CN112960398A

CN112960398A - Flexible feeding device

Info

Publication number: CN112960398A
Application number: CN202110483144.7A
Authority: CN
Inventors: 李长乐; 赵杰; 刘玉斌; 刘刚峰
Original assignee: Luoyang Shangqi Robot Technology Co ltd
Current assignee: Luoyang Shangqi Robot Technology Co ltd
Priority date: 2021-04-30
Filing date: 2021-04-30
Publication date: 2021-06-15
Anticipated expiration: 2041-04-30
Also published as: CN112960398B

Abstract

The invention belongs to the field of machining equipment, and particularly relates to a flexible feeding device which comprises a mechanical arm and a material storage table, wherein a plurality of clamping plates for clamping materials are arranged on the material storage table, a movable clamping plate can horizontally move close to or away from the fixed clamping plate along the direction vertical to the fixed clamping plate under the action of a driving device, the distance between a clamping groove of the fixed clamping plate and a clamping groove of the movable clamping plate can be adjusted through the movement of the movable clamping plate for clamping materials with different sizes, the materials with different sizes can be correctly and stably placed in the material storage device, the materials can be stably grabbed during material taking to ensure that the materials are not deviated, a flexible flange interface is arranged between the mechanical arm and an end effector, the deviation compensation can be provided by the deviation along the direction X, Y due to external force, the error between the positions of the feeding device and the equipment is compensated, and the coaxiality of the materials, the invention has the advantages of high working efficiency, high running precision, simple structure and convenient maintenance.

Description

Flexible feeding device

Technical Field

The invention belongs to the field of machining equipment, and particularly relates to a flexible feeding device.

Background

In recent years, with the popularization of automation equipment, a manual feeding mode is gradually replaced by an automatic mechanical feeding device, but most of the current automatic mechanical feeding devices are made of rigid materials, and due to errors between the feeding device and the equipment, the problems of feeding failure, incorrect materials and the like frequently occur in the feeding of the feeding device, so that the problems of low working efficiency, low yield, damage to equipment, potential safety hazards and the like of the equipment are caused.

In order to solve the above problems, it is necessary to design a flexible feeding device capable of compensating an error between positions of the feeding device and the equipment, and the following should be considered when designing the flexible feeding device:

1. the material storage device has certain flexibility, can adapt to materials with different sizes, can be correctly and stably placed in the material storage device, and meanwhile, ensures that the material can be stably grabbed by the material loading device during material taking so as to ensure that the materials are not deviated;

2. the feeding device can keep certain flexibility when feeding or placing materials, namely, the error between the feeding device and the equipment can be compensated, and the coaxiality of the materials and the equipment is ensured;

3. the whole device has the advantages of high working efficiency, high running precision, simple structure and convenient maintenance.

Based on the problems, the invention designs the flexible feeding device which can compensate the error between the feeding device and the position of the equipment.

Disclosure of Invention

In order to solve the problems in the background art, the invention discloses a flexible feeding device which comprises a mechanical arm and a material storage table, wherein a clamping plate can stably grab materials, and a flange interface of a flexible machine can compensate errors between an end effector and equipment when the mechanical arm feeds materials, so that the working efficiency is improved.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a flexible feeding device, including arm and storage platform, the arm is used for storing the material clamp with the storage bench and getting and place the target location, be provided with a plurality of splint that are used for the centre gripping material on the storage platform, splint include the movable clamp plate of the solid fixed splint in middle of the centre and solid fixed splint both sides, the interval is equipped with the draw-in groove of a plurality of sunken settings respectively on solid fixed splint and movable clamp plate, the solid fixed splint draw-in groove sets up with the movable clamp plate draw-in groove relatively, gu the fixed splint draw-in groove cooperates the centre gripping material with the movable clamp plate draw-in groove, under drive arrangement's effect, movable clamp plate can follow and be close to or keep away from solid fixed splint with solid fixed splint vertically direction horizontal migration, it can adjust the interval between solid fixed.

Further, the interval is provided with two sets of splint on the storage platform, every splint of group include a solid fixed splint and two movable clamp plate, be provided with respectively along the solid fixed splint and the guide rail that moves between the splint perpendicular line direction and extend in the left and right ends below of every movable clamp plate, the end bottom does not be provided with the slider that matches with the guide rail about every movable clamp plate, it is provided with the cylinder to correspond respectively to the end about every movable clamp plate, under the effect of cylinder, movable clamp plate can be followed the guide rail back-and-forth movement and is close or keep away from solid fixed splint.

Furthermore, a material sensor is arranged at each clamping groove of the fixed clamping plate respectively and used for detecting whether materials exist in the clamping grooves or not.

Furthermore, the free end of the mechanical arm is connected with the end effector through a flexible flange interface, and the flexible flange interface can compensate errors between the positions of the mechanical arm, the end effector and the equipment, so that the mechanical arm can grab materials and keep a coaxial relation with the equipment to realize flexible feeding.

Furthermore, the flexible flange interface comprises a top layer interface for fixing the end effector and a bottom layer for connecting with the mechanical arm, an intermediate connecting layer is also arranged between the top layer interface and the bottom layer, a first sliding chute extending along the X direction is arranged at the bottom of the top layer interface, the first sliding chute is a T-shaped groove with an opening at one end, a top layer sliding block is arranged at the opening in a matching way, an upper connecting body matched with the first sliding chute is arranged in the center of the top of the intermediate connecting layer, a second sliding chute extending along the Y direction is arranged at the top of the bottom layer, the second sliding chute is an inverted T-shaped groove with an opening at one end, a bottom layer sliding block is arranged at the opening in a matching way, a lower connecting body matched with the second sliding chute is arranged at the center of the bottom of the intermediate connecting layer, springs are respectively arranged between the upper connecting body and the bottom of the first sliding chute, between the upper connecting body, under the action of external force, the upper connecting body and the lower connecting body can slide in the corresponding sliding grooves, so that the top layer interface is enabled to offset relative to the middle connecting layer along the X direction to provide offset compensation, and the bottom layer is enabled to offset relative to the middle connecting layer along the Y direction to provide offset compensation.

Further, the bottom is connected with the arm through lower interface layer, is provided with the recess of T shape in interface layer middle part down, is provided with the long banding interface slider down of level setting in the middle part of the recess, and lower interface slider passes through connecting screw and bottom fixed connection, is provided with two interface springs down respectively between the inside wall of interface slider both sides wall and recess down, the axial extension along the recess respectively is followed to the interface spring down, and under the exogenic action, lower interface layer can be rotatory around the relative bottom of connecting screw.

Compared with the prior art, the invention has the beneficial effects that:

the clamping plate for clamping materials comprises a middle fixed clamping plate and a movable clamping plate, a plurality of clamping grooves which are arranged in a concave mode are respectively formed in the fixed clamping plate and the movable clamping plate at intervals, the clamping grooves of the fixed clamping plate and the clamping grooves of the movable clamping plate are arranged oppositely, the clamping grooves of the fixed clamping plate and the clamping grooves of the movable clamping plate are matched for clamping materials, and under the action of a driving device, the movable clamping plate can horizontally move close to or away from the fixed clamping plate to adjust the distance between the clamping grooves of the fixed clamping plate and the clamping grooves of the movable clamping plate so as to clamp the materials with different sizes, so;

according to the invention, a flexible flange interface is arranged between the mechanical arm and the end effector, the flexible flange interface can be deviated along the direction X, Y to provide deviation compensation under the action of external force, and the lower interface layer can rotate around a connecting screw relative to the bottom layer to compensate errors between the end effector and equipment when the mechanical arm is loaded;

the invention has simple integral structure, stable performance, high working efficiency, high running precision and convenient maintenance.

Drawings

FIG. 1 is a front view of the present invention;

FIG. 2 is a side view of the present invention;

FIG. 3 is a schematic perspective view of the present invention;

FIG. 4 is a schematic view of the present invention showing the extrapolated state of the material storage platform;

FIG. 5 is a schematic view of the storage platform of the present invention in a retracted state;

FIG. 6 is a side view of the magazine of the present invention;

FIG. 7 is a schematic view of the internal structure of the flexible flange interface of the present invention;

FIG. 8 is a bottom view of the flexible flange interface of the present invention;

FIG. 9 is a schematic view of the working state of the present invention;

in the above figures: 1-a material storage table; 2-clamping plate; 2.1-fixation of the splint; 2.2-moving the splint; 3-a cylinder; 4-a guide rail; 5-a material sensor; 6, a mechanical arm support frame; 7-a mechanical arm; 8-flexible flange interface; 8.1-top level interface; 8.2-top layer slider; 8.3-top layer spring; 8.4-intermediate tie layer; 8.5-bottom layer; 8.6-bottom layer slide block; 8.7-bottom layer spring; 8.8-lower interface layer; 8.9-lower interface slide block; 8.10-lower interface spring; 8.11-connecting screw; 9-an end effector; 10-a workbench.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiment of the invention, all other embodiments obtained by ordinary persons in the field without creative labor belong to the protection scope of the invention, when the flexible feeding device works, the flexible feeding device is automatically controlled by the intelligent control system, the structure of the flexible feeding device is the innovation point of the invention, and the intelligent control system is not the innovation point of the invention, so the intelligent control system is not described in detail.

With reference to the attached drawings 1-9, the flexible feeding device of the invention is explained in detail, which comprises a mechanical arm 7 and a material storage table 1, wherein the mechanical arm 7 is used for clamping and placing the material stored on the material storage table 1 to the target position of a workbench 10, two groups of clamping plates 2 used for clamping the material are arranged on the material storage table 1, each clamping plate 2 comprises a fixed clamping plate 2.1 in the middle and a movable clamping plate 2.2 at two sides of the fixed clamping plate 2.1, a plurality of clamping grooves which are concavely arranged are respectively arranged on the fixed clamping plate 2.1 and the movable clamping plates 2.2 at intervals, the clamping grooves of the fixed clamping plate 2.1 and the clamping grooves of the movable clamping plates 2.2 are oppositely arranged, the clamping grooves of the fixed clamping plate 2.1 and the clamping grooves of the movable clamping plates 2.2 are matched for clamping the material, guide rails 4 extending along the vertical connecting line direction between the fixed clamping plates 2.1 and the movable clamping plates 2.2 are respectively arranged below the left and right ends of each, the end corresponds respectively about every movable clamp plate 2.2 and is provided with cylinder 3, under the actuating action of cylinder 3, movable clamp plate 2.2 can be close to or keep away from solid fixed clamp plate 2.1 along 4 fore-and-aft horizontal migration of guide rail, can adjust the interval between solid fixed clamp plate 2.1 draw-in groove and the movable clamp plate 2.2 draw-in groove through movable clamp plate 2.2 removal and be used for the not unidimensional material of centre gripping, every draw-in groove punishment at solid fixed clamp plate 2.1 is provided with material sensor 5 respectively and is used for detecting whether there is the material in the draw-in.

As an optional design, preferably, the free end of the mechanical arm 7 is connected with the end effector 9 through a flexible flange interface 8, the flexible flange interface 8 can compensate errors between the mechanical arm 7 and the end effector 9 and the position of the equipment, so that the mechanical arm 7 can grasp materials and the equipment is kept in a coaxial relationship to realize flexible feeding, the fixed end of the mechanical arm 7 is installed on a metal frame at the bottom of the material storage table 1 through a mechanical arm support frame 6 arranged at one side of the material storage table 1, the flexible flange interface 8 comprises a top layer interface 8.1 for fixing the end effector 9 and a bottom layer 8.5 for connecting with the mechanical arm 7, an intermediate connecting layer 8.4 is further arranged between the top layer interface 8.1 and the bottom layer 8.5, a first chute extending along the X direction is arranged at the bottom of the top layer interface 8.1, the first chute is a T-shaped groove with an opening at one end, a top layer slider 8.2 is arranged at the opening in a matching manner, an upper connecting body, the top of bottom 8.5 is provided with the second spout that extends along the Y direction, the second spout is the open-ended groove of falling T, it is provided with bottom slider 8.6 to coincide in the opening, be provided with the lower connector that matches with the second spout in middle connecting layer 8.4 bottom center, be provided with top layer spring 8.3 between last connector and first spout tank bottom and between last connector and top layer slider 8.2, be provided with bottom spring 8.7 respectively between lower connector and second spout tank bottom and between lower connector and bottom slider 8.6, under the exogenic action, upper connector and lower connector can slide in the spout that corresponds, make top layer interface 8.1 provide skew compensation along the X direction skew relative middle connecting layer 8.4, make bottom 8.5 provide skew compensation along the Y direction skew relative middle connecting layer 8.4.

As optional design, preferably bottom 8.5 is connected with arm 7 through lower interface layer 8.8, is provided with the recess of T shape in lower interface layer 8.8 middle part, is provided with rectangular form lower interface slider 8.9 of level setting in the middle part of the recess, and lower interface slider 8.9 passes through connecting screw 8.11 and bottom 8.5 bottom fixed connection, is provided with two lower interface springs 8.10 respectively between the inside wall of lower interface slider 8.9 both sides wall and recess, lower interface spring 8.10 extends along the axial of recess respectively, and under the exogenic action, lower interface layer 8.8 can rotate relative bottom 8.5 around connecting screw 8.11.

The working process of the invention is as follows:

when materials exist on the material storage table 1, the material sensors 5 corresponding to the corresponding clamping grooves send signals of the materials to the mechanical arm, then the mechanical arm 7 executes a feeding task, at the moment, the mechanical arm 7 moves to the position above the materials, the end effector 9 is opened to be ready to grab the materials, when the material storage table 1 does not contain the materials, the movable clamp plate 2.2 is driven by the air cylinder 3 to move towards two sides along the linear guide rail 4, the distance between the movable clamp plate 2.2 and the clamping grooves of the fixed clamp plate 2.1 is adjusted so as to place the materials, when the materials are placed, all the material sensors 5 on the material storage table 1 send signals of the materials to the control system, then the movable clamp plate 2.2 is driven by the air cylinder 3 to move towards the middle along the guide rail 4, the clamping grooves are adjusted according to the materials with different sizes, the materials are pushed to the corresponding positions and clamped, thereby realizing the function of flexible material storage, when all the material, simultaneously, signals of all the materials in place are sent, and the mechanical arm 7 executes the next operation;

when the mechanical arm 7 drives the end effector 9 to reach a position above one of the materials on the material storage table 1, the end effector 9 is opened at the moment, the mechanical arm 7 drives the end effector 9 to clamp the material, then the mechanical arm 7 drives the end effector 9 to take the material out of the material storage table 1, and the material sensor 5 at the material position generates a signal of no material at the moment, which indicates that the material at the position is taken out by the end effector 9; when the mechanical arm 7 runs to a material placing position of the workbench, errors exist among the mechanical arm 7, the end effector 9 and the equipment, so that when the materials are placed, the flexible flange interface 8 compensates the errors among the mechanical arm 7, the end effector 9 and the equipment, the materials and the equipment keep a coaxial relation, and flexible feeding is achieved;

after the mechanical arm 7 and the end effector 9 finish feeding for one time, the mechanical arm 7 moves to the position above a clamping groove of the material storage table 1, wherein the material sensor 5 has a material signal, and the material is ready to be grabbed; after the previous material is processed, the mechanical arm 7 moves to the processing position of the equipment, the processed material is taken down by the empty clamping jaw of the end effector 9, then the unprocessed material is placed at a target position by rotating a certain angle, and then the mechanical arm 7 drives the end effector 9 to place the processed material at a specified position and grab a new material; after the material is processed, the mechanical arm 7 and the end effector 9 repeat the previous steps until the material on the material storage table 1 is completely processed, at this time, the signal of the material sensor 5 is changed into a signal without the material, and the material storage table 1 adds a new material.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides a flexible loading attachment, includes arm and storage platform, and the arm is used for storing the material clamp on the storage platform and gets and place the target location, characterized by: be provided with a plurality of splint that are used for the centre gripping material on the storage platform, splint include the movable clamp plate of the solid fixed splint and the solid fixed splint both sides in the middle of, the interval is equipped with the draw-in groove of a plurality of sunken settings respectively on solid fixed splint and movable clamp plate, the solid fixed splint draw-in groove sets up with the movable clamp plate draw-in groove relatively, solid fixed splint draw-in groove and movable clamp plate draw-in groove cooperation centre gripping material, under drive arrangement's effect, movable clamp plate can be followed and be close to or keep away from solid fixed splint with solid fixed splint vertically direction horizontal migration, can adjust the interval between solid fixed splint draw-in groove and the movable clamp plate draw-.

2. A flexible loading device as claimed in claim 1, wherein: the interval is provided with two sets of splint on the storage platform, every splint of group include a solid fixed splint and two movable clamp plate, be provided with respectively along the solid fixed splint and move the guide rail that the line direction extends between the splint perpendicularly about every movable clamp plate below, the end bottom does not be provided with the slider that matches with the guide rail about every movable clamp plate, it is provided with the cylinder to correspond respectively about every movable clamp plate, under the effect of cylinder, movable clamp plate can be followed the guide rail back-and-forth movement and is close or keep away from solid fixed splint.

3. A flexible loading device as claimed in claim 1, wherein: and a material sensor is arranged at each clamping groove of the fixed clamping plate respectively and used for detecting whether materials exist in the clamping grooves or not.

4. A flexible loading device according to any one of claims 1 to 3, wherein: the free end of the mechanical arm is connected with the end effector through a flexible flange interface, and the flexible flange interface can compensate errors between the positions of the mechanical arm and the end effector and equipment, so that the mechanical arm can grab materials and keeps coaxial relation with the equipment to realize flexible feeding.

5. A flexible loading device according to claim 4, characterized in that: the flexible flange interface comprises a top layer interface for fixing the end effector and a bottom layer for connecting with the mechanical arm, an intermediate connecting layer is also arranged between the top layer interface and the bottom layer, a first sliding chute extending along the X direction is arranged at the bottom of the top layer interface, the first sliding chute is a T-shaped groove with an opening at one end, a top layer sliding block is arranged at the opening in an inosculating way, an upper connecting body matched with the first sliding chute is arranged at the center of the top of the intermediate connecting layer, a second sliding chute extending along the Y direction is arranged at the top of the bottom layer, the second sliding chute is an inverted T-shaped groove with an opening at one end, a bottom layer sliding block is arranged at the opening in an inosculating way, a lower connecting body matched with the second sliding chute is arranged at the center of the bottom of the intermediate connecting layer, springs are respectively arranged between the upper connecting body and the bottom of the first sliding chute, under the action of external force, the upper connecting body and the lower connecting body can slide in the corresponding sliding grooves, so that the top layer interface is enabled to offset relative to the middle connecting layer along the X direction to provide offset compensation, and the bottom layer is enabled to offset relative to the middle connecting layer along the Y direction to provide offset compensation.

6. A flexible loading device according to claim 4, characterized in that: the bottom is connected with the arm through lower interface layer, is provided with the recess of T shape in interface layer middle part down, is provided with the long banding lower interface slider that the level set up in the middle part of the recess, and lower interface slider passes through connecting screw and bottom fixed connection, is provided with two lower interface springs between the inside wall of lower interface slider both sides wall and recess respectively, lower interface spring is respectively along the axial extension of recess, and under the exogenic action, lower interface layer can be rotatory around the relative bottom of connecting screw.