CN114030882B - Loading attachment with displacement clamping jaw - Google Patents
Loading attachment with displacement clamping jaw Download PDFInfo
- Publication number
- CN114030882B CN114030882B CN202111288257.8A CN202111288257A CN114030882B CN 114030882 B CN114030882 B CN 114030882B CN 202111288257 A CN202111288257 A CN 202111288257A CN 114030882 B CN114030882 B CN 114030882B
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- Prior art keywords
- jaw
- plate
- cylinder
- chain conveyor
- table module
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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
-
- 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 application discloses a feeding device with a variable-pitch clamping jaw, which comprises a plate chain conveyor, a protective cover, a triaxial manipulator and a storage frame, wherein the plate chain conveyor is arranged on the 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 for simultaneously grabbing two workpieces, 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 before and after being picked up are inconsistent. By arranging the plate chain conveyor, the workpiece is always arranged at the forefront end of the storage frame, so that the three-axis manipulator can be prevented from being emptied; by arranging the double-clamping-jaw picker and using the linear cylinder for driving, two workpieces with different distances can be grabbed, and the double-clamping-jaw picker is applicable to the situation that the distances between the two workpieces during grabbing are inconsistent with the distances between the two workpieces during placing; through setting up location frock, make things convenient for 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 application 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 used as a static part in the rotation of the motor, normal operation of the motor is realized through cooperation with a motor rotor, a common stator is composed of a stator core, a stator winding and a base, the stator mainly depends on rotation to generate a magnetic field when the motor works, the common stator in the market is generally divided into a centralized type and a distributed type, the stator is basically distinguished through the shape of a coil and an embedded wiring mode, and different stators and rotors are required to be assembled for motors of different specifications in view of different motor power outputs.
In the current market, in order to realize high-yield production of motor stators, most of the current processing industries adopt pipelining for production, and in view of the efficient production mode of pipelining, the production is carried out in cooperation with a feeding device in the processing process.
In the prior art, single conveyer material loading is adopted in motor stator material loading more, and motor stator in the charging tray directly removes to the equipment station through artifical or six manipulators, and this kind of material loading mode needs the staff to in time 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 is mainly used for grabbing and moving workpieces; however, most of the current clamping jaw grippers adopt a single clamping jaw to grip a workpiece, and the working efficiency is low.
In order to improve the working efficiency, a part of gripping apparatus also comprises two gripping claws in the prior art, but the two gripping claws in the gripping apparatus are connected with the manipulator in a fixed connection mode, and the positions of the two gripping claws are relatively fixed, so that on one hand, the positions of the two gripping claws 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 working procedure is inconsistent with the distance between the two workpieces in the next working procedure, the gripping apparatus cannot complete the working task.
In addition, in order to design and assemble conveniently, the triaxial manipulator in the prior art is driven by a servo slipway module directly; but the mechanical strength of servo slip table module is insufficient, can not bear the weight, if need satisfy the bearing requirement of bearing equipment, then need select the servo slip table module of jumbo size, on the one hand can not satisfy the requirement of working space, on the other hand increased the design cost, can not control the design cost of whole equipment within budgeting, satisfied customer's demand.
Aiming at the problems, the feeding mechanism in the prior art can not well meet the requirements of automatic production in workshops and needs to be further improved.
Disclosure of Invention
In order to overcome the defects of the prior art, the application aims to provide the feeding device with the variable-pitch clamping jaw, which can realize automatic feeding of different types of regular workpieces.
Therefore, the application provides a feeding device with a variable-pitch clamping jaw, which comprises a plate chain conveyor, a protective cover, a triaxial manipulator and a storage frame; the storage frame is arranged at the upper end of the plate chain conveyor and used for placing workpieces, the chain conveyor is arranged on one side of the plate chain conveyor, the three-axis manipulator is arranged above the plate chain conveyor and used for grabbing the workpieces and placing the workpieces on the chain conveyor, and the chain conveyor conveys the workpieces to an assembly station to finish feeding.
The three-axis manipulator is provided with a double-clamping jaw picker, the double-clamping jaw picker is provided with a linear air cylinder and a pair of air jaw air cylinders for simultaneously grabbing two workpieces, and the distance between the two air jaw air cylinders can be changed when the linear air cylinder works so as to adapt to the feeding requirement that the distances between the two workpieces before and after being picked are inconsistent.
Further, the chain conveyor comprises a conveying chain and a plurality of workpiece placement tools arranged on the conveying chain, and the feeding device further comprises positioning tools which can position the workpiece placement tools and prevent the workpiece placement tools from swinging back and forth.
Further, the positioning tool comprises an air cylinder mounting bracket, a positioning air cylinder, an air cylinder rod connecting plate and a pair of positioning fingers; the positioning cylinder is mounted on the cylinder mounting bracket, and the cylinder mounting bracket is connected with the 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 a cylinder rod of the positioning cylinder.
Further, the storage frame is provided with a plurality of guide rods which are parallel to each other, a front baffle and a rear baffle, and a row of sensors are arranged on the outer side of the front baffle and used for judging whether a workpiece is arranged at the forefront end of the plate link chain conveyor.
Further, the triaxial 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 driving belt, a first sliding block and sliding rail assembly, a belt clamping plate and a connecting bracket; 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 respectively connected with the belt clamping plate and the first sliding block and sliding rail assembly, so that the connecting support can move along the X direction.
The double-clamping-jaw picker is connected with the sliding block of the Z-direction sliding table module through an L-shaped connecting plate, the Z-direction sliding table module is connected with the sliding block of the Y-direction sliding table module, and the Y-direction sliding table module is connected with the connecting support so as to drive the double-clamping-jaw picker to pick up a workpiece on the workbench.
Further, the X-direction sliding table module further comprises a second sliding block guide rail assembly, the first sliding block guide rail assembly and the second sliding block guide rail assembly are fixed on a supporting section bar in the middle of the X-direction sliding table module, a sliding block of the first sliding block guide rail assembly is located in front of the first sliding block guide rail assembly, a sliding block of the second sliding block guide rail assembly is located above the first sliding block guide rail assembly, and two groups of sliding blocks are respectively connected with the connecting support.
Further, the double-clamping jaw picker further comprises a clamping jaw fixing plate, a sliding table module, a sliding table fixing plate, a pair of connecting brackets, a plurality of three-jaw fingers and a plurality of clamping jaw dies, wherein the connecting brackets, the three-jaw fingers and the clamping jaw dies 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 at the rear side of the clamping jaw fixing plate; the three-jaw fingers are arranged on the air jaw cylinder, the clamping jaw die is fixed on the inner side of the three-jaw fingers, and the air 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 two pneumatic claw cylinders so as to meet the requirement of grabbing two workpieces with different distances.
Further, the linking bridge includes posterior lateral plate, bottom plate and the lateral plate of mutually perpendicular setting, the slider of slip table module with the posterior lateral plate is fixed, sharp cylinder with the lateral plate is connected, the gas claw cylinder with the bottom plate is connected.
Further, the cylinder rod of the straight cylinder is connected with the connecting bracket through a floating joint.
Further, the clamping jaw die is detachably and fixedly connected with the three-jaw fingers, and the clamping jaw die can be replaced according to the shape and the size of the gripped workpiece.
According to the feeding device with the variable-pitch clamping jaw, a large number of assembled workpieces can be fed at one time by arranging the storage frame; by arranging the plate chain conveyor, the workpiece is always arranged at the forefront end of the storage frame, so that the three-axis manipulator can be prevented from being emptied; by arranging the double-clamping-jaw picker and using the linear cylinder for driving, two workpieces with different distances can be grabbed, and the double-clamping-jaw picker is applicable to the situation that the distances between the two workpieces during grabbing are inconsistent with the distances between the two workpieces during placing; through setting up location frock, can right the wobbling charging tray on the conveying chain, make things convenient for 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 application, under the condition of low grabbing precision requirement, the primary linear driving mechanism with relatively high requirements on mechanical strength and bearing capacity is replaced by the standard servo sliding table module, and the sliding table module is guided by the support section bar and the double guide rails, so that the mechanical strength is increased, the requirement on working space is met, the production cost is reduced, the design cost of the whole equipment is controlled within the budget, and the customer requirement is met.
In addition to the objects, features and advantages described above, the present application has other objects, features and advantages. The present application will be described in further detail with reference to the drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 is a schematic structural view of a loading device with a variable-pitch clamping jaw of the present application;
FIG. 2 is a schematic diagram of the plate link chain conveyor in the loading device with the variable-pitch clamping jaw of the present application;
FIG. 3 is a schematic view of a storage frame in a loading device with a variable-pitch clamping jaw;
fig. 4 is a schematic structural view of a positioning tool in a feeding device with a variable-pitch clamping jaw;
FIG. 5 is a schematic structural view of a triaxial manipulator in a loading device with a variable-pitch clamping jaw according to the present application;
fig. 6 is a schematic structural diagram of an X-direction sliding table module in the feeding device with a variable-pitch clamping jaw according to the first embodiment of the application;
fig. 7 is a schematic structural diagram II of an X-direction sliding table module in the feeding device with the variable-pitch clamping jaw;
FIG. 8 is a schematic diagram of a dual-jaw pick-up in a loading apparatus with a variable-pitch jaw according to one embodiment of the present application;
fig. 9 is a schematic diagram II of a dual-jaw pick-up in the loading device with a variable-pitch jaw according to the present application.
Description of the reference numerals
1. A plate link chain conveyor; 2. a chain conveyor; 3. a protective cover; 4. a three-axis manipulator; 5. positioning a tool; 6. a storage frame; 7. a workpiece; 11. a conveyor plate chain; 21. workpiece placement tool; 22. a material tray; 51. a cylinder mounting bracket; 52. positioning a cylinder; 53. a cylinder rod connecting plate; 54. positioning a finger; 61. a guide rod; 62. a front baffle; 41. a support column; 42. an X-direction sliding table module; 43. a Z-direction sliding table module; 44. y-direction slipway module; 45. a double-jaw picker;
421. a servo motor; 422. a first sliding block and sliding rail assembly; 423. a connecting bracket; 424. a drive belt; 425. a second slide block guide rail assembly; 426. a driving pulley; 427. a driven pulley; 428. a belt clamping plate; 431. an L-shaped connecting plate; 451. a clamping jaw fixing plate; 452. a connecting bracket; 453. a floating joint; 454. a pneumatic claw cylinder; 455. a straight line cylinder; 456. three-jaw fingers; 457. clamping jaw mould; 458. a slipway module; 459. and a slipway fixing plate.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1 to 9, the feeding device with the variable-pitch clamping jaw comprises a plate chain conveyor 1, a chain conveyor 2, a protective cover 3, a triaxial manipulator 4, a positioning tool 5 and a storage frame 6.
The storage frame 6 sets up in chain conveyor 1 upper end, and its inside is regularly placed a large amount of work pieces of snatching, and chain conveyor 2 is located chain conveyor 1 one side, and triaxial manipulator 4 sets up in chain conveyor 1 top, and triaxial manipulator 4 is used for snatching the work piece, places it on chain conveyor 2's work piece placement tooling 21, then carries the work piece to the equipment station through chain conveyor 2, accomplishes the material loading purpose.
Specifically, as shown in fig. 1, the chain conveyor 2 includes a conveyor chain and a plurality of work placement tools 21 mounted on the conveyor chain, and the work placement tools 21 have trays 22 thereon that match the shapes of the work, and the trays 22 are used for receiving the work 7 so that the work can be sequentially moved to an assembling station.
Wherein, work piece is placed frock 21 and is fixed on flexible conveying chain, takes place the swing easily at the during operation, and when triaxial manipulator 4 will snatch work piece 7 and remove to work piece and place frock 21 top, both can not match. For this purpose, a positioning tool is mounted on the chain conveyor 2, the position of which corresponds to the position of the workpiece placement 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 placement tool 21 through the extension and contraction of the cylinder rod, the swinging material tray 22 is righted and kept stable, and the triaxial manipulator 4 is convenient for placing the workpiece on the workpiece placement tool.
Specifically, as shown in fig. 3, in order to regularly place a large number of gripped workpieces in the stock frame 6 and prevent the workpieces from falling from the side, the stock frame 6 is provided with a plurality of guide bars 61 parallel to each other, and a front baffle 62 and a rear baffle, the guide bars 61 are aligned with the conveying direction of the plate chain conveyor 1, and after the foremost workpiece is gripped, the plate chain conveyor 1 can timely convey the workpiece forward to be replenished to the corresponding position.
The front baffle 62 is provided with a row of sensors, the sensors can judge whether the front end of the plate chain conveyor 1 has a workpiece, the sensors and the three-axis manipulator 4 are respectively connected with the control module through signals, so that the three-axis manipulator 4 can be prevented from being emptied, and staff can be timely reminded of replenishing materials.
In the scheme, the plate chain conveyor 1 is provided with a transmission plate chain 11, a large number of workpieces can be placed on the transmission plate chain 11, and the transmission plate chain 11 is made of stainless steel, so that the wear resistance is improved, the equipment wear is reduced, and the service life is prolonged. In addition, the protection cover 3 is arranged above the movable areas of the plate link chain conveyor 1 and the triaxial manipulator 4, so that the safety protection effect is achieved.
Specifically, as shown in fig. 5 to 7, the triaxial manipulator 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-jaw picker 45. Wherein, Z is to slip table module 43 and Y to slip table module 44 adopts standard slip table module, and X is to slip table module adopts the slip table module that has belt drive mechanism.
The double-clamping-jaw picker 45 is connected with the sliding block of the Z-direction sliding table module 43 through the L-shaped connecting plate 431, can move up and down, the Z-direction sliding table module 43 is connected with the sliding block of the Y-direction sliding table module 44, can move back and forth, and the Y-direction sliding table module 44 is fixedly connected with the connecting support 423 of the X-direction sliding table module 42, can move transversely, so that workpieces at different positions on a workbench can be picked up conveniently by the double-clamping-jaw picker 45.
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 clamping plate 428, and a connecting bracket 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 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 screws so as to enable the belt clamping plate 428 to synchronously move.
In addition, the connecting bracket 423 is also connected with the first slider-slide rail assembly 422 and the second slider-slide rail assembly 425 respectively; the driving belt 424 is driven to move through the servo motor 421, the connecting support 423 is driven to horizontally move along the first slide block and slide rail assemblies 422 and the second slide block and slide rail assemblies 425, and then the Z-direction sliding table module 43, the Y-direction sliding table module 44 and the double-clamping jaw picker 45 which are arranged on the connecting support 423 are driven to move, so that workpieces at different positions on a workbench are picked up.
The first slide block and slide rail assembly 422 and the second slide block and slide rail assembly 425 are fixed on the support section bar in the middle of the X-direction slide table module 42, the slide block of the first slide block and slide rail assembly 422 is positioned in front of the first slide block and slide rail assembly 425 is positioned above the first slide block and slide rail assembly 425; by providing two parallel guide rails and using a support profile with very high mechanical strength, the load carrying capacity of the X-direction slipway module 42 can be improved, while the movement accuracy is improved.
As shown in fig. 8 and 9, the dual-jaw picker 45 includes a jaw fixing plate 451, a slide table module 458, a slide table fixing plate 459, a pair of connection brackets 452, a pair of floating joints 453, a pair of air jaw cylinders 454, a pair of linear cylinders 455, and further includes a plurality of three-jaw fingers 456 and a plurality of jaw molds 457.
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 level sets up, 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 air claw cylinder 454 is arranged at the lower end of the connecting bracket 452; the connecting bracket 452 is connected with a sliding block on the corresponding side of the sliding table module 458, and the connecting bracket 452 is connected with a cylinder rod of the linear cylinder 455.
The connecting bracket 452 comprises a rear side plate, a bottom plate and an outer side plate which are mutually perpendicular, 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 air claw cylinder 454 is fixed on the bottom plate of the connecting bracket 452.
The cylinder rod of the linear cylinder 455 is connected to the connecting bracket 452 via a floating joint 453, so that interference generated by connection errors of two shafts can be eliminated via the floating joint, errors are eliminated, and the sliding table is protected to operate stably, so that the service life is prolonged.
The linear cylinder 455 is disposed at the lower side of the middle portion of the jaw fixing plate 451, and the linear cylinder 455 is connected to the connection bracket 452 to drive the connection bracket 452 and the parts connected thereto to horizontally move along the slide rail, thereby adjusting the gap between the two gas jaw cylinders to satisfy gripping of two workpieces having different pitches.
As shown in fig. 9, three-jaw fingers 456 are mounted on an air jaw cylinder 454, and a jaw die 457 is fixed on the inner side of the three-jaw fingers 456, and can be controlled to clamp or unclamp by stretching and contracting the air jaw cylinder, so that the picking or releasing of a workpiece is completed.
The clamping jaw die 457 is detachably and fixedly connected with the three-jaw fingers 456, and the clamping jaw die 457 can be replaced according to the shape and the size of a gripped workpiece so as to adapt to the gripping requirements of different workpieces.
In this scheme, X is equipped with support post 41 to slip table module 42's both ends downside for be connected with the workstation, and then make things convenient for two clamping jaw pickers 45 to pick up the work piece on the workstation.
The working principle and working procedure of the present application are briefly described below with reference to the accompanying drawings.
Firstly, a worker places a workpiece to be assembled in a storage frame, and places the workpiece regularly; then the whole feeding system is started, the plate chain conveyor 1 starts to work, the workpieces are conveyed forwards, the foremost row is kept always provided with the workpieces, then the three-axis manipulator moves to the grabbing position, two workpieces which are separated by one row are grabbed simultaneously (two workpieces of 13 th row foremost row are grabbed each time, or 24 rows, 57 rows and 68 rows are grabbed each time), and the three-axis manipulator moves the two workpieces to the position above the chain conveyor 2.
Then, the linear cylinder 455 is operated to adjust the distance between the two air jaw cylinders 454 so that the distance between the two workpieces coincides with the distance between the two adjacent workpiece placement tools 21 on the chain conveyor 2. At the same time, the conveying chain of the chain conveyor 2 is in a pause state, the workpiece placement tool 21 is stopped 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 stretches to move the positioning finger 54 to the stop position of the workpiece placement tool 21, and the swinging workpiece placement tool 21 is righted and kept stable.
Finally, the triaxial manipulator 4 places two workpieces 7 on the tray 22 of the workpiece placement tool 21, and the chain conveyor 2 restarts to work to convey the workpieces to the assembly station.
According to the feeding device with the variable-pitch clamping jaw, a large number of assembled workpieces can be fed at one time by arranging the storage frame; by arranging the plate chain conveyor, the workpiece is always arranged at the forefront end of the storage frame, so that the three-axis manipulator can be prevented from being emptied; by arranging the double-clamping-jaw picker and using the linear cylinder for driving, two workpieces with different distances can be grabbed, and the double-clamping-jaw picker is applicable to the situation that the distances between the two workpieces during grabbing are inconsistent with the distances between the two workpieces during placing; through setting up location frock, can right the wobbling charging tray on the conveying chain, make things convenient for triaxial manipulator to place the work piece above that, improve the accuracy, satisfy the demand that the robot realized automated production well.
Under the condition of low grabbing precision requirement, the triaxial manipulator disclosed by the application has the advantages that the primary linear driving mechanism with relatively high mechanical strength requirement and bearing capacity is replaced by the standard servo slipway module, and the slipway module is driven by a belt and guided by using the support section bar and the double guide rails, so that the mechanical strength is increased, the requirement of a working space is met, the production cost is reduced, the design cost of the whole equipment is controlled within the budget, and the customer requirement is met.
In addition, the double-jaw picker can grasp workpieces in pairs by arranging the pair of gas jaw cylinders, the pair of gas jaw cylinders are arranged on the connecting support and guided by the sliding table, the linear cylinders are driven to adjust the gap between the two gas jaw cylinders so as to meet the requirement of grabbing two workpieces with different distances, and the position between the two jaws can be adjusted according to the distance between the grabbed workpieces, so that the requirement of a robot for realizing automatic production is well met.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (6)
1. The feeding device with the variable-pitch clamping jaw is characterized by comprising a plate chain conveyor (1), a chain conveyor (2), a protective cover (3), a triaxial manipulator (4) and a storage frame (6);
the storage frame (6) is arranged at the upper end of the plate chain conveyor (1) and used for placing a workpiece (7), the chain conveyor (2) is positioned at 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 chain conveyor (2), and the chain conveyor (2) conveys the workpiece (7) to an assembly station to finish feeding;
the chain conveyor (2) comprises a conveying chain and a plurality of workpiece placement tools (21) arranged on the conveying chain, the feeding device further comprises a positioning tool (5), and the positioning tool (5) can position the workpiece placement tools (21) to prevent the workpiece placement tools from swinging back and forth;
the three-axis mechanical arm (4) is provided with a double-jaw picker (45), the double-jaw picker (45) is provided with a linear air cylinder (455) and a pair of air jaw air cylinders (454) for simultaneously grabbing two workpieces, the double-jaw picker (45) further comprises a 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 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 air jaw cylinder (454), the clamping jaw die (457) is fixed on the inner side of the three-jaw finger (456), and the air jaw cylinder (454) is arranged at the lower end of the connecting support (452);
the connecting support (452) is connected with a 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 when the linear cylinder (455) works, the distance between the two pneumatic claw cylinders (454) can be changed so as to adapt to the feeding requirement that the distances between the two workpieces before and after picking are inconsistent;
the positioning tool (5) comprises an air cylinder mounting bracket (51), a positioning air cylinder (52), a cylinder rod connecting plate (53) and a pair of positioning fingers (54); the positioning cylinder (52) is arranged on the cylinder mounting bracket (51), and the cylinder mounting bracket (51) is connected with the main frame of the chain conveyor (2); the positioning finger (54) is arranged on one side of the cylinder rod connecting plate (53), and the cylinder rod connecting plate (53) is connected with a cylinder rod of the positioning cylinder (52);
the material storage frame (6) is provided with a plurality of guide rods (61) which are parallel to each other, a front baffle (62) and a rear baffle, and a row of sensors are arranged on the outer side of the front baffle (62) and used for judging whether a workpiece is arranged at the forefront end of the plate chain conveyor (1).
2. The feeding device with the variable-pitch clamping jaw according to claim 1, wherein the triaxial 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 driving belt (424), a first sliding block and sliding rail assembly (422), a belt clamping plate (428) and a connecting bracket (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 support (423) is respectively connected with the belt clamping plate (428) and the first sliding block and sliding rail assembly (422) so that the connecting support (423) can move along the X direction;
the double-clamping-jaw picker (45) is connected with a sliding block of the Z-direction sliding table module (43) through an L-shaped connecting plate (431), the Z-direction sliding table module (43) is connected with a sliding block of the Y-direction sliding table module (44), and the Y-direction sliding table module (44) is connected with the connecting support (423) so as to drive the double-clamping-jaw picker (45) to pick up a workpiece on the workbench.
3. The feeding device with the variable-pitch clamping jaw according to claim 2, wherein the X-direction sliding table module (42) further comprises a second sliding block guide rail assembly (425), the first sliding block guide rail assembly (422) and the second sliding block guide rail assembly (425) are fixed on a supporting section bar in the middle of the X-direction sliding table module (42), the sliding block of the first sliding block guide rail assembly (422) is located in front of the first sliding block guide rail assembly, the sliding block of the second sliding block guide rail assembly (425) is located above the second sliding block guide rail assembly, and the two groups of sliding blocks are respectively connected with the connecting support (423).
4. The feeding device with the variable-pitch clamping jaw according to claim 1, wherein the connecting bracket (452) comprises a rear side plate, a bottom plate and an outer side plate which are arranged vertically 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 jaw cylinder (454) is connected with the bottom plate.
5. The feeding device with the variable-pitch clamping jaw according to claim 1, 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).
6. The feeding device with the variable-pitch clamping jaw according to claim 1, wherein the clamping jaw die (457) is detachably and fixedly connected with the three-jaw fingers (456), and the clamping jaw die (457) can be replaced according to the shape and the size of a workpiece to be grabbed.
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| CN202111288257.8A CN114030882B (en) | 2021-11-02 | 2021-11-02 | Loading attachment with displacement clamping jaw |
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| CN114798460A (en) * | 2022-04-11 | 2022-07-29 | 征图新视(江苏)科技股份有限公司 | Appearance defect detection equipment for annular metal structural part |
| CN115215083B (en) * | 2022-06-29 | 2024-03-26 | 兰剑智能科技股份有限公司 | Hydroponic plant transplanting device |
| CN115582855B (en) * | 2022-11-08 | 2024-01-26 | 惠州市德赛电池有限公司 | Anchor clamps feed mechanism and location firing equipment |
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| CN114030882A (en) | 2022-02-11 |
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Effective date of registration: 20221202 Address after: 516, Building 3, Xindi City Square, No. 3669, Luzhou Avenue, Baohe District, Hefei, Anhui, 230000 Applicant after: Hefei Shuanghe Intelligent Technology Co.,Ltd. Address before: 236400 sanliji 10-1, Liuji village committee, Yingxian Town, Linquan County, Fuyang City, Anhui Province Applicant before: Li Jia |
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