift passes through tune
Pressure valve 146 is adjusted) so that feeding device 16 will not overload；Lifting device 14 is preferably cylinder 140, and cylinder 140 only exists two
A station, i.e. initial position and the time far from initial position are not needed more than the position reached after first threshold as servo
Motor is fed layer by layer, and control mode is relatively simple, improves the efficiency of automated system feeding, while passing through control first threshold
Time, guarantee that the material of the lowermost end of 120 upper different moments of charging tray can reach pre-determined bit after material is removed in front
It sets.
It in another embodiment, is one embodiment party of absorbent module in Fig. 5 also referring to Fig. 5, Fig. 6 and Fig. 7, Fig. 6
The structural schematic diagram of formula, Fig. 7 are the structural schematic diagram of one embodiment of Tu5Zhong feeding robot, and feeding device 16 includes:
Absorbent module 160, multiple first vacuum including the first mounting plate 1600 and on the first mounting plate 1600
Sucker 1602；When feeding device 16 needs absorbing material 122, vacuumized in multiple first vacuum chucks 1602, so that
First vacuum chuck 1602 adsorbs material 122；When feeding device 16 needs to put down material 122, multiple first vacuum chucks
1602 stop vacuumizing, and are detached from material 122 and the first vacuum chuck 1602.In addition, in this implementation
In example, multiple first vacuum chucks 1602 on the first mounting plate 1600 are respectively arranged at the first area of the first mounting plate 1600
Multiple first vacuum chucks 1602 in A and second area B, first area A are for adsorbing a material 122；In second area B
Multiple first vacuum chucks 1602 for adsorbing another material 122.Multiple first in first area A and second area B
Vacuum chuck 1602 can be symmetrical arranged.
Feeding robot 162, including flange 1620, flange 1620 are connect with the first mounting plate 1600.In the present embodiment,
Feeding robot 162 is six-joint robot, flange 1620 and the first mounting plate 1600 can by directly by bolt etc. in a manner of fix
Connection, can also be fixedly connected by means of middle connecting plate.In the present embodiment, feeding robot 162 may include feeding machine
Human arm and feeding robot base etc..
In an application scenarios, above-mentioned multiple first vacuum chucks 1602 have elasticity, i.e., multiple first vacuum chucks
1602 can be compressed, feeding device 16 provided herein further include: and limited block 164 is fixed on the first mounting plate 1600,
First vacuum chuck, 1602 relative limit block 164 is far from the first mounting plate 1600.After lifting device 14 jacks up material 122,
The material 122 of top layer is contacted with the first vacuum chuck 1602, the first vacuum chuck 1602 quilt under the action of lifting device 14
Compression；When material 122 and limited block 164 contact, lifting device 14 can not be further up by material 122 again, the limited block
164 setting can protect feeding robot 162.
In another application scenarios, please continue to refer to Fig. 6, above-mentioned absorbent module 160 further include:
Ejection piece 1604 is located on the first mounting plate 1600；The distance between ejection piece 1604 and the first mounting plate 1600
It is changeable.Absorbent module 160 is under non-working condition, and 1604 relative limit part 164 of ejection piece can be closer to the first peace
Loading board 1600, the i.e. height of ejection piece 1604 are less than or equal to the height of locating part 164.
Second actuator 1606, connect with ejection piece 1604, for when absorbent module 160 places material 122, driving to be pushed up
Part 1604 is far from the first mounting plate 1600 out, so that ejection piece 1604 forces in the material of the first vacuum chuck 1602 absorption
122, so that material 122 is smoothly detached from the first vacuum chuck 1602.
In another application scenarios, please continue to refer to Fig. 6, above-mentioned absorbent module 160 further include:
Second mounting plate 1608 and multiple second vacuum chucks 1601 on the second mounting plate 1608, the second installation
Plate 1608 and 1600 relative spacing of the first mounting plate are arranged.
Fixing piece 1603 is arranged in the first mounting plate 1600 and the second mounting plate 1608, by 1600 He of the first mounting plate
The position of second mounting plate 1608 is relatively fixed.Fixing piece 1603 protrudes from the first mounting plate 1600 and the second mounting plate 1608
Position can be used the modes such as bolt and be fixedly connected.
Flange mounting plate 1605 is fixed with the side of the first mounting plate 1600 and the second mounting plate 1608, and further with
The flange 1620 of feeding robot 162 is fixed.
After multiple first vacuum chucks 1602 on the first mounting plate 1600 take material 122 away from charging tray 120, feeding
Material 122 is transported at processing equipment by robot 162, and the second vacuum chuck 1601 on the second mounting plate 1608 first will processing
Processed product takes out in equipment, and then feeding robot 162 drives the first mounting plate 1600 that material 122 is put into processing and sets
It is standby.
Referring to Fig. 8, Fig. 8 is one embodiment flow diagram of the application method for fetching, which utilizes above-mentioned
Reclaimer system in any embodiment, the method for fetching include:
S101: when feeding device is moved to predetermined position of the feeding device far from rack side, lifting device is to separate
Initial position direction is advanced, and is applied with the material in one of charging tray into feeding device towards predetermined position direction
Power.
Specifically, in the present embodiment, which can determine in debugging in advance；The predetermined position, lifting device,
Charging tray corresponding with lifting device is on same straight line.
In an application scenarios, before above-mentioned steps S101, method for fetching provided herein further include: be arranged
Place and stack multiple materials in multiple charging trays of the feeding device in rack, and by the lifting device being set in rack with
One of charging tray is corresponding.Placing in multiple charging trays and stack multiple materials can be by manually carrying out, can also be by feeding system certainly
Dynamic feeding.The direction of motion and charging tray of lifting device are on same straight line.
S102: when the lifting device separate time being more than first threshold, lifting device is advanced close to initial position.
Specifically, closest to the material of lifting device and pre- in which is moved by lifting device speed, charging tray
Positioning the distance between is set h and is determined；For example, most being connect on speed v1 far from initial position of first threshold T1, lifting device, charging tray
The distance between the material of nearly lifting device and predetermined position h meet following relationship: T1=h/v1+t1, wherein t1 is the first peace
Full-time；T1 can be 0.5s, 1s etc.；First threshold T1 can be 3s-5s, for example, 3s, 4s, 5s etc..
S103: when the lifting device close time being more than second threshold, object that feeding device will be contacted with feeding device
Material is taken away.
Specifically, the mode of the design of the second threshold can reduce the probability that material flies away.The second threshold is by going up and down
It is determined in the mobile speed of device, charging tray closest to the distance between the material of lifting device and predetermined position h；For example, second
Threshold value T2, lifting device are on the speed v2, charging tray of initial position closest between the material and predetermined position of lifting device
Distance h meet following relationship: T2=h/v2+t2, wherein t2 be the second safety time；T2 can be 0.5s, 1s etc.；Second
Threshold value T2 can be 3s-5s, for example, 3s, 4s, 5s etc..
In another embodiment, method for fetching provided herein further include: when photoelectric sensor detects to work as
When not having material on preceding charging tray, the chassis in the first actuator driving feeding device is rotated to next charging tray.First actuator
Chassis can be driven to rotate clockwise or counter-clockwise；In an application scenarios, when photoelectric sensor detects current charging tray
When with there is no material on next charging tray, then can be determined that on entire feeding device without material, feeding system or
Feeding can manually be carried out.
The foregoing is merely presently filed embodiments, are not intended to limit the scope of the patents of the application, all to utilize this
Equivalent structure or equivalent flow shift made by application specification and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field similarly includes in the scope of patent protection of the application.
Claims (16)
1. a kind of feeder equipment, which is characterized in that the feeder equipment includes:
Rack；
Feeding device is set in the rack, including multiple charging trays, and the charging tray is used to carry the multiple materials stacked；
Lifting device is set to the charging tray close to the rack side, for applying to the material far from the rack side
To power, the material is jacked up, and make jack up the material contacted with feeding device；Wherein, when the feeding fills
When setting the predetermined position for being moved to the feeding device far from the rack side, the lifting device is to far from initial position side
To traveling；When the lifting device separate time being more than first threshold, the lifting device is to close to the initial position
It advances, when the lifting device close time being more than second threshold, the feeding device will be contacted with the feeding device
The material take away.
2. feeder equipment according to claim 1, which is characterized in that the feeding device includes:
Chassis, the edge on the chassis are provided with multiple through slots being intervally arranged；
Baffle, the baffle extends from the table on the chassis away from the rack side, and the week of each through slot
It encloses and is provided with multiple baffles, a through slot and setting are in one material of surrounding multiple baffles formation
Disk.
3. feeder equipment according to claim 2, which is characterized in that the chassis is provided centrally with hole, it is described on
Expect device further include:
First actuator, is arranged in described hole, and is fixedly connected with the chassis, for driving under the action of power source
The chassis rotation.
4. feeder equipment according to claim 3, which is characterized in that
First actuator is Cam splitter；And/or the power source is frequency control motor.
5. feeder equipment according to claim 3, which is characterized in that the feeder equipment further include:
Photoelectric sensor is fixed on the rack, and whether has the material on presently described charging tray for detecting；When the light
When electric transducer detects not having the material on presently described charging tray, first actuator drives the chassis to rotate under
One charging tray.
6. feeder equipment according to claim 2, which is characterized in that the lifting device includes:
Cylinder is located at the chassis close to the rack side, including input terminal and output end；
Cylinder fixing piece, between the cylinder and the rack, for the cylinder to be fixedly connected with the rack；
Push plate is connect with the output end of the cylinder, and projection of the push plate on the chassis is located at the through slot
It is interior.
7. feeder equipment according to claim 6, which is characterized in that the lifting device further include:
Pressure regulator valve is connect with the cylinder, for adjusting the lift-up pressure of the cylinder so that the lift-up pressure be greater than etc.
In the total force of the multiple materials stacked on the charging tray, and it is less than or equal to the maximum load of the feeding device；With/
Or,
Solenoid valve is connect with the cylinder, and the output end for controlling the cylinder is close or far from the initial bit
It sets.
8. feeder equipment according to claim 7, which is characterized in that the feeder equipment further include:
Electric mounting board is fixed on the rack, and the pressure regulator valve and/or the solenoid valve are fixed on the electric mounting board
On.
9. a kind of reclaimer system, which is characterized in that the reclaimer system includes:
The described in any item feeder equipments of claim 1-8；
Feeding device, for taking the material contacted with the feeding device away.
10. reclaimer system according to claim 9, which is characterized in that the feeding device includes:
Absorbent module, multiple first vacuum chucks including the first mounting plate and on first mounting plate, described
One vacuum chuck has elasticity；
Limited block is fixed on first mounting plate, and the relatively described limited block of the first vacuum chuck is far from described first
Mounting plate；
Feeding robot, including flange, the flange are connect with first mounting plate.
11. reclaimer system according to claim 10, which is characterized in that the absorbent module further include:
Ejection piece is located on first mounting plate；
Second actuator is connect with the ejection piece, for driving the ejection when the absorbent module places the material
Part is far from first mounting plate, so that the ejection piece forces in the material of the first vacuum chuck absorption.
12. reclaimer system according to claim 10, which is characterized in that the absorbent module further include:
Second mounting plate and multiple second vacuum chucks on second mounting plate, second mounting plate with it is described
The setting of first mounting plate relative spacing；
Fixing piece is arranged in first mounting plate and second mounting plate, by first mounting plate and described second
The position of mounting plate is relatively fixed；
Flange mounting plate is fixed with the side of first mounting plate and second mounting plate, and further with the feeding
The flange of robot is fixed.
13. a kind of method for fetching, which is characterized in that the method for fetching includes:
When feeding device is moved to predetermined position of the feeding device far from rack side, lifting device is to far from initial position side
To traveling, the power towards the predetermined position direction is applied with the material in one of charging tray into the feeding device；
When the lifting device separate time being more than first threshold, the lifting device is advanced close to the initial position；
When the lifting device close time being more than second threshold, the feeding device will be contacted with the feeding device
The material is taken away.
14. method for fetching according to claim 13, which is characterized in that
Closest to the liter in speed that the first threshold and the second threshold are moved by the lifting device, the charging tray
The distance between the material of falling unit and the predetermined position determine.
15. method for fetching according to claim 14, which is characterized in that
Closest to described on speed v1 far from the initial position of the first threshold T1, the lifting device, the charging tray
The distance between the material of lifting device and the predetermined position h meet following relationship:
T1=h/v1+t1, wherein t1 is the first safety time；
The second threshold T2, the lifting device are on the speed v2, the charging tray of the initial position closest to described
The distance between the material of lifting device and the predetermined position h meet following relationship:
T2=h/v2+t2, wherein t2 is the second safety time.
16. method for fetching according to claim 13, which is characterized in that the method for fetching further include:
When photoelectric sensor, which detects, does not have the material on presently described charging tray, the first actuator drives the feeding device
In chassis rotate to next charging tray.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910735644.8A CN110436209A (en) | 2019-08-09 | 2019-08-09 | A kind of feeder equipment, reclaimer system and method for fetching |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910735644.8A CN110436209A (en) | 2019-08-09 | 2019-08-09 | A kind of feeder equipment, reclaimer system and method for fetching |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110436209A true CN110436209A (en) | 2019-11-12 |
Family
ID=68434320
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910735644.8A Pending CN110436209A (en) | 2019-08-09 | 2019-08-09 | A kind of feeder equipment, reclaimer system and method for fetching |
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| CN (1) | CN110436209A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117842673A (en) * | 2024-03-07 | 2024-04-09 | 常州市马劲机电设备有限公司 | Bearing processing loading attachment |
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| JPH06278884A (en) * | 1993-03-30 | 1994-10-04 | Shiyuukoushiya Soken:Kk | Sequential supplying device for stacked paper sheet |
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