CN115285682A - A kind of servo cam feeding mechanism and feeding method - Google Patents

Abstract

The invention relates to the field of material transportation, in particular to a servo cam feeding mechanism and a feeding method. Including grabbing device, drive arrangement, process control device and frame, wherein, through a drive source of drive arrangement, realize the independent processing to the horizontal direction and the vertical motion of work piece, reach and vertically transport the work piece to the first position vertical top from the first position, by the vertical top horizontal transport of first position to the vertical top of second position, again from the vertical motion of second position top to the second position on, and take off the material.

Description

A servo cam feeding mechanism and feeding method

technical field

The present application relates to the field of material transportation, in particular to a servo cam feeding mechanism and a feeding method.

Background technique

At present, with the development of industrial technology, the manufacturing industry is paying more and more attention to automated production to improve production efficiency. Among them, in the process of automatic production, the loading and unloading of the workpiece will be involved, and the loading and unloading of the workpiece are generally a reciprocating process.

In the related art, the first position and the second position of loading and unloading are two points on the same horizontal line. In order to reduce the wear of the workpiece during transportation, it is usually necessary to grab the workpiece at the first position Go above the first position and then move towards the second position, and place the workpiece on the second position; after stripping, it needs to return to the original position, so it needs to move from the second position to the first position, so it needs to go through , move from the second position to the top of the second position, then move to the top of the first position, and then move to the first position. During the entire transportation process of the workpiece, the movement of the device can be regarded as a vertical displacement and a horizontal linear displacement. Therefore, in the related art, the horizontal displacement and the vertical displacement are respectively controlled by two driving devices. And two sets of grasping parts will be used, one set of grasping parts is used to control the vertical displacement, and the other set of grasping parts is used to control the displacement in the horizontal direction. During the whole process, it is relatively difficult to place the workpiece on the first set of grippers on the second set of grippers stably.

In view of the above-mentioned related technologies, there is a problem that workpieces are difficult to be transported smoothly during transportation.

Contents of the invention

In order to improve the transportation stability of workpieces during transportation, the present application provides a servo cam feeding mechanism and a feeding method.

A servo cam feeding mechanism, comprising a grabbing device for grabbing a workpiece; a driving device for driving the grabbing device to move; a process control device for controlling the process of the grabbing device grabbing a workpiece; a frame , for placing the grabbing device, driving device and process control device;

The grabbing device, the driving device and the process control device are all arranged on the frame, the process control device includes a linkage assembly and a process control member, the drive device is connected to the linkage assembly, and the linkage assembly is relatively The drive device slides horizontally, the linkage assembly is connected to the grabbing device; a process control channel is provided on the process control member, the linkage assembly includes a pulley, and the pulley slides along the inner wall of the process control channel shift; the process control channel includes a first process point, a second process point and a third process point, and the pulley can slide smoothly between the first process point and the second process point, and the pulley can Slide smoothly between the second progress point and the third progress point; the first progress point and the third progress point are located on the same horizontal straight line, and the third progress point is horizontally aligned with the first progress point The spacing is the horizontal distance from the first position to the second position; the second process point has a vertical distance from the first process point; during the feeding process, the linkage assembly is driven by the driving device Go through the first process point, the second process point and the third process point in turn.

By adopting the above technical solution, through a driving source of the driving device, the driving source drives the linkage assembly to move along the control channel, and the linkage assembly is connected to the grabbing device, so that the grabbing device can move correspondingly with the shape of the control channel . When the linkage component goes from the second process point to the first process point, the grabbing device can descend to grab the workpiece at the first position; when the linkage component goes from the second process point to the first process point, the grabbing device rises and There is a moving distance in the horizontal direction, so that the workpiece is above the second position. When the linkage assembly goes from the second process point to the third process point, the grabbing device descends and has a moving distance in the horizontal direction, so that the workpiece is located at the second position. When the linkage assembly goes from the third process point to the second process point, the grabbing device rises and moves horizontally to the first position, and can transport the workpiece at the second position to the top of the first position. When the linkage component goes from the second process point to the first process point, the workpiece can be placed on the first workpiece. In this way, a drive source can achieve horizontal and vertical degrees of freedom, and can perform reciprocating motion, that is, the process of loading and unloading can be performed through a grasping part, and the stability of the workpiece during transportation can be improved.

Preferably, the linkage assembly includes a first linkage and a second linkage, the frame is provided with a horizontal guide rail, the first linkage slides along the length direction of the horizontal guide rail, and the first The linkage part is connected to the process control part, the other end of the first linkage part is connected to the output end of the drive device, the process control part is connected to the second linkage part, and the frame is provided with a vertical The guide rail, the second linkage is slidably connected to the vertical guide rail.

By adopting the above technical solution, the horizontal guide rail and the vertical guide rail have a guiding function, so that the first link and the second link are more stable during the process of transporting the workpiece.

Preferably, an elastic component is also included, and the elastic component is used to reset the first linkage.

By adopting the above-mentioned technical solution, since the transported workpiece is transported from the first position to the second position, and then transported from the second position to the first position, the transported workpiece is a reciprocating motion. In order to further maintain the accuracy of the transported workpiece, the elastic Components are reset to reduce shipping errors.

Preferably, a limit assembly is also included, the limit assembly is used to control the sliding of the second linkage on the vertical guide rail; the linkage assembly also includes a linkage mounting bracket, and the linkage mounting bracket is slidably connected For the horizontal guide rail, the limiter assembly includes a control limiter, a first limiter and a second limiter, the control limiter is arranged on the linkage mounting bracket, and the first limiter Both the first limiting member and the second limiting member are passed through the frame, and the passing lengths of the first limiting member and the second limiting member are used to control the horizontal movement range of the grabbing device, and the first limiting member Both a limiter and a second limiter are located on the movement path of the control limiter, and when the control limiter is pressed against the first limiter or the second limiter, the The gripper stops moving horizontally.

By adopting the above technical solution, the setting of the limit assembly makes the oblique reciprocating motion decomposed into vertical motion and horizontal motion; that is, the transportation process of the workpiece is to grab the workpiece from the first position, and the grabbing device vertically Move to the highest point, then move along a horizontal straight line to the vertical upper side of the second position, and finally move down vertically to the second position, reducing the vibration of the oblique movement and maintaining the stability of workpiece transportation. When the control limiter presses against the first limiter or the second limiter, the grabbing device is limited horizontally, and the first linkage drives the process control channel to move vertically, thereby causing the grabbing device to slide vertically , so that only one horizontal power source can realize vertical linear motion. Moreover, the first limiting member and the second limiting member can be adjusted, so that when grasping different workpieces, even if the grasping distances are different, the grasping can be adjusted. Improve the adjustment ability of the overall feeding mechanism.

Preferably, the elastic assembly includes a first elastic member and a second elastic member, the length of the first elastic member is equal to the horizontal distance between the first progress point and the second progress point, and the second The length of the elastic member is equal to the horizontal distance between the second progress point and the third progress point, and the first elastic member and the second elastic member are respectively arranged on both sides of the first linkage member.

By adopting the above technical solution, when the linkage mounting frame is not limited, the linkage mounting frame will give priority to sliding in the horizontal direction until the linkage mounting frame is limited, that is, the vertical movement and the horizontal movement process can pass the limit. Bit components and elastic components are used to control the workpiece transportation process. In the actual production process, the vertical displacement is required after the workpiece is grasped at the beginning, so the linkage mounting frame will be limited at the beginning to give priority to the vertical displacement of the workpiece; after the vertical displacement is completed. Then drive the drive installation frame to move horizontally through the drive device until the drive installation frame is limited at the other end, and then perform vertical displacement.

Preferably, it also includes an auxiliary guide assembly, the auxiliary guide assembly includes a first guide piece and a second guide piece, the first guide piece passes through the first linkage piece, and the length of the first guide piece The direction is consistent with the horizontal movement direction of the workpiece, the first guide is connected to the second guide, and the second guide is fixedly connected to the linkage installation frame.

By adopting the above technical solution, since the second guide piece is fixedly connected to the linkage mounting frame, the first linkage piece can move together with the linkage mounting frame. When the linkage mounting frame is limited, the first linkage piece can squeeze the first elastic piece or the second elastic piece. The setting of the first guide is beneficial to the movement of the first linkage. Since one side of the first linkage is arranged in the elastic assembly, in order to better drive the movement of the first linkage, the first guide and the second guide are set. pieces.

Preferably, the smooth transition setting inside the process control channel.

By adopting the above technical solution, reducing the frictional force of the first linkage when sliding along the side wall of the control channel can reduce the wear of the first linkage on the one hand and maintain the stability of workpiece transportation on the other hand.

Preferably, the grabbing device includes a grabbing assembly, the grabbing assembly is passed through the linkage device, and the end of the grabbing assembly close to the workpiece is provided with a suction head, and the suction head is used for absorbing The workpiece, the gripping assembly includes a pusher, the pusher is used to push the suction head, and an elastic reset member is arranged inside the gripper, and the reset member is used to reset the suction head .

By adopting the above technical scheme, the workpiece is adsorbed by the suction head, and after the workpiece is transported to the first position and the second position, the material is removed by the pusher, and finally the circular motion of loading and unloading is realized by the reset member.

Preferably, an assisting stripping member is provided on the frame, and the assisting stripping member is arranged on a side of the frame close to the grabbing assembly, and a clamping groove is arranged on the assisting stripping member, The grabbing assembly includes a grabbing piece and a stripping shell, the grabbing piece penetrates through the stripping shell, and the suction head is arranged at an end of the stripping shell away from the grabbing piece, so The clamping groove is used to clamp the grabbing piece. When the grabbing piece is clamped, the stripping shell moves downward under the action of the driving device, and the stripping shell presses against the workpiece. The workpiece is released from the suction head piece.

By adopting the above technical scheme, through the clamping of the clamping groove and the gripper, and then sliding against the workpiece by detaching from the shell, the automatic stripping of the workpiece is realized.

In summary, the present application includes at least one of the following beneficial technical effects:

1. Through a driving source of the driving device, the driving source drives the linkage assembly to move along the control channel, and the linkage assembly is connected to the grabbing device, so that the grabbing device can move correspondingly with the shape of the control channel. When the linkage component goes from the second process point to the first process point, the grabbing device can descend to grab the workpiece at the first position; when the linkage component goes from the second process point to the first process point, the grabbing device rises and There is a moving distance in the horizontal direction, so that the workpiece is above the second position. When the linkage assembly goes from the second process point to the third process point, the grabbing device descends and has a moving distance in the horizontal direction, so that the workpiece is located at the second position. When the linkage assembly goes from the third process point to the second process point, the grabbing device rises and moves horizontally to the first position, and can transport the workpiece at the second position to the top of the first position. When the linkage component goes from the second process point to the first process point, the workpiece can be placed on the first workpiece. In this way, a drive source can achieve horizontal and vertical degrees of freedom, and can perform reciprocating motion, that is, the process of loading and unloading can be performed through a grasping part, and the stability of the workpiece during transportation can be improved.

2. The setting of the limit component makes the oblique reciprocating motion decomposed into vertical motion and horizontal motion; that is, the transportation process of the workpiece is to grab the workpiece from the first position, and the grabbing device moves vertically to the highest point , and then move along a horizontal straight line to the vertical upper side of the second position, and finally move vertically down to the second position, which reduces the vibration of the oblique movement and maintains the stability of workpiece transportation. When the control limiter presses against the first limiter or the second limiter, the grabbing device is limited horizontally, and the first linkage drives the process control channel to move vertically, thereby causing the grabbing device to slide vertically , so that only one horizontal power source can realize vertical linear motion. Moreover, the first limiting member and the second limiting member can be adjusted, so that when grasping different workpieces, even if the grasping distances are different, the grasping can be adjusted. Improve the adjustment ability of the overall feeding mechanism.

3. When the linkage installation frame is not limited, the linkage installation frame will give priority to sliding in the horizontal direction until the linkage installation frame is limited, that is, the vertical movement and the horizontal movement process can pass through the limit component and the elastic Components are used to control the workpiece transport process. In the actual production process, the vertical displacement is required after the workpiece is grasped at the beginning, so the linkage mounting frame will be limited at the beginning to give priority to the vertical displacement of the workpiece; after the vertical displacement is completed. Then drive the drive installation frame to move horizontally through the drive device until the drive installation frame is limited at the other end, and then perform vertical displacement.

Description of drawings

FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present application.

Fig. 2 is a schematic diagram of the overall structure of the embodiment of the present application.

Fig. 3 is a structural schematic view from another angle of the embodiment of the present application.

Fig. 4 is a schematic structural diagram of a process control unit according to an embodiment of the present application.

Fig. 5 is an enlarged schematic diagram of the structure of the process control part of the embodiment of the present application.

Fig. 6 is a schematic structural diagram of a limiting assembly according to an embodiment of the present application.

Fig. 7 is a schematic diagram of the connection structure between the elastic component and the first linkage in the embodiment of the present application.

Fig. 8 is a schematic structural diagram of a grabbing device according to an embodiment of the present application.

FIG. 9 is an enlarged schematic view of the structure of the grabbing device according to the embodiment of the present application.

Fig. 10 is a schematic structural diagram of a pusher according to an embodiment of the present application.

Explanation of reference numerals: 1. grabbing device; 11. grabbing assembly; 111. pusher; 1111. clamping part; 1112. first piercing part; 1113. second piercing part; , gasket; 113, stripping shell; 114, reset piece; 115, suction head piece; 2, drive device; 21, drive motor; 22, drive output rod; 23, drive connection block; 3, process control device; 31 , linkage assembly; 311, linkage mounting bracket; 3111, piercing groove; 312, first linkage piece; 313, second linkage piece; 3131, installation part; 31311, installation hole; 3132, piercing hole; 314, third Linkage piece; 315, pulley; 32, process control piece; 321, process control channel; 3211, first channel; 3212, second channel; 32111, first process point; 32112, second process point; 32113, third process 4, frame; 41, horizontal guide rail; 42, vertical guide rail; 5, limit assembly; 51, control limit piece; 52, first limit piece; 53, second limit piece; 6, elasticity Assembly; 61, first elastic member; 62, second elastic member; 7, guide assembly; 71, first guide member; 72, second guide member; 8, assisting stripping member; 81, clamping groove.

Detailed ways

The present application will be described in further detail below in conjunction with accompanying drawings 1 to 10 .

The example of the present application discloses a servo cam feeding mechanism and a feeding method, which are used to improve the transportation stability of workpieces during transportation.

Referring to Fig. 1 and Fig. 2, a servo cam feeding mechanism and a feeding method include a grabbing device 1 for grabbing workpieces; a driving device 2 for driving the grabbing device 1; a process control device 3 for Control the process of the grabbing device 1 grabbing the workpiece; the frame 4 is used to place the grabbing device 1 , the driving device 2 and the process control device 3 . The driving device 2 is connected to the process control device 3 , and the process control device 3 is connected to the gripping device 1 . Specifically, the drive device 2 includes a drive motor 21, a drive output rod 22 and a drive connection block 23, the drive motor 21 is arranged on the frame 4, the output end of the drive motor 21 is connected to the drive output rod 22, and the drive output rod 22 is connected to The drive connection block 23 is connected to the process control device 3 .

2 and 3, the process control device 3 includes a linkage assembly 31 and a process control member 32, and the linkage assembly 31 is connected to the process control member 32. Specifically, the linkage assembly 31 includes a linkage installation frame 311, a first linkage member 312 and a second linkage assembly. Three linkages 314, the side wall of the frame 4 is provided with a horizontal guide rail 41, the third linkage 314 is slidably connected to the horizontal guide 41, and the linkage installation frame 311 is fixedly connected to the third linkage 314 by bolts.

Referring to Fig. 4 and Fig. 5, the interlocking installation frame 311 is provided with a piercing groove 3111, the first linkage piece 312 is pierced through the piercing groove 3111, and the driving connection block 23 is fixedly connected to the first linkage piece 312 by bolts. A linkage 312 is connected to the linkage installation frame 311 through the guide assembly 7 .

Referring to, 2, in order to further improve the stability of the first linkage 312 during movement, a guide assembly 7 is also included, wherein the guide assembly 7 is used to guide the first linkage 312 . Specifically, the guide assembly 7 includes a first guide piece 71 and a second guide piece 72, the first guide piece 71 passes through the first linkage piece 312, the length direction of the first guide piece 71 is placed horizontally and linearly, and the first guide piece The length of 71 is set toward the direction close to the driving motor 21 , the first guide 71 is fixedly connected to the second guide 72 by bolts, and the second guide 72 is fixedly connected to the linkage mounting frame 311 by bolts. Therefore, the first linkage 312 can slide along the length direction of the horizontal guide rail 41 together with the linkage installation frame 311 . Thus, the driving motor 21 can drive the first linkage 312 , the linkage installation frame 311 and the third linkage 314 to move along the horizontal guide rail 41 .

5, the frame 4 is also provided with a vertical guide rail 42, and the vertical guide rail 42 is arranged on the side of the linkage installation frame 311 away from the drive motor 21. The linkage assembly 31 also includes a second linkage 313, the second linkage 313 is slidably connected to the vertical guide rail 42, and the grabbing device 1 includes a grabbing assembly 11, which is connected to the second linkage 313, so as to realize the grabbing of the workpiece and be able to move vertically and horizontally. The process control part 32 is fixedly connected to the top of the second linkage part 313 by bolts, the process control part 32 is provided with a process control channel 321, and one end of the first linkage part 312 is slidingly connected to the process control channel 321 through the pulley 315, and, The side wall of the process control channel 321 is provided with a smooth transition, so as to maintain the excellent movement performance of the pulley 315 in the process control channel 321 , reduce jamming, and maintain stability in transporting workpieces.

5 and 6, the process control channel 321 includes a first channel 3211 and a second channel 3212, wherein one end of the first channel 3211 communicates with the second channel 3212, in this embodiment, since the process of the workpiece is the first The position moves to the second position, and then moves back and forth from the second position to the first position, so the first channel 3211 and the second channel 3212 are arranged symmetrically along the centerline of the process control channel 321 along the horizontal length direction. In addition, the first passage 3211 is arranged vertically downward and gradually away from the second linkage 313, the first passage 3211 is provided with a first progress point 32111, and the first progress point 32111 is located in the first passage 3211 away from the second passage 3212 On one side of the second channel 3212, a third process point 32113 is set, and the position where the first channel 3211 communicates with the second channel 3212 is set as the second process point 32112. When the pulley 315 moves from the first process point 32111 to the second process point 32112, the workpiece will move horizontally towards the drive motor 21 along with the gripping assembly 11 and vertically; when the pulley 315 moves from the second process point 32112 When moving to the third process point 32113, the workpiece will produce vertical displacement and horizontal displacement towards the drive motor 21 with the grabbing assembly 11; when the pulley 315 moves from the third process point 32113 to the second process point 32112, the workpiece With the grasping assembly 11, it will produce a horizontal displacement away from the direction of the drive motor 21 and a vertical displacement; when the pulley 315 moves from the second process point 32112 to the third process point 32113, the workpiece will be horizontally away from the grasping assembly 11. Drive the displacement in the direction of the motor 21 and there is a vertical displacement. However, the vertical displacement and the horizontal displacement are carried out almost at the same time, so the movement track of the workpiece is not accurate and the transportation effect is not good.

Referring to Fig. 1 and Fig. 7, in order to improve the transportation stability of the workpiece during transportation, in this embodiment, a limit assembly 5 and an elastic assembly 6 are also included, and the limit assembly 5 and the elastic assembly 6 are jointly used to control the movement of the workpiece. The motion trajectory separates the vertical motion of the workpiece from the horizontal motion. Specifically, the limiter assembly 5 includes a control limiter 51, a first limiter 52 and a second limiter 53, wherein the control limiter 51 is fixedly connected to the linkage mounting frame 311 by bolts, and the first limiter The piece 52 and the second limiting piece 53 pass through the frame 4, the first limiting piece 52 and the second limiting piece 53 are located on the same horizontal line, and the control limiting piece 51 can move together with the linkage installation frame 311 , the first limiting member 52 and the second limiting member 53 are located on the movement path of the control limiting member 51 . When the control limiter 51 is pressed against the first limiter 52 or the second limiter 53, it is difficult for the linkage installation frame 311 to continue to move in the direction of the first limiter 52 or the second limiter 53; , the second linkage 313 can still move vertically, so that the workpiece can be displaced vertically at this time, maintaining good transport stability.

Referring to FIG. 4 , in order to separate the horizontal movement and the vertical movement of the workpiece, and realize the reciprocating feeding effect of the workpiece through only one driving source. In this embodiment, an elastic assembly 6 is also included, wherein the elastic assembly 6 includes a first elastic member 61 and a second elastic member 62, and both the first elastic member 61 and the second elastic member 62 are disposed in the through groove 3111, The specifications of the first elastic member 61 and the second elastic member 62 are the same. Moreover, the first elastic member 61 and the second elastic member 62 are respectively located on both sides of the first linkage member 312, the length of the first elastic member 61 is equal to the horizontal distance between the first progress point 32111 and the second progress point 32112, and , in this embodiment, the initial position of the first linkage 312 is located at the second process point 32112 .

The purpose of such setting is that when the driving motor 21 drives the first linkage 312 to move, the first linkage 312 will preferentially realize the movement in the horizontal direction, that is, the driving motor 21 drives the third linkage 314 to slide, and the grab assembly 11 When reaching the first position or the second position, after the control limiter 51 presses against the first limiter 52 or the second limiter 53, the third linkage 314 is difficult to move in the horizontal direction; the driving motor 21 continues to drive the first limiter 52 When a linkage member 312 moves, the first elastic member 61 or the second elastic member 62 will be compressed by the first linkage member 312, and the pulley 315 starts to slide along the process control channel 321, so that the second linkage member 313 moves along the vertical guide rail 42 sliding, so that the grabbing assembly 11 can be displaced vertically. Therefore, the horizontal linear direction and the vertical motion of the grasping assembly 11 can be controlled by a driving source, and the horizontal linear direction and the vertical direction can operate independently of each other, so that the movement track of the workpiece is vertically moved from the first position to the first position above, and then move horizontally and linearly to the vertically above the second position, and then move vertically from above the second position to the second position, and the movement can be reversed, so that one gripper can carry out the whole process, Moreover, the motion tracks are all straight-line motions in the vertical or horizontal direction, which is not easy to generate shaking, so that the stability of the transportation process of the workpiece is improved.

Referring to Fig. 3 and Fig. 4, in this embodiment, the deformation force of the first elastic member 61 is greater than the static friction force when the linkage installation frame 311 is ready to slide. When moving, the horizontal linear movement is given priority; even during the reset process of the first elastic member 61, since the first elastic member 61 is arranged in the linkage mounting frame 311, the energy generated by the reset of the first elastic member 61 belongs to the linkage mounting frame 311 Internal energy cannot perform work on the horizontal guide rail 41, so when the first elastic member 61 is reset, the linkage installation frame 311 is difficult to move due to the influence of the first elastic member 61, maintaining the transportation stability of the entire feeding structure.

8 and 9, the grabbing assembly 11 includes a pusher 111, a gasket 112, a stripping shell 113, a reset member 114 and a suction head member 115. Specifically, the second linkage 313 includes a mounting part 3131, and a mounting part 3131 The length direction of the shaft is set along the direction away from the vertical guide rail 42, the installation part 3131 is provided with installation holes, and the gasket 112 is provided with two groups, and the two groups of gaskets 112 are respectively arranged on the upper and lower sides of the installation part 3131. Moreover, the gasket 112 is provided with an installation hole, the gasket 112 is fixedly connected to the installation part 3131 by bolts, the pusher 111 includes a clamping part 1111, a first piercing part 1112, a second piercing part 1113 and a connecting part 1114, Among them, the clamping part 1111, the first piercing part 1112, the second piercing part 1113 and the connecting part 1114 are arranged vertically in sequence, and the horizontal cross-sectional area of the clamping part 1111 is larger than that of the first piercing part 1112, and the first piercing part 1112 The portion 1112 passes through the installation hole 31311 , so that the pusher 111 can slide along the installation hole 31311 . When the clamping portion 1111 presses against the washer 112 , the pusher 111 reaches the lowest position. In addition, the stripping shell 113 is fixedly connected to the gasket 112 located below the installation part 3131, the reset member 114 adopts a steel spring, the second piercing part 1113 is pierced in the stripping shell 113, and the reset piece 114 is arranged on the stripping shell 113 Inside, and the second piercing part 1113 is also pierced through the reset part 114, and the connecting part 1114 is connected with the suction head part 115, and the suction head part 115 adopts an industrial suction nozzle to absorb workpieces when taking materials.

Referring to Fig. 9 and Fig. 10, in order to realize the stripping function for the workpiece, in this embodiment, the frame 4 is provided with an assisting stripping part 8, wherein the assisting stripping part 8 is arranged on the frame 4 close to the second linkage On one side of 313 , one end of the assisting stripping member 8 protrudes from the frame 4 , and the assisting stripping member 8 is provided with a clamping groove 81 , and the clamping portion 1111 can be clamped by the clamping groove 81 . Moreover, the second linkage 313 is provided with a piercing hole 3132. When the second linkage 313 is driven by the driving motor 21, it moves toward the direction of the driving motor 21, assisting the stripper 8 to pass through the piercing hole 3132, The clamping groove 81 clamps the clamping part 1111, and when the second linkage 313 is driven by the driving motor 21 and moves vertically downward, the position of the pushing member 111 is fixed by the clamping groove 81, and the stripping shell 113 follows the The second linkage 313 moves down vertically, and the stripping shell 113 is pressed against the workpiece so that the workpiece is separated, thereby realizing stripping. Due to the effect of the reset piece 114, when the second linkage 313 rises, the stripping shell 113 resets, thereby Carry out the cycle of reclaiming and discharging.

The implementation principle of this embodiment: when the driving motor 21 drives the first linkage 312 to move, the first linkage 312 will preferentially realize the movement along the horizontal direction of the horizontal guide rail 41 with the linkage installation frame 311, that is, the drive motor 21 drives the third linkage 314 slips, when the grasping assembly 11 reaches the first position, the control limiter 51 is pressed against the first limiter 52, and the third linkage 314 is difficult to move in the horizontal direction; the driving motor 21 continues to drive the first linkage 312 moves, the first elastic member 61 will be compressed by the first linkage 312, and the pulley 315 will start to slide along the process control channel 321, so that the second linkage 313 will slide along the vertical guide rail 42, so that the grabbing assembly 11 can Vertical displacement for reclaiming. Therefore, the horizontal linear direction and the vertical motion of the grasping assembly 11 can be controlled by a driving source, and the horizontal linear direction and the vertical direction can operate independently of each other, so that the movement track of the workpiece is vertically moved from the first position to the first position above, and then move horizontally and linearly to the vertically above the second position, and then move vertically from above the second position to the second position for stripping, so that one pusher 111 can carry out the entire process, and the movement The trajectories are all independent vertical or horizontal linear motions, which are not prone to vibration, which improves the stability of the workpiece transportation process.

All of the above are preferred embodiments of the application, and are not intended to limit the protection scope of the application. Therefore, all equivalent changes made according to the structure, shape, and principle of the application should be covered by the protection scope of the application. Inside.

Claims (10)

1. A servo cam feeding mechanism, characterized in that, comprising: Grabbing device (1), used for grabbing workpieces; A driving device (2), used to drive the gripping device (1) to move; A process control device (3), used to control the process of the grabbing device (1) grabbing the workpiece; A frame (4) for placing the grabbing device (1), the driving device (2) and the process control device (3); The grabbing device (1), driving device (2) and process control device (3) are all arranged on the frame (4), and the process control device (3) includes a linkage assembly (31) and a process control part (32), the drive device (2) is connected to the linkage assembly (31), the linkage assembly (31) slides horizontally relative to the drive device (2), and the linkage assembly (31) is connected to the The gripping device (1); the process control member (32) is provided with a process control channel (321), the linkage assembly (31) includes a pulley (315), and the pulley (315) controls the process along the process The inner wall of the channel (321) slips; The process control channel (321) includes a first process point (32111), a second process point (32112) and a third process point (32113), and the pulley (315) can move along the first process point (32111) ) and the second process point (32112), the pulley (315) can slide smoothly between the second process point (32112) and the third process point (32113); the first The progress point (32111) and the third progress point (32113) are located on the same horizontal straight line, and the distance between the third progress point (32113) and the first progress point (32111) in the horizontal direction is from the first position to the second position The horizontal distance; the second process point (32112) has a vertical distance from the first process point (32111); during the feeding process, the linkage assembly (31) The first process point (32111), the second process point (32112) and the third process point (32113) are sequentially passed by driven by the driver. 2. A kind of servo cam feeding mechanism according to claim 1, characterized in that, the linkage assembly (31) comprises a first linkage (312) and a second linkage (313), and the frame ( 4) A horizontal guide rail (41) is provided on it, the first linkage (312) slides along the length direction of the horizontal guide rail (41), and the first linkage (312) is connected to the process control part (32), the other end of the first linkage part (312) is connected to the output end of the drive device (2), and the process control part (32) is connected to the second linkage part (313), so The frame (4) is provided with a vertical guide rail (42), and the second linkage (313) is slidingly connected to the vertical guide rail (42). 3 . The servo cam feeding mechanism according to claim 2 , further comprising an elastic component ( 6 ), the elastic component ( 6 ) is used to reset the first linkage ( 312 ). 4 . 4. A servo cam feeding mechanism according to claim 3, characterized in that it further comprises a limit assembly (5), and the limit assembly (5) is used to control the second linkage (313) Sliding on the vertical guide rail (42); the linkage assembly (31) also includes a linkage mounting bracket (311), and the linkage mounting bracket (311) is slidably connected to the horizontal guide rail (41), the The limit assembly (5) includes a control limit piece (51), a first limit piece (52) and a second limit piece (53), and the control limit piece (51) is arranged on the linkage mounting frame ( 311), the first limiting member (52) and the second limiting member (53) are passed through the frame (4), and the first limiting member (52) and the second limiting member The penetrating length of the piece (53) is used to control the horizontal movement range of the grabbing device (1), and the first limit piece (52) and the second limit piece (53) are both located at the control limit On the movement path of the positioning member (51), when the control limiting member (51) is pressed against the first limiting member (52) or the second limiting member (53), the grabbing device ( 1) Stop horizontal movement. 5. A kind of servo cam feeding mechanism according to claim 4, characterized in that, the elastic assembly (6) comprises a first elastic member (61) and a second elastic member (62), and the first elastic The length of the part (61) is equal to the horizontal distance between the first progress point (32111) and the second progress point (32112), and the length of the second elastic part (62) is equal to the second progress point (32112) and the horizontal distance between the third process point (32113), the first elastic member (61) and the second elastic member (62) are respectively arranged on two sides of the first linkage member (312) side. 6. A servo cam feeding mechanism according to claim 5, characterized in that it also includes an auxiliary guide assembly (7), and the auxiliary guide assembly (7) includes a first guide (71) and a second guide piece (72), the first guide piece (71) passes through the first linkage piece (312), and the length direction of the first guide piece (71) is consistent with the horizontal movement direction of the workpiece. A guide piece (71) is connected to the second guide piece (72), and the second guide piece (72) is fixedly connected to the linkage installation frame (311). 7. The servo cam feeding mechanism according to claim 1, characterized in that, the process control channel (321) is provided with a smooth transition inside. 8. A servo cam feeding mechanism according to claim 1, characterized in that, the grabbing device (1) includes a grabbing assembly (11), and the grabbing assembly (11) passes through the Linkage device, the gripping assembly (11) is provided with a suction head piece (115) at one end close to the workpiece, the suction head piece (115) is used to absorb the workpiece, and the gripping assembly (11) includes a pusher ( 111), the pusher (111) is used to push the suction head (115), the pusher (111) is internally provided with an elastic reset member (114), and the reset member (114) is used for Reset the suction head piece (115). 9. A servo cam feeding mechanism according to claim 8, characterized in that, the frame (4) is provided with an assisting stripping member (8), and the assisting stripping member (8) is arranged on The frame (4) is close to the side of the grasping assembly (11), the assisting stripper (8) is provided with a clamping groove (81), and the grasping assembly (11) includes a pusher (111) and the stripping shell (113), the pusher (111) is passed through the stripping shell (113), and the suction head (115) is arranged on the stripping shell (113) away from One end of the pusher (111), the clamping groove (81) is used to clamp the pusher (111), when the pusher (111) is clamped, the stripping shell (113 ) moves downward under the action of the driving device (2), and the stripping shell (113) presses the workpiece, so that the workpiece is separated from the suction head (115). 10. A feeding method, comprising a servo cam feeding mechanism according to any one of claims 1 to 9, characterized in that, comprising: S1: In the preparation stage, one end of the first linkage (312) is located at the second progress point (32112), and the linkage mounting bracket (311) is located on the horizontal guide rail (41) away from the drive one side of the device (2); S2: descending and reclaiming, one end of the first link (312) moves to the first process point (32111), at this time, the first link (312) is opposite to the first elastic member ( 61) press against, so that the first elastic member (61) is compressed, and the second linkage member (313) drives the suction head piece (115) to move downward, so that the suction head piece (115) Adsorbing the workpiece at the first position; S3: Rise up after retrieving the material, the first elastic member (61) resets under the action of elastic potential energy, driving one end of the first linkage member (312) to move to the second progress point (32112), so The second linkage (313) then slides along the vertical guide rail (42), and the second linkage (313) drives the suction head (115) to move upward, so that the workpiece is positioned at the first position vertically above; S4: move in the horizontal direction after rising, and after the first elastic member (61) is reset, the driving device (2) drives the linkage installation frame (311) to move along the direction of the horizontal guide rail (41), so that the The control limiter (51) presses against the second limiter (53), and the workpiece absorbed by the suction head (115) then moves along a horizontal straight line to reach the vertical upper part of the second position; S5: descending, after the control limit member (51) is pressed against the second limit member (53), the driving device (2) continues to drive the first linkage member (312) to move, so that all The first link (312) presses against the second elastic member (62), and one end of the first link (312) moves from the second progress point (32112) to the third progress point (32113), the second linkage (313) slides downward along the vertical guide rail (42), and the suction head (115) carries the workpiece and moves downward to the second position; S6: Material stripping; when the suction head (115) is in the process of descending, when the pusher (111) is clamped by the clamping groove (81), the suction head (115) presses against the A reset member (114), which compresses the reset member (114), thereby causing the stripping shell (113) to move relatively downward until the stripping shell (113) is pressed against the workpiece, so that the workpiece is separated from the Described suction head part (115), completes stripping; S7: Reset after stripping; the second elastic member (62) resets and pushes the first linkage (312), so that one end of the first linkage (312) moves from the third process point (32113) Move to said second progress point (32112).

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