CN111703883A - Feeding device and feeding method - Google Patents

Feeding device and feeding method Download PDF

Info

Publication number
CN111703883A
CN111703883A CN202010639315.6A CN202010639315A CN111703883A CN 111703883 A CN111703883 A CN 111703883A CN 202010639315 A CN202010639315 A CN 202010639315A CN 111703883 A CN111703883 A CN 111703883A
Authority
CN
China
Prior art keywords
assembly
workpiece
sliding
module
feeding
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010639315.6A
Other languages
Chinese (zh)
Inventor
蔡浩良
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Borunte Robot Co Ltd
Original Assignee
Borunte Robot Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Borunte Robot Co Ltd filed Critical Borunte Robot Co Ltd
Priority to CN202010639315.6A priority Critical patent/CN111703883A/en
Publication of CN111703883A publication Critical patent/CN111703883A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/901Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G59/00De-stacking of articles
    • B65G59/02De-stacking from the top of the stack
    • B65G59/026De-stacking from the top of the stack with a stepwise upward movement of the stack

Abstract

The invention relates to a feeding device and a feeding method. This loading attachment includes: the storage assembly is used for placing workpieces; the feeding assembly is positioned on one side of the storage assembly and is used for positioning the workpieces from the storage assembly; the feeding assembly is positioned below the material storage assembly and is used for ejecting the workpieces on the material storage assembly one by one from bottom to top; the material taking assembly is positioned above the material storage assembly and the material feeding assembly and is used for conveying the workpieces on the material storage assembly to the material feeding assembly; the material taking assembly comprises a clamping module, a first driving module and a second driving module, the clamping module abuts against the side face of the workpiece to clamp the workpiece, the first driving module is used for driving the clamping module to move back and forth between the material storage assembly and the material feeding assembly along the horizontal direction, and the second driving module is used for driving the clamping module to lift back and forth along the vertical direction. The feeding method adopts the feeding device to feed.

Description

Feeding device and feeding method
Technical Field
The invention relates to the technical field of mechanical automatic feeding, in particular to a feeding device and a feeding method adopting the feeding device.
Background
Chinese patent No. CN201510481883.7 discloses a feeding type single-station feeding rack, see fig. 1, fig. 1 is a schematic structural diagram of the feeding type single-station feeding rack, and the feeding type single-station feeding rack includes: a machine base 1; the material rack unit 2 is driven by a first driving unit 3 to move back and forth along the vertical direction, and the first driving unit 3 is fixedly arranged on the machine base 1; the feeding unit 4 is arranged on one side of the material rack unit 2, the feeding unit 4 is driven by a second driving unit 5 to move back and forth along the horizontal direction, the second driving unit 5 is fixedly arranged on the machine base 1, and the material rack unit 2 ejects and translates a product 10 from the feeding unit 4 from bottom to top to take the product to the material rack unit 2; the feeding unit 6 is fixedly arranged on the base 1 and is positioned on the other side of the material rack unit 2; and the material taking unit 7 is fixedly arranged above the material rack unit 2 and the feeding unit 6, the material taking unit 7 is driven by a third driving unit 8 to move back and forth between the material rack unit 2 and the feeding unit 6 along the horizontal direction, meanwhile, the material taking unit 7 is driven by a fourth driving unit 9 to move back and forth along the vertical direction, the material taking unit 7 moves downwards along the vertical direction to the material rack unit 2, takes the product 10 (material sheet) away, then ascends, moves along the horizontal direction to the feeding unit 6, and descends to place the product 10 on the feeding unit 6.
Wherein, get material unit 7 and include the support and set up the sucking disc on the support, absorb the product through the sucking disc to the realization is got the purpose of material.
However, the applicant has a class of products which, due to the process requirements, require talc to be adhered to their surface. If adopt foretell feeding type single-station material loading work or material rest to carry out the material loading of this product, then the sucking disc can absorb the partial talcum powder on product surface, not only can lead to this product processing technology bad, can lead to the gas pocket of sucking disc to be blockked up by the talcum powder moreover, influences the life of equipment.
If the traditional vibration plate or the elevator and other vibration feeding modes are used, a large amount of talcum powder falls off, and the processing technology is poor. Therefore, the current feeding mode of the products is a mode of using an artificial material placing table, a positioning structure is designed on the material placing table, and the robot directly grabs for feeding and discharging. However, the manual material placing table is used, so that the occupied area is large, the material needs to be loaded and unloaded frequently manually, the storage capacity is small, and the manual work cannot be saved in the real sense.
Disclosure of Invention
Based on this, the invention aims to provide a feeding device and a feeding method using the feeding device, which can stack and feed products with surface adhered with talcum powder, reduce the loss of talcum powder in the feeding process, and automatically feed to reduce the occupied area and save labor.
A loading device, comprising: the storage assembly is used for placing workpieces; a supply assembly located on one side of the magazine assembly for locating workpieces from the magazine assembly; the feeding assembly is positioned below the material storage assembly and is used for ejecting the workpieces on the material storage assembly one by one from bottom to top; the material taking assembly is positioned above the material storage assembly and the feeding assembly and is used for conveying the workpieces on the material storage assembly to the feeding assembly; the material taking assembly comprises a clamping module, a first driving module and a second driving module, the clamping module is abutted against the side face of the workpiece to clamp the workpiece, the first driving module is used for driving the clamping module to move back and forth along the horizontal direction between the material storing assembly and the material feeding assembly, and the second driving module is used for driving the clamping module to lift back and forth along the vertical direction.
Compared with the prior art, the feeding device disclosed by the invention can realize automatic feeding of a product with talcum powder adhered to the surface, reduce the floor area and save labor. And, in the material loading process, adopt the centre gripping module to get and put the product that the surface was stained with the talcum powder, reduce the loss of the talcum powder on the product effectively, help guaranteeing the excellent rate of product post processing.
Furthermore, the clamping module comprises parallel gas claws, two claw parts of the parallel gas claws are respectively provided with a pressing part, and when the clamping module grabs a workpiece, the two pressing parts are respectively positioned at two sides of the workpiece.
Further, the first driving module includes: the first base is rotatably provided with a slave synchronizing wheel and a first guide rail which is horizontally placed; the first motor is arranged on the first base, a main synchronizing wheel is installed on an output shaft of the first motor, and the main synchronizing wheel and the auxiliary synchronizing wheel are in transmission connection through a synchronous belt; the first sliding block is used for installing the clamping module, connected to the first guide rail in a sliding mode and fixedly connected with the synchronous belt.
Further, the second driving module includes: the second base is arranged on the first driving module and is provided with a guide post which is vertically arranged; the first cylinder is arranged on the second base, and a third base is arranged at the end part of a piston rod of the first cylinder and is used for mounting the clamping module; and the guide rod is inserted in the guide column, moves up and down in the guide column and is connected with the third base.
Further, a first buffer is disposed between the second base and the third base.
Further, the storage component comprises a station module, the station module comprises a base, a guide piece is arranged on the top surface of the base, the workpieces are stacked in the guide piece, a through hole for the feeding component to pass is further formed in the top surface of the base, the through hole is communicated with the inner cavity of the guide piece, the feeding component passes through the through hole and jacks up the workpieces, and the workpieces move vertically upwards along the guide piece.
Further, the storage assembly further comprises a second guide rail, a sliding table and a second cylinder, the second guide rail is horizontally placed, the second guide rail is located above the feeding assembly, the sliding table is installed on the second guide rail in a sliding mode, the sliding table is located above the feeding assembly, a material ejection opening corresponding to the through hole is formed in the sliding table, the material ejection opening supplies the feeding assembly to penetrate, and the second cylinder is used for driving the sliding table to move horizontally.
Further, the top surface of slip table is provided with two at least station modules.
And further, second buffers are arranged at two ends of the movable track of the sliding table.
Furthermore, a travel switch is arranged on the movable track of the sliding table.
Furthermore, the feeding assembly comprises a positioning seat, a third cylinder and a fourth cylinder, a transverse sliding groove and a longitudinal sliding groove are formed in the top surface of the positioning seat, a transverse sliding block is connected to the transverse sliding groove in a sliding manner, a longitudinal sliding block is connected to the longitudinal sliding groove in a sliding manner, a transverse positioning block and a longitudinal positioning block are further arranged on the top surface of the positioning seat, the transverse positioning block is arranged at one end of the transverse sliding groove, the longitudinal positioning block is arranged at one end of the longitudinal sliding groove, the transverse sliding block, the longitudinal sliding block, the transverse positioning block and the longitudinal positioning block are respectively located on four sides of the workpiece, the third cylinder is used for driving the transverse sliding block to transversely move on the horizontal plane, and the fourth cylinder is used for driving the longitudinal sliding block to longitudinally move on the horizontal plane.
Furthermore, the top surface of the positioning seat is also provided with a transverse adjusting groove and a longitudinal adjusting groove, the transverse positioning block is installed in the transverse adjusting groove in a sliding manner, and the longitudinal positioning block is installed in the longitudinal adjusting groove in a sliding manner.
Further, the feeding assembly comprises a second motor, a gear, a rack and a jacking portion, the gear is installed on an output shaft of the second motor, the rack is vertically arranged and meshed with the gear, the jacking portion is arranged at the top end of the rack, and the jacking portion sequentially penetrates through the material ejection opening and the through hole and then abuts against the workpiece.
Further, the feeding assembly further comprises a guide part and a connecting seat, the guide part is vertically arranged, the connecting seat is arranged on the rack, and the connecting seat is installed on the guide part in a sliding mode.
A feeding method adopts the feeding device, and comprises the following steps:
s1, stacking the workpieces in a guide piece;
s2, conveying the placed workpiece to the position right above the feeding assembly through a second air cylinder;
s3, under the action of a second motor, the jacking part moves vertically upwards;
s4, the jacking part sequentially penetrates through the material ejection opening and the through hole and then abuts against the workpiece at the lowest end of the stacked workpieces, and the stacked workpieces move vertically upwards along the guide piece under the driving of the jacking part;
s5, when the workpiece to be positioned at the topmost end of the stacked workpieces extends out of the opening at the top end of the guide part by one half to four fifths of the thickness of the workpiece, the first driving module moves the clamping module to be right above the workpiece, and then the second driving module drives the clamping module to vertically move downwards;
s6, when the parts to be pressed are respectively positioned on the two sides of the workpiece, the parallel pneumatic claws act, and the pressing parts are pressed against the two sides of the workpiece to realize the grabbing of the workpiece;
s7, after the workpiece is grabbed, the second driving module moves the clamping module to vertically move upwards, and then the first driving module moves the clamping module to be right above the feeding assembly;
s8, the second driving module drives the clamping module to vertically move downwards, then the parallel gas claws are opened, and the pressing piece is separated from the workpiece;
s9, under the action of the third air cylinder and the fourth air cylinder, the transverse sliding block transversely moves on the horizontal plane, the longitudinal sliding block longitudinally moves on the horizontal plane, and the workpiece is clamped among the transverse sliding block, the longitudinal sliding block, the transverse positioning block and the longitudinal positioning block.
Compared with the prior art, the feeding method adopts the feeding device, so that the automatic feeding of the product with the talcum powder adhered to the surface is realized, the floor area is reduced, and the labor is saved. And, in the material loading process, adopt the centre gripping module to get and put the product that the surface was stained with the talcum powder, reduce the loss of the talcum powder on the product effectively, help guaranteeing the excellent rate of product post processing. In addition, because the volume of the workpiece is small, and the surface is adhered with talcum powder, if the workpiece is completely extended out, the workpiece is easy to fall off, and the production efficiency is affected, therefore, in step S5, the topmost workpiece extends out of the opening at the top end of the guide by one half to four fifths of the thickness of the topmost workpiece, on one hand, the clamping module can be ensured to grab the workpiece, and the workpiece can be stably grabbed, and on the other hand, the workpiece can be prevented from falling out of the guide.
For a better understanding and practice, the invention is described in detail below with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic structural diagram of a feeding type single-station feeding rack;
FIG. 2 is a schematic structural diagram of a feeding device according to an embodiment;
FIG. 3 is a schematic structural view of a magazine assembly according to an embodiment;
FIG. 4 is a schematic structural diagram of a feed assembly according to an embodiment;
FIG. 5 is a schematic structural view of a feed assembly according to an embodiment;
FIG. 6 is a schematic view illustrating a state where the jacking portion extends into the topping port according to the embodiment;
FIG. 7 is a schematic view of a take-off assembly according to an embodiment;
reference numerals:
1. a machine base; 2. a material rack unit; 3. a first drive unit; 4. a feeding unit; 5. a second driving unit; 6. a supply unit; 7. a material taking unit; 8. a third driving unit; 9. a fourth drive unit; 10. product (stacked web);
100. a frame; 200. a material storage assembly; 210. a second guide rail; 220. a sliding table; 221. a material ejection port; 230. a second cylinder; 240. a station module; 241. a base; 242. a guide member; 243. a through hole; 250. a travel switch; 260. a second buffer; 300. a supply assembly; 310. positioning seats; 311. a transverse chute; 312. a longitudinal chute; 313. a transverse slide block; 314. a longitudinal slide block; 315. a transverse positioning block; 316. longitudinal positioning blocks; 317. a lateral adjustment groove; 318. a longitudinal adjustment groove; 320. a third cylinder; 330. a fourth cylinder; 400. a feeding assembly; 410. a second motor; 420. a rack; 430. a jack-up portion; 440. a guide portion; 450. a connecting seat; 500. a material taking assembly; 510. a clamping module; 511. parallel pneumatic claws; 512. a pressing member; 520. a first driving module; 521. a first base; 522. a first motor; 523. a main synchronizing wheel; 524. a synchronous belt; 525. a slave synchronizing wheel; 526. a first guide rail; 527. a first slider; 530. a second driving module; 531. a second base; 532. a first cylinder; 533. a third base; 534. a guide bar; 535. a guide post; 536. a first buffer; 600. and (5) a workpiece.
Detailed Description
A feeding device, see FIG. 2, comprises a frame 100, a magazine assembly 200, a feeding assembly 300, a feeding assembly 400, and a reclaiming assembly 500. The storage assembly 200 is slidably mounted on the top surface of the machine frame 100, and the storage assembly 200 is used for placing a workpiece 600 to be loaded and with talcum powder adhered to the surface. The feeding assembly 300 is mounted on the rack 100, the feeding assembly 300 is located at one side of the magazine assembly 200, and one side of the magazine assembly 200 is used for positioning the work piece 600 from the magazine assembly 200 for picking by a robot to be post-processed. The feeding assembly 400 is mounted on the frame 100, the feeding assembly 400 is located right below the magazine assembly 200, and the feeding assembly 400 jacks up the workpiece 600 on the magazine assembly 200 from the bottom to the top. The reclaiming assembly 500 is mounted on the top of the rack 100, the reclaiming assembly 500 is located above the stocker assembly 200 and the feeding assembly 400, and the reclaiming assembly 500 is used for conveying the workpieces 600 on the stocker assembly 200 to the feeding assembly 300.
The working process of the feeding device is that firstly, a workpiece 600 is manually placed on the storage assembly 200, then the feeding assembly 400 jacks up the workpiece 600 on the storage assembly 200 from bottom to top so as to eject the workpiece 600 from the storage assembly 200, then the taking assembly 500 grabs the workpiece 600 ejected from the storage assembly 200 and carries the workpiece 600 to the feeding assembly 300, and finally the feeding assembly 300 automatically positions the workpiece 600 so as to take the workpiece by a manipulator to be processed later.
Referring to fig. 3, the magazine assembly 200 includes at least two second guide rails 210, a slide table 220, at least one second air cylinder 230, and a station module 240. The second guide rail 210 is horizontally disposed on the top surface of the rack 100, the second guide rail 210 is fixedly mounted on the top surface of the rack 100 by bolts, and the two second guide rails 210 are parallel to each other. The sliding table 220 is slidably mounted on the second guide rail 210, and the sliding table 220 horizontally moves along the second guide rail 210; a material ejecting opening 221 is formed in the sliding table 220, and the material ejecting opening 221 is used for the feeding assembly 400 to pass through to eject the workpiece 600. The second cylinder 230 is mounted on the top surface of the frame 100 through a bolt, an expansion link of the second cylinder 230 is fixedly connected with the sliding table 220, and the second cylinder 230 provides power for the horizontal movement of the sliding table 220; of course, instead of using a cylinder to provide power, a motor, such as a lead screw motor, may be used to provide power. The station module 240 is used for placing the workpiece 600, the station module 240 comprises a base 241, the base 241 is mounted on the top surface of the sliding table 220 through bolts, a guide member 242 is arranged on the top surface of the base 241, the guide direction of the guide member 242 is vertically arranged, the workpiece 600 is stacked in the inner cavity of the guide member 242, and the workpiece 600 vertically moves up and down along the guide member 242; a through hole 243 is further formed in the top surface of the base 241, the through hole 243 corresponds to and communicates with the material ejecting opening 221, the through hole 243 is located in the bottom surface of the guide member 242 and communicates with the inner cavity of the guide member 242, after the feeding assembly 400 sequentially passes through the material ejecting opening 221 and the through hole 243, the feeding assembly 400 abuts against the workpiece 600 to jack up the workpiece 600, and the workpiece 600 vertically moves upwards along the guide member 242.
Referring to fig. 3, a plurality of station modules 240 are mounted on the top surface of the slide table 220, and a plurality of guide members 242 are disposed on a base 241 of each station module 240, which is helpful for improving the working efficiency; in this embodiment, two station modules 240 are mounted on the top surface of the slide table 220, and four guide members 242 are provided on the base 241 of each station module 240. On this basis, in order to facilitate the automatic recognition of the position of the station module 240 by the feeding device, a travel switch 250 is arranged on the moving track of the sliding table 220, and the position of the station module 240 is judged through the travel switch 250. In addition, second buffers 260 are provided at both ends of the moving track of the slide table 220.
Referring to fig. 4, the feeding assembly 300 includes a positioning seat 310, a third cylinder 320, and a fourth cylinder 330. Wherein, the positioning seat 310 is fixedly installed on the rack 100 through bolts, and the positioning seat 310 is located at one side of the magazine assembly 200. A transverse sliding groove 311 and a longitudinal sliding groove 312 are arranged on the top surface of the positioning seat 310, a transverse sliding block 313 is connected in the transverse sliding groove 311 in a sliding manner, and a longitudinal sliding block 314 is connected in the longitudinal sliding groove 312 in a sliding manner. A transverse positioning block 315 and a longitudinal positioning block 316 are further disposed on the top surface of the positioning seat 310, the transverse positioning block 315 is disposed at one end of the transverse sliding slot 311, and the longitudinal positioning block 316 is disposed at one end of the longitudinal sliding slot 312. The transverse sliding block 313, the longitudinal sliding block 314, the transverse positioning block 315 and the longitudinal positioning block 316 are respectively positioned on four sides of the workpiece 600. The third cylinder 320 is installed on the positioning seat 310, an expansion link of the third cylinder 320 is fixedly connected with the transverse sliding block 313, and the third cylinder 320 drives the transverse sliding block 313 to transversely move on the horizontal plane. The fourth cylinder 330 is installed on the positioning seat 310, an expansion link of the fourth cylinder 330 is fixedly connected with the longitudinal sliding block 314, and the fourth cylinder 330 drives the longitudinal sliding block 314 to move longitudinally on a horizontal plane. In order to adapt to workpieces 600 with more sizes, a transverse adjusting groove 317 and a longitudinal adjusting groove 318 are further arranged on the top surface of the positioning seat 310, a transverse positioning block 315 is slidably mounted in the transverse adjusting groove 317, a longitudinal positioning block 316 is slidably mounted in the longitudinal adjusting groove 318, the positions of the transverse positioning block 315 and the longitudinal positioning block 316 on the positioning seat 310 are adjusted according to the length and the width of the workpiece 600, and after the adjustment is finished, the transverse positioning block 315 and the longitudinal positioning block 316 are fixedly mounted on the positioning seat 310 through bolts.
Referring to fig. 5 and 6, the feeding assembly 400 includes a second motor 410, a gear (not shown), a rack 420, and a jacking portion 430. Wherein the second motor 410 is mounted on the frame 100 by bolts. The gear is mounted on the output shaft of the second motor 410. The rack 420 is vertically disposed and engaged with the gear. The jacking portion 430 is disposed at the top end of the rack 420, and the jacking portion 430 sequentially penetrates through the material ejection opening 221 and the through hole 243 and abuts against the workpiece 600 located in the guide 242. The feeding assembly 400 further comprises a guide portion 440 and a connecting seat 450, wherein the guide portion 440 is vertically and fixedly arranged on the machine frame 100, the connecting seat 450 is arranged at the bottom end of the rack 420, and the connecting seat 450 is slidably arranged on the guide portion 440.
Referring to fig. 7, the take-off assembly 500 includes a gripper module 510, a first drive module 520, and a second drive module 530. Wherein, the clamping module 510 presses against the side of the workpiece 600 to clamp the workpiece 600. The first drive module 520 is used to drive the gripper module 510 back and forth in a horizontal direction between the magazine assembly 200 and the feed assembly 300. The second driving module 530 is used for driving the clamping module 510 to move up and down along the vertical direction.
Referring to fig. 7, the first driving module 520 includes a first base 521, a first motor 522, a main timing wheel 523, a timing belt 524, a sub timing wheel 525, a first guide rail 526, and a first slider 527. Wherein, the first base 521 is fixedly installed on the top surface of the frame 100 by bolts. The first motor 522 is fixedly mounted on the first base 521 by bolts. The main synchronizing wheel 523 is fixedly mounted on the output shaft of the first motor 522. The slave synchronizing wheel 525 is rotatably provided on the base, and the slave synchronizing wheel 525 and the master synchronizing wheel 523 are connected by a timing belt 524. The first rail 526 is horizontally disposed on the base, and the first rail 526 is fixedly mounted on the base by bolts. The first sliding block 527 is slidably mounted on the first guide rail 526, the first sliding block 527 is fixedly connected with the timing belt 524, and under the action of the first motor 522, the first sliding block 527 horizontally moves along the first guide rail 526, so that the clamping module 510 horizontally moves back and forth between the magazine assembly 200 and the feeding assembly 300.
Referring to fig. 7, the second driving module 530 includes a second base 531, a first cylinder 532, a third base 533, and a guide bar 534. The second base 531 is fixedly mounted on the first slider 527 through bolts, the guide posts 535 are mounted on the second base 531, and the guide direction of the guide posts 535 is vertically arranged. The guide bar 534 is inserted into the guide post 535, and the guide bar 534 moves up and down in the guide post 535. The first cylinder 532 is fixedly mounted on the second base 531 through bolts, and a piston rod of the first cylinder 532 is vertically arranged. The third base 533 is fixedly connected to the piston rod of the first cylinder 532, the third base 533 is further fixedly connected to the guide rod 534, and under the power action of the first cylinder 532, the third base 533 is vertically lifted along the guide post 535, so that the clamping module 510 is lifted back and forth along the vertical direction. In addition, the first buffer 536 is disposed between the second base 531 and the third base 533, in this embodiment, the first buffer 536 is disposed on the second base 531, and when the third base 533 ascends to the highest position, the third base 533 will press against the first buffer 536 to buffer the acting force of the third base 533.
Referring to fig. 7, the clamping module 510 includes parallel air jaws 511, and the parallel air jaws 511 are fixedly mounted on the third pedestal 533 by bolts. Two pressing members 512 are respectively installed on two claw portions of the parallel gas claw 511, and when the clamping module 510 grabs the workpiece 600, the two pressing members 512 are respectively located on two sides of the workpiece 600.
A feeding method adopts the feeding device, and comprises the following steps:
s1, stacking the workpieces 600 in the guide 242;
s2, conveying the placed workpiece 600 to the position right above the feeding assembly 400 through the second air cylinder 230;
s3, under the action of the second motor 410, the jacking part 430 moves vertically upwards;
s4, the jacking portion 430 sequentially penetrates through the material ejection opening 221 and the through hole 243 and then abuts against the lowest workpiece 600 in the stacked workpieces 600, and the stacked workpieces 600 are driven by the jacking portion 430 to move vertically upward along the guide 242;
s5, when the workpiece 600 to be positioned at the top end of the stacked workpieces 600 extends from the opening at the top end of the guide 242 by one half to four fifths of the thickness thereof, the first driving module 520 moves the clamping module 510 to the position right above the workpiece 600, and then the second driving module 530 drives the clamping module 510 to move vertically downward;
s6, when the parts to be pressed 512 are respectively positioned at two sides of the workpiece 600, the parallel gas claws 511 act, and the parts to be pressed 512 are pressed against two sides of the workpiece 600, so that the workpiece 600 is grabbed;
s7, after grabbing the workpiece 600, the second driving module 530 moves the clamping module 510 vertically upward, and then the first driving module 520 moves the clamping module 510 to a position right above the feeding assembly 300;
s8, the second driving module 530 drives the clamping module 510 to move vertically downwards, then the parallel gas claws 511 are opened, and the pressing element 512 is separated from the workpiece 600;
s9, under the action of the third air cylinder 320 and the fourth air cylinder 330, the transverse slide block 313 moves transversely on the horizontal plane, and the longitudinal slide block 314 moves longitudinally on the horizontal plane, so that the workpiece 600 is clamped among the transverse slide block 313, the longitudinal slide block 314, the transverse positioning block 315 and the longitudinal positioning block 316.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.

Claims (10)

1. A loading attachment, its characterized in that, it includes:
the storage assembly (200) is used for placing the workpieces (600);
a feed assembly (300) located on one side of the magazine assembly (200) for positioning a work piece (600) from the magazine assembly (200);
the feeding assembly (400) is positioned below the storage assembly (200) and is used for ejecting the workpieces (600) on the storage assembly (200) one by one from bottom to top;
a reclaiming assembly (500) located above the magazine assembly (200), the feeding assembly (400) for handling work pieces (600) on the magazine assembly (200) onto the feeding assembly (300);
the material taking assembly (500) comprises a clamping module (510), a first driving module (520) and a second driving module (530), the clamping module (510) is pressed against the side face of the workpiece (600) to clamp the workpiece (600), the first driving module (520) is used for driving the clamping module (510) to move back and forth between the storage assembly (200) and the feeding assembly (300) along the horizontal direction, and the second driving module (530) is used for driving the clamping module (510) to lift back and forth along the vertical direction.
2. The loading device according to claim 1, characterized in that: the clamping module (510) comprises parallel gas claws (511), two pressing parts (512) are respectively installed on two claw parts of the parallel gas claws (511), and when the clamping module (510) grabs a workpiece (600), the two pressing parts (512) are respectively positioned on two sides of the workpiece (600).
3. A loading device according to claim 1,
the first drive module (520) comprises:
a first base (521) rotatably provided with a slave synchronizing wheel (525) and further provided with a first guide rail (526) horizontally placed;
a first motor (522) which is arranged on the first base (521), wherein an output shaft of the first motor is provided with a main synchronizing wheel (523), and the main synchronizing wheel (523) is in transmission connection with the auxiliary synchronizing wheel (525) through a synchronous belt (524);
a first slider (527) for mounting the clamping module (510), which is connected to the first guide rail (526) in a sliding manner, and is further fixedly connected to the synchronous belt (524).
4. A loading device according to claim 1,
the second driving module (530) includes:
a second base (531) provided on the first driving module (520) and provided with a guide post (535) vertically disposed;
a first cylinder (532) disposed on the second base (531), a third base (533) being mounted to an end of a piston rod thereof, the third base (533) being used to mount the grip module (510);
a guide bar (534) inserted into the guide post (535), moving up and down in the guide post (535), and connected to the third base (533).
5. The loading device according to claim 4, characterized in that: a first buffer (536) is disposed between the second base (531) and the third base (533).
6. The loading device according to claim 2, characterized in that: the storage assembly (200) comprises a station module (240), the station module (240) comprises a base (241), a guide piece (242) is arranged on the top surface of the base (241), the workpieces (600) are stacked in the guide piece (242), a through hole (243) for the feeding assembly (400) to pass through is further formed in the top surface of the base (241), the through hole (243) is communicated with the inner cavity of the guide piece (242), the feeding assembly (400) passes through the through hole (243), the feeding assembly (400) jacks up the workpieces (600), and the workpieces (600) move vertically upwards along the guide piece (242).
7. The loading device according to claim 6, characterized in that:
the storing assembly (200) further comprises a second guide rail (210), a sliding table (220) and a second air cylinder (230), the second guide rail (210) is horizontally placed, the second guide rail (210) is located right above the feeding assembly (400), the sliding table (220) is installed on the second guide rail (210) in a sliding mode, the sliding table (220) is located right above the feeding assembly (400), a material jacking port (221) corresponding to the through hole (243) is formed in the sliding table (220), the material jacking port (221) is used for the feeding assembly (400) to penetrate, and the second air cylinder (230) is used for driving the sliding table (220) to horizontally move;
the top surface of the sliding table (220) is provided with at least two station modules (240);
second buffers (260) are arranged at two ends of the movable track of the sliding table (220);
a travel switch (250) is arranged on the movable track of the sliding table (220).
8. The loading device according to claim 7, characterized in that:
the feeding assembly (300) comprises a positioning seat (310), a third air cylinder (320) and a fourth air cylinder (330), wherein a transverse sliding groove (311) and a longitudinal sliding groove (312) are formed in the top surface of the positioning seat (310), a transverse sliding block (313) is connected in the transverse sliding groove (311) in a sliding manner, a longitudinal sliding block (314) is connected in the longitudinal sliding groove (312) in a sliding manner, a transverse positioning block (315) and a longitudinal positioning block (316) are further arranged on the top surface of the positioning seat (310), the transverse positioning block (315) is arranged at one end of the transverse sliding groove (311), the longitudinal positioning block (316) is arranged at one end of the longitudinal sliding groove (312), and the transverse sliding block (313), the longitudinal sliding block (314), the transverse positioning block (315) and the longitudinal positioning block (316) are respectively located on four sides of the workpiece (600), the third air cylinder (320) is used for driving the transverse sliding block (313) to transversely move on a horizontal plane, and the fourth air cylinder (330) is used for driving the longitudinal sliding block (314) to longitudinally move on the horizontal plane;
the top surface of the positioning seat (310) is also provided with a transverse adjusting groove (317) and a longitudinal adjusting groove (318), the transverse positioning block (315) is installed in the transverse adjusting groove (317) in a sliding mode, and the longitudinal positioning block (316) is installed in the longitudinal adjusting groove (318) in a sliding mode.
9. The loading device according to claim 8, characterized in that:
the feeding assembly (400) comprises a second motor (410), a gear, a rack (420) and a jacking portion (430), the gear is mounted on an output shaft of the second motor (410), the rack (420) is vertically arranged and meshed with the gear, the jacking portion (430) is arranged at the top end of the rack (420), and the jacking portion (430) sequentially penetrates through the material ejection opening (221) and the through hole (243) and then abuts against the workpiece (600);
the feeding assembly (400) further comprises a guide part (440) and a connecting seat (450), wherein the guide part (440) is vertically arranged, the connecting seat (450) is arranged on the rack (420), and the connecting seat (450) is installed on the guide part (440) in a sliding mode.
10. A loading method using the loading apparatus according to claim 9, characterized by comprising the steps of:
s1, stacking the workpieces (600) in the guide piece (242);
s2, conveying the placed workpiece (600) to the position right above the feeding assembly (400) through the second air cylinder (230);
s3, under the action of the second motor (410), the jacking part (430) moves vertically upwards;
s4, the jacking portion (430) penetrates through the material ejection opening (221) and the through hole (243) in sequence and then abuts against the workpiece (600) at the lowest end of the stacked workpieces (600), and the stacked workpieces (600) move vertically upwards along the guide piece (242) under the driving of the jacking portion (430);
s5, when the workpiece (600) at the topmost end of the stacked workpieces (600) extends out of the opening at the top end of the guide piece (242) by one half to four fifths of the thickness of the workpiece, the first driving module (520) moves the clamping module (510) to be right above the workpiece (600), and then the second driving module (530) drives the clamping module (510) to vertically move downwards;
s6, when the to-be-pressed piece (512) is respectively positioned at two sides of the workpiece (600), the parallel gas claw (511) acts, and the to-be-pressed piece (512) is pressed against the two sides of the workpiece (600) to realize the grabbing of the workpiece (600);
s7, after the workpiece (600) is grabbed, the second driving module (530) moves the clamping module (510) to move vertically upwards, and then the first driving module (520) moves the clamping module (510) to be right above the feeding assembly (300);
s8, the second driving module (530) drives the clamping module (510) to vertically move downwards, then the parallel gas claw (511) is opened, and the pressing piece (512) is separated from the workpiece (600);
s9, under the action of the third air cylinder (320) and the fourth air cylinder (330), the transverse sliding block (313) moves transversely on the horizontal plane, and the longitudinal sliding block (314) moves longitudinally on the horizontal plane, so that the workpiece (600) is clamped among the transverse sliding block (313), the longitudinal sliding block (314), the transverse positioning block (315) and the longitudinal positioning block (316).
CN202010639315.6A 2020-07-06 2020-07-06 Feeding device and feeding method Pending CN111703883A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010639315.6A CN111703883A (en) 2020-07-06 2020-07-06 Feeding device and feeding method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010639315.6A CN111703883A (en) 2020-07-06 2020-07-06 Feeding device and feeding method

Publications (1)

Publication Number Publication Date
CN111703883A true CN111703883A (en) 2020-09-25

Family

ID=72545743

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010639315.6A Pending CN111703883A (en) 2020-07-06 2020-07-06 Feeding device and feeding method

Country Status (1)

Country Link
CN (1) CN111703883A (en)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5263813A (en) * 1989-12-11 1993-11-23 Steinle Maschinenfabrik Gmbh Apparatus having a gripping mechanism for the stacking and unstacking of containers
CN204917198U (en) * 2015-08-03 2015-12-30 亿和精密工业(苏州)有限公司 Asynchronous material loading work or material rest in duplex position
CN107738920A (en) * 2017-11-16 2018-02-27 绵阳海迪机器人科技有限公司 A kind of metal blank intelligence division machine
CN207142319U (en) * 2017-03-22 2018-03-27 深圳市力觉技术有限公司 A kind of pallet automatic charging & discharging machine
CN107931474A (en) * 2017-10-17 2018-04-20 重庆合玉智能装备有限公司 A kind of double-station feeder
CN207903490U (en) * 2018-02-11 2018-09-25 深圳市发斯特精密技术有限公司 Move material grabbing device
CN109733837A (en) * 2018-12-27 2019-05-10 Tcl王牌电器(惠州)有限公司 Lifting body, feeding device and process equipment
CN209567479U (en) * 2019-02-19 2019-11-01 温岭德光自动化设备有限公司 A kind of feeding device of accurate filter
CN110773779A (en) * 2019-11-08 2020-02-11 江苏科技大学 Intelligent plate part machining production line combining general purpose and special equipment

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5263813A (en) * 1989-12-11 1993-11-23 Steinle Maschinenfabrik Gmbh Apparatus having a gripping mechanism for the stacking and unstacking of containers
CN204917198U (en) * 2015-08-03 2015-12-30 亿和精密工业(苏州)有限公司 Asynchronous material loading work or material rest in duplex position
CN207142319U (en) * 2017-03-22 2018-03-27 深圳市力觉技术有限公司 A kind of pallet automatic charging & discharging machine
CN107931474A (en) * 2017-10-17 2018-04-20 重庆合玉智能装备有限公司 A kind of double-station feeder
CN107738920A (en) * 2017-11-16 2018-02-27 绵阳海迪机器人科技有限公司 A kind of metal blank intelligence division machine
CN207903490U (en) * 2018-02-11 2018-09-25 深圳市发斯特精密技术有限公司 Move material grabbing device
CN109733837A (en) * 2018-12-27 2019-05-10 Tcl王牌电器(惠州)有限公司 Lifting body, feeding device and process equipment
CN209567479U (en) * 2019-02-19 2019-11-01 温岭德光自动化设备有限公司 A kind of feeding device of accurate filter
CN110773779A (en) * 2019-11-08 2020-02-11 江苏科技大学 Intelligent plate part machining production line combining general purpose and special equipment

Similar Documents

Publication Publication Date Title
CN105312955B (en) A kind of manipulator clamp feeding and Lifting Device
CN105691679B (en) A kind of full-automatic four stations pallet feeding cycle kludge
CN111703883A (en) Feeding device and feeding method
CN110395578B (en) Automatic feeding machine for liquid crystal display panel
CN211191748U (en) Continuous stamping processing feeding line for sheet metal parts
CN109501115B (en) Feeding and discharging system of injection molding machine
CN111115260A (en) Feeding equipment and method for plastic suction tray for containing electronic components
KR101026858B1 (en) Numerical control press pickup equipment
CN109079047B (en) Automatic feeding and discharging equipment of stamping robot
CN109894739A (en) Fully-automatic laser marking press equipment for cylinder circle
CN214556310U (en) Automatic bar connecting device of copper bar peeling machine
CN211868438U (en) Automatic feeding, detecting and discharging machine for injection molding
CN213264593U (en) Wire tail receiving mechanism
CN212831372U (en) Double-station automatic feeder
CN210098762U (en) Full-automatic robot precision punching riveting production line for large household appliance box body
CN213691982U (en) Chip assembly feeding and discharging machine
CN211593832U (en) Storage equipment
JPH082685A (en) Work carrying-in/out device equipped with product collecting device
CN213111579U (en) Automatic feeding and recycling device for tray
CN211162012U (en) Multi-spindle counter drilling machine
CN210548821U (en) Full-automatic laser engraving device for engine cylinder ring
CN210504691U (en) Automatic material collecting machine
CN212557874U (en) Blank storehouse discharging device that high-speed buffer descends
CN112582171B (en) Inductance individual cutting and detecting machine
CN211219138U (en) Full-automatic feeding and discharging equipment of welding equipment

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination