CN113800249A - Loading attachment based on industrial robot - Google Patents
Loading attachment based on industrial robot Download PDFInfo
- Publication number
- CN113800249A CN113800249A CN202111098546.1A CN202111098546A CN113800249A CN 113800249 A CN113800249 A CN 113800249A CN 202111098546 A CN202111098546 A CN 202111098546A CN 113800249 A CN113800249 A CN 113800249A
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- China
- Prior art keywords
- grabbing mechanism
- grabbing
- move
- power module
- industrial robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a feeding device based on an industrial robot, which comprises two parts, namely a conveying line and a feeding mechanism, wherein the feeding mechanism comprises a first power module, a supporting plate connected with the first power module, a limiting part arranged on one side of the supporting plate, a rotating part connected with the first power module, a rolling part connected between the rotating parts along the limiting part in a rolling way, and a grabbing mechanism connected with the rolling part, the first power module drives the rotating part to rotate, the rolling part is driven to move in a groove of the limiting part along with the rotating part, the grabbing mechanism connected with the rolling part is driven to move, through the design of positioning devices arranged on two sides of the supporting plate, when the grabbing mechanism reaches a material taking place, the first clamping mechanism positions the grabbing mechanism, so that when the grabbing mechanism reaches the conveying mechanism, the grabbing mechanism is positioned by another positioning device, and a workpiece is accurately placed on the conveying line, the stability of material loading is further improved, the time of material loading is greatly saved, save the material loading cost.
Description
Technical Field
The invention relates to the technical field of workpiece feeding, in particular to a feeding device based on an industrial robot.
Background
The PCB is an important electronic component in an electrical product, and when the electronic product is processed, in order to realize automatic assembly of the electronic product, the PCB needs to be automatically loaded, so that the electronic product is stably transported to a position to be assembled, and the electronic product is more accurately assembled in the product.
At present when carrying out the material loading to it, often adopt manipulator to press from both sides it and get, then place the work piece of getting on the transmission line with pressing from both sides, reach assembly position department with the work piece by the transmission line again, but adopt manipulator to snatch not only can cause the increase of whole material loading cost, direct restriction its scope of receiving in addition reduces the efficiency of work piece material loading.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides a feeding device based on an industrial robot, which aims to solve the problems in the prior art.
The technical scheme is as follows: a feeding device based on an industrial robot comprises a conveying mechanism and a feeding mechanism.
The feeding mechanism comprises a grabbing mechanism, a moving mechanism and a first power module, wherein the moving mechanism is connected with the grabbing mechanism and used for driving the grabbing mechanism to move, the first power module is connected with the moving mechanism, the first power module drives the moving mechanism connected with the first power module to move, the grabbing mechanism connected with the moving mechanism is driven to move, the workpiece is conveyed to the conveying mechanism by the grabbing mechanism, and the stability of workpiece conveying is improved.
In a further embodiment, the moving mechanism includes a supporting plate connected to the first power module for fixing the first power module, a limiting member connected to one side of the supporting plate for limiting a movement locus of the grasping mechanism, and a rotating member having one end connected to the first power module, the other end connected to the grasping mechanism, and moving between the limiting members for driving the grasping mechanism to move; first power module rotates the piece through the drive and moves for rotate the piece and carry out the removal of fixed shape along the locating part, and then drive and rotate the mechanism of snatching that is connected and move, realize snatching the mechanism and remove, and then realize snatching the mechanism and to snatching and placing the work piece, realize getting the material to the automation of work piece, further improve the precision and the stability of material loading, save the material loading cost.
In a further embodiment, the moving mechanism further comprises one end connected to one side of the grabbing mechanism in a rotating mode, the one end penetrates through the rotating piece and moves between the limiting pieces, the rotating piece is used for driving the grabbing mechanism to move, the rotating piece drives the rolling piece to roll along a fixed track in the limiting pieces, the clamping mechanism connected with the rolling piece is driven to move, the stability of the movement of the clamping mechanism is achieved, and the workpiece feeding efficiency and the workpiece feeding stability are improved.
In a further embodiment, the motion mechanism still include one end fixed connection in backup pad one side, other end sliding connection in snatch mechanism one side, be used for the restriction snatch the guide piece of the horizontal motion direction of mechanism, drive when first power module and rotate the piece and move in the locating part, and then drive the rolling member that sets up in rotating the piece and move, and then drive the mechanism of snatching that is connected with rotating the piece and carry out linear motion along sliding connection's guide piece with it, and then realize the restriction to the direction of motion who snatchs the mechanism, further improvement snatchs the stability of mechanism motion, improve the stability of work piece material loading, great saving material loading time.
In a further embodiment, the motion mechanism further comprises a sliding connection part, wherein the sliding connection part is connected to one side of the guide part, the grabbing mechanism is connected between the guide part and the grabbing mechanism in a penetrating and sliding manner and used for driving the grabbing mechanism to move moving parts moving in different directions, the rotating part rotates to drive the rolling part to roll in the track of the limiting part and further drive the grabbing mechanism to move, the grabbing mechanism moves along the guide part and further moves along the moving part connected with the grabbing mechanism, the motion of the grabbing mechanism is limited in the vertical and horizontal directions of the grabbing mechanism, the motion stability of the grabbing mechanism is further improved, the grabbing efficiency is improved, and the feeding time is saved.
In a further embodiment, the grabbing mechanism comprises a clamping piece, a sliding rod which is connected between the moving pieces in a penetrating and sliding mode and used for driving the clamping piece to move, and a moving piece which is connected with the sliding rod on one side and rotationally connected with the rolling piece on one side and used for driving the clamping piece to move; the rotation of rolling member drives the slide bar of being connected with it and reciprocates, and then drives the motion piece of being connected with the slide bar upper end and carries out U type orbit motion, and then makes the slide bar drive the clamp of being connected with it in the up-and-down motion and get the piece and carry out U type motion, and then makes the clamp get the piece and place on conveying mechanism after snatching the work piece, realizes the stable material loading to the work piece, further improvement material loading's stability and material loading efficiency.
In a further embodiment, the feeding device further comprises positioning devices which are at least arranged into 2 groups and are respectively arranged at two ends of the supporting plate and used for limiting the movement stroke of the grabbing mechanism, when the grabbing mechanism grabs a workpiece from the containing mechanism and then moves to the upper end of the conveying mechanism, the positioning device at one end of the grabbing mechanism senses the arrival of the grabbing mechanism and limits the stopping movement of the grabbing mechanism, so that the stable positioning of the clamping mechanism is realized, the workpiece is placed at an accurate position, when the containing position is reached again to take the workpiece, the grabbing mechanism is positioned by another positioning device, the workpiece is accurately grabbed, the workpiece feeding stability is further improved, and the feeding time is greatly saved.
Has the advantages that: the invention relates to a feeding device based on an industrial robot, which comprises two parts, namely a conveying line and a feeding mechanism, wherein the feeding mechanism comprises a first power module, a supporting plate for fixing the first power module, a limiting piece arranged on one side of the supporting plate, a rotating piece connected with the first power module, a rolling piece arranged between the rotating pieces and connected with the limiting piece in a rolling way, and a grabbing mechanism connected with the rolling piece, the rotating piece is driven to rotate by the first power module, the rolling piece is driven to move in a groove of the limiting piece along with the rotating piece, the grabbing mechanism connected with the rolling piece is driven to move, then through the design of positioning devices arranged on two sides of the supporting plate, when the grabbing mechanism reaches a material taking place, the first grabbing mechanism positions the grabbing mechanism, so that when the grabbing mechanism reaches the conveying mechanism, the grabbing mechanism can be positioned by another positioning device, and then make the accurate placing of work piece on the transfer chain, further improvement the stability of material loading, great saving material loading time saves the material loading cost.
Drawings
FIG. 1 is a schematic view of the general structural assembly of the present invention;
FIG. 2 is a schematic view of a feeding mechanism according to the present invention;
FIG. 3 is a schematic view of another angle structure of the feeding mechanism of the present invention;
FIG. 4 is a schematic view of a part of the moving mechanism of the present invention;
fig. 5 is another angle structure diagram of the moving mechanism of the invention.
The figures are numbered: the device comprises a feeding mechanism 1, a limiting part 1a, a limiting part U-shaped groove 1b, a rotating part 1c, a moving part 1d, a positioning device 1e, a sliding rod 1f, a moving part 1g, a motor 1h, a supporting plate 1i, a guide part 1j, a connecting part 1k, a rolling part 1l, a clamping part 2, a conveying mechanism 3 and a material containing device 4.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
The applicant thinks that, when prior art carries out the material loading to the PCB board, all use robotic arm to carry the work piece to conveying mechanism 3 from the blowing position on, improve the degree of automation to the product assembly, the cost of material loading can be increased so to the difficult chance, or to some small-size enterprises less accord with actual demand, lead to feed mechanism 1's availability factor not high, if adopt artifical material loading, then influence the precision and the efficiency of material loading.
Therefore, the applicant designs a feeding device based on an industrial robot, the moving mechanism is arranged to drive the grabbing mechanism to move along a fixed track, the grabbing mechanism can stably grab and place workpieces, automatic feeding of the workpieces is achieved, feeding cost is further saved, and feeding efficiency is improved.
The invention relates to a feeding device based on an industrial robot, which comprises a conveying mechanism 3 and a feeding mechanism 1, wherein the feeding mechanism 1 comprises a grabbing mechanism, a moving mechanism connected with the grabbing mechanism and used for driving the grabbing mechanism to move, and a motor 1h connected with the moving mechanism, when a workpiece to be assembled is taken, the motor 1h rotates to drive the moving mechanism connected with the motor to move, so that the grabbing mechanism connected with the motor can grab the workpiece and then the workpiece is placed on a conveying line.
In order to improve the stability of feeding a workpiece, improve the motion precision of the workpiece and avoid the problem of deviation of a motion track in the motion process, the motion mechanism comprises a support plate 1i connected with a motor 1h and used for fixing the motor 1h, a limiting part 1a connected to one side of the support plate 1i and used for limiting the motion track of the grabbing mechanism, wherein a U-shaped groove is arranged on the limiting part 1a, a rotating part 1c with one end connected with the motor 1h and the other end connected with the grabbing mechanism and moving between the limiting parts 1a and used for driving the grabbing mechanism to move, and a rolling part 1l with one end rotatably connected to one side of the grabbing mechanism, penetrating through the rotating part 1c and moving between the limiting parts 1a and used for driving the grabbing mechanism to move; when carrying out the material loading to the work piece, through motor 1 h's rotation, drive and be connected with it and rotate piece 1c and rotate, and then drive and set up the rolling member 1l between rotating piece 1c, move along the U type groove on the locating part 1a, and then drive the motion of following rolling member 1l that snatchs the mechanism and being connected with rolling member 1l and carry out U type orbit motion, further improvement work piece material loading's stability, great improvement work piece's material loading efficiency.
In order to improve the motion stability of the grabbing mechanism and ensure the motion precision of the grabbing mechanism in all directions, the moving mechanism further comprises a guide part 1j, one end of the guide part is fixedly connected to one side of the supporting plate 1i, the other end of the guide part is connected to one side of the grabbing mechanism in a sliding mode and used for limiting the horizontal motion direction of the grabbing mechanism, and a moving part 1g, which is connected to one side of the guide part 1j in a sliding mode, penetrates through the grabbing mechanism and is connected between the grabbing mechanism and the guide part in a sliding mode and used for driving the grabbing mechanism to move in different directions; when motor 1h rotates and drives the rotation piece 1c of being connected with it and rotate, and then drive roller 1l that sets up between it and carry out U type orbit motion along locating part 1aU type groove, and then drive the motion of snatching the mechanism and carrying out U type orbit with roller 1l is connected, the motion of snatching the mechanism and then drive moving member 1g of being connected with it and carry out linear motion along guide 1j, and then realize snatching the accurate motion of mechanism, improve the stability of snatching the work piece, and the precision of material loading, further save the time of material loading.
In order to improve the flexibility of the grabbing mechanism and the grabbing efficiency, the grabbing mechanism comprises a clamping part 2, a sliding rod 1f which is connected between moving parts 1g in a penetrating and sliding mode and used for driving the clamping part 2 to move, and a moving part 1d which is connected with the sliding rod 1f at one side and is connected with a rolling part 1l at one side and used for driving the clamping part 2 to move; motor 1h drives and rotates piece 1c and rotates, and then drive the rolling member 1l that sets up between rotating piece 1c and carry out U type orbit motion along locating part 1aU type groove, and then drive the motion 1d of being connected with rolling member 1l and carry out U type orbit motion, and then drive slide bar 1f of being connected with motion 1d and carry out up-and-down motion along motion 1g, herein the motion 1g follows slide bar 1f and carries out the side-to-side motion, and then drive the piece 2 of picking of being connected with slide bar 1f and snatch the work piece from flourishing device 4 and carry out the side-to-side motion from top to bottom, and then make the accurate placing of work piece on conveying mechanism 3, realize the nimble material loading of work piece, further improvement material loading's stability, great improvement material loading's efficiency.
In order to further realize the precision of the loading position, the loading device is provided with 2 groups of positioning devices 1e which are respectively arranged at two ends of a supporting plate 1i and used for limiting the movement stroke of the grabbing mechanism, when the moving mechanism drives the clamping piece 2 to reach the material containing device 4, the left end side of a moving piece 1d on the moving mechanism firstly reaches the positioning device 1e, the positioning device 1e senses the moving piece 1d, then the motor 1h is controlled to stop rotating, so that the clamping piece 2 is accurately stopped at the position of the material containing device 4, further the workpiece is accurately grabbed, then the motor 1h is started to drive the moving mechanism to rotate, further the grabbing mechanism is driven to move, when the other side of the moving piece 1d reaches the other positioning device 1e, the motor 1h stops moving, further the clamping piece 2 accurately places the workpiece on the conveying mechanism 3, the precision of further improvement material loading, great saving material loading time improves the efficiency of material loading.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A loading attachment based on industrial robot, characterized by includes:
a conveying mechanism;
the feeding mechanism comprises a grabbing mechanism, a moving mechanism and a first power module, wherein the moving mechanism is connected with the grabbing mechanism and used for driving the grabbing mechanism to move, and the first power module is connected with the moving mechanism.
2. An industrial robot based feeding device according to claim 1, characterized in that: the motion mechanism includes:
the supporting plate is connected with the first power module and used for fixing the first power module;
the limiting piece is connected to one side of the supporting plate and used for limiting the motion trail of the grabbing mechanism;
and the rotating part is connected with the first power module at one end, connected with the grabbing mechanism at the other end and moved between the limiting parts, and is used for driving the grabbing mechanism to move.
3. An industrial robot based feeding device according to claim 2, characterized in that: the motion mechanism further comprises:
and one end of the rolling part is rotationally connected to one side of the grabbing mechanism, penetrates through the rotating part and moves between the limiting parts, and the rolling part is used for driving the grabbing mechanism to move.
4. An industrial robot based feeding device according to claim 3, characterized in that: the motion mechanism further comprises:
and one end of the guide piece is fixedly connected to one side of the supporting plate, and the other end of the guide piece is connected to one side of the grabbing mechanism in a sliding manner and used for limiting the horizontal movement direction of the grabbing mechanism.
5. An industrial robot based feeding device according to claim 4, characterized in that: the motion mechanism further comprises:
and the moving part is connected to one side of the guide part in a sliding manner, penetrates through the grabbing mechanism and is connected between the guide part and the grabbing mechanism in a sliding manner, and is used for driving the grabbing mechanism to move in different directions.
6. An industrial robot based feeding device according to claim 5, characterized in that: the grabbing mechanism comprises:
clamping and taking the workpiece;
the sliding rod penetrates through and is connected between the moving parts in a sliding mode and is used for driving the clamping part to move;
and the moving part is connected with the sliding rod at one side and is rotationally connected with the rolling part at one side and is used for driving the clamping part to move.
7. An industrial robot based feeding device according to claim 6, characterized in that: the loading attachment still includes:
and the positioning devices are at least arranged into 2 groups, are respectively arranged at two ends of the supporting plate and are used for limiting the movement stroke of the grabbing mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111098546.1A CN113800249A (en) | 2021-09-18 | 2021-09-18 | Loading attachment based on industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111098546.1A CN113800249A (en) | 2021-09-18 | 2021-09-18 | Loading attachment based on industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113800249A true CN113800249A (en) | 2021-12-17 |
Family
ID=78939669
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111098546.1A Withdrawn CN113800249A (en) | 2021-09-18 | 2021-09-18 | Loading attachment based on industrial robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN113800249A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115285682A (en) * | 2022-08-17 | 2022-11-04 | 深圳市元博智能科技有限公司 | A kind of servo cam feeding mechanism and feeding method |
-
2021
- 2021-09-18 CN CN202111098546.1A patent/CN113800249A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115285682A (en) * | 2022-08-17 | 2022-11-04 | 深圳市元博智能科技有限公司 | A kind of servo cam feeding mechanism and feeding method |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20211217 |
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| WW01 | Invention patent application withdrawn after publication |