CN209411231U - A kind of feeding device and work piece carrying mechanism - Google Patents
A kind of feeding device and work piece carrying mechanism Download PDFInfo
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- CN209411231U CN209411231U CN201821752363.0U CN201821752363U CN209411231U CN 209411231 U CN209411231 U CN 209411231U CN 201821752363 U CN201821752363 U CN 201821752363U CN 209411231 U CN209411231 U CN 209411231U
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Abstract
The utility model provides a kind of feeding device, including rack, rotating mechanism, gripping body, testing agency and control mechanism, gripping body are installed in rack by rotating mechanism, and gripping body is connected to the output end of rotating mechanism；Testing agency includes differential seat angle detection unit and alternate position spike detection unit, alternate position spike detection unit can be in workpiece assembling process, the position of adjustment gripping body in time, workpiece is transported and is installed to actual pre-installed position, and differential seat angle detection unit then can be by workpiece from upper discharge position to the angle difference pre-installed position, it avoids the fixing body of workpiece and pre-installed position to interfere to accurate setting angle leading to the damage of workpiece to adjust workpiece.The requirement in Automated assembly generating process to installation accuracy is met, the protection to workpiece itself is realized.The utility model also provides a kind of work piece carrying mechanism, including feeding device and mobile device, can be modified during carrying workpiece to the position of workpiece and angle.
Description
Technical field
The utility model relates to automatic assembly technique fields, and in particular to a kind of feeding device and work piece carrying mechanism.
Background technique
Automatic technology is widely used in industry, agricultural, military affairs, scientific research, communications and transportation, business, medical treatment, service and family
Front yard etc..It not only can be people from heavy manual labor, part mental labour and severe, dangerous using automatic technology
Working environment in free, and the organ dysfunction of people can be extended, greatly improve labor productivity, enhance human knowledge
The ability in the world and reforming world.
It in electronic equipment assembler skill, is frequently necessary on some station to workpiece holding, and carries out multiple directions
Mobile, rotation, changes its position.It realizes workpiece and assembles the cooperation between carrier.These movements need manipulator etc. to automate
Process equipment is completed.It is existing it is a kind of fastening, rotating integratedization feeding structure, including clamp block, clamping pull rod, upper bearing (metal), in
Empty rotary shaft, synchronizing wheel, lower bearing, adjustment block, idler wheel, spiral arm and bracket, the fastening, rotating integratedization feeding structure, have
It is reasonable in design, work efficiency is high, can be achieved clamp, rotate, detecting integrated feeding function, effectively saved into production
And processing cost, while the yield rate of product is also improved, there is great economic value.
But above-mentioned material fetching mechanism can not judge the position of workpiece in reclaiming process again, carry executing clamping
During can only complete each movement by step according to preset program, the offset of installation site cannot effectively be known
Not, therefore, which not can guarantee the validity of feeding target in automated production.
Utility model content
Therefore, the technical problem to be solved by the present invention is to overcome in reclaiming process in the prior art not identifying
The defect of workpiece installation site, to provide a kind of feeding device and work piece carrying mechanism that can have automatic identification function.
The utility model provides a kind of feeding device comprising rack, rotating mechanism and gripping body,
The gripping body is installed in the rack by the rotating mechanism, and the gripping body is connected to the rotation
The output end of rotation mechanism；
It further include testing agency and control mechanism, the control mechanism and the rotating mechanism, gripping body and described
Testing agency's electrical connection, the testing agency include differential seat angle detection unit and alternate position spike detection unit, the differential seat angle detection
Unit is for detecting and obtaining workpiece and the angular deviation of predetermined angle in the horizontal plane, and the alternate position spike detection unit is for examining
It surveys and obtains pre-installed position and the positional shift of original target position in the horizontal plane；
The control mechanism controls the rotating mechanism according to the angular deviation that the testing agency detects and moves,
And the gripping body is controlled according to the positional shift that the testing agency detects and is moved, simultaneously by workpiece adjustment
It is transplanted on pre-installed position.
The alternate position spike detection unit is upper camera, is fixedly connected in the rack, and camera shooting is arranged upside down, is used
In detecting and obtain the positional shift between the pre-installed position being disposed below and original target position.
The differential seat angle detection unit is lower camera, and the lower camera is fixed on the worktable, and camera shooting is head-up
Setting, for detecting and obtaining the angular deviation of the workpiece and predetermined angle on the gripping body.
The gripping body further includes several lifting units and the catching unit on the lifting unit, the liter
Dropping unit drives catching unit connected to it to execute elevating movement, and the lifting unit is connected to the output of the rotary unit
End.
The catching unit further includes clamping cylinder, and the clamping cylinder is connected on the elevating mechanism for driving folder
Pawl movement, at least one of each pair of described clamping jaw are floating holding jaw.
The floating holding jaw is connect by floating slider with clamping cylinder, and the floating slider includes sequentially connected first
Rocker piece and the second rocker piece, the setting wherein the first rocker piece and second rocker piece are mutually interlocked, and the first rocker piece and
Elastic component is connected between second rocker piece.
Buffer unit is additionally provided between the lifting unit and the catching unit, the catching unit passes through the buffering
Device is connected on the crane of the lifting unit, so that the catching unit can the relatively described crane up and down motion.
The buffer unit includes,
Fixed plate is fixedly connected with the crane；
Connecting plate, is located at below the fixed plate, and the catching unit is connected on the connecting plate；
The connecting plate is arranged in parallel with the fixed plate, is connected between the two by damper piston, the connecting plate can
The relatively described fixed plate moves up and down.
The damper piston outer cover is equipped with spring, and the both ends of the spring are connected with the connecting plate and the fixed plate
It connects.
The utility model also provides a kind of work piece carrying mechanism, comprising:
Including feeding device above-mentioned,
And the mobile device of setting on the table, the mobile device are pre- including driving the feeding device to be moved to
The horizontal shift structure of installation site, the horizontal shift structure include setting Y-axis straight line mould group on the workbench and
The X-axis straight line mould group being slidably connected with it.
The mobile device further includes vertical moving structure, including the Z axis liter being slidably connected in the X-axis straight line mould group
Falling unit, the feeding device are fixedly connected on the Z axis lifting device by rack；The horizontal shift structure is according to institute
State the testing result adjustment movement routine of alternate position spike detection unit.
Technical solutions of the utility model have the advantages that
1. feeding device provided by the utility model, including rack, rotating mechanism, gripping body, testing agency and control
Mechanism, gripping body are installed in rack by rotating mechanism, and gripping body is connected to the output end of rotating mechanism；Testing agency
Including differential seat angle detection unit and alternate position spike detection unit, differential seat angle detection unit is for detecting and obtaining workpiece and predetermined angle
Angular deviation in the horizontal plane, alternate position spike detection unit is for detecting and obtaining pre-installed position and original target position in water
Positional shift in plane；The differential seat angle control rotating mechanism movement that control mechanism is detected according to testing agency, and according to inspection
The positional shift control gripping body movement that mechanism detects is surveyed, workpiece is adjusted and is transplanted on pre-installed position.By setting
Seated position difference detection unit can adjust in time the position of gripping body, workpiece is transported and installed in workpiece assembling process
Extremely actual pre-installed position, and differential seat angle detection unit then can be by workpiece from upper discharge position to the angle pre-installed position
Difference avoids the fixing body of workpiece and pre-installed position from interfering causing to accurate setting angle to adjust workpiece
The damage of workpiece.The requirement in Automated assembly generating process to installation accuracy is met, and is met to workpiece itself
Protection.
2. feeding device provided by the utility model, alternate position spike detection unit is upper camera, is fixedly connected on rack
On, camera shooting is arranged upside down, by the way that upper camera to be fixed on the rack, enables camera with rotating mechanism, folder
Mechanism is held to move together, so as in advance below pre-installed position and original target position between positional shift, and then give
Control mechanism can adjust gripping body position according to detection information, realize the accurate installation of workpiece.
3. feeding device provided by the utility model, differential seat angle detection unit is lower camera, and lower camera is fixed on work
Make on platform, camera shooting is head-up arranged, for detecting and obtaining the angular deviation of workpiece and predetermined angle on gripping body.Pass through
Fixed lower camera on the table can detect the angular deviation of workpiece during transporting workpiece from the bottom up,
So that rotating device can be adjusted according to the angular deviation of acquisition, eliminates workpiece feeding and clamp the mistake that process generates
Difference realizes the accurate installation of workpiece.
4. feeding device provided by the utility model, gripping body further includes several lifting units and is set to lifting unit
On catching unit, lifting unit drives catching unit connected to it to execute elevating movement, and it is single that lifting unit is connected to rotation
The output end of member.Each catching unit is respectively arranged on lifting unit, the independent-lifting clamping of catching unit is realized, realizes
Independent assembly between each workpiece, in order to abandoning underproof workpiece.
5. feeding device provided by the utility model, catching unit further includes clamping cylinder, and clamping cylinder is connected to lifting
For driving jaw action in mechanism, at least one of each pair of clamping jaw is floating holding jaw.Floating holding jaw includes sequentially connected
First rocker piece and the second rocker piece, the setting wherein the first rocker piece and the second rocker piece are mutually interlocked, and the first rocker piece with
Elastic component is connected between second rocker piece.The first rocker piece and the second rocker piece mutually fastened is respectively in clamping cylinder and work
It is separated from each other under the reaction force of part, so that floating holding jaw is elongated, gives the first rocker piece and driving mechanism continuation activity
Space, prevent workpiece to be damaged.The elastic component being arranged between the first rocker piece and the second rocker piece, which is applied with, makes first to float
Motion block and the mutually close power of the second rocker piece ensure that so that the first rocker piece and the second rocker piece are in an entirety always
The clamping force of clamping cylinder can be transmitted on workpiece.
6. feeding device provided by the utility model is additionally provided with buffer unit between lifting unit and gripping body, clamping
Mechanism is connected on crane by buffer unit, so that gripping body can the up and down motion of OQ t frame.By single in lifting
Buffer unit is set between member and catching unit, when pulling up or placing workpiece of catching unit can be driven in lifting unit, stayed
Certain buffer distance out avoids clamping jaw from injuring the hardness of workpiece.
7. work piece carrying mechanism provided by the utility model, the mobile dress including feeding device and setting on the table
It sets, mobile device includes horizontal shift structure, and horizontal shift structure can be according to alternate position spike in the testing agency in feeding device
The testing result of detection unit adjusts movement routine, realizes the accurate installation to workpiece, the injury generated to workpiece avoided.
Detailed description of the invention
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of the work piece carrying mechanism in embodiment 1.
Fig. 2 is the stereoscopic schematic diagram of feeding device in embodiment 1；
Fig. 3 is the structural schematic diagram of gripping body in embodiment 1；
Fig. 4 is the structural schematic diagram of the catching unit and lifting unit in embodiment 1；
Fig. 5 is the structural schematic diagram of floating holding jaw in embodiment 1.
Description of symbols:
1- rack；2- gripping body；3- rotating mechanism；4- testing agency；5- mobile device；6- workbench；
21- catching unit；22- lifting unit；23- buffer unit；
31- rotating electric machine；32- output end；33- swivel mount；The upper camera of 41-；Camera under 42-；
51-Y axis straight line mould group；52-X axis straight line mould group；53-Z axis lifting device；
211- clamping cylinder；212- clamping jaw；213- floating slider；221- lifting cylinder；222- crane；
231- fixed plate；232- connecting plate；233- damper piston；234- spring；
The first rocker piece of 2131-；The second rocker piece of 2132-；2133- elastic component.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical
Novel protected range.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
In addition, as long as technical characteristic involved in the utility model different embodiments disclosed below is each other
Not constituting conflict can be combined with each other.
Embodiment 1
The present embodiment provides a kind of work piece carrying mechanism, structure is as shown in Figure 1, include a kind of feeding device, Yi Jishe
Set the mobile device 5 on workbench 6.The movement in the horizontal plane of feeding device by mobile device 5 horizontal shift structure
It is driven, horizontal shift structure includes the X-axis straight line that the Y-axis straight line mould being arranged on workbench 6 group 51 and is slidably connected with it
Mould group 52.Y-axis straight line mould group 51 and X-axis straight line mould group 52 include servo motor, straight line screw rod and closed slide, servo motor
It is electrically connected with control mechanism, the positional shift that control mechanism is detected according to alternate position spike detection unit respectively issues servo motor
Adjustment instruction enables horizontal shift structure that feeding device is moved to pre-installed position, completes the accurate placement of workpiece.
As shown in Figure 1, the mobile device 5 in the present embodiment further includes vertical moving structure, including to be slidably connected to X-axis straight
Z axis lifting device 53 in line mould group 52, feeding device are fixedly connected on Z axis lifting device 53 by rack 1；Level is moved
Dynamic structure adjusts movement routine according to the testing result of alternate position spike detection unit.Z axis lifting device 53 is vertically arranged straight line
Lead screw and guide rail move under the driving of servo motor.
A kind of feeding device provided in this embodiment is placed into suitable for clamping the workpiece in upper material position, and by workpiece transport
On installation position.Its structure is as shown in Figure 2 comprising rack 1, rotating mechanism 3, gripping body 2, testing agency 4 and control machine
Structure.Control mechanism is electrically connected with rotating mechanism 3, gripping body 2 and testing agency 4, according to the testing result tune of testing agency 4
The motion state of whole rotating mechanism 3 and gripping body 2.
As shown in Figures 2 and 3, the gripping body 2 in the present embodiment is installed in rack 1 by rotating mechanism 3, is clamped
Mechanism 2 is connected to the output end 32 of rotating mechanism 3；Testing agency 4 includes differential seat angle detection unit and alternate position spike detection unit, angle
It spends poor detection unit and is used for detecting and obtaining workpiece and the angular deviation of predetermined angle in the horizontal plane, alternate position spike detection unit
In detecting and obtain pre-installed position and the positional shift of original target position in the horizontal plane；Control mechanism is according to testing agency
The 4 differential seat angle control rotating mechanisms 3 detected move, and control gripping body 2 according to the positional shift that testing agency 4 detects
Movement, workpiece is adjusted and is transplanted on pre-installed position.It is enough in workpiece assembling process by setting alternate position spike detection unit,
The position of adjustment gripping body 2 in time, workpiece is transported and is installed to actual pre-installed position, and differential seat angle detection unit is then
Can by workpiece from upper discharge position to the angle difference pre-installed position, to adjust workpiece to accurate setting angle,
The carrier body of workpiece and pre-installed position is avoided to interfere the damage for leading to workpiece.It meets in Automated assembly generating process
Requirement to installation accuracy, and the protection to workpiece itself.
As shown in Fig. 2, the alternate position spike detection unit in the present embodiment is upper camera 41, it is fixedly connected in rack 1,
Camera is vertically oriented to lower section setting, due to the position between the detection pre-installed position being disposed below and original target position
Offset.By the way that upper camera 41 to be fixed in rack 1, enable camera 41 with rotating mechanism 3, clamping device one
With movement, so as to the positional shift in advance between the pre-installed position and original target position of its detection lower section, and then machine is controlled
Structure can adjust 2 position of gripping body according to detection information, realize the accurate installation of workpiece.
Specifically, the feeding device in the present embodiment is before clamping workpiece, using upper camera 41 in upper material position
Workpiece carries out positioning of taking pictures one by one, to determine the stop place of gripping body 2 and the position of the clamping of clamping jaw 212.Equally, it places
Before workpiece, upper camera 41 needs the mark point on installation position to take pictures, and calculates mark point and original target position
Offset distance in X-direction and Y-direction in the horizontal plane, to determine the positional shift of pre-installed position and original target position, with
Just the motion path of gripping body 2 is corrected.
As shown in Figure 1, the differential seat angle detection unit in the present embodiment is lower camera 42, lower camera 42 is fixed on work
Make on platform 6, camera shooting is head-up arranged, for detecting and obtaining the angular deviation of workpiece and predetermined angle on gripping body 2.It is logical
That crosses fixation can detect the angle of workpiece during transporting workpiece in the lower camera 42 on workbench 6 from the bottom up
Deviation, so that rotating device can carry out that workpiece rotation certain angle is driven to reach preset angle according to the angular deviation of acquisition
Degree eliminates workpiece in the error generated by clamping and placement process, realizes the accurate installation of workpiece.
Upper camera and lower camera in the present embodiment are CCD camera.
As shown in figure 3, gripping body 2 in the present embodiment include gripping body 2 further include four lifting units 22 and
Four catching units 21 on lifting unit 22 are respectively connected with a catching unit 21 on each lifting unit 22, go up and down
Unit 22 drives catching unit 21 connected to it to execute elevating movement, and each lifting unit 22 is all connected to the defeated of rotary unit
Outlet 32.Since each catching unit 21 is respectively arranged on lifting unit 22, the independent-lifting clamping of catching unit 21 is realized,
Realize the independent assembly between each workpiece.
As shown in figure 4, rotating mechanism 3 includes in the present embodiment, and rotating electric machine 31, output end 32 and swivel mount 33, rotation
Frame 33 is fixedly connected with output end 32, and the lower section of swivel mount 33 is connected side by side there are four lifting unit 22, four lifting units 22
Between can be performed elevating movement independent of each other, but four lifting units 22 are rotated jointly by the driving of rotating mechanism 3, can be simultaneously
Clamp four workpiece.When workpiece passes through the top of lower camera 42, lower camera 42 acquires the mark point on workpiece, judges work
The real-time angular of part, and obtain the angular deviation between the actual angle of workpiece and predetermined angle, control mechanism controls electric rotating
Machine 31 rotates by a certain angle, and corrects the angle of workpiece.
As shown in figure 4, the lifting unit 22 in the present embodiment includes lifting cylinder 221 and crane 222, lifting cylinder
221 top is fixedly connected with swivel mount 33.Lifting cylinder 221 drives crane 222 to move up and down along the vertical direction.Clamping
Unit 21 includes clamping cylinder 211 and clamping jaw 212.Clamping cylinder 211 is connected on crane 222 by buffer unit 23.From
And the elevating movement that lifting unit 22 drives catching unit 21 is realized, catching unit 21, which can decline, to be clamped or is placed
The movement of workpiece.
Specifically, as shown in figure 5, the floating holding jaw 212 in the present embodiment in catching unit 21 is connected by floating slider 213
It connecing in clamping cylinder 211, floating slider 213 includes sequentially connected first rocker piece 2131 and the second rocker piece 2132,
In the first rocker piece 2131 and second rocker piece 2132 be mutually interlocked setting, and the first rocker piece 2131 and the second rocker piece
Elastic component 2133 is connected between 2132.The first rocker piece 2131 and the second rocker piece 2132 mutually fastened is respectively in clamping gas
Be separated from each other under the reaction force of cylinder 211 and workpiece so that floating holding jaw 212 is elongated, give the first rocker piece 2131 and
Clamping cylinder 211 continues movable space, and the deformation that clamping force is generated occurs on floating holding jaw 212, so as to prevent
Workpiece, which squeezes, to be destroyed.The elastic component 2133 being arranged between the first rocker piece 2131 and the second rocker piece 2132, which is applied with, makes
One rocker piece 2131 power mutually close with the second rocker piece 2132, so that the first rocker piece 2131 and the second rocker piece 2132 are always
It in an entirety, ensure that the clamping force of clamping cylinder 211 can be transmitted on workpiece, ensure that workpiece is accommodated in the process not
It can fall off.
Due to being interference fit between the charging tray of the workpiece and upper material position that are not clamped, workpiece is separated with charging tray to be needed
To apply certain upward power to workpiece can extract workpiece.On the other hand, workpiece is placed into the carrier body of installation position
When, catching unit 21 carries specific " loaded " position and carrier during workpiece is placed in decline, when workpiece has completely arrived at
Body bottom contacts and is unable to further movement, but lifting unit 22 still drives catching unit 21 further to move downward, will not
It is evitable that lower pressure is generated to workpiece.At this point, being pulled out if being rigid connection between catching unit 21 and lifting unit 22 in rising
Workpiece or decline are placed in workpiece fabrication out, and pulling force or pressure will act directly on workpiece, and the deformation that stress generates can then be sent out
Life is on workpiece, and therefore there may be damages for workpiece.
For this purpose, being additionally provided with buffer unit 23 between the lifting unit 22 in the present embodiment and catching unit 21, clamping is single
Member 21 is connected on the crane 222 of lifting unit 22 by buffer unit 23, so that catching unit 21 can OQ t frame 222
It moves up and down.Deformation caused by the pulling force or pressure that generate to lifting unit 22 occurs mostly in buffer unit 23, drops
A possibility that low workpiece is damaged, realizes the protection to workpiece.
As shown in figure 4, the buffer unit 23 in the present embodiment includes, fixed plate 231, connecting plate 232, damper piston 233
With spring 234, fixed plate 231 is fixedly connected with crane 222；Connecting plate 232 is located at 231 lower section of fixed plate, catching unit 21
It is connected on connecting plate 232；Connecting plate 232 is arranged in parallel with fixed plate 231, is connected between the two by damper piston 233,
So that connecting plate 232 can the up and down motion of opposing fixed plate 231.233 outer cover of damper piston be equipped with spring 234, the two of spring 234
End is connected with connecting plate 232 and fixed plate 231.When the clamping of catching unit 21 is pulled up to workpiece, spring 234 is elongated,
Damper piston 233 also extends；When catching unit 21 places workpiece to carrier body, spring 234 and damper piston 233 are compressed,
So as to avoid the rigid connection between catching unit 21 and lifting unit 22 to the issuable damage of workpiece.
As interchangeable embodiment, catching unit 21 on swivel mount 33 and lifting unit 22 in the present embodiment
Quantity can for one two three or more, for quantity not restriction.
As interchangeable embodiment, lifting motor substitution is can be used in the lifting cylinder 221 in the present embodiment.
The course of work of work piece carrying mechanism in the present embodiment is as follows:
Original state material taking device is located above workpiece feeding disk, and horizontal shift structure drives feeding device in loading plate
Top is mobile, and upper camera 41 detects the location of workpiece in loading plate, determines the position of feeding device clamping；
Gripping body 2 carries out feeding according to testing result, and after clamping four workpiece, horizontally moving device 5 drives feeding
Downward 42 position of camera of device is mobile；
Lower camera 42 detects the workpiece above it, determines the deviation of workpiece and predetermined angle, will test knot
Fruit is sent to control mechanism, and control mechanism controls rotating mechanism 3 and carries out angle modification；After the completion of to be detected, horizontal shift structure
Drive feeding device mobile to the carrier body direction of installation position；
Feeding device reaches above carrier body, and upper camera 41 takes pictures to carrier body, determines pre-installed position and original
Set the goal the positional shift of position, sends a signal to control mechanism, control mechanism controlled level moving structure to movement routine into
Row amendment, until feeding device reaches pre-installed position；
Clamping jaw Unit 212 decline in gripping body 2, workpiece is placed into carrier body；
Feeding device returns to upper material position, repeats the above steps.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes among the protection scope created still in the utility model.
Claims (10)
1. a kind of feeding device, including rack (1), rotating mechanism (3) and gripping body (2),
The gripping body (2) is installed on the rack (1) by the rotating mechanism (3), gripping body (2) connection
Output end (32) in the rotating mechanism (3)；
It is characterized in that,
Further include testing agency (4) and control mechanism, the control mechanism and the rotating mechanism (3), gripping body (2) and
The testing agency (4) electrical connection, the testing agency (4) include differential seat angle detection unit and alternate position spike detection unit, described
Differential seat angle detection unit is for detecting and obtaining workpiece and the angular deviation of predetermined angle in the horizontal plane, the alternate position spike detection
Unit is for detecting and obtaining pre-installed position and the positional shift of original target position in the horizontal plane；
The control mechanism controls the rotating mechanism (3) according to the angular deviation that the testing agency (4) detects and transports
It is dynamic, and the gripping body (2) is controlled according to the positional shift that the testing agency (4) detects and is moved, it will be described
Workpiece adjusts and is transplanted on pre-installed position.
2. feeding device according to claim 1, which is characterized in that the alternate position spike detection unit is upper camera
(41), it is fixedly connected on the rack (1), camera shooting is arranged upside down, for detecting and obtaining the pre-installation being disposed below
Positional shift between position and original target position.
3. feeding device according to claim 2, which is characterized in that the differential seat angle detection unit is lower camera
(42), the lower camera (42) is fixed on workbench (6), and camera shooting is head-up arranged, for detecting and obtaining the folder
Take the angular deviation of the workpiece and predetermined angle on mechanism (2).
4. feeding device according to claim 3, which is characterized in that the gripping body (2) further includes that several liftings are single
First (22) and the catching unit (21) being set on the lifting unit (22), lifting unit (22) driving are connected to it
Catching unit (21) executes elevating movement, and the lifting unit (22) is connected to the output end (32) of rotary unit.
5. feeding device according to claim 4, which is characterized in that the catching unit (21) further includes clamping cylinder
(211), the clamping cylinder (211) is connected on elevating mechanism for driving clamping jaw (212) to move, each pair of clamping jaw
At least one of (212) it is floating holding jaw (212).
6. feeding device according to claim 5, which is characterized in that the floating holding jaw (212) by floating slider with
Clamping cylinder (211) connection, the floating slider includes sequentially connected first rocker piece (2131) and the second rocker piece
(2132), first rocker piece (2131) and second rocker piece (2132) mutual be interlocked setting, and the first rocker piece
(2131) it is connected between the second rocker piece (2132) elastic component (2133).
7. feeding device according to claim 6, which is characterized in that the lifting unit (22) and the catching unit
(21) it is additionally provided between buffer unit (23), the catching unit (21) is connected to the lifting by the buffer unit (23)
On the crane (222) of unit (22), so that the catching unit (21) can relatively described crane (222) up and down motion.
8. feeding device according to claim 7, which is characterized in that the buffer unit (23) includes,
Fixed plate (231) is fixedly connected with the crane (222)；
Connecting plate (232), is located at below the fixed plate (231), and the catching unit (21) is connected to the connecting plate (232)
On；
The connecting plate (232) is arranged in parallel with the fixed plate (231), is connected between the two by damper piston (233), institute
Stating connecting plate (232) can relatively described fixed plate (231) up and down motion；
Damper piston (233) outer cover is equipped with spring (234), the both ends and the connecting plate (232) of the spring (234)
It is connected with the fixed plate (231).
9. a kind of work piece carrying mechanism, characterized by comprising:
Feeding device, the feeding device are feeding device described in claim 1-8 any one；
And the mobile device (5) being arranged on workbench (6), the mobile device (5) include that the feeding device is driven to move
It moves to the horizontal shift structure of pre-installed position, the horizontal shift structure includes that Y-axis of the setting on the workbench (6) is straight
The X-axis straight line mould group (52) that line mould group (51) He Yuqi is slidably connected.
10. work piece carrying mechanism according to claim 9, which is characterized in that the mobile device (5) further includes moving vertically
Dynamic structure, including the Z axis lifting device (53) being slidably connected on the X-axis straight line mould group (52), the feeding device passes through
Rack (1) is fixedly connected on the Z axis lifting device (53)；The horizontal shift structure is according to the alternate position spike detection unit
Testing result adjust movement routine.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821752363.0U CN209411231U (en) | 2018-10-26 | 2018-10-26 | A kind of feeding device and work piece carrying mechanism |
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| CN201821752363.0U CN209411231U (en) | 2018-10-26 | 2018-10-26 | A kind of feeding device and work piece carrying mechanism |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109132525A (en) * | 2018-10-26 | 2019-01-04 | 苏州富强科技有限公司 | A kind of feeding device and work piece carrying mechanism |
| CN112620136A (en) * | 2020-12-18 | 2021-04-09 | 荣旗工业科技(苏州)股份有限公司 | LCR and 3D measurement positioning system based on machine vision guide |
| CN113955473A (en) * | 2021-10-29 | 2022-01-21 | 广东博智林机器人有限公司 | Feeding device |
| CN113978812A (en) * | 2020-12-29 | 2022-01-28 | 浙江德源智能科技股份有限公司 | Perception decision-making assembly of robot cooperative high-speed conveying device |
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2018
- 2018-10-26 CN CN201821752363.0U patent/CN209411231U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109132525A (en) * | 2018-10-26 | 2019-01-04 | 苏州富强科技有限公司 | A kind of feeding device and work piece carrying mechanism |
| CN109132525B (en) * | 2018-10-26 | 2023-12-26 | 苏州富强科技有限公司 | Material taking device and workpiece conveying mechanism |
| CN112620136A (en) * | 2020-12-18 | 2021-04-09 | 荣旗工业科技(苏州)股份有限公司 | LCR and 3D measurement positioning system based on machine vision guide |
| CN113978812A (en) * | 2020-12-29 | 2022-01-28 | 浙江德源智能科技股份有限公司 | Perception decision-making assembly of robot cooperative high-speed conveying device |
| CN113978812B (en) * | 2020-12-29 | 2022-04-12 | 浙江德源智能科技股份有限公司 | Perception decision-making assembly of robot cooperative high-speed conveying device |
| CN113955473A (en) * | 2021-10-29 | 2022-01-21 | 广东博智林机器人有限公司 | Feeding device |
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