CN110666573A - Feeding device for automatic processing - Google Patents

Feeding device for automatic processing Download PDF

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Publication number
CN110666573A
CN110666573A CN201911092315.2A CN201911092315A CN110666573A CN 110666573 A CN110666573 A CN 110666573A CN 201911092315 A CN201911092315 A CN 201911092315A CN 110666573 A CN110666573 A CN 110666573A
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China
Prior art keywords
jacking
hopper
bottom plate
feeding device
materials
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Granted
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CN201911092315.2A
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Chinese (zh)
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CN110666573B (en
Inventor
管允劼
王平
杜珂
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Institute of Mechanical Manufacturing Technology of CAEP
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Institute of Mechanical Manufacturing Technology of CAEP
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Publication of CN110666573A publication Critical patent/CN110666573A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/10—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of magazines

Abstract

The invention discloses a feeding device for automatic processing, which comprises a hopper, a jacking mechanism, a material distributing mechanism, a transfer mechanism and a positioning mechanism, wherein the jacking mechanism is arranged on the hopper; the bottom surface of the hopper is an inclined surface; the jacking mechanism comprises a jacking table and a jacking driving device; the material distribution mechanism is used for realizing single release of the materials; the delivery mechanism is used for delivering the material output by the material distribution mechanism to the positioning mechanism; the positioning mechanism comprises a plurality of V-shaped blocks, each V-shaped block is provided with a V-shaped notch with an upward opening end, the V-shaped notches are arranged on a straight line, and the V-shaped notches jointly form a supporting station for supporting materials on the positioning mechanism; the positioning mechanism further comprises a material pushing module, and the material pushing module is used for adjusting the position of the material on the supporting station. When the feeding device is applied to automatic processing including material taking by a manipulator, the storage quantity of the bars in a feeding or stock yard can be effectively increased.

Description

Feeding device for automatic processing
Technical Field
The invention relates to the technical field of machining, in particular to a feeding device for automatic machining.
Background
In the machining technology in the prior art, along with the continuous development of the automation technology, in order to improve the machining efficiency and reduce the labor intensity of workers, the manipulator is applied to the machining of a numerical control machine tool and is an important direction for the development of the automation machining.
In the field of automated processing, the blank state is usually rod-shaped parts such as rods and pipes. In the automatic processing of the numerical control lathe, a blank in a bar state is grabbed and placed into the numerical control equipment through a manipulator, the manipulator grabbing position is usually required to be vacant between the bars when the manipulator grabs the bars, and a gap is formed for the manipulator to grab the bars.
At present, the manipulator can not snatch the pile up bar usually, for solving this problem, adopts V type piece to place the bar usually, leaves great clearance between every V type piece and guarantees that the manipulator does not take place unnecessary collision when snatching, and this just makes and deposits bar quantity less in fixed area, has the lower problem of regional space utilization of bar stacking promptly.
Disclosure of Invention
The invention provides a feeding device for automatic processing, which aims to solve the technical problem that the space utilization rate of a bar stacking area is low when matched manipulators grab bars in the field of automatic processing.
The feeding device for automatic processing provided by the invention solves the problems through the following technical key points: the feeding device for automatic processing comprises a hopper for storing materials, a jacking mechanism, a material distributing mechanism, a transferring mechanism and a positioning mechanism, wherein the materials are bars or pipes;
the bottom surface of the hopper is an inclined surface;
climbing mechanism includes jacking platform and jacking drive arrangement, jacking drive arrangement is used for driving the jacking platform to do the rising, the descending motion, and the motion trail of jacking platform is: the top dead center position is positioned above the upper edge of the hopper or is flush with the upper edge, the bottom dead center position is positioned below the bottom surface or is flush with the bottom surface, the motion track is wholly or partially positioned at the bottom side of the bottom surface, and the top surface of the jacking table is an inclined surface with the same inclined direction as the bottom surface;
the material distribution mechanism is used for realizing single release of the materials;
the delivery mechanism is used for delivering the material output by the material distribution mechanism to the positioning mechanism;
the positioning mechanism comprises a plurality of V-shaped blocks, each V-shaped block is provided with a V-shaped notch with an upward opening end, the V-shaped notches are arranged on a straight line, and the V-shaped notches jointly form a supporting station for supporting materials on the positioning mechanism; the positioning mechanism further comprises a material pushing module, and the material pushing module is used for adjusting the position of the material on the supporting station.
In the existing automatic processing field, when a manipulator is used for adding materials to automatic processing equipment, the traditional manual operation is different from the traditional manual operation, and due to the fact that a space for the manipulator to perform actions needs to be reserved around the materials, the materials to be processed need to be arranged in a material stacking area at intervals. If when utilizing V type piece to support the material, the material is relative between generally to be row interval arrangement, and this just makes the storage quantity of pay-off or stock yard ground interior material very limited, is unfavorable for the space utilization in automatic processing region, and the blowing operation that needs comparatively frequent blowing.
In the scheme, the method comprises the following steps: the material conveying device comprises a hopper for storing materials, a jacking mechanism, a material distributing mechanism, a conveying mechanism and a positioning mechanism, wherein the bottom surface of the hopper is an inclined surface, the top surface of the jacking table is an inclined surface with the same inclined direction as the bottom surface, the jacking table is arranged at the bottom side of the bottom surface, the upper dead center position of the motion track of the jacking table is positioned above the upper edge of the hopper or is flush with the upper edge, the lower dead center position is positioned below the bottom surface or is flush with the bottom surface, when the material conveying device is specifically used, if the length direction of the bottom side of the bottom surface is the width direction of the hopper, the materials are placed in the hopper in a posture that the axial direction is parallel to the width direction, so that the jacking table can ascend and descend at the bottom side position of the bottom surface under the action of a jacking driving device, when the material conveying device ascends, the jacking table is positioned at one side of the hopper, and the material is supported and, the lifting platform can synchronously lift along with the lifting platform, when the material rises to cross the upper edge of the hopper, the top surface of the lifting platform is an inclined surface, so that the material of the bar or the pipe can roll onto the material distribution mechanism under the gravity, and after the material is controlled by the material distribution mechanism to be output to the transmission mechanism, the material is transmitted to a support station of the positioning mechanism through the transmission mechanism, namely the material finally stays at a fixed position for being clamped by a manipulator; when the jacking table descends, the bottom dead center position of the track is located below the bottom surface or flush with the bottom surface, and the bottom surface is an inclined surface, so that materials in the hopper can roll onto the jacking table under the gravity, and the jacking table is ready for next jacking action required to be executed for outputting the materials.
In the scheme, the material can be finally conveyed to a specific supporting station in the material conveying process, the materials to be processed can be stacked and tightly arranged in the hopper, and the feeding device needs to occupy a certain space after the installation of the feeding device is finished aiming at the empty space or the place of the material stack to be processed, but the feeding device needs to execute single material output control because the material distributing mechanism needs to execute single material output control, the material conveying mechanism provides a material transferring path, and the positioning mechanism provides a material supporting form which can be clamped by the manipulator, so that the main space is occupied by the hopper By reducing the moving distance of the manipulator in the material taking process, the material taking efficiency of the manipulator can be improved, the number of materials to be processed on the other side in a fixed field can be increased by times by the mode that the materials are tightly stacked in the hopper, the aim of improving the storage number of bars in a feeding or stockpiling field can be achieved, the positioning of the spatial position of the manipulator can be simplified, and the stability, the efficiency and the like of the feeding device can be improved in the process and the control.
The further technical scheme is as follows:
the most one utilizes rod or tubular product material form for its transmission mechanism implementation scheme that can realize the position transfer under self gravity sets up to: the transfer mechanism comprises a bottom plate with the same inclination direction as the bottom surface, and the upper end of the bottom plate is connected with the upper edge of one end of the bottom surface of the hopper, where the bottom side is located;
as a specific implementation scheme of the material distribution mechanism, the method is characterized in that: the material distribution mechanism comprises two material distribution cylinders which are arranged at intervals, and the material distribution cylinders are used for realizing that materials singly pass through the bottom plate. When the scheme is used specifically, the material distributing cylinder is fixed like a cylinder body, the piston end can extend into a material moving path on the bottom plate from any one of the left side, the right side, the upper side and the lower side of the bottom plate to realize the cut-off of the moving path, when the scheme is used specifically, on the material moving path, one side close to the hopper is the front end, and one side close to the positioning mechanism is the rear end, so that the space between the cut-off positions of the two material distributing cylinders is set to allow one material to be positioned between the two cut-off positions, when the scheme works specifically, the material distributing cylinder positioned at the rear end corresponds to the cut-off position, the material distributing cylinder positioned at the front end allows the material to pass through the corresponding cut-off position, and at the moment, the material can roll to the front; then, the material distributing cylinder at the front end is cut off at a corresponding cut-off position, the material distributing cylinder at the rear end is changed to a state allowing the materials to pass through the corresponding cut-off position, and at the moment, the material distributing mechanism can realize single release of the materials. Preferably, the feeding device also comprises a sensor for detecting whether materials are arranged between the material distribution cylinders, and signals output by the sensor are used as control signals of the material distribution cylinders, so that the reliability of the performance of the feeding device can be effectively ensured.
As a technical scheme which can prevent materials from being transferred to a material distribution station on a material distribution mechanism in a laminated state in the height direction, the device is arranged as follows: the material distributing mechanism further comprises a bent block-shaped air cylinder frame, a top plate is further fixed on the upper edge of one end, where the bottom side of the bottom surface of the hopper is located, and the lower end of the air cylinder frame is fixed on the top plate;
a gap for passing materials is formed between the top plate and the bottom plate;
the air cylinder frame comprises an ascending section and a straight section from the bottom end to the other end of the air cylinder frame, the material distributing air cylinders are all installed on the horizontal section, the projections of the two material distributing air cylinders are all located on the bottom plate, and the extending direction of the connecting line of the two projections is in the same direction with the inclining direction of the bottom plate. In the scheme, the cylinder frame is preferably arranged to be in a bent rod shape with two inflection points and comprises two horizontal sections and one vertical section, the ascending section is the vertical section, and the straight section is the horizontal section. The length direction of the top plate is located in the width direction of the hopper, and two ends of the top plate are fixed with the hopper. The middle part at the roof is installed to the cylinder frame, like this, when the jacking platform rises, the material is by the clearance motion of roof below to the front end of rear side branch material cylinder, at this moment, the roof with the section that rises provides the hindrance for the range upon range of output of material: the height of the gap does not allow the materials to pass through the gap in a manner of being stacked in the height direction. Therefore, only one material is conveyed to the positioning mechanism by the conveying mechanism at each time, and accidents of the feeding device during working are avoided. This scheme provides a branch material cylinder promptly and installs in the bottom plate top, and the piston rod of dividing the material cylinder stretches out downwards in order to hinder the material transmission, upwards contracts the technical scheme in order to release the material that contracts.
As mentioned above, because the interval that divides the material cylinder needs to match the size of concrete material, for the material diameter that makes this scheme adaptation is adjustable in certain extent, sets up to: the distance between the two material distributing cylinders is adjustable. The above adjustable spacing is, as a person skilled in the art, such that the adapted material diameter is variable. The sensitivity of the gap size to the material size is lower than that of the gap between the material distribution cylinders, and preferably, the mounting height of the top plate relative to the bottom plate is adjustable so that the diameter of the maximum-diameter material and the minimum-diameter material which are conveyed by the mechanism can be changed in a multiple manner.
For making the material can be exported by the specific position of bottom plate to confirm positioning mechanism's the position of receiving the material, avoid the material to fall by transfer mechanism, set up as: still be fixed with two side flitchs on the bottom plate, the side flitch is as the side boundary on the material transmission route on the bottom plate: the side material blocking plate and the bottom plate jointly enclose a material transfer path along the inclination direction of the bottom plate on the transfer mechanism.
For making the length change that this mechanism can match the material, set up to: the distance between the two side material blocking plates is adjustable;
the hopper comprises two width side baffles, wherein one width side baffle is positioned on one side of the bottom surface, the other width side baffle is positioned on the other side of the bottom surface, the distance between the two width side baffles is adjustable, and the output end of a material constraint area formed by the two width side baffles is connected with the input end of a material constraint area formed by the two side baffle plates. In this scheme, if the material accomplishes the back of placeeing in the hopper, the axis direction of material is the width line direction of hopper, and it is adjustable to aim at avoiding the material to have great swing clearance between the hopper, between the side striker plate to make this mechanism to different batches of materials, and different batches of material length is different, through interval regulation makes the interval is slightly big than the length of material can, through avoiding the material crooked, reaches the purpose that promotes this mechanism performance reliability. The output end is connected with the input end, and the purpose is realized promptly, and the material is exported between the two width side baffles, can smooth transition accomplish next step transmission between the striker plate of both sides. In specific application, the adjustable range is preferably set to adapt to the application of bars or pipes with the diameter of 8-45mm and the length of 200-500mm by adjusting the gap width or the plate interval.
In order to ensure that the material length value matched with the mechanism has continuity in a certain range, the method is set as follows: the adjustable distance is continuously adjustable in numerical value. By adopting the scheme, aiming at the side material blocking plates, strip-shaped holes with the length direction along the spacing direction of the side material blocking plates are arranged on the bottom plate, the strip-shaped holes are used for realizing the bolt connection between the side material blocking plates and the bottom plate, and corresponding bolts can slide in strip-shaped air; aiming at the width side baffle, a sliding groove and a locking mechanism can be arranged on the bottom surface of the hopper or the width side baffle, and a strip-shaped hole is arranged and matched with a connecting bolt to realize that the distance between the width side baffles is adjustable.
As a concrete implementation mode of the positioning mechanism, the positioning mechanism is provided with the following components: the V-shaped block is arranged at the bottom side of the bottom plate and is used for receiving materials from the lower end of the bottom plate; the pushing module comprises a pushing cylinder and a positioning baffle plate, the V-shaped blocks, the pushing cylinder and the positioning baffle plate are arranged on the same straight line, and the V-shaped blocks are arranged in an area between the pushing cylinder and the positioning baffle plate at intervals;
the material pushing cylinder is used for pushing the material supported on the supporting station, so that the end part of the material is in contact with the positioning baffle. In this scheme, the material by can drop on V type piece after the bottom plate output, then, push away material cylinder work, promote the material on the V type piece to corresponding tip and the contact of locating baffle, like this, can make the one end location of material in the space specific position, can reach the purpose of being convenient for standardize the manipulator action, doing benefit to manipulator work efficiency.
For avoiding the material by the bottom plate output back, roll-off V type piece causes positioning mechanism restraint material inefficacy, and the incident sets up to appear in the setting: each V-shaped block is provided with a positioning block which extends upwards relative to the upper end of the V-shaped block, and the positioning blocks and the bottom plate are positioned on a pair of opposite sides of the V-shaped block: the positioning block and the bottom plate are in a right-facing relation relative to the V-shaped block. In this scheme, after the material falls to on the V type piece, the material can further move under inertia and deviate from on the V type piece, especially the material that the diameter is bigger. In this scheme, the locating piece can provide the hindrance for the material continues to move for the material can reliably support on V type piece.
As above, because jacking platform movement track characteristics make it probably need support the multilayer material at the lift in-process, so compare in other moving parts on this mechanism, the jacking actuating mechanism atress is great, and has the rolling condition of material on the jacking platform, for optimizing jacking actuating mechanism's atress, sets up to: the lifting device is characterized by further comprising a rack for supporting the hopper, the lifting driving mechanism is a cylinder driving mechanism, and a guide groove directly matched or indirectly matched with the lifting table is further arranged on the rack. The scheme provides a specific jacking driving mechanism form which is simple in structure, simple in matched facilities and reliable in control, and the purpose of optimizing the stress of the jacking driving mechanism and ensuring the motion precision of the jacking table during working can be achieved through the constraint of the guide groove on the jacking table.
The invention has the following beneficial effects:
in the scheme, the method comprises the following steps: the material conveying device comprises a hopper for storing materials, a jacking mechanism, a material distributing mechanism, a conveying mechanism and a positioning mechanism, wherein the bottom surface of the hopper is an inclined surface, the top surface of the jacking table is an inclined surface with the same inclined direction as the bottom surface, the jacking table is arranged at the bottom side of the bottom surface, the upper dead center position of the motion track of the jacking table is positioned above the upper edge of the hopper or is flush with the upper edge, the lower dead center position is positioned below the bottom surface or is flush with the bottom surface, when the material conveying device is specifically used, if the length direction of the bottom side of the bottom surface is the width direction of the hopper, the materials are placed in the hopper in a posture that the axial direction is parallel to the width direction, so that the jacking table can ascend and descend at the bottom side position of the bottom surface under the action of a jacking driving device, when the material conveying device ascends, the jacking table is positioned at one side of the hopper, and the material is supported and, the lifting platform can synchronously lift along with the lifting platform, when the material rises to cross the upper edge of the hopper, the top surface of the lifting platform is an inclined surface, so that the material of the bar or the pipe can roll onto the material distribution mechanism under the gravity, and after the material is controlled by the material distribution mechanism to be output to the transmission mechanism, the material is transmitted to a support station of the positioning mechanism through the transmission mechanism, namely the material finally stays at a fixed position for being clamped by a manipulator; when the jacking table descends, the bottom dead center position of the track is located below the bottom surface or flush with the bottom surface, and the bottom surface is an inclined surface, so that materials in the hopper can roll onto the jacking table under the gravity, and the jacking table is ready for next jacking action required to be executed for outputting the materials.
In the scheme, the material can be finally conveyed to a specific supporting station in the material conveying process, the materials to be processed can be stacked and tightly arranged in the hopper, and the feeding device needs to occupy a certain space after the installation of the feeding device is finished aiming at the empty space or the place of the material stack to be processed, but the feeding device needs to execute single material output control because the material distributing mechanism needs to execute single material output control, the material conveying mechanism provides a material transferring path, and the positioning mechanism provides a material supporting form which can be clamped by the manipulator, so that the main space is occupied by the hopper By reducing the moving distance of the manipulator in the material taking process, the material taking efficiency of the manipulator can be improved, the number of materials to be processed on the other side in a fixed field can be increased by times by the mode that the materials are tightly stacked in the hopper, the aim of improving the storage number of bars in a feeding or stockpiling field can be achieved, the positioning of the spatial position of the manipulator can be simplified, and the stability, the efficiency and the like of the feeding device can be improved in the process and the control.
Drawings
FIG. 1 is a schematic structural diagram of one embodiment of a feeding device for automated processing according to the present invention;
FIG. 2 is a partial enlarged view of portion A shown in FIG. 1;
FIG. 3 is a partial enlarged view of portion B shown in FIG. 1;
fig. 4 is a partial structural schematic view of a feeding device for automatic processing according to an embodiment of the present invention, which is a front cross-sectional view for reflecting a matching relationship between a hopper and a jacking table;
fig. 5 is a partial schematic structural diagram of a feeding device for automated processing according to an embodiment of the present invention, which is a top view for reflecting a matching relationship between a hopper and a jacking table.
The reference numbers in the figures are in order: 1. the device comprises a hopper, 11, a top plate, 2, a jacking mechanism, 3, a material distributing mechanism, 31, a material distributing cylinder, 32, a cylinder frame, 4, a transfer mechanism, 41, a bottom plate, 42, a side material blocking plate, 5, a positioning mechanism, 51, a V-shaped block, 52, a material pushing cylinder, 53, a positioning block, 54 and a positioning blocking plate.
Detailed Description
The present invention will be described in further detail with reference to examples, but the structure of the present invention is not limited to the following examples.
Example 1:
as shown in fig. 1 to 5, the feeding device for automatic processing includes a hopper 1 for storing materials, the materials are rods or pipes, and further includes a jacking mechanism 2, a material distributing mechanism 3, a transfer mechanism 4, and a positioning mechanism 5;
the bottom surface of the hopper 1 is an inclined surface;
climbing mechanism 2 includes jacking platform and jacking drive arrangement, jacking drive arrangement is used for driving the jacking platform to do the rising, the descending movement, and the movement track of jacking platform is: the top dead center position is positioned above the upper edge of the hopper 1 or is flush with the upper edge, the bottom dead center position is positioned below the bottom surface or is flush with the bottom surface, the motion track is wholly or partially positioned at the bottom side of the bottom surface, and the top surface of the jacking table is an inclined surface with the same inclined direction as the bottom surface;
the material distributing mechanism 3 is used for realizing single release of the materials;
the delivery mechanism 4 is used for delivering the material output by the material distribution mechanism 3 to the positioning mechanism 5;
the positioning mechanism 5 comprises a plurality of V-shaped blocks 51, each V-shaped block 51 is provided with a V-shaped notch with an upward opening end, the V-shaped notches are arranged on a straight line, and the V-shaped notches jointly form a supporting station for supporting materials on the positioning mechanism 5; the positioning mechanism 5 further comprises a material pushing module, and the material pushing module is used for adjusting the position of the material on the supporting station.
In the existing automatic processing field, when a manipulator is used for adding materials to automatic processing equipment, the traditional manual operation is different from the traditional manual operation, and due to the fact that a space for the manipulator to perform actions needs to be reserved around the materials, the materials to be processed need to be arranged in a material stacking area at intervals. If the V-shaped block 51 is used for supporting materials, the materials are generally arranged at intervals, so that the storage quantity of the materials in the feeding or stockyard is very limited, the space utilization rate of an automatic processing area is not facilitated, and the material discharging operation of discharging materials frequently is needed.
In the scheme, the method comprises the following steps: the material storage device comprises a hopper 1 for storing materials, a jacking mechanism 2, a material distribution mechanism 3, a transmission mechanism 4 and a positioning mechanism 5, wherein the bottom surface of the hopper 1 is an inclined surface, the top surface of the jacking table is an inclined surface with the same inclined direction as the bottom surface, the jacking table is arranged at the bottom side of the bottom surface, the upper dead center position of the movement track of the jacking table is positioned above the upper edge of the hopper 1 or is flush with the upper edge, the lower dead center position is positioned below the bottom surface or is flush with the bottom surface, when the material storage device is specifically used, if the length direction of the bottom side of the bottom surface is the width direction of the hopper 1, the material is placed in the hopper 1 in a posture that the axial direction is parallel to the width direction, so that the jacking table can ascend and descend at the bottom position of the bottom surface under the action of a jacking driving device, and the jacking table is positioned at one side, therefore, the material can synchronously ascend along with the jacking table under the support provided by the top surface and the support constraint provided by the side surface of the hopper 1, when the material ascends to cross the upper edge of the hopper 1, the top surface of the jacking table is an inclined surface, so that the material of a bar or a pipe can roll onto the distributing mechanism 3 under the gravity, and after being controlled by the distributing mechanism 3 to realize single output onto the transfer mechanism 4, the single material is transferred onto the support station of the positioning mechanism 5 through the transfer mechanism 4, namely the material finally stays at a fixed position for being clamped by a manipulator; when the jacking table descends, because the lower dead center position of the track is located below the bottom surface or flush with the bottom surface, and the bottom surface is an inclined surface, therefore, materials in the hopper 1 can roll onto the jacking table under the gravity, and the jacking table is ready for the next jacking action required to be executed for outputting the materials.
In the scheme, the material can be conveyed to a specific supporting station finally in the material conveying process, the material to be processed can be stacked and tightly arranged in the hopper 1, and the feeding device needs to occupy a certain space after the installation of the feeding device is finished aiming at the space between the stack of the material to be processed, but as the material distribution mechanism 3 needs to execute single material output control, the conveying mechanism 4 provides a material transfer path, and the positioning mechanism 5 provides a material supporting form which can be clamped by a manipulator, the main space is occupied by the hopper 1, so compared with the prior art, the scheme is adopted, the manipulator takes the material from the positioning mechanism 5 every time, compared with the material stacking mode which is adopted in the prior art and distributed around the manipulator, the range of the area which is required to be covered by the manipulator can be reduced by relatively fixing the material taking position of the manipulator, the manipulator structure is reduced and simplified, the moving distance of the manipulator in the material taking process is reduced, the material taking efficiency of the manipulator can be improved, the quantity of materials to be processed on the other side in a fixed field can be increased in a mode that the materials are tightly stacked in the hopper 1 in a doubling mode, the purpose of improving the storage quantity of the bars in a feeding or stockpiling field can be achieved, the positioning of the spatial position of the manipulator can be simplified, and the stability, the efficiency and the like of the feeding device can be improved in the process and the control.
Example 2:
as shown in fig. 1 to 5, the present embodiment is further detailed based on embodiment 1:
the most one utilizes rod or tubular product material form for its 4 implementation schemes of transfer mechanism that can realize the position transfer under self gravity, set up to: the transfer mechanism 4 comprises a bottom plate 41 with the same inclination direction as the bottom surface, and the upper end of the bottom plate 41 is connected with the upper edge of one end of the bottom surface of the hopper 1;
as a specific implementation scheme of the material distribution mechanism 3, the following steps are set: the material distributing mechanism 3 comprises two material distributing cylinders 31 arranged at intervals, and the material distributing cylinders 31 are used for realizing that materials singly pass through the bottom plate 41. In the scheme, when the material distributing cylinder 31 is fixed like a cylinder body, the piston end can extend into a material moving path on the bottom plate 41 from any one of the left side, the right side, the upper side and the lower side of the bottom plate 41 to realize the truncation of the moving path, when the material distributing cylinder is specifically used, if the material moving path is arranged, one side close to the hopper 1 is the front end, and one side close to the positioning mechanism 5 is the rear end, so that the space between the truncation positions of the two material distributing cylinders 31 is set to allow one material to be positioned between the two truncation positions, when the material distributing cylinder 31 at the rear end truncates the corresponding truncation position, the material distributing cylinder 31 at the front end allows the material to pass through the corresponding truncation position, and at the moment, the material can roll to the front end of the material distributing cylinder 31 at the rear end; then, the material distributing cylinder 31 at the front end is cut off at the corresponding cut-off position, and the material distributing cylinder 31 at the rear end is switched to allow the material to pass through the corresponding cut-off position, so that the material distributing mechanism 3 can release the material singly. Preferably, the feeding device further comprises a sensor for detecting whether materials exist between the material distribution cylinders 31, and signals output by the sensor are used as control signals of the material distribution cylinders 31, so that the reliability of the performance of the feeding device can be effectively ensured.
As a technical scheme which can prevent materials from being transferred to the material distribution station on the material distribution mechanism 3 in a laminated state in the height direction, the device is arranged as follows: the material distributing mechanism 3 further comprises a bent block-shaped air cylinder frame 32, a top plate 11 is further fixed on the upper edge of one end, where the bottom side of the bottom surface of the hopper 1 is located, and the lower end of the air cylinder frame 32 is fixed on the top plate 11;
a gap for passing materials is formed between the top plate 11 and the bottom plate 41;
from the bottom end to the other end of the cylinder frame 32, the cylinder frame 32 comprises an ascending section and a straight section, the material separating cylinders 31 are all installed on the horizontal section, the projections of the two material separating cylinders 31 are all arranged on the bottom plate 41, and the extending direction of the connecting line of the two projections is in the same direction with the inclined direction of the bottom plate 41. In this embodiment, the cylinder frame 32 is preferably configured to be a bent rod with two inflection points, and includes two horizontal sections and a vertical section, the ascending section is a vertical section, and the straight section is a horizontal section. The length direction of the top plate 11 is located in the width direction of the hopper 1, and two ends of the top plate 11 are fixed with the hopper 1. The cylinder frame 32 is installed in the middle of the top plate 11, so that when the jacking table rises, the material moves to the front end of the rear-side material distribution cylinder 31 from the gap below the top plate 11, and at this time, the top plate 11 and the rising section provide a barrier for material stacking output: the height of the gap does not allow the materials to pass through the gap in a manner of being stacked in the height direction. Therefore, only one material is conveyed to the positioning mechanism 5 by the conveying mechanism 4 every time, and accidents of the feeding device during working are avoided. This scheme provides one kind promptly and divides material cylinder 31 to install in bottom plate 41 top, divides the piston rod of material cylinder 31 to stretch out downwards in order to hinder the material transfer, upwards retract the technical scheme in order to release the material.
As mentioned above, because the interval of dividing material cylinder 31 needs to match the size of concrete material, for the material diameter that this scheme adaptation is adjustable in certain extent, set up to: the distance between the two material distributing air cylinders 31 is adjustable. The above adjustable spacing is, as a person skilled in the art, such that the adapted material diameter is variable. The sensitivity of the gap size to the material size is not as good as that of the gap between the material distributing cylinders 31, and preferably, the installation height of the top plate 11 relative to the bottom plate 41 is adjustable so that the diameter of the maximum-diameter material and the minimum-diameter material conveyed by the mechanism can be changed in multiples.
In order to enable the material to be output from a specific position of the bottom plate 41, so as to determine the position of the positioning mechanism 5 for receiving the material and avoid the material from falling off from the transfer mechanism 4, the following steps are provided: two side baffle plates 42 are further fixed on the bottom plate 41, and the side baffle plates 42 are used as side boundaries of a material transfer path on the bottom plate 41: the side material blocking plates 42 and the bottom plate 41 together define a material transfer path along the oblique direction of the bottom plate 41 on the transfer mechanism 4.
For making the length change that this mechanism can match the material, set up to: the distance between the two side material blocking plates 42 is adjustable;
the hopper 1 comprises two width side baffles, one of the width side baffles is positioned on one side of the bottom surface, the other width side baffle is positioned on the other side of the bottom surface, the distance between the two width side baffles is adjustable, and the output end of a material constraint area formed by the two width side baffles is connected with the input end of a material constraint area formed by the two side baffle plates 42. In this scheme, if the material accomplishes the back of placeeing in hopper 1, the axis direction of material is hopper 1's width line direction, and it is adjustable to aim at avoiding the material to have great swing clearance between hopper 1, between side retainer plate 42 above the interval to make this mechanism to different batches of materials, and different batches of material length is different, through the interval is adjusted, makes the interval is slightly big than the length of material can, through avoiding the material crooked, reaches the purpose that promotes this mechanism performance reliability. The output end is connected with the input end, namely, the purpose is realized, and after the materials are output between the two width side baffles, the materials can be smoothly transited to the material baffles 42 on the two sides to complete the next transmission. In specific application, the adjustable range is preferably set to adapt to the application of bars or pipes with the diameter of 8-45mm and the length of 200-500mm by adjusting the gap width or the plate interval.
In order to ensure that the material length value matched with the mechanism has continuity in a certain range, the method is set as follows: the adjustable distance is continuously adjustable in numerical value. By adopting the scheme, aiming at the side material blocking plates 42, the bottom plate 41 is provided with strip-shaped holes with the length direction along the distance direction of the side material blocking plates 42, the strip-shaped holes are used for realizing the bolt connection between the side material blocking plates 42 and the bottom plate 41, and corresponding bolts can slide in strip-shaped air; aiming at the width side baffle, a sliding groove and a locking mechanism can be arranged on the bottom surface of the hopper 1 or the width side baffle, and a strip-shaped hole is arranged and matched with a connecting bolt to realize the adjustable distance between the width side baffles.
As a specific implementation manner of the positioning mechanism 5, it is configured as follows: the V-shaped block 51 is arranged at the bottom side of the bottom plate 41 and is used for receiving materials from the lower end of the bottom plate 41; the pushing module comprises a pushing cylinder 52 and a positioning baffle 54, the V-shaped blocks 51, the pushing cylinder 52 and the positioning baffle 54 are arranged on a straight line, and the V-shaped blocks 51 are arranged in an area between the pushing cylinder 52 and the positioning baffle 54 at intervals;
the pushing cylinder 52 is used for pushing the material supported on the supporting station, so that the end of the material is contacted with the positioning baffle 54. In the scheme, the material can fall on the V-shaped block 51 after being output by the bottom plate 41, then the material pushing cylinder 52 works to push the material on the V-shaped block 51 to the corresponding end part to be contacted with the positioning baffle 54, so that one end of the material can be positioned at a specific position in the space, and the purposes of conveniently standardizing the action of the manipulator and facilitating the working efficiency of the manipulator can be achieved.
For avoiding the material by bottom plate 41 output back, roll-off V type piece 51 causes positioning mechanism 5 restraint material to become invalid, sets up the incident and sets up to: each V-block 51 is provided with a positioning block 53 extending upward relative to the upper end of the V-block 51, and the positioning block 53 and the bottom plate 41 are located on a pair of opposite sides of the V-block 51: the positioning block 53 is in facing relation to the V-block 51 with the base plate 41. In the scheme, after the material falls onto the V-shaped block 51, the material may further move under inertia to be separated from the V-shaped block 51, especially for the material with a larger diameter. In the scheme, the positioning block 53 can provide a barrier for the continuous movement of the material, so that the material can be reliably supported on the V-shaped block 51.
As above, because jacking platform movement track characteristics make it probably need support the multilayer material at the lift in-process, so compare in other moving parts on this mechanism, the jacking actuating mechanism atress is great, and has the rolling condition of material on the jacking platform, for optimizing jacking actuating mechanism's atress, sets up to: still including the frame that is used for supporting hopper 1, jacking actuating mechanism is cylinder actuating mechanism, still be provided with in the frame with jacking platform direct coordination or indirect complex guide way. The scheme provides a specific jacking driving mechanism form which is simple in structure, simple in matched facilities and reliable in control, and the purpose of optimizing the stress of the jacking driving mechanism and ensuring the motion precision of the jacking table during working can be achieved through the constraint of the guide groove on the jacking table.
The foregoing is a more detailed description of the present invention in connection with specific preferred embodiments thereof, and it is not intended that the specific embodiments of the present invention be limited to these descriptions. For those skilled in the art to which the invention pertains, other embodiments that do not depart from the gist of the invention are intended to be within the scope of the invention.

Claims (10)

1. The feeding device for automatic processing comprises a hopper (1) for storing materials, wherein the materials are bars or pipes, and the feeding device is characterized by further comprising a jacking mechanism (2), a distributing mechanism (3), a transfer mechanism (4) and a positioning mechanism (5);
the bottom surface of the hopper (1) is an inclined surface;
climbing mechanism (2) are including jacking platform and jacking drive arrangement, jacking drive arrangement is used for driving the jacking platform to do the rising, the descending movement, and the motion trail of jacking platform is: the top dead center position is positioned above the upper edge of the hopper (1) or is flush with the upper edge, the bottom dead center position is positioned below the bottom surface or is flush with the bottom surface, the motion track is wholly or partially positioned at the bottom side of the bottom surface, and the top surface of the jacking table is an inclined surface with the same inclined direction as the bottom surface;
the material distributing mechanism (3) is used for realizing single release of the materials;
the transfer mechanism (4) is used for transferring the materials output by the material distribution mechanism (3) to the positioning mechanism (5);
the positioning mechanism (5) comprises a plurality of V-shaped blocks (51), each V-shaped block (51) is provided with a V-shaped notch with an upward opening end, the V-shaped notches are arranged on a straight line, and the V-shaped notches jointly form a supporting station for supporting materials on the positioning mechanism (5); the positioning mechanism (5) further comprises a material pushing module, and the material pushing module is used for adjusting the position of the material on the supporting station.
2. The feeding device for the automated processing according to claim 1, wherein the transfer mechanism (4) comprises a bottom plate (41) having the same inclination direction as the bottom surface, and the upper end of the bottom plate (41) is connected with the upper edge of the end of the hopper (1) where the bottom surface is located;
the material distribution mechanism (3) comprises two material distribution cylinders (31) which are arranged at intervals, and the material distribution cylinders (31) are used for realizing that materials singly pass through the bottom plate (41).
3. The feeding device for the automatic processing according to claim 2, wherein the material distributing mechanism (3) further comprises a bent block-shaped cylinder frame (32), a top plate (11) is further fixed on the upper edge of one end of the hopper (1) where the bottom side of the bottom surface is located, and the lower end of the cylinder frame (32) is fixed on the top plate (11);
a gap for passing materials is formed between the top plate (11) and the bottom plate (41);
the material distributing cylinder (31) is arranged on the horizontal section, the projections of the two material distributing cylinders (31) are all arranged on the bottom plate (41), and the extending direction of the connecting line of the two projections is in the same direction with the inclined direction of the bottom plate (41).
4. The feeding device for automated processing according to claim 3, characterised in that the distance between the two material separating cylinders (31) is adjustable.
5. The feeding device for the automatic processing according to claim 2, characterized in that two side baffle plates (42) are further fixed on the bottom plate (41), and the side baffle plates (42) are used as the side boundaries of the material transfer path on the bottom plate (41): the side material blocking plates (42) and the bottom plate (41) jointly form a material transfer path on the transfer mechanism (4) along the inclined direction of the bottom plate (41).
6. The feeding device for automated processing according to claim 5, characterized in that the distance between the two side retainer plates (42) is adjustable;
the hopper (1) comprises two width side baffles, one width side baffle is positioned on one side of the bottom surface, the other width side baffle is positioned on the other side of the bottom surface, the distance between the two width side baffles is adjustable, and the output end of a material constraint area formed by the two width side baffles is connected with the input end of a material constraint area formed by the two side baffle plates (42).
7. The feeding device for automated processing according to claim 6, wherein the adjustable pitches are all continuously adjustable in pitch value.
8. The feeding device for the automated processing according to claim 2, wherein the V-shaped block (51) is disposed at the bottom side of the bottom plate (41) and is used for receiving the material from the lower end of the bottom plate (41); the pushing module comprises a pushing cylinder (52) and positioning baffles (54), the V-shaped blocks (51), the pushing cylinder (52) and the positioning baffles (54) are arranged on the same straight line, and the V-shaped blocks (51) are arranged in an area between the pushing cylinder (52) and the positioning baffles (54) at intervals;
the pushing cylinder (52) is used for pushing the materials supported on the supporting station, so that the end parts of the materials are in contact with the positioning baffle (54).
9. The feeding device for the automated processing according to claim 8, wherein each V-block (51) is provided with a positioning block (53) protruding upward relative to the upper end of the V-block (51), the positioning block (53) and the bottom plate (41) being located on a pair of opposite sides of the V-block (51): the positioning block (53) and the bottom plate (41) are in a facing relationship with respect to the V-shaped block (51).
10. The feeding device for the automatic processing according to any one of claims 1 to 9, further comprising a frame for supporting the hopper (1), wherein the jacking driving mechanism is a cylinder driving mechanism, and the frame is further provided with a guide groove directly or indirectly matched with the jacking table.
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