CN206296719U - Possess self-feeding and the reclaimer device of upender - Google Patents

Abstract

The utility model relates to a kind of self-feeding for possessing upender and reclaimer device, including rotary feed bin and two two shaft mechanical arms and u-turn transfer device, rotary feed bin includes feed bin seat, feed bin seat top is provided with workbench, multiple storage racks are installed on workbench, multiple workpiece, the drive sprocket of both sides two of workbench are laminated with each storage rack, two drive sprockets are coupled by driving chain, wherein a drive sprocket is driven by drive sprocket motor；Multiple storage racks are arranged along the contour extension direction of driving chain, and each storage rack is connected cooperation with driving chain by coupling assembly, make each storage rack follow the transmission of driving chain to realize movement；Hoisting frame is installed, and hoisting frame is driven by lifting assembly, hoisting frame workpiece is lifted up through workbench in feed bin seat；Multiple storage racks are all provided with being set to can follow driving chain to move, and constitute revolving workpiece conveying, effectively increase the storage volume of workpiece, effectively improve processing efficiency.

Description

Possess self-feeding and the reclaimer device of upender

Technical field

The utility model is related to the device field of conveying workpieces, especially a kind of self-feeding for possessing upender and takes Material equipment.

Background technology

At present, existing numerical control machining center, the clamping of its workpiece is general to be also needed to be fed with staff and feeding, is so led Cause processing efficiency to be restricted, processing efficiency is low, and the development trend that charging and feeding have been industries carried out using manipulator, And the structure of manipulator has developed into ripe, the action of mechanical arm is very flexible.And how cooperative mechanical hand is by storing The side of side and processing is effectively coordinated, and is the pendulum problem to be solved in face of engineering staff.

In addition, existing robot manipulator structure, using the combination of rotating seat and multi-section structure arm, realizes different angles, height The feeding of degree, blowing, but the complex structure, application program are debugged repeatedly, and operator needs to adapt to longer time Energy skilled operation, and cost is high, and maintenance cost is high.

Utility model content

The purpose of this utility model is to solve above-mentioned the deficiencies in the prior art, and the utility model provides a kind of structure letter Single, rational self-feeding and the reclaimer device for possessing upender, multiple storage racks are all provided with being set to can follow driving-chain Bar is moved, and constitutes revolving workpiece conveying, effectively increases the storage volume of workpiece, effectively improves processing efficiency.

In addition, only being moved using twin shaft, you can realize the feeding and blowing of workpiece, and by reversing end for end transfer device, can It is whole to cause workpiece by transferring to another number of units control machine tooling another part after the complete part of a number of units control machine tooling Artificial transfer operation is not required to, its high degree of automation, high precision, and also manufacturing cost is relatively low, and it is convenient for installation and maintenance.

The utility model solves the technical scheme that its technical problem used：

A kind of self-feeding for possessing upender and reclaimer device, including rotary feed bin and two two axis robots Arm, connection has u-turn transfer device between two two shaft mechanical arms, it is characterized in that；

Rotary feed bin includes feed bin seat, and feed bin seat top is provided with workbench, multiple storage racks is provided with workbench, often Multiple workpiece are laminated with individual storage rack, it is characterized in that, the drive sprocket of both sides two of workbench, two drive sprockets pass through driving-chain Bar couples, wherein a drive sprocket is driven by drive sprocket motor；

Multiple storage racks are arranged along the contour extension direction of driving chain, and each storage rack is by coupling assembly and transmission Chain connection coordinates, and makes each storage rack follow the transmission of driving chain to realize movement；

Hoisting frame is installed, hoisting frame is driven by lifting assembly in feed bin seat, hoisting frame is passed through workbench by workpiece It is lifted up；

Each two shaft mechanical arm includes pedestal, and the Chuck top is fixed with the X-axis support arm for extending in X direction, X-axis branch Arm top surface both sides are extended along its length two X-axis guide rails, and X-axis tooth bar, two X-axis guide rails are fixed between two X-axis guide rails It is upper that X-axis slide is provided with by X-axis slide block seat, X-axis servomotor, the output shaft of X-axis servomotor are vertically and fixedly provided with X-axis slide Through X-axis slide and it is connected with the X-axis drive gear engaged with X-axis tooth bar；

Be fixed with Z axis fixed seat on X-axis slide, the side of Z axis fixed seat is provided with Z axis sliding block, Z axis fixed seat it is another Side is horizontally installed with Z axis servomotor, and the output shaft of Z axis servomotor is connected with Z axis drive gear, and Z axis sliding block drives with Z axis X-axis support arm outside vertical between gear is provided with Z axis support arm, and both sides edge extends vertically direction and is provided with Z axis guide rail and Z axis tooth Bar, Z axis guide rail is slidably matched with Z axis sliding block, and Z axis tooth bar is engaged with Z axis drive gear；

The bottom of Z axis support arm is rotatably connected to feeding plate, and feeding plate is set side by side with two feeding tongs, on Z axis support arm Feeding tumble cylinder is fixed with, the expansion link of feeding tumble cylinder is connected with the side of feeding plate；

U-turn transfer device includes the Y-axis support arm extended along Y direction, the two ends of Y-axis support arm and two two axis robots Two supports connection on arm, the top surface of Y-axis support arm is extended along Y direction Y-axis guide rail and Y-axis tooth bar, leads in Y-axis guide rail Cross Y-axis sliding block and be connected with Y-axis slide, Y-axis servomotor is vertically installed with Y-axis slide, the output shaft of Y-axis servomotor is passed through Y-axis slide is simultaneously connected with the Y-axis drive gear engaged with Y-axis tooth bar, and be provided with fixture on Y-axis slide.

Rotary feed bin of the present utility model, is arranged to transportable by multiple storage racks, and this programme is with ellipse As a example by circle, by multiple storage racks according to oval shaped arrangements, and each storage rack is moved along oval track, using transmission Sprocket motors drive chain is rotated, and each storage rack is connected by coupling assembly with driving chain, when driving chain is rotated, Each storage rack follows driving chain to move, and the connection of its structure is simple, reasonable, without complicated screw mandrel, the structure of guide rail, and The shape of arrangement is not limited to ellipse, can as needed adjust the quantity of drive sprocket, make driving chain set it is circular, Or other shapes；And each storage rack can be with stacked vertical multiple workpiece, the workpiece storage amount that multiple storage racks are constituted is can See so that can disposably place more workpiece, effectively improve operating efficiency, and each storage rack moves to the position specified Postpone, the hoisting frame in feed bin seat is driven by lifting assembly, hoisting frame is increased, workpiece is promoted to the height of needs, side Just the manipulator of peripheral hardware is captured, and after a workpiece is crawled, hoisting frame rises certain height again, is so repeated, until The workpiece of the storage rack is crawled and finishes, and hoisting frame is to decline to reset, and when another storage rack is moved to corresponding position, is repeated Above-mentioned action, realizes the conveying of workpiece, and its high working efficiency, simple structure is convenient for installation and maintenance.

Using the mechanical arm of the structure, by setting X-axis guide rail and Z axis guide rail, the extracting jaw on feeding plate can be made Hand realizes the slip of X-axis and Z-direction, then realizes that upset swings to feeding plate by feeding tumble cylinder, so that extracting jaw Hand is transferred to processing on numerically controlled processing equipment more easily by the workpiece grabbing on storage rack, and its is simple and reasonable for structure, X-axis The control of servomotor and Z axis servomotor, can accurate setting speed, and the transmission of rack and pinion coordinates, transmission accuracy Height, although overall structure is using linear motion, textural association is ingenious, workpiece accurately can be transferred into numerical control by storing station Processing stations, effectively improve production efficiency.

And two shaft mechanicals arm of the present utility model is except realizing workpiece accurately being transferred into numerical control by storing station Beyond processing stations, two two shaft mechanical arms can also be applied in combination, and coupled both by reversing end for end transfer device Come so that one of them two shaft mechanical arm is put the workpiece in after processing in a numerically controlled processing equipment, again feeding, then will The workpiece of crawl is put on the fixture on Y-axis slide, by being transferred to another two shaft mechanicals arm, then by the two shaft mechanicals arm It is transferred in another numerically controlled processing equipment and processes other structure, its clever structure, operational efficiency is high, high precision.

Two feeding tongs are set on one feeding plate, are to complete feeding on numerical control machine tool for convenience and put Material, effectively improves processing efficiency.

The utility model can also be solved using following technical measures：

Coupling assembly includes connecting plate and connecting pole, and connecting pole is vertically mounted on connection plate top surface, and connecting pole one end Through the bottom surface of connecting plate and extend into the sleeve on driving chain, make connecting plate follow driving chain to move；

Storage rack includes three regulating blocks, three regulation limited posts, adjustable plate and lifting slide plates, and three regulating blocks are by circle Circumferential direction is arranged on the top surface of connecting plate, and each regulating block is rotatably assorted by adjusting rotating shaft with connecting plate, each regulating block On be vertically and fixedly provided with one regulation limited post, three regulation limited posts between constitute be suitable to workpiece stacking storing space, regulation Three arc regulation grooves are offered on plate, adjustable plate adjusts groove through three spacing elastic supports of regulation by upper three arcs On three regulating blocks, three regulation chutes are offered on lifting slide plate, lifting slide plate passes through three by three regulation chutes Arc regulation limited post is supported on adjustable plate, and four diagonal positions of lifting slide plate offer four with hoisting frame cooperation Lifting location hole, multiple workpiece are layered on the lifting slide plate in storing space, and hoisting frame is driven by lifting assembly, makes lifting Frame is lifted up through workbench by slide plate is lifted, and is lifted up workpiece.

Wherein, three regulating blocks have gone out to play and have paved outside adjustable plate, can also realize regulation limit by adjusting axis of rotation The change in displacement of position post, so that realize adjusting the purpose of storing space size, and adjustable plate adjusts groove and matches somebody with somebody by three arcs The change in displacement of regulation limited post is closed, lifting slide plate coordinates the change in displacement of regulation limited post by three regulation chutes, when carrying When rising frame and being lifted, you can slide plate lifting will be lifted, the workpiece on lifting slide plate can be lifted, and its is simple and reasonable for structure, can be with Various sizes of workpiece is adapted to, and during lifting, workpiece is limited in the storing space in three regulation limited posts all the time, rises To be oriented to, position-limiting action, and hoisting frame with four lifting location holes cooperation, make lifting slide plate in lifting process firm position, Stabilization.

Newel is connected with connecting plate in the storing space, the center coordinated with newel is offered on workpiece and is led to Hole；The effect of newel is to facilitate the central through hole on workpiece to fit through, and further functions as guide effect, is adapted to possess center The workpiece of through hole is used, and effectively improves center correcting rate when workpiece is lifted.

In feed bin seat below a lifting assembly drive sprocket installed therein, including lifting driver, lifting chain, three Individual lifting sprocket wheel, lifting substrate and four lift columns, lifting substrate and four lift columns composition hoisting frames, in feed bin seat It is vertically and fixedly provided with installing plate, installing plate side is fixed with lifting driver, installing plate opposite side is separately installed with three by under upper Individual lifting sprocket wheel, lifting chain is connected with three lifting sprocket wheels respectively, and lifting substrate is vertically installed with and extends top surface and bottom surface Chain connector, one end of lifting chain and chain connector be connected through one end of lifting substrate top surface, lifting chain The other end is connected with chain connector through one end of lifting substrate bottom surface, lifts driver and one of lifting chain wheel drive Connection, four lift columns are vertically fixed on four diagonal positions of lifting substrate, each lift columns correspondence with it is vertical on The lifting of side coordinates location hole to be vertical concentric, and the top of each lift columns coordinates location hole contacting with corresponding lifting When constitute support coordinate；Lifting assembly as driving structure and, for hoisting frame provides power, principle is simple, no longer detailed herein State, its is rational in infrastructure, four lift columns are vertically corresponding with four above-mentioned lifting location holes, lift columns is increased Afterwards, just coordinate with four lifting location holes, slide plate stably lifting will be lifted, its clever structure, four-point supporting is effectively improved Stability.

The top surface of the lifting substrate is provided with upper limit position block, and lower limit is provided with the feed bin seat below lifting substrate Block；Play position-limiting action, it is to avoid failure and be subject to it is larger impact, the material of upper and lower limited block is using rubber or other are soft Material, plays cushioning effect.

Offered on workbench and be suitable to the guide through hole that four lift columns are passed through.Four guide through hole are suitable to four liftings Pillar is passed through, and belongs to the structure being correspondingly arranged.

Direction is provided with multigroup pulley by the contour loop of driving chain on workbench below connecting plate, every group of pulley leads to Cross slide to install on the table, bottom surface and the pulley of connecting plate are slidably matched；The effect of pulley is connecting plate is being followed biography During dynamic chain is moved, movement is more smooth, and friction noise is lower, also acts as the effect of support, reduces receiving for connecting pole Power.

The bottom of the Z axis support arm is connected with feeding pedestal, and feeding pedestal is turned under being connected to feeding pedestal extension board, feeding Branch sleeve is installed, feeding plate is set on branch sleeve by rotational sleeve on pedestal extension board；Rotational sleeve be arranged into In branch sleeve, feeding plate is possessed rotating function, coordinating the driving of feeding tumble cylinder, can quickly realize feeding plate Upset feeding, blowing.

The side of feeding plate is fixed with cylinder connector, and the expansion link of feeding tumble cylinder is rotated with cylinder connector and connected Connect；Structure connection is simple, installs quick.

The side vertical type of Z axis fixed seat is provided with two Z axis sliding blocks；Two Z axis sliding blocks make structure more stablize.

Z axis fixed seat both sides are provided with the two Z axis fixed supported slabs extended on the outside of X-axis support arm, and Z axis support arm is vertically set on two Between Z axis fixed supported slab, Z axis sliding block and Z axis servomotor are separately fixed on two Z axis fixed supported slabs；Space layout is rationally, tightly Gather, two Z axis sliding blocks are set to fix, and Z axis guide rail makees lifting carriage, so as to realize the Z axis oscilaltion of feeding plate.

Chuck top is provided with support base, and X-axis support arm horizontal base is located at support base top surface；Support base possesses extension, can More to support X-axis support arm, make structure stress more reasonable, X-axis slide is slided more to be stablized, and is slided precision and is guaranteed.

Rotary cylinder is installed, the top of rotary cylinder rotates drive and is connected to fixture, and fixture includes that two live on the Y-axis slide Dynamic jig arm, clip slot is constituted between two activity jig arm；The effect of rotary cylinder is by by processing in a numerically controlled processing equipment The workpiece angle specified of rotation afterwards, then to transfer to and process another side in another numerically controlled processing equipment.

The beneficial effects of the utility model are：

（1）A kind of self-feeding for possessing upender of the utility model and reclaimer device, the letter of its rotary material chamber structure Single, reasonable, multiple storage racks are all provided with being set to can follow driving chain to move, and constitute revolving workpiece conveying, effectively increase Add the storage volume of workpiece, effectively improve processing efficiency.

（2）A kind of self-feeding for possessing upender of the utility model and reclaimer device, the knot of its two shaft mechanicals arm Structure is simple, reasonable, and high degree of automation, by setting X-axis guide rail and Z axis guide rail, can make the feeding tong reality on feeding plate The slip of existing X-axis and Z-direction, then upset swings to be realized to feeding plate by feeding tumble cylinder, so that feeding tong is more Easily by workpiece grabbing, and corresponding position is transferred to, its is simple and reasonable for structure, X-axis servomotor and Z axis servomotor Control, can accurate setting speed, and the transmission of rack and pinion coordinates, high transmission accuracy, although overall structure is using straight Line is moved, but textural association is ingenious, workpiece accurately can be transferred into digital control processing station by storing station, effectively improves production Efficiency.

（3）A kind of self-feeding for possessing upender of the utility model and reclaimer device, two shaft mechanical arms are except reality It is now able to accurately be transferred to beyond digital control processing station workpiece by storing station, can also be by two two shaft mechanical handle composites Use, and linked up both by reversing end for end transfer device so that one of them two shaft mechanical arm puts the workpiece in one After being processed in numerically controlled processing equipment, then be put into the workpiece of crawl on the fixture on Y-axis slide by feeding again, by transfer To another two shaft mechanicals arm, then it is transferred in another numerically controlled processing equipment by the two shaft mechanicals arm and processes other knot Structure, its clever structure, operational efficiency is high, high precision.

Brief description of the drawings

Fig. 1 is the structural representation in the utility model.

Fig. 2 is the structural representation of rotary feed bin in the utility model.

Fig. 3 is the structural representation of rotary feed bin in the utility model.

Fig. 4 is the structural representation of storage rack in the utility model.

Fig. 5 is the structure decomposition figure of storage rack in the utility model.

Fig. 6 is the structure sectional view of rotary feed bin in the utility model.

Fig. 7 is that rotary feed bin removes the schematic diagram after part-structure in the utility model.

Fig. 8 is the structural representation of two shaft mechanical arms in the utility model.

Fig. 9 is the structural representation of two shaft mechanical arms in the utility model.

Figure 10 is two shaft mechanical arms and the structural representation for reversing end for end transfer device in the utility model.

Figure 11 is the enlarged drawing at E in Figure 10.

Figure 12 is the structural representation of u-turn transfer device in the utility model.

Specific embodiment

The utility model is further illustrated with reference to the accompanying drawings and examples.

As shown in Figures 1 to 12, a kind of self-feeding for possessing upender and reclaimer device, including rotary feed bin B With two two shaft mechanical arm C, connection has u-turn transfer device D between two two shaft mechanical arm C, it is characterized in that；

Rotary feed bin B includes feed bin seat B1, and feed bin seat B1 tops are provided with workbench B2, multiple is provided with workbench B2 Storage rack B3, is laminated with multiple workpiece A3 on each storage rack B3, it is characterized in that, the drive sprocket B4 of both sides two of workbench B2, Two drive sprocket B4 are coupled by driving chain B5, wherein a drive sprocket B4 is driven by drive sprocket motor B6；

Multiple storage racks are arranged along the contour extension direction of driving chain B3, and each storage rack B3 passes through coupling assembly B7 Cooperation is connected with driving chain B5, makes each storage rack B3 follow the transmission of driving chain B5 to realize movement；

Hoisting frame B8 is installed in feed bin seat B1, hoisting frame B8 is driven by lifting assembly B9, hoisting frame B8 is passed through work Make platform B2 to be lifted up workpiece A3；

Each two shaft mechanical arm C includes pedestal C1, and the pedestal C1 tops are fixed with the X-axis support arm for extending in X direction C2, X-axis support arm C2 top surfaces both sides are extended along its length two X-axis guide rail C3, and X-axis is fixed between two X-axis guide rail C3 Tooth bar C4, X-axis slide C6 is provided with two X-axis guide rail C3 by X-axis slide block C5, and X-axis servo is vertically and fixedly provided with X-axis slide C6 The output shaft of motor C7, X-axis servomotor C7 is through X-axis slide C6 and is connected with the X-axis drive gear engaged with X-axis tooth bar C4 C8；

Z axis fixed seat C9 is fixed with X-axis slide C6, the side of Z axis fixed seat C9 is provided with Z axis sliding block C10, and Z axis are solid The opposite side of reservation C9 is horizontally installed with Z axis servomotor C11, and the output shaft of Z axis servomotor C11 is connected with Z axis sliding tooth Wheel C12, the X-axis support arm C2 outside verticals between Z axis sliding block C10 and Z axis drive gear C12 are provided with Z axis support arm C13, both sides Along extending vertically, direction is provided with Z axis guide rail C14 and Z axis tooth bar C15, Z axis guide rail C14 are slidably matched with Z axis sliding block C10, Z axis Tooth bar C15 is engaged with Z axis drive gear C12；

The bottom of Z axis support arm C13 is rotatably connected to feeding plate C17, and feeding plate C17 is set side by side with two feeding tongs C18, is fixed with feeding tumble cylinder C19, the expansion link of feeding tumble cylinder C19 and the one of feeding plate C17 on Z axis support arm C13 Side connects；

U-turn transfer device D includes the Y-axis support arm D1 extended along Y direction, the two ends of Y-axis support arm D1 and two two axle machines Two pedestal D1 connections on tool arm C, the top surface of Y-axis support arm D1 is extended along Y direction Y-axis guide rail D2 and Y-axis tooth bar D3, Y-axis slide D5 is connected with Y-axis guide rail D2 by Y-axis sliding block D4, and Y-axis servomotor is vertically installed with Y-axis slide D5 The output shaft of D6, Y-axis servomotor D6 is through Y-axis slide D5 and is connected with the Y-axis drive gear D7 engaged with Y-axis tooth bar D3, And fixture D8 is installed on Y-axis slide D5.

Rotary feed bin of the present utility model, is arranged to transportable by multiple storage rack B3, and this programme with As a example by ellipse, by multiple storage rack B3 according to oval shaped arrangements, and each storage rack B3 is moved along oval track, profit Driving chain B5 is driven to rotate with drive sprocket motor B6, and each storage rack B3 is connected by coupling assembly B6 and driving chain B5 Connect, when driving chain B5 is rotated, each storage rack B3 follows driving chain B5 to move, and the connection of its structure is simple, reasonable, without Complicated screw mandrel, the structure of guide rail, and the shape of arrangement is not limited to ellipse, can as needed adjust drive sprocket B4 Quantity, make driving chain B5 set circular or other shapes；And each storage rack B3 can be with stacked vertical multiple work Part, the workpiece A3 storage capacitys that multiple storage rack B3 are constituted are considerable so that can disposably place more workpiece A3, effectively Operating efficiency is improved, and after each storage rack B3 moves to the position specified, is driven in feed bin seat B1 by lifting assembly B9 Hoisting frame B8, rises hoisting frame B8, and workpiece A3 is promoted to the height of needs, facilitates the manipulator of peripheral hardware to be captured, and one After individual workpiece A3 is crawled, hoisting frame B8 rises certain height again, so repeats, until the workpiece A3 of storage rack B3 is grabbed Take complete, hoisting frame B8 is to decline to reset, and when another storage rack B3 is moved to corresponding position, repeats above-mentioned action, is realized The conveying of workpiece A3, its high working efficiency, simple structure is convenient for installation and maintenance.

Using the mechanical arm of the structure, by setting X-axis guide rail C3 and Z axis guide rail C14, can make on feeding plate C17 Feeding tong C18 realize the slip of X-axis and Z-direction, then feeding plate C17 is realized by feeding tumble cylinder C19 overturning Swing, so that feeding tong C18 more easily captures workpiece A3 by storage rack B3, and be transferred to numerically controlled processing equipment On, its is simple and reasonable for structure, the control of X-axis servomotor C7 and Z axis servomotor C11, can accurate setting speed, and tooth Bar coordinates with the transmission of gear, high transmission accuracy, although overall structure is using linear motion, textural association is ingenious, Neng Goujing Workpiece A3 is really transferred to digital control processing station, production efficiency is effectively improved.

And two shaft mechanicals arm of the present utility model is except realizing workpiece A3 accurately being transferred into number by storing station Beyond control processing stations, two two shaft mechanical arm C in combination can also be used, and joined both by reversing end for end transfer device D Pick up and so that be put into for workpiece A3 after being processed in a numerically controlled processing equipment by one of them two shaft mechanical arm C, takes again , then be put into the workpiece A3 of crawl on the fixture D8 on Y-axis slide D5 by material, by being transferred to another two shaft mechanicals arm C, then It is transferred in another numerically controlled processing equipment by two shaft mechanicals arm C and processes other structure, its clever structure, operational efficiency High, high precision.

Two feeding tong C18 are set on one feeding plate C17, are to complete feeding on numerical control machine tool for convenience And blowing, effectively improve processing efficiency.

As the more specific embodiment of the present embodiment：

Coupling assembly B7 includes that connecting plate B701 and connecting pole B702, connecting pole B701 are vertically mounted on connecting plate B702 tops Face, and connecting pole B702 one end through connecting plate B701 bottom surface and extend into the sleeve B501 on driving chain B5, make Connecting plate B701 follows driving chain B5 to move；

Storage rack B3 includes three regulating block B301, three regulation limited post B302, adjustable plate B303 and lifting slide plate Circumferentially direction is arranged on the top surface of connecting plate B701 for B304, three regulating block B301, and each regulating block B301 is by regulation Rotating shaft B305 is rotatably assorted with connecting plate B701, and a regulation limited post B302, three are vertically and fixedly provided with each regulating block B301 The storing space B 306 for being suitable to workpiece A3 stackings is constituted between individual regulation limited post B302, three arcs are offered on adjustable plate B303 Shape adjusts groove B303-1, and adjustable plate B303 adjusts groove B303-1 through three regulation limited post B302 by upper three arcs It is supported on three regulating block B301, three regulation chute B304-1 is offered on lifting slide plate B304, lifting slide plate B304 leads to Three regulation chute B304-1 are crossed to be supported on adjustable plate B303 through three arc regulation limited post B302, and lifting slide plate Four diagonal positions of B304 offer four lifting location hole B304-2 coordinated with hoisting frame B8, and multiple workpiece A3 are layered in On lifting slide plate B304 in storing space B 306, hoisting frame B8 is driven by lifting assembly B9, hoisting frame B8 is passed through work Platform B2 is lifted up slide plate B304 is lifted, and is lifted up workpiece A3.

Wherein, three regulating block B301 have gone out to play to pave outside adjustable plate B303, can also be turned by adjusting rotating shaft B305 It is dynamic, the change in displacement of regulation limited post B302 is realized, so that realize adjusting the purpose of the horizontal space size of storing space B 306, and Adjustable plate plate B303 adjusts the change in displacement that groove B303-1 coordinates regulation limited post B302 by three arcs, lifts slide plate B304 coordinates the change in displacement of regulation limited post B302 by three regulation chute B304-1, when hoisting frame B8 is lifted, you can Slide plate B304 liftings will be lifted, the workpiece A3 on lifting slide plate B304 can be lifted, and its is simple and reasonable for structure, is adapted to Various sizes of workpiece A3, and during lifting, workpiece A3 is limited at the storing space in three regulation limited post B302 all the time In B306, guiding, position-limiting action are played, and hoisting frame B8 and four lifting location hole B304-2 coordinate, and make lifting slide plate B304 Firm position, stabilization in lifting process.

Newel B307 is connected with connecting plate B701 in the storing space B 306, is offered on workpiece A3 and center The central through hole A301 that post B307 coordinates；The effect of vertically disposed newel B307 is to facilitate the central through hole on workpiece A3 A301 is fitted through, and further functions as guide effect, and the workpiece A3 for being adapted to possess central through hole A301 is used, and effectively improves workpiece Center correcting rate when A3 is lifted.

In feed bin seat B1 below lifting assembly B9 drive sprocket B4 installed therein, including lifting driver B901, Lifting chain B902, three lifting sprocket wheel B903, lifting substrate B904 and four lift columns B905, lifting substrate B904 and Four lift columns B905 constitute hoisting frame B8, and installing plate B906 is vertically and fixedly provided with feed bin seat B1, and installing plate B906 sides are consolidated Surely there is lifting driver B901, installing plate B906 opposite sides lift chain by being separately installed with three lifting sprocket wheel B903 under upper Bar B902 is connected with three lifting sprocket wheel B903 respectively, and lifting substrate B904 is vertically installed with the chain for extending top surface and bottom surface One end of connector B907, lifting chain B902 are connected with chain connector B907 through one end of lifting substrate B904 top surfaces, The other end of lifting chain B902 is connected with chain connector B907 through one end of lifting substrate B904 bottom surfaces, lifts driver B901 drives with one of lifting sprocket wheel B903 and couples, and four lift columns B905 are vertically fixed on the four of lifting substrate B904 On individual diagonal position, each lift columns B905 correspondences coordinate location hole B304-2 to be vertical concentric with the lifting of vertical direction, And the top of each lift columns B905 coordinates location hole B304-2 that support cooperation is constituted when contacting with corresponding lifting；Lifting , as driving structure and for hoisting frame B8 provides power, principle is simple, will not be described in detail herein, and its is rational in infrastructure for component B9, and four Individual lift columns B905 coordinates location hole B304-2 vertically corresponding with four above-mentioned liftings, lift columns B905 is increased Afterwards, just coordinate location hole B304-2 to coordinate with four liftings, slide plate B304 stably liftings, its clever structure, four will be lifted Dot point effectively improves stability.

The top surface of the lifting substrate B904 is provided with upper limit position block B908, on the feed bin seat B1 below lifting substrate B904 Lower position block B909 is installed；Play position-limiting action, it is to avoid failure and be subject to it is larger impact, the material of upper and lower limited block is adopted With rubber or other soft materials, cushioning effect is played.

Offered on workbench B2 and be suitable to the guide through hole B201 that four lift columns B905 are passed through；Four guide through hole B201 is suitable to four lift columns B905 and passes through, and each guide through hole B201 can set pilot sleeve and match somebody with somebody with lift columns B905 Close, belong to the structure being correspondingly arranged.

Direction is provided with multigroup pulley by the contour loop of driving chain B5 on workbench B2 below connecting plate B701 B10, every group of pulley B10 is arranged on workbench B2 by slide B11, and bottom surface and the pulley B10 of connecting plate B701 are slidably matched； The effect of pulley B10 is to make connecting plate B701 during following driving chain B3 to move, and moves more smooth, friction noise It is lower, the effect of support is also acted as, reduce the stress of connecting pole B702；Every group of quantity of pulley B10 does not limit two, Ke Yiwei Multiple, and the shape of slide B11, ornaments direction are not also limited, and are set according to the quantity of B10,

The bottom of the Z axis support arm C13 is connected with feeding pedestal C20, and feeding pedestal C20 is turned under being connected to feeding pedestal and prolongs Plate C21 is stretched, branch sleeve C22 is installed on feeding pedestal extension board C21, feeding plate C17 is set in company by rotational sleeve C23 On female connector cylinder C22；Rotational sleeve C23 is arranged in branch sleeve C22, feeding plate C17 is possessed rotating function, is coordinating feeding The driving of tumble cylinder C19, can quickly realize upset feeding, the blowing of feeding plate C17.

The side of feeding plate C17 is fixed with cylinder connector C24, and the expansion link of feeding tumble cylinder C19 is connected with cylinder Head C24 rotates connection；Structure connection is simple, installs quick.

The side vertical type of Z axis fixed seat C9 is provided with two Z axis sliding block C10；Two Z axis sliding block C10 make structure more steady It is fixed.

Z axis fixed seat C9 both sides are provided with the two Z axis fixed supported slab C901 extended on the outside of X-axis support arm C2, Z axis support arm C13 It is vertically set between two Z axis fixed supported slab C901, Z axis sliding block C10 and Z axis servomotor C11 is separately fixed at two Z axis and fixes On support plate C901；Space layout is reasonable, compact, and two Z axis sliding block C10 are set to fix, and Z axis guide rail C14 makees lifting carriage, so that Realize feeding plate C17 along Z axis oscilaltion.

Pedestal C1 tops are provided with support base C25, and X-axis support arm C2 horizontal bases are located at support base C25 top surfaces；Support base C25 Possess extension, can more support X-axis support arm X2, make structure stress more reasonable, X-axis slide C6 is slided and more stablized, sliding Dynamic precision is guaranteed.

Rotary cylinder D9 is installed, the top of rotary cylinder D9 rotates drive and is connected to fixture D8, fixture on the Y-axis slide D5 D8 includes two activity jig arm D801, and clip slot D802 is constituted between two activity jig arm D801；The effect of rotary cylinder D9 is by The angle specified by the workpiece A3 rotations after processing in a numerically controlled processing equipment, then transfers to another digital control processing and sets Standby middle processing another side.

The fixture D8 can be controlled by independent cylinder to two activity jig arm D801, make clip slot D802 to workpiece A3 is clamped.

Particular embodiments described above, only the utility model preferred embodiment, such as according to the utility model The equivalent arrangements that claim is done, should be technology of the present utility model and are covered.

Claims (10)

1. a kind of self-feeding for possessing upender and reclaimer device, including rotary feed bin（B）With two two axis robots Arm（C）, two two shaft mechanical arms（C）Between connection have u-turn transfer device（D）, it is characterized in that；

Rotary feed bin（B）Including feed bin seat（B1）, feed bin seat（B1）Top is provided with workbench（B2）, workbench（B2）Upper installation There are multiple storage racks（B3）, each storage rack（B3）On be laminated with multiple workpiece（A3）, it is characterized in that, workbench（B2）Both sides Two drive sprockets（B4）, two drive sprockets（B4）By driving chain（B5）Connection a, wherein drive sprocket（B4）By transmission Sprocket motors（B6）Drive；

Multiple storage racks are along driving chain（B3）The arrangement of contour extension direction, and each storage rack（B3）By coupling assembly （B7）With driving chain（B5）Connection coordinates, and makes each storage rack（B3）Follow driving chain（B5）Transmission realize movement；

Feed bin seat（B1）Hoisting frame is inside installed（B8）, hoisting frame（B8）By lifting assembly（B9）Drive, make hoisting frame（B8） Through workbench（B2）By workpiece（A3）It is lifted up；

Each two shaft mechanical arm（C）Including pedestal（C1）, the pedestal（C1）Top is fixed with the X-axis branch for extending in X direction Arm（C2）, X-axis support arm（C2）Top surface both sides are extended along its length two X-axis guide rails（C3）, two X-axis guide rails（C3）Between It is fixed with X-axis tooth bar（C4）, two X-axis guide rails（C3）It is upper to pass through X-axis slide block（C5）Seat is provided with X-axis slide（C6）, X-axis slide（C6） On be vertically and fixedly provided with X-axis servomotor（C7）, X-axis servomotor（C7）Output shaft pass through X-axis slide（C6）And be connected with and X Axle tooth bar（C4）The X-axis drive gear of engagement（C8）；

X-axis slide（C6）On be fixed with Z axis fixed seat（C9）, Z axis fixed seat（C9）Side Z axis sliding block is installed（C10）, Z Axle fixed seat（C9）Opposite side be horizontally installed with Z axis servomotor（C11）, Z axis servomotor（C11）Output shaft be connected with （Z）Axle drive gear（C12）, Z axis sliding block（C10）With Z axis drive gear（C12）Between X-axis support arm（C2）Outside vertical sets It is equipped with Z axis support arm（C13）, both sides edge extends vertically direction and is provided with Z axis guide rail（C14）With Z axis tooth bar（C15）, Z axis guide rail （C14）With Z axis sliding block（C10）It is slidably matched, Z axis tooth bar（C15）With Z axis drive gear（C12）Engagement；

Z axis support arm（C13）Bottom be rotatably connected to feeding plate（C17）, feeding plate（C17）It is set side by side with two feeding tongs （C18）, Z axis support arm（C13）On be fixed with feeding tumble cylinder（C19）, feeding tumble cylinder（C19）Expansion link and feeding plate （C17）Side connection；

U-turn transfer device（D）Including the Y-axis support arm extended along Y direction（D1）, Y-axis support arm（D1）Two ends and two two axles Two pedestals on mechanical arm C（D1）Connection, Y-axis support arm（D1）Top surface along Y direction be extended have Y-axis guide rail（D2）With Y-axis tooth bar（D3）, Y-axis guide rail（D2）It is upper to pass through Y-axis sliding block（D4）It is connected with Y-axis slide（D5）, Y-axis slide（D5）Upper vertical peace Equipped with Y-axis servomotor（D6）, Y-axis servomotor（D6）Output shaft pass through Y-axis slide（D5）And be connected with and Y-axis tooth bar （D3）The Y-axis drive gear of engagement（D7）, and Y-axis slide（D5）On fixture is installed（D8）.

2. self-feeding and the reclaimer device of upender are possessed according to claim 1, it is characterized in that, coupling assembly（B7） Including connecting plate（B701）And connecting pole（B702）, connecting pole（B701）It is vertically mounted on connecting plate（B702）Top surface, and connection Post（B702）One end pass through connecting plate（B701）Bottom surface and extend into driving chain（B5）On sleeve（B501）It is interior, make company Fishplate bar（B701）Follow driving chain（B5）It is mobile；

Storage rack（B3）Including three regulating blocks（B301）, three regulation limited posts（B302）, adjustable plate（B303）And lifting Slide plate（B304）, three regulating blocks（B301）Circumferentially direction is arranged on connecting plate（B701）Top surface, and each regulating block （B301）By adjusting rotating shaft（B305）With connecting plate（B701）It is rotatably assorted, each regulating block（B301）On be vertically and fixedly provided with one Individual regulation limited post（B302）, three regulation limited posts（B302）Between constitute be suitable to workpiece（A3）The storing space of stacking （B306）, adjustable plate（B303）On offer three arcs regulation grooves（B303-1）, adjustable plate（B303）By upper three arcs Shape adjusts groove（B303-1）Through three regulation limited posts（B302）It is supported on three regulating blocks（B301）On, lift slide plate （B304）On offer three regulation chutes（B304-1）, lift slide plate（B304）By three regulation chutes（B304-1）Pass through Three arcs adjust limited post（B302）It is supported on adjustable plate（B303）On, and lifting slide plate（B304）Four diagonal positions open It is provided with four and hoisting frame（B8）The lifting location hole of cooperation（B304-2）, multiple workpiece（A3）It is layered in storing space（B306） Interior lifting slide plate（B304）On, hoisting frame（B8）By lifting assembly（B9）Drive, make hoisting frame（B8）Through workbench （B2）Slide plate will be lifted（B304）It is lifted up, makes workpiece（A3）It is lifted up.

3. self-feeding and the reclaimer device of upender are possessed according to claim 2, it is characterized in that, the storing space （B306）Interior connecting plate（B701）On be connected with newel（B307）, workpiece（A3）On offer and newel（B307）Coordinate Central through hole（A301）.

4. self-feeding and the reclaimer device of upender are possessed according to claim 2, it is characterized in that, lifting assembly（B9） A drive sprocket installed therein（B4）The feed bin seat of lower section（B1）It is interior, including lifting driver（B901）, lifting chain （B902）, three lifting sprocket wheels（B903）, lifting substrate（B904）And four lift columns（B905）, lift substrate（B904） With four lift columns（B905）Composition hoisting frame（B8）, feed bin seat（B1）Inside it is vertically and fixedly provided with installing plate（B906）, installing plate （B906）Side is fixed with lifting driver（B901）, installing plate（B906）Opposite side is separately installed with three liftings by under upper Sprocket wheel（B903）, lifting chain（B902）Respectively with three lifting sprocket wheels（B903）Connection, lifts substrate（B904）It is vertically arranged There is the chain connector for extending top surface and bottom surface（B907）, lifting chain（B902）One end and chain connector（B907）Wear Cross lifting substrate（B904）One end connection of top surface, lifting chain（B902）The other end and chain connector（B907）Through carrying Rise substrate（B904）One end connection of bottom surface, lifts driver（B901）With one of lifting sprocket wheel（B903）Drive connection, Four lift columns（B905）It is vertically fixed on lifting substrate（B904）Four diagonal positions on, each lift columns（B905） Correspondence coordinates location hole with the lifting of vertical direction（B304-2）It is vertical concentric, and each lift columns（B905）Top with Corresponding lifting coordinates location hole（B304-2）Support is constituted in contact to coordinate.

5. self-feeding and the reclaimer device of upender are possessed according to claim 4, it is characterized in that, the lifting substrate （B904）Top surface upper limit position block is installed（B908）, lift substrate（B904）The feed bin seat of lower section（B1）On lower limit is installed Block（B909）.

6. self-feeding and the reclaimer device of upender are possessed according to claim 4, it is characterized in that, workbench（B2）On Offer and be suitable to four lift columns（B905）The guide through hole for passing through（B201）.

7. self-feeding and the reclaimer device of upender are possessed according to claim 2, it is characterized in that, connecting plate（B701） The workbench of lower section（B2）It is upper to press driving chain（B5）Contour loop direction is provided with multigroup pulley（B10）, every group of pulley （B10）By slide（B11）Installed in workbench（B2）On, connecting plate（B701）Bottom surface and pulley（B10）It is slidably matched；

The Z axis support arm（C13）Bottom be connected with feeding pedestal（C20）, feeding pedestal（C20）It is turned under being connected to feeding pedestal Extension board（C21）, feeding pedestal extension board（C21）On branch sleeve is installed（C22）, feeding plate（C17）By rotational sleeve （C23）It is set in branch sleeve（C22）On.

8. self-feeding and the reclaimer device of upender are possessed according to claim 1, it is characterized in that, feeding plate（C17） Side be fixed with cylinder connector（C24）, feeding tumble cylinder（C19）Expansion link and cylinder connector（C24）The company of rotation Connect；

Z axis fixed seat（C9）Side vertical type two Z axis sliding blocks are installed（C10）；

Z axis fixed seat（C9）Both sides are provided with extends X-axis support arm（C2）The two Z axis fixed supported slabs in outside（C901）, Z axis support arm （C13）It is vertically set on two Z axis fixed supported slabs（C901）Between, Z axis sliding block（C10）With Z axis servomotor（C11）Fix respectively In two Z axis fixed supported slabs（C901）On.

9. self-feeding and the reclaimer device of upender are possessed according to claim 1, it is characterized in that, pedestal（C1）Top Support base is installed（C25）, X-axis support arm（C2）Horizontal base is located at support base（C25）Top surface.

10. self-feeding and the reclaimer device of upender are possessed according to claim 1, it is characterized in that, the Y-axis slide （D5）On rotary cylinder is installed（D9）, rotary cylinder（D9）Top rotate drive be connected to fixture（D8）, fixture（D8）Including two Activity jig arm（D801）, two activity jig arm（D801）Between constitute clip slot（D802）.