CN113859955B - Feeding and discharging device with position deviation compensation function - Google Patents
Feeding and discharging device with position deviation compensation function Download PDFInfo
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- CN113859955B CN113859955B CN202111101923.2A CN202111101923A CN113859955B CN 113859955 B CN113859955 B CN 113859955B CN 202111101923 A CN202111101923 A CN 202111101923A CN 113859955 B CN113859955 B CN 113859955B
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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
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
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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
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/16—Preventing pulverisation, deformation, breakage, or other mechanical damage to the goods or materials
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
The invention provides a loading and unloading device with position deviation compensation, which comprises a rack, wherein an X-axis moving module, a Y-axis moving module, a Z-axis moving module and loading and unloading arms are arranged on the rack, the X-axis moving module is connected with the Y-axis moving module, the Y-axis moving module is connected with the Z-axis moving module, and the Z-axis moving module is connected with the loading arms; the feeding and discharging arm comprises at least one group of feeding and discharging modules, the feeding and discharging modules comprise a ZR shaft driving mechanism, a product clamping mechanism for clamping products and a deviation compensation mechanism, and the ZR shaft driving mechanism is connected with the product clamping mechanism through the deviation compensation mechanism. By adopting the technical scheme of the invention, the deviation compensation mechanism can carry out flexible deviation compensation on the position, no material clamping occurs, the appearance of the product is better protected, two products can be simultaneously arranged at the upper part and the lower part, high efficiency is realized by adopting low cost, and manpower is liberated.
Description
Technical Field
The invention belongs to the technical field of automatic feeding and discharging equipment, and particularly relates to a feeding and discharging device with position deviation compensation.
Background
With the development of technology, more and more processes adopt automatic equipment, and the same is true for loading and unloading. For regular products, automatic feeding and discharging can be easily realized. For products with different specifications or abnormal shapes such as smoke alarms, manual feeding and discharging are mostly adopted in the past, or 6-axis mechanical arm feeding is adopted, but the manual feeding and discharging has the problems of low efficiency and production quality dependence on the proficiency of operators. The 6-axis mechanical arm feeding has the problems of high cost, low speed and the like, and can only be used for taking and placing one at a time, so that the efficiency is low, if two sets of mechanical arms are adopted, the cost is greatly increased, two products are simultaneously taken and placed, the phenomenon of clamping materials is easy to occur if the positions of the products deviate, and the appearance of the products is damaged.
Disclosure of Invention
Aiming at the technical problems, the invention discloses a loading and unloading device with position deviation compensation, which is not easy to cause clamping, and can simultaneously load and unload two or more products by arranging two or more loading and unloading modules.
In this regard, the invention adopts the following technical scheme:
the feeding and discharging device with the position deviation compensation comprises a frame, wherein an X-axis moving module, a Y-axis moving module, a Z-axis moving module and a feeding and discharging arm are arranged on the frame, the X-axis moving module is connected with the Y-axis moving module, the Y-axis moving module is connected with the Z-axis moving module, and the Z-axis moving module is connected with the feeding arm;
the feeding and discharging arm comprises at least one group of feeding and discharging modules, the feeding and discharging modules comprise a ZR shaft driving mechanism, a product clamping mechanism for clamping products and a deviation compensation mechanism, and the ZR shaft driving mechanism is connected with the product clamping mechanism through the deviation compensation mechanism. The deviation compensation mechanism is an XY direction position deviation compensation mechanism.
Further, the deviation compensation mechanism comprises a locking mechanism, a mounting base, a positioning member, an X-axis moving mechanism, a Y-axis moving mechanism and a driving output mounting plate, wherein the locking mechanism is fixed on the mounting base, one end of the positioning member extends into a connecting port of the locking mechanism, and the other end of the positioning member is fixedly connected with the driving output mounting plate; the X-axis moving mechanism is connected with the Y-axis moving mechanism, the X-axis moving mechanism or the Y-axis moving mechanism is connected with the mounting base in a sliding manner, the Y-axis moving mechanism or the X-axis moving mechanism is connected with the driving output mounting plate in a sliding manner, the X-axis moving mechanism or the Y-axis moving mechanism is connected with the mounting base through a first reset member, and the Y-axis moving mechanism or the X-axis moving mechanism is connected with the driving output mounting plate through a second reset member; the first and second return members are resilient members.
By adopting the technical scheme, the X-axis moving module, the Y-axis moving module and the Z-axis moving module can drive the feeding and discharging arms to move in X, Y, Z three directions, the ZR-axis driving mechanism drives the product clamping mechanism to rotate through the deviation compensation mechanism, the product can be driven to rotate for angular positioning, and the deviation compensation mechanism can automatically and flexibly compensate the position, so that the product clamping mechanism cannot clamp materials, the appearance of the product cannot be damaged, and the production efficiency is improved. For the deviation compensation mechanism, when the locking mechanism does not lock the positioning component, other components connected with the driving output mounting plate can be subjected to XY direction movement adjustment under the combined action of the X-axis movement mechanism, the Y-axis movement mechanism, the first reset component and the second reset component, so that flexible deviation automatic compensation and balance force are carried out, and when the driving output mounting plate is connected with the clamping jaw, the phenomenon of clamping materials cannot occur. When the locking mechanism clamps the positioning member, this relative movement is locked, and other components connected to the drive output mounting plate may be secured.
As a further improvement of the invention, the X-axis moving module comprises an X-axis driving wheel, an X-axis idler wheel, an X-axis driving motor and an X-axis speed reducer, wherein the X-axis driving motor is connected with the X-axis speed reducer, the X-axis speed reducer is connected with the X-axis driving wheel, an X-axis synchronous belt is wound between the X-axis driving wheel and the X-axis idler wheel, the X-axis synchronous belt is connected with a Y-axis module mounting plate, and the Y-axis module mounting plate is connected with the Y-axis moving module.
As a further improvement of the invention, the Y-axis moving module comprises a Y-axis driving wheel, a Y-axis idler wheel and a Y-axis driving motor, wherein the Y-axis driving motor is connected with a Y-axis speed reducer, the Y-axis speed reducer is connected with the Y-axis driving wheel, a Y-axis synchronous belt is wound between the Y-axis driving wheel and the Y-axis idler wheel, the Y-axis synchronous belt is connected with a Z-axis module mounting bracket, and the Z-axis module mounting bracket is connected with the Z-axis moving module.
As a further improvement of the invention, the mounting base is provided with a first reset member fixing seat, and the driving output mounting plate is provided with a second reset member fixing seat;
the X-axis moving mechanism or the Y-axis moving mechanism is connected with the first reset member fixing seat through a first reset member;
the Y-axis moving mechanism or the X-axis moving mechanism is connected with the second reset member fixing seat through a second reset member;
the X-axis moving mechanism comprises an X-axis guide rail, the Y-axis moving mechanism comprises a Y-axis guide rail, and the X-axis guide rail and the Y-axis guide rail are respectively positioned on the front side and the back side of the mounting fixing plate; one end of the first reset component and the second reset component are respectively connected with the installation fixing plate.
As a further improvement of the invention, the first reset member fixing seat is positioned on the bottom surface of the mounting base, and the second reset member fixing seat is positioned on one surface of the driving output mounting plate facing the mounting base; one end or the middle part of the first reset member and the second reset member is connected with the installation fixing plate, and the other ends of the first reset member and the second reset member are respectively connected with the first reset member fixing seat and the second reset member fixing seat.
As a further improvement of the invention, the number of the first reset member fixing seat and the second reset member fixing seat is two, and the first reset member fixing seat and the second reset member fixing seat are respectively positioned on the front side and the back side of the installation fixing plate; the mounting fixing plate is provided with a first reset fixing piece and a second reset fixing piece, the first reset fixing piece is positioned between the two first reset component fixing seats, and the second reset fixing piece is positioned between the two second reset component fixing seats;
the middle part of first reset member is connected with first reset fixing piece, the middle part of second reset member is connected with second reset fixing piece, perhaps first reset fixing piece is connected with the first reset member fixing base of both sides through two first reset members, the second reset fixing piece is connected with the second reset member fixing base of both sides through two second reset members.
By adopting the technical scheme, the reset in two directions can be realized in the X-axis direction and the Y-axis direction, and the flexible deviation compensation can be better carried out.
As a further improvement of the invention, the positioning member is fixedly connected with the drive output mounting plate through the mounting base and the mounting fixing plate.
As a further improvement of the invention, the first and second return mechanisms are return springs.
As a further improvement of the invention, the ZR shaft driving mechanism is connected with the product clamping mechanism through a rotating mechanism; the rotating mechanism comprises a rotating cylinder, the product clamping mechanism comprises a clamping jaw cylinder, the ZR shaft driving mechanism is connected with the rotating cylinder through a connecting shaft, and the rotating cylinder is connected with the clamping jaw cylinder through a rotating plate.
By adopting the technical scheme, the clamping jaw cylinder is used for clamping a product, the ZR shaft driving mechanism drives the product clamping mechanism to rotate and can drive the product to rotate for angular positioning, the driving output mounting plate can move in the XY axial direction relative to the mounting base, and further the driving mechanism and the product clamping mechanism are carried out to move together, so that integral position adjustment can be carried out, automatic flexible compensation is realized, the product clamping mechanism can not clamp materials, the appearance of the product can not be damaged, and the production efficiency is improved. The rotation mechanism can be used for other adjustment of the product clamped by the product clamping mechanism, such as for inserting the product buckle into the jig hole.
As a further improvement of the invention, the locking mechanism comprises a enclasping cylinder, and the enclasping cylinder is connected with the Z-axis moving module through an enclasping cylinder mounting plate.
As a further improvement of the invention, the ZR shaft driving mechanism comprises a ZR shaft servo motor and a ZR shaft speed reducer, wherein the ZR shaft servo motor is connected with the ZR shaft speed reducer, and the ZR shaft speed reducer is connected with the connecting shaft.
As a further improvement of the invention, the connecting shaft is connected with the rotary cylinder through the cylinder fixing plate, and a rotary drag chain is arranged between the driving output mounting plate and the cylinder fixing plate; the rotating plate is connected with the clamping jaw cylinder through the buffer mechanism.
As a further improvement of the invention, the buffer mechanism comprises a buffer plate, the rotating plate is connected with the side plate, the side plate is provided with a buffer guide rail, the rotating plate is connected with the buffer plate through a buffer spring, and the buffer plate is connected with the side plate through the buffer guide rail.
As a further improvement of the invention, the Z-axis moving module comprises a Z-axis guide rail, a Z-axis driving motor, a Z-axis driving wheel and a Z-axis idler wheel, wherein the Z-axis guide rail is positioned on a Z-axis module mounting bracket, the Z-axis driving motor is connected with a Z-axis speed reducer, the Z-axis speed reducer is connected with the Z-axis driving wheel, a Z-axis synchronous belt is wound between the Z-axis driving wheel and the Z-axis idler wheel, the Z-axis synchronous belt is connected with a holding cylinder mounting plate, and the holding cylinder mounting plate is in sliding connection with the Z-axis guide rail.
As a further improvement of the invention, a drag chain is arranged between the holding cylinder mounting plate and the Z-axis module mounting bracket.
As a further improvement of the invention, the feeding and discharging arm comprises two groups of feeding and discharging modules and two groups of Z-axis moving modules, the two groups of feeding and discharging modules are arranged in parallel, two parallel Z-axis guide rails are arranged on the Z-axis module mounting bracket, and the holding cylinder mounting plates of the two groups of feeding and discharging modules are respectively connected with the corresponding Z-axis moving modules and are respectively connected with the two Z-axis guide rails in a sliding manner. Further, a drag chain is arranged between each enclasping cylinder mounting plate and the Z-axis module mounting bracket.
Compared with the prior art, the invention has the beneficial effects that:
by adopting the technical scheme of the invention, the deviation compensation mechanism can carry out flexible deviation compensation on the position, no material clamping occurs, the appearance of the product is better protected, two products can be simultaneously arranged at the upper part and the lower part, high efficiency is realized by adopting low cost, and manpower is liberated.
Drawings
Fig. 1 is an external schematic view of a loading and unloading device with position deviation compensation according to embodiment 1 of the present invention.
Fig. 2 is an exploded view of the loading and unloading arm and the Z-axis moving module according to embodiment 1 of the present invention.
Fig. 3 is a schematic diagram of an assembly structure of the loading and unloading arm and the Z-axis moving module according to embodiment 1 of the present invention.
Fig. 4 is an exploded view of the deviation compensation mechanism and the embodiment 2 of the present invention.
Fig. 5 is a schematic diagram of an assembly structure of a deviation compensation mechanism according to embodiment 2 of the present invention.
Fig. 6 is a side view of the deviation compensating mechanism of embodiment 2 of the present invention.
Fig. 7 is a cross-sectional view taken along A-A in fig. 6.
Fig. 8 is an exploded view of the loading and unloading module of embodiment 3 of the present invention.
Fig. 9 is a schematic diagram of an assembly structure of a loading and unloading module according to embodiment 3 of the present invention.
Fig. 10 is a schematic structural diagram of an X-axis moving module according to embodiment 4 of the present invention.
Fig. 11 is a schematic diagram of the structure of a Y-axis moving module according to embodiment 4 of the present invention.
The reference numerals include:
10-product;
100-frames, 200-X axis moving modules, 300-Y axis moving modules, 400-Z axis moving modules, 500-feeding and discharging arms and 600-feeding and discharging modules; 700-a flexible deviation compensation mechanism, 800-a ZR shaft driving mechanism and 900-a product clamping mechanism;
the device comprises a 201-X axis driving wheel, a 202-X axis idler wheel, a 203-X axis driving motor, a 204-X axis speed reducer, a 205-X axis synchronous belt and a 206-X axis linear guide rail;
301-Y axis driving wheels, 302-Y axis idler wheels, 303-Y axis driving motors, 304-Y axis speed reducers, 305-Y axis synchronous belts, 306-Y axis module mounting plates, 307-Y axis linear guide rails, 308-Y axis movable drag chains and 309-tensioning wheels;
the device comprises a 401-Z axis guide rail, a 402-Z axis driving motor, a 403-Z axis driving wheel, a 405-Z axis module mounting bracket, a 406-Z axis movable drag chain, a 407-Z axis speed reducer and a 408-Z axis synchronous belt;
701-enclasping air cylinder, 702-mounting base, 703-positioning column, 704-X axis guide rail, 705-Y axis guide rail, 706-mounting fixing plate, 707-driving output mounting plate, 708-first reset spring, 709-second reset spring, 710-first spring fixing base, 711-second spring fixing base, 712-first reset fixing piece, 713-second reset fixing piece, 714-bearing;
801-ZR shaft servo motor, 802-ZR shaft speed reducer, 803-connecting shaft, 804-cylinder fixing plate, 805-rotary cylinder, 806-rotary drag chain, 807-rotary plate; 808-clasping the cylinder mounting plate;
901-clamping jaw cylinder, 902-buffer plate, 903-side plate, 904-buffer guide rail, 905-buffer spring.
Detailed Description
Preferred embodiments of the present invention are described in further detail below.
Example 1
As shown in fig. 1-3, a loading and unloading device with position deviation compensation comprises a frame 100, wherein an X-axis moving module 200, a Y-axis moving module 300, a Z-axis moving module 400 and a loading and unloading arm 500 are arranged on the frame 100, the X-axis moving module 200 is connected with the Y-axis moving module 300, the Y-axis moving module 300 is connected with the Z-axis moving module 400, and the Z-axis moving module 400 is connected with the loading arm;
the feeding and discharging arm 500 comprises at least one group of feeding and discharging modules 600, the feeding and discharging modules 600 comprise a ZR shaft driving mechanism 800, a product clamping mechanism 900 for clamping products and a flexible deviation compensation mechanism 700, and the ZR shaft driving mechanism 800 is connected with the product clamping mechanism 900 through the flexible deviation compensation mechanism 700. The flexible deviation compensation mechanism 700 is an XY direction positional deviation compensation mechanism.
Example 2
As shown in fig. 4 to 7, on the basis of embodiment 1, the flexible deviation compensation mechanism 700 includes a holding cylinder 701, a mounting base 702, a positioning column 703, an X-axis moving mechanism, a Y-axis moving mechanism, and a driving output mounting board 707, wherein the holding cylinder 701 is fixed on the mounting base 702, one end of the positioning column 703 extends into a connection port of the holding cylinder 701, a bearing 714 is disposed at one end of the positioning column 703 and is used for being connected with the holding cylinder 701, and the other end of the positioning column 703 is fixedly connected with the driving output mounting board 707.
The X-axis moving mechanism is connected with the Y-axis moving mechanism, the X-axis moving mechanism is connected with the mounting base 702 in a sliding manner, the Y-axis moving mechanism is connected with the driving output mounting plate 707 in a sliding manner, the X-axis moving mechanism is connected with the mounting base 702 through a first reset spring 708, and the Y-axis moving mechanism is connected with the driving output mounting plate 707 through a second reset spring 709. The other end of the positioning column 703 passes through the mounting base 702 and the mounting fixing plate 706 to be fixedly connected with the driving output mounting plate 707.
Specifically, the X-axis moving mechanism includes an X-axis guide rail 704, the Y-axis moving mechanism includes a Y-axis guide rail 705, the X-axis guide rail 704 and the Y-axis guide rail 705 are respectively located on the front and back sides of an installation fixing plate 706, a first spring fixing seat 710 is disposed on the bottom surface of the installation base 702, and a second spring fixing seat 711 is disposed on the surface of the drive output installation plate 707; one end or the middle part of the first return spring 708 and the second return spring 709 is connected with the mounting fixing plate 706, and the other end of the first return spring 708 and the other end of the second return spring 709 are respectively connected with the first spring fixing seat 710 and the second spring fixing seat 711.
Further, the number of the first spring fixing seat 710 and the second spring fixing seat 711 is two; the front and back sides of the mounting and fixing plate 706 are provided with a first reset fixing piece 712 and a second reset fixing piece 713, the first reset fixing piece 712 is located between the two first spring fixing seats 710, and the second reset fixing piece 713 is located between the two second spring fixing seats 711. In this embodiment, the first return fixing member 712 is connected to the first spring fixing bases 710 on both sides through two first return springs 708, and the second return fixing member 713 is connected to the second spring fixing bases 711 on both sides through two second return springs 709.
With this configuration, when the holding cylinder 701 does not lock the positioning column 703, other members connected to the drive output mounting plate 707 can perform XY-direction movement adjustment, thereby performing automatic compensation for the deviation in flexibility and balancing the force. This relative movement is locked when the hugging cylinder 701 clamps the positioning column 703, which may secure other components connected to the drive output mounting plate 707.
Example 3
On the basis of embodiment 2, as shown in fig. 8 and 9, the feeding and discharging module 600 comprises a ZR shaft driving mechanism 800, a rotating mechanism, a jaw cylinder 901 and the flexible automatic deviation compensating mechanism described in embodiment 2, wherein the ZR shaft driving mechanism comprises a ZR shaft servo motor 801 and a ZR shaft speed reducer 802, the rotating mechanism comprises a rotating cylinder 805, the jaw cylinder 901 comprises a jaw cylinder 901, the servo motor 801 is connected with the speed reducer 802, the speed reducer 802 is connected with the rotating cylinder 805 through a connecting shaft 803, and the rotating cylinder 805 is connected with the jaw cylinder 901 through a rotating plate 807. Further, the connecting shaft 803 is connected to a rotary cylinder 805 through a cylinder fixing plate 804, and a rotary drag chain 806 is provided between the drive output mounting plate 707 and the cylinder fixing plate 804. The rotary plate 807 is connected to a jaw cylinder 901 via a buffer mechanism. The buffer mechanism comprises a buffer plate 902, the rotating plate 807 is connected with a side plate 903, a buffer guide rail 904 is arranged on the side plate 903, the rotating plate 807 is connected with the buffer plate 902 through a buffer spring 905, and the buffer plate 902 is connected with the side plate 903 through the buffer guide rail 904. The enclasping cylinder 701 is connected with the Z-axis guide rail 34 through an enclasping cylinder mounting plate 33, and the whole can move along the Z-axis direction.
By adopting the technical scheme, after the clamping jaw cylinder 901 clamps the product 10, the bottom of the product 10 is provided with a buckle, a jig buckle hole needs to be aligned, the servo motor 801 is only used for driving the product 10 to rotate for angular positioning, and the rotary cylinder 805 is only used for inserting the product 10 buckle into the jig hole; the positioning column 703 is fixed on the drive output mounting plate 707, the drive output mounting plate 707 can move in the XY axis direction relative to the mounting base 702, and moves together with the speed reducer 802, the servo motor 801 and the clamping jaw cylinder 901, the holding cylinder 701 is used for clamping the positioning column 703, and when the holding cylinder 701 is clamped, the relative movement is locked; the controllable XY direction flexible/rigid clamping is achieved, automatic flexible compensation is achieved, the product clamping mechanism cannot clamp materials when clamping products, the appearance of the products cannot be damaged, and production efficiency is improved.
Example 4
On the basis of embodiment 3, as shown in fig. 2, 3, 10 and 11, the X-axis moving module 200 includes an X-axis driving wheel 201, an X-axis idler wheel 202, an X-axis linear guide 206, an X-axis driving motor 203 and an X-axis speed reducer 204, the X-axis driving motor 203 is connected with the X-axis speed reducer 204, the X-axis speed reducer 204 is connected with the X-axis driving wheel 201, an X-axis synchronous belt 205 is wound between the X-axis driving wheel 201 and the X-axis idler wheel 202, the X-axis synchronous belt 205 is connected with a Y-axis module mounting plate 306, the Y-axis module mounting plate 306 is slidably connected with the X-axis linear guide 206, and the Y-axis module mounting plate 306 is connected with the Y-axis moving module 300.
The Y-axis moving module 300 comprises a Y-axis driving wheel 301, a Y-axis linear guide 307, a Y-axis idler wheel 302 and a Y-axis driving motor 303, wherein the Y-axis driving motor 303 is connected with a Y-axis speed reducer 304, the Y-axis speed reducer 304 is connected with the Y-axis driving wheel 301, a Y-axis synchronous belt 305 is wound between the Y-axis driving wheel 301 and the Y-axis idler wheel 302, the Y-axis synchronous belt 305 is connected with a Z-axis module mounting bracket 405, the Z-axis module mounting bracket 405 is in sliding connection with the Y-axis linear guide 307, and the Z-axis module mounting bracket 405 is connected with the Z-axis moving module 400. The Z-axis module mounting bracket 405 is connected with a Y-axis movable drag chain 308, and the Y-axis synchronous belt 305 is connected with a tensioning wheel 309.
The Z-axis moving module 400 comprises a Z-axis guide rail 401, a Z-axis driving motor 402, a Z-axis driving wheel 403 and a Z-axis idler wheel, wherein the Z-axis guide rail 401 is positioned on a Z-axis module mounting bracket 405, the Z-axis driving motor 402 is connected with a Z-axis speed reducer 407, the Z-axis speed reducer 407 is connected with the Z-axis driving wheel 403, a Z-axis synchronous belt 408 is wound between the Z-axis driving wheel 403 and the Z-axis idler wheel, the Z-axis synchronous belt 408 is connected with a holding cylinder mounting plate 808, and the holding cylinder mounting plate 808 is in sliding connection with the Z-axis guide rail 401. A Z-axis mobile drag chain 406 is disposed between the clasping cylinder mounting plate 808 and the Z-axis module mounting bracket 405.
In this embodiment, the loading and unloading arm 500 includes two groups of loading and unloading modules 600 and two groups of Z-axis moving modules 400, the two groups of loading and unloading modules 600 are arranged in parallel, two parallel Z-axis guide rails 401 are arranged on a Z-axis module mounting bracket 405, and the holding cylinder mounting plates 808 of the two groups of loading and unloading modules 600 are respectively connected with the corresponding Z-axis moving modules 400 and are respectively connected with the two Z-axis guide rails 401 in a sliding manner. Further, a Z-axis mobile drag chain 406 is provided between each hugging cylinder mounting plate 808 and the Z-axis module mounting bracket 405.
By adopting the technical scheme, the two groups of feeding and discharging modules 600 can simultaneously clamp the product 10 for feeding, the holding cylinder 701 is not locked with the positioning column 703, when the position interval between the two products is deviated, the flexible deviation compensation mechanism 700 can carry out flexible deviation adjustment, the clamping is avoided, the appearance of the product 10 is not damaged, and the production efficiency is improved.
The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.
Claims (9)
1. Feeding and discharging device with position deviation compensation function is characterized in that: the automatic feeding and discharging device comprises a frame, wherein an X-axis moving module, a Y-axis moving module, a Z-axis moving module and an upper and lower feeding arm are arranged on the frame, the X-axis moving module is connected with the Y-axis moving module, the Y-axis moving module is connected with the Z-axis moving module, and the Z-axis moving module is connected with the upper feeding arm;
the feeding and discharging arm comprises at least one group of feeding and discharging modules, the feeding and discharging modules comprise a ZR shaft driving mechanism, a product clamping mechanism for clamping products and a deviation compensation mechanism, and the ZR shaft driving mechanism is connected with the product clamping mechanism through the deviation compensation mechanism;
the deviation compensation mechanism comprises a locking mechanism, a mounting base, a positioning member, an X-axis moving mechanism, a Y-axis moving mechanism and a driving output mounting plate, wherein the locking mechanism is fixed on the mounting base, one end of the positioning member extends into a connecting port of the locking mechanism, and the other end of the positioning member is fixedly connected with the driving output mounting plate; the X-axis moving mechanism is connected with the Y-axis moving mechanism, the X-axis moving mechanism or the Y-axis moving mechanism is connected with the mounting base in a sliding manner, the Y-axis moving mechanism or the X-axis moving mechanism is connected with the driving output mounting plate in a sliding manner, the X-axis moving mechanism or the Y-axis moving mechanism is connected with the mounting base through a first reset member, and the Y-axis moving mechanism or the X-axis moving mechanism is connected with the driving output mounting plate through a second reset member;
the first reset member and the second reset member are elastic members;
the positioning member passes through the mounting base, the mounting fixing plate and the driving output mounting plate to be fixedly connected; the positioning component is a positioning column;
the ZR shaft driving mechanism is connected with the product clamping mechanism through a rotating mechanism; the rotating mechanism comprises a rotating cylinder, the product clamping mechanism comprises a clamping jaw cylinder, the ZR shaft driving mechanism is connected with the rotating cylinder through a connecting shaft, and the rotating cylinder is connected with the clamping jaw cylinder through a rotating plate; the locking mechanism comprises a enclasping cylinder, and the enclasping cylinder is connected with the Z-axis moving module through an enclasping cylinder mounting plate; when the holding cylinder does not lock the positioning column, the part connected with the driving output mounting plate can be subjected to XY direction movement adjustment; this relative movement is locked when the hugging cylinder clamps the positioning column.
2. The loading and unloading device with positional deviation compensation according to claim 1, wherein: the X-axis moving module comprises an X-axis driving wheel, an X-axis idler wheel, an X-axis driving motor and an X-axis speed reducer, wherein the X-axis driving motor is connected with the X-axis speed reducer, the X-axis speed reducer is connected with the X-axis driving wheel, an X-axis synchronous belt is wound between the X-axis driving wheel and the X-axis idler wheel, the X-axis synchronous belt is connected with a Y-axis module mounting plate, and the Y-axis module mounting plate is connected with the Y-axis moving module.
3. The loading and unloading device with positional deviation compensation according to claim 2, wherein: the Y-axis moving module comprises a Y-axis driving wheel, a Y-axis idler wheel and a Y-axis driving motor, wherein the Y-axis driving motor is connected with a Y-axis speed reducer, the Y-axis speed reducer is connected with the Y-axis driving wheel, a Y-axis synchronous belt is wound between the Y-axis driving wheel and the Y-axis idler wheel, and the Y-axis synchronous belt is connected with the Z-axis moving module.
4. A loading and unloading device with position deviation compensation according to claim 3, wherein: the driving output mounting plate is provided with a second reset member fixing seat;
the X-axis moving mechanism or the Y-axis moving mechanism is connected with the first reset member fixing seat through a first reset member;
the Y-axis moving mechanism or the X-axis moving mechanism is connected with the second reset member fixing seat through a second reset member;
the X-axis moving mechanism comprises an X-axis guide rail, the Y-axis moving mechanism comprises a Y-axis guide rail, and the X-axis guide rail and the Y-axis guide rail are respectively positioned on the front side and the back side of the mounting fixing plate; one end of the first reset component and the second reset component are respectively connected with the installation fixing plate.
5. The loading and unloading device with position deviation compensation according to claim 4, wherein: the first reset component fixing seat is positioned on the bottom surface of the mounting base, and the second reset component fixing seat is positioned on one surface of the driving output mounting plate, which faces the mounting base; one end or the middle part of the first reset member and the second reset member is connected with the installation fixing plate, and the other ends of the first reset member and the second reset member are respectively connected with the first reset member fixing seat and the second reset member fixing seat.
6. The loading and unloading device with position deviation compensation according to claim 5, wherein: the first reset component fixing seat and the second reset component fixing seat are respectively positioned on the front side and the back side of the installation fixing plate; the mounting fixing plate is provided with a first reset fixing piece and a second reset fixing piece, the first reset fixing piece is positioned between the two first reset component fixing seats, and the second reset fixing piece is positioned between the two second reset component fixing seats;
the middle part of the first reset component is connected with a first reset fixing piece, the middle part of the second reset component is connected with a second reset fixing piece, or the first reset fixing piece is connected with first reset component fixing seats on two sides through two first reset components, and the second reset fixing piece is connected with second reset component fixing seats on two sides through two second reset components;
the first reset member and the second reset member are reset springs.
7. The loading and unloading device with position deviation compensation according to claim 6, wherein: the connecting shaft is connected with the rotary cylinder through a cylinder fixing plate, and a rotary drag chain is arranged between the driving output mounting plate and the cylinder fixing plate; the rotating plate is connected with the clamping jaw cylinder through the buffer mechanism;
the buffer mechanism comprises a buffer plate, the rotating plate is connected with the side plate, a buffer guide rail is arranged on the side plate, the rotating plate is connected with the buffer plate through a buffer spring, and the buffer plate is connected with the side plate through the buffer guide rail.
8. The loading and unloading device with position deviation compensation according to claim 6, wherein: the Z-axis moving module comprises a Z-axis guide rail, a Z-axis driving motor, a Z-axis driving wheel and a Z-axis idler wheel, wherein the Z-axis guide rail is positioned on a Z-axis module mounting bracket, the Z-axis driving motor is connected with a Z-axis speed reducer, the Z-axis speed reducer is connected with the Z-axis driving wheel, a Z-axis synchronous belt is wound between the Z-axis driving wheel and the Z-axis idler wheel, the Z-axis synchronous belt is connected with a holding cylinder mounting plate, and the holding cylinder mounting plate is in sliding connection with the Z-axis guide rail; and a drag chain is arranged between the enclasping cylinder mounting plate and the Z-axis module mounting bracket.
9. The loading and unloading device with position deviation compensation according to claim 8, wherein: the feeding and discharging arm comprises two groups of feeding and discharging modules and two groups of Z-axis moving modules, the two groups of feeding and discharging modules are arranged in parallel, two parallel Z-axis guide rails are arranged on the Z-axis module mounting bracket, and the enclasping cylinder mounting plates of the two groups of feeding and discharging modules are respectively connected with the corresponding Z-axis moving modules and are respectively connected with the two Z-axis guide rails in a sliding manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111101923.2A CN113859955B (en) | 2021-09-18 | 2021-09-18 | Feeding and discharging device with position deviation compensation function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111101923.2A CN113859955B (en) | 2021-09-18 | 2021-09-18 | Feeding and discharging device with position deviation compensation function |
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| Publication Number | Publication Date |
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| CN113859955A CN113859955A (en) | 2021-12-31 |
| CN113859955B true CN113859955B (en) | 2023-10-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111101923.2A Active CN113859955B (en) | 2021-09-18 | 2021-09-18 | Feeding and discharging device with position deviation compensation function |
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| CN113859955A (en) | 2021-12-31 |
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