CN114030882A - Feeding device with variable-pitch clamping jaw - Google Patents
Feeding device with variable-pitch clamping jaw Download PDFInfo
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- CN114030882A CN114030882A CN202111288257.8A CN202111288257A CN114030882A CN 114030882 A CN114030882 A CN 114030882A CN 202111288257 A CN202111288257 A CN 202111288257A CN 114030882 A CN114030882 A CN 114030882A
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- Prior art keywords
- jaw
- plate
- clamping
- cylinder
- chain conveyor
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Classifications
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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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers 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
- B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
- B65G17/12—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface comprising a series of individual load-carriers fixed, or normally fixed, relative to traction element
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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
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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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
Abstract
The invention discloses a feeding device with a variable-pitch clamping jaw, which comprises a plate link chain conveyor, a protective cover, a three-axis manipulator and a material storage frame, wherein the plate link chain conveyor is arranged on the plate link chain conveyor; the three-axis manipulator is provided with a double-clamping-jaw picker, the double-clamping-jaw picker is provided with a linear cylinder and a pair of air-jaw cylinders used for grabbing two workpieces simultaneously, and the distance between the two air-jaw cylinders can be changed when the linear cylinder works so as to adapt to the feeding requirement that the distances between the two workpieces are inconsistent. By arranging the plate chain conveyor, workpieces are always arranged at the foremost end of the material storage frame, and the three-axis manipulator can be prevented from being grabbed empty; the double-clamping-jaw picker is arranged and driven by the linear cylinder, so that two workpieces with different distances can be grabbed, and the double-clamping-jaw picker is suitable for the condition that the distance between the two workpieces during grabbing is inconsistent with the distance between the two workpieces during placing; through setting up the location frock, make things convenient for the triaxial manipulator to place the work piece above that, improve the accuracy, satisfy the demand that the robot realized automated production well.
Description
Technical Field
The invention relates to the field of automatic feeding equipment, in particular to a feeding device with a variable-pitch clamping jaw.
Background
The motor stator is as the motionless part in the motor rotation, through the cooperation with electric motor rotor, realize the normal operating of motor, general stator comprises stator core, stator winding and frame, the stator mainly relies on the rotation to produce the magnetic field when the motor carries out work, more common stator on the market generally divide into centralized and distributed, fundamentally distinguishes through the shape of coil and the wiring mode of inlaying, it is different in view of different motor power output, consequently need assemble different stator and rotor to the motor of different specifications.
In the current market, in order to realize high-yield production of motor stators, most processing industries nowadays adopt streamlined production, and in view of a streamlined high-efficiency production mode, the production is carried out in a processing process by matching with a feeding device.
Among the prior art, motor stator material loading adopts single conveyer material loading more, and motor stator direct movement in the charging tray is to the equipment station through artifical or six-shaft manipulator, and this kind of material loading mode needs the staff in time to supply the material in the charging tray to picking up the position, and work efficiency is low.
In the automatic equipment, the clamping jaw mechanism is mature in application and mainly used for grabbing and moving workpieces; however, most of the existing gripping jaw grippers adopt a single gripping jaw to grip a workpiece, and the working efficiency is low.
In order to improve the working efficiency, part of the grippers in the prior art comprise two clamping jaws, but when the two clamping jaws in the gripper are connected with the manipulator, a fixed connection mode is adopted, the positions of the two clamping jaws are relatively fixed, on one hand, the two clamping jaws cannot be adjusted according to the distance between the gripped workpieces, and on the other hand, when the placing distance of the two workpieces in the current procedure is inconsistent with the distance between the two workpieces in the next procedure, the gripper cannot complete the working task.
In addition, in order to facilitate design and assembly, a three-axis manipulator in the prior art is mostly directly driven by a servo sliding table module; but the mechanical strength of servo slip table module is not enough, can not bear the weight of the heavy object, if need satisfy the bearing requirement who bears equipment, then need select the servo slip table module of large size, can not satisfy workspace's requirement on the one hand, and on the other hand has increased design cost, can not be with the design cost control of whole equipment within the budget, can not satisfy customer's demand.
Aiming at the existing problems, the feeding mechanism in the prior art cannot well meet the requirement of realizing automatic production in a workshop, and further improvement is needed.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a feeding device with a variable-pitch clamping jaw, which can realize automatic feeding of different kinds of regular workpieces.
The invention provides a feeding device with a variable-pitch clamping jaw, which comprises a plate link chain conveyor, a protective cover, a three-axis manipulator and a storage frame, wherein the plate link chain conveyor is arranged on the plate link chain conveyor; the material storage frame is arranged at the upper end of the plate chain conveyor and used for placing workpieces, the plate chain conveyor is located on one side of the plate chain conveyor, the three-axis manipulator is arranged above the plate chain conveyor and used for grabbing and placing the workpieces on the plate chain conveyor, and the plate chain conveyor conveys the workpieces to an assembly station to complete feeding.
The three-axis manipulator is provided with a double-clamping-jaw picker, the double-clamping-jaw picker is provided with a linear cylinder and a pair of air claw cylinders used for grabbing two workpieces simultaneously, and the linear cylinder can change the distance between the two air claw cylinders during working so as to adapt to the feeding requirement that the distances between the two workpieces are inconsistent.
Further, chain convey machine includes the conveying chain and installs a plurality of work piece on the conveying chain and places the frock, and loading attachment still includes the location frock, the location frock can be right the work piece is placed the frock and is fixed a position, prevents its fore-and-aft movement.
Further, the positioning tool comprises a cylinder mounting bracket, a positioning cylinder, a cylinder rod connecting plate and a pair of positioning fingers; the positioning air cylinder is arranged on the air cylinder mounting bracket, and the air cylinder mounting bracket is connected with a main frame of the chain conveyor; the positioning finger is arranged on one side of the cylinder rod connecting plate, and the cylinder rod connecting plate is connected with the cylinder rod of the positioning air cylinder.
Further, the storage frame is provided with a plurality of guide bars that are parallel to each other and preceding baffle and backplate, the preceding baffle outside is equipped with one row of sensor for judge whether the foremost end of plate link chain conveyer has the work piece.
Furthermore, the three-axis manipulator further comprises an X-direction sliding table module, a Y-direction sliding table module and a Z-direction sliding table module; the X-direction sliding table module comprises a servo motor, a driving belt pulley, a driven belt pulley, a transmission belt, a first slider sliding rail assembly, a belt clamping plate and a connecting support; the driving belt pulley is in transmission connection with the servo motor through a planetary reducer, and the driven belt pulley is in transmission connection with the driving belt pulley through the transmission belt; the belt clamping plate is fixedly connected with the transmission belt, and the connecting support is connected with the belt clamping plate and the sliding block sliding rail assembly respectively, so that the connecting support can move along the X direction.
The double-clamping-jaw picker is connected with a slide block of the Z-direction sliding table module through an L-shaped connecting plate, the Z-direction sliding table module is connected with a slide block of the Y-direction sliding table module, and the Y-direction sliding table module is connected with the connecting support to drive the double-clamping-jaw picker to pick up workpieces on the workbench.
Further, X still includes slider guide rail set spare two to the slip table module, slider slide rail set spare one with slider guide rail set spare two is fixed X is to the support section bar at slip table module middle part on, just the slider of slider slide rail set spare one is located its the place ahead, the slider of slider guide rail set spare two is located its top, two sets of sliders respectively with linking bridge connects.
Furthermore, the double-clamping-jaw picker also comprises a clamping jaw fixing plate, a sliding table module, a sliding table fixing plate, a pair of connecting supports, a plurality of three-jaw fingers and a plurality of clamping jaw molds, wherein the connecting supports, the sliding table module and the sliding table fixing plate are symmetrically distributed; the sliding table module is provided with a sliding rail and a pair of sliding blocks, the sliding rail of the sliding table module is connected with the sliding table fixing plate, and the sliding table fixing plate is arranged on the rear side of the clamping jaw fixing plate; the three-jaw finger is arranged on the pneumatic jaw cylinder, the clamping jaw mold is fixed on the inner side of the three-jaw finger, and the pneumatic jaw cylinder is arranged at the lower end of the connecting support.
The connecting support is connected with the sliding block on the corresponding side of the sliding table module, the connecting support is connected with the cylinder rod of the linear cylinder, and the linear cylinder is used for adjusting the gap between the air claw cylinders so as to meet the requirement of grabbing two workpieces at different intervals.
Further, linking bridge includes posterior lateral plate, bottom plate and the outer panel that mutually perpendicular set up, the slider of slip table module with the posterior lateral plate is fixed, sharp cylinder with the outer panel is connected, the gas claw cylinder with the bottom plate is connected.
Further, a cylinder rod of the linear cylinder is connected with the connecting support through a floating joint.
Furthermore, the clamping jaw die is detachably and fixedly connected with the three-jaw finger, and the clamping jaw die can be replaced according to the shape and the size of a grabbed workpiece.
According to the feeding device with the variable-pitch clamping jaws, a large number of assembled workpieces can be fed at one time by arranging the storage frame; by arranging the plate chain conveyor, workpieces are always arranged at the foremost end of the material storage frame, and the three-axis manipulator can be prevented from being grabbed empty; the double-clamping-jaw picker is arranged and driven by the linear cylinder, so that two workpieces with different distances can be grabbed, and the double-clamping-jaw picker is suitable for the condition that the distance between the two workpieces during grabbing is inconsistent with the distance between the two workpieces during placing; through setting up the location frock, can right the wobbling charging tray on the conveying chain, make things convenient for the triaxial manipulator to place the work piece above that, improve the accuracy, satisfy the demand that the robot realized automated production well.
In the preferred scheme of the invention, under the condition of low requirement on the grabbing precision, the primary linear driving mechanism with relatively high requirements on the machine bearing capacity and the mechanical strength is replaced by a standard servo sliding table module through belt transmission, and the sliding table module is guided by using a supporting section bar and double guide rails, so that the mechanical strength is increased, the requirement on the working space is met, the production cost is reduced, the design cost of the whole equipment is controlled within budget, and the requirement of customers is met.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural view of a feeding device with a variable-pitch clamping jaw according to the invention;
FIG. 2 is a schematic structural view of a plate chain conveyor in a feeding device with variable-pitch clamping jaws according to the present invention;
FIG. 3 is a schematic structural view of a material storage frame of the feeding device with a variable-pitch clamping jaw of the invention;
FIG. 4 is a schematic structural diagram of a positioning tool in the feeding device with the variable-pitch clamping jaws, disclosed by the invention;
FIG. 5 is a schematic structural diagram of a three-axis robot in the feeding device with variable-pitch clamping jaws of the invention;
FIG. 6 is a first schematic structural view of an X-direction sliding table module in the feeding device with a variable-pitch clamping jaw of the present invention;
FIG. 7 is a second schematic structural view of an X-direction sliding table module in the feeding device with a variable-pitch clamping jaw of the present invention;
FIG. 8 is a first schematic structural view of a double-jaw picker in a loading device with variable-pitch jaws according to the present invention;
fig. 9 is a schematic structural diagram of a double-jaw picker in the feeding device with variable-pitch jaws.
Description of the reference numerals
1. A plate chain conveyor; 2. a chain conveyor; 3. a protective cover; 4. a three-axis manipulator; 5. positioning a tool; 6. a material storage frame; 7. a workpiece; 11. a chain of conveyor plates; 21. a workpiece placing tool; 22. a material tray; 51. a cylinder mounting bracket; 52. positioning the air cylinder; 53. a cylinder rod connecting plate; 54. positioning a finger; 61. a guide bar; 62. a front baffle; 41. supporting the upright post; 42. an X-direction sliding table module; 43. a Z-direction sliding table module; 44. a Y-direction sliding table module; 45. a double jaw picker;
421. a servo motor; 422. a first slide block and slide rail assembly; 423. connecting a bracket; 424. a drive belt; 425. a second slide block guide rail component; 426. a drive pulley; 427. a driven pulley; 428. a belt clamp plate; 431. an L-shaped connecting plate; 451. a clamping jaw fixing plate; 452. connecting a bracket; 453. a floating joint; 454. a pneumatic claw cylinder; 455. a linear cylinder; 456. three-jaw fingers; 457. a jaw mold; 458. a sliding table module; 459. slip table fixed plate.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 to 9, the feeding device with variable-pitch clamping jaws of the invention comprises a plate chain conveyor 1, a chain conveyor 2, a protective cover 3, a three-axis manipulator 4, a positioning tool 5 and a storage frame 6.
The storage frame 6 is arranged at the upper end of the plate chain conveyor 1, a large number of workpieces are regularly placed in the storage frame and are grabbed, the plate chain conveyor 2 is located on one side of the plate chain conveyor 1, the three-axis manipulator 4 is arranged above the plate chain conveyor 1, the three-axis manipulator 4 is used for grabbing the workpieces, the workpieces are placed on the workpiece placing tool 21 of the plate chain conveyor 2, then the workpieces are conveyed to an assembling station through the plate chain conveyor 2, and the purpose of loading is achieved.
Specifically, as shown in fig. 1, the chain conveyor 2 includes a conveying chain and a plurality of workpiece placing tools 21 mounted on the conveying chain, and the workpiece placing tools 21 have trays 22 matching the shape of the workpiece, and the trays 22 are used for receiving the workpiece 7, so that the workpiece can sequentially move to the assembling station.
Wherein, the frock 21 is placed to the work piece is fixed on flexible conveying chain, and the during operation takes place the swing easily, and when the work piece 7 that three-axis manipulator 4 will snatch moved to the work piece and places frock 21 top, on the two can not match certainly. For this purpose, a positioning tool is mounted on the chain conveyor 2, and the position of the positioning tool corresponds to the position of the workpiece placing tool 21.
As shown in fig. 4, the positioning tool 5 includes a cylinder mounting bracket 51, a positioning cylinder 52, a cylinder rod connecting plate 53, and a pair of positioning fingers 54; the positioning cylinder 52 is mounted on the cylinder mounting bracket 51, and the cylinder mounting bracket 51 is connected with the main frame of the chain conveyor 2; a pair of positioning fingers 54 are mounted on one side of the cylinder rod connecting plate 53, and the cylinder rod connecting plate 53 is connected with the cylinder rod of the positioning cylinder 52; the positioning finger 54 is moved to the stop position of the workpiece placing tool 21 through the stretching of the cylinder rod, the swinging tray 22 is centered and kept stable, and the workpiece is conveniently placed on the three-axis manipulator 4.
Specifically, as shown in fig. 3, in order to regularly place a large number of grasped workpieces in the storage frame 6 and prevent the workpieces from falling off from the side, the storage frame 6 is provided with a plurality of guide rods 61 parallel to each other, a front baffle 62 and a rear baffle, the guide rods 61 are consistent with the conveying direction of the plate chain conveyor 1, and after the workpiece at the foremost end is grasped, the plate chain conveyor 1 can convey and supplement the workpieces forward to the corresponding positions in time.
Wherein, the baffle 62 outside is equipped with one row of sensor before, the sensor can judge whether plate chain conveyor 1 has the work piece at the foremost end to this sensor and triaxial manipulator 4 respectively with control module signal connection, can avoid triaxial manipulator 4 to grab empty on the one hand, on the other hand can in time remind the staff to supply the material.
In the present case, plate link chain conveyor 1 has transmission plate link chain 11, can place a large amount of work pieces on it, and transmission plate link chain 11 adopts stainless steel material, can the wearability, reduces equipment wearing and tearing, improves life. In addition, a protective cover 3 is arranged above the movable areas of the plate chain conveyor 1 and the three-axis manipulator 4, and the plate chain conveyor plays a role in safety protection.
Specifically, as shown in fig. 5 to 7, the three-axis robot 4 includes an X-direction slide table module 42, a Z-direction slide table module 43, a Y-direction slide table module 44, and a double-gripper picker 45. Wherein, Z adopts standard slip table module group to slip table module 43 and Y to slip table module 44, and X adopts the slip table module that has belt drive mechanism to the slip table module.
Double-gripper picker 45 is connected to the slider of slip table module 43 through L type connecting plate 431 and Z, can reciprocate, and Z is connected to the slider of slip table module 44 with Y to slip table module 43, can the back-and-forth movement, and Y can be along lateral shifting to slip table module 44 and X to the linking bridge 423 fixed connection of slip table module 42, and then makes things convenient for double-gripper picker 45 to pick up the work piece of different positions on the workstation.
As shown in fig. 6 and 7, the X-direction sliding table module 42 includes a servo motor 421, a driving pulley 426, a driven pulley 427, a driving belt 424, a first slider rail assembly 422, a second slider rail assembly 425, a belt clamp plate 428, and a connecting bracket 423.
Wherein, the driving pulley 426 is in transmission connection with the servo motor 421 through a planetary reducer, and the driven pulley 427 is in transmission connection with the driving pulley 426 through a transmission belt 424; the belt clamping plate 428 is fixedly connected with the driving belt 424 and moves along with the driving belt 424, and the connecting bracket 423 is fixedly connected with the belt clamping plate 428 through a screw so as to move synchronously.
In addition, the connecting bracket 423 is also connected with the first slider sliding rail component 422 and the second slider sliding rail component 425 respectively; drive driving belt 424 through servo motor 421 and remove, drive linking bridge 423 along slider sliding rail subassembly one 422 and two 425 horizontal migration of slider sliding rail subassembly, and then drive and install Z on linking bridge 423 to slip table module 43, Y to slip table module 44 and two clamping jaw pickers 45 removal to pick up the work piece of different positions on the workstation.
The first sliding block sliding rail component 422 and the second sliding block sliding rail component 425 are fixed on the supporting section bar in the middle of the X-direction sliding table module 42, the sliding block of the first sliding block sliding rail component 422 is positioned in front of the first sliding block sliding rail component, and the second sliding block sliding rail component 425 is positioned above the first sliding block sliding rail component 422; through setting up two parallel guide rails to use the very high support section bar of mechanical strength, can improve X to the bearing capacity of slip table module 42, improve the motion accuracy simultaneously.
As shown in fig. 8 and 9, the double-jaw picker 45 includes a jaw fixing plate 451, a sliding table module 458, a sliding table fixing plate 459, a pair of connecting brackets 452, a pair of floating joints 453, a pair of pneumatic jaw cylinders 454, a pair of linear cylinders 455, a plurality of three-jaw fingers 456, and a plurality of jaw molds 457, which are symmetrically distributed.
Specifically, the clamping jaw fixing plate 451 is horizontally arranged and fixed with the multi-axis manipulator through bolts, so that the whole gripper can move to grip workpieces at different positions.
Wherein, slip table module 458 horizontal setting has slide rail and a pair of slider, and the slide rail of slip table module 458 is installed on slip table fixed plate 459, and slip table fixed plate 459 sets up at clamping jaw fixed plate 451 rear side, and both pass through bolted connection.
The pneumatic claw cylinder 454 is arranged at the lower end of the connecting bracket 452; the connecting bracket 452 is connected with the slide block on the corresponding side of the sliding table module 458, and the connecting bracket 452 is connected with the cylinder rod of the linear cylinder 455.
The connecting bracket 452 includes a rear side plate, a bottom plate and an outer side plate which are perpendicular to each other, the rear side plate of the connecting bracket is fixedly connected with the sliding block on the corresponding side of the sliding table module 458, the cylinder rod of the linear cylinder is connected with the outer side plate of the connecting bracket, and the pneumatic claw cylinder 454 is fixed on the bottom plate of the connecting bracket 452.
The cylinder rod of the linear cylinder 455 is connected with the connecting support 452 through the floating joint 453, interference of the two shafts caused by connection errors can be eliminated through the floating joint, errors are eliminated, the sliding table is protected to enable the sliding table to run stably, and the service life is prolonged.
The linear cylinder 455 is arranged on the lower side of the middle of the clamping jaw fixing plate 451, and the linear cylinder 455 is connected with the connecting bracket 452, so that the connecting bracket 452 and a part connected with the connecting bracket can be driven to horizontally move along the sliding rail, and therefore the gap between the two pneumatic claw cylinders can be adjusted, and two workpieces with different intervals can be grabbed.
As shown in fig. 9, the three-jaw finger 456 is mounted on the pneumatic jaw cylinder 454, the clamping jaw mold 457 is fixed inside the three-jaw finger 456, and the three-jaw finger can be controlled to clamp or release by the expansion and contraction of the pneumatic jaw cylinder, so as to complete the taking or releasing of the workpiece.
Wherein, detachable fixed connection is pointed 456 with three-jaw to clamping jaw mould 457, and clamping jaw mould 457 can be changed according to the shape and the size of the work piece of being snatched to the requirement of snatching of adaptation different work pieces.
In this scheme, X is equipped with support post 41 to the both ends downside of slip table module 42 for be connected with the workstation, and then make things convenient for two clamping jaws to pick up 45 and pick up the work piece on the workstation.
The working principle and the working process of the invention are briefly described below with reference to the accompanying drawings.
Firstly, a worker places workpieces to be assembled in a storage frame and regularly places the workpieces; then the whole feeding system is started, the plate chain conveyor 1 starts to work, workpieces are conveyed forwards, the workpiece is always positioned in the front row, then the three-shaft mechanical arm moves to the grabbing position, two workpieces which are separated by one row are grabbed at the same time (the two workpieces in the front row in the 13 th row or 24 rows, 57 rows and 68 rows are grabbed at each time), and the two workpieces are moved above the chain conveyor 2 by the three-shaft mechanical arm.
Then, the linear cylinder 455 operates to adjust the distance between the two gas claw cylinders 454 so that the distance between the two workpieces is the same as the distance between the two adjacent workpiece placing tools 21 on the chain conveyor 2. Meanwhile, the conveying chain of the chain conveyor 2 is in a pause state, the workpiece placing tool 21 stops at a specified position, the positioning tool 5 on one side of the chain conveyor 2 starts to work, the cylinder rod of the positioning cylinder 52 extends to move the positioning finger 54 to the position where the workpiece placing tool 21 stops, and the swinging workpiece placing tool 21 is centered and kept stable.
Finally, the three-axis manipulator 4 places the two workpieces 7 on the tray 22 of the workpiece placing tool 21, and the chain conveyor 2 restarts to work to convey the workpieces to the assembling station.
According to the feeding device with the variable-pitch clamping jaws, a large number of assembled workpieces can be fed at one time by arranging the storage frame; by arranging the plate chain conveyor, workpieces are always arranged at the foremost end of the material storage frame, and the three-axis manipulator can be prevented from being grabbed empty; the double-clamping-jaw picker is arranged and driven by the linear cylinder, so that two workpieces with different distances can be grabbed, and the double-clamping-jaw picker is suitable for the condition that the distance between the two workpieces during grabbing is inconsistent with the distance between the two workpieces during placing; through setting up the location frock, can right the wobbling charging tray on the conveying chain, make things convenient for the triaxial manipulator to place the work piece above that, improve the accuracy, satisfy the demand that the robot realized automated production well.
According to the three-axis manipulator, under the condition that the requirement on the grabbing precision is not high, the primary linear driving mechanism with relatively high requirements on the machine bearing capacity and the mechanical strength is replaced by the standard servo sliding table module through belt transmission, the sliding table module is guided by the supporting section bar and the double guide rails, the mechanical strength is increased, the requirement on the working space is met, the production cost is reduced, the design cost of the whole equipment is controlled within a budget, and the requirement of a customer is met.
In addition, the double-clamping-jaw picker can grab workpieces in pairs by arranging the pair of air-jaw cylinders, the pair of air-jaw cylinders are arranged on the connecting support and are guided by the sliding table, and the linear air cylinder drives the air-jaw cylinders to adjust the gap between the two air-jaw cylinders so as to grab the two workpieces with different intervals, so that the position between the two clamping jaws can be adjusted according to the interval between the grabbed workpieces, and the requirement of the robot for realizing automatic production is well met.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A feeding device with a variable-pitch clamping jaw is characterized by comprising a plate link chain conveyor (1), a link chain conveyor (2), a protective cover (3), a three-axis manipulator (4) and a storage frame (6);
the material storage frame (6) is arranged at the upper end of the plate chain conveyor (1) and used for placing a workpiece (7), the plate chain conveyor (2) is located on one side of the plate chain conveyor (1), the three-axis manipulator (4) is arranged above the plate chain conveyor (1), the three-axis manipulator (4) is used for grabbing and placing the workpiece (7) on the plate chain conveyor (2), and the plate chain conveyor (2) conveys the workpiece (7) to an assembly station to complete feeding;
the three-axis manipulator (4) is provided with a double-clamping-jaw picker (45), the double-clamping-jaw picker (45) is provided with a linear cylinder (455) and a pair of air-jaw cylinders (454) used for simultaneously grabbing two workpieces, and the distance between the two air-jaw cylinders (454) can be changed when the linear cylinder (455) works so as to meet the feeding requirement that the picking distances of the two workpieces are inconsistent.
2. The loading device with variable-pitch clamping jaws as claimed in claim 1, characterized in that said chain conveyor (2) comprises a conveying chain and a plurality of workpiece placing tools (21) mounted on the conveying chain, and the loading device further comprises a positioning tool (5), said positioning tool (5) being capable of positioning said workpiece placing tools (21) to prevent them from swinging back and forth.
3. The feeding device with variable-pitch clamping jaws as claimed in claim 2, characterized in that said positioning tooling (5) comprises a cylinder mounting bracket (51), a positioning cylinder (52), a cylinder rod connecting plate (53) and a pair of positioning fingers (54); the positioning cylinder (52) is mounted on the cylinder mounting bracket (51), and the cylinder mounting bracket (51) is connected with a main frame of the chain conveyor (2); the positioning finger (54) is installed on one side of the cylinder rod connecting plate (53), and the cylinder rod connecting plate (53) is connected with the cylinder rod of the positioning cylinder (52).
4. The loading device with variable-pitch clamping jaws as claimed in claim 1, characterized in that the storage frame (6) is provided with a plurality of guide rods (61) parallel to each other, a front baffle (62) and a rear baffle, and a row of sensors is arranged on the outer side of the front baffle (62) and used for judging whether a workpiece is arranged at the foremost end of the plate-chain conveyor (1).
5. The loading device with variable-pitch clamping jaws as claimed in claim 1, wherein the three-axis manipulator (4) further comprises an X-direction sliding table module (42), a Y-direction sliding table module (44) and a Z-direction sliding table module (43);
the X-direction sliding table module (42) comprises a servo motor (421), a driving belt pulley (426), a driven belt pulley (427), a transmission belt (424), a first slider sliding rail assembly (422), a belt clamping plate (428) and a connecting support (423); the driving belt pulley (426) is in transmission connection with the servo motor (421) through a planetary reducer, and the driven belt pulley (427) is in transmission connection with the driving belt pulley (426) through the transmission belt (424); the belt clamping plate (428) is fixedly connected with the transmission belt (424), and the connecting bracket (423) is respectively connected with the belt clamping plate (428) and the first slider sliding rail assembly (422), so that the connecting bracket (423) can move along the X direction;
wherein, two clamping jaw picker (45) through L type connecting plate (431) with Z is connected to the slider of slip table module (43), Z to slip table module (43) with Y is connected to the slider of slip table module (44), and Y to slip table module (44) with linking bridge (423) are connected, in order to drive work piece on the workstation is picked up to two clamping jaw picker (45).
6. The feeding device with the variable-pitch clamping jaw as claimed in claim 5, wherein the X-direction sliding table module (42) further comprises a second slider guide rail assembly (425), the first slider guide rail assembly (422) and the second slider guide rail assembly (425) are fixed on a supporting profile in the middle of the X-direction sliding table module (42), a slider of the first slider guide rail assembly (422) is located in front of the first slider guide rail assembly, a slider of the second slider guide rail assembly (425) is located above the first slider guide rail assembly, and two groups of sliders are respectively connected with the connecting bracket (423).
7. The loading device with variable-pitch clamping jaws as claimed in claim 1, wherein the double-clamping-jaw picker (45) further comprises a clamping-jaw fixing plate (451), a sliding-table module (458), a sliding-table fixing plate (459), a pair of connecting brackets (452), a plurality of three-jaw fingers (456) and a plurality of clamping-jaw dies (457) which are symmetrically distributed;
the sliding table module (458) is provided with a sliding rail and a pair of sliding blocks, the sliding rail of the sliding table module (458) is connected with the sliding table fixing plate (459), and the sliding table fixing plate (459) is arranged on the rear side of the clamping jaw fixing plate (451); the three-jaw finger (456) is arranged on the pneumatic jaw cylinder (454), the clamping jaw mold (457) is fixed on the inner side of the three-jaw finger (456), and the pneumatic jaw cylinder (454) is arranged at the lower end of the connecting bracket (452);
the connecting support (452) is connected with the sliding block on the corresponding side of the sliding table module (458), the connecting support (452) is connected with a cylinder rod of the linear cylinder (455), and the linear cylinder (455) is used for adjusting a gap between the two pneumatic claw cylinders (454) so as to meet the requirement of grabbing two workpieces at different intervals.
8. The feeding device with variable-pitch clamping jaws as claimed in claim 7, wherein the connecting bracket (452) comprises a rear side plate, a bottom plate and an outer side plate which are arranged perpendicularly to each other, a sliding block of the sliding table module (458) is fixed with the rear side plate, the linear cylinder (455) is connected with the outer side plate, and the air claw cylinder (454) is connected with the bottom plate.
9. Loading device with variable-pitch jaws according to claim 7, characterized in that the cylinder rod of the linear cylinder (455) is connected to the connecting bracket (452) by means of a floating joint (453).
10. A loading device with variable-pitch clamping jaws according to claim 7, characterized in that the clamping jaw die (457) is detachably and fixedly connected with the three-jaw finger (456), and the clamping jaw die (457) can be replaced according to the shape and size of a workpiece to be gripped.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111288257.8A CN114030882B (en) | 2021-11-02 | 2021-11-02 | Loading attachment with displacement clamping jaw |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111288257.8A CN114030882B (en) | 2021-11-02 | 2021-11-02 | Loading attachment with displacement clamping jaw |
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| CN114030882A true CN114030882A (en) | 2022-02-11 |
| CN114030882B CN114030882B (en) | 2023-10-20 |
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| CN114030882B (en) | 2023-10-20 |
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