CN209648440U - A kind of mating feeding machine of robot - Google Patents
A kind of mating feeding machine of robot Download PDFInfo
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- CN209648440U CN209648440U CN201920281397.4U CN201920281397U CN209648440U CN 209648440 U CN209648440 U CN 209648440U CN 201920281397 U CN201920281397 U CN 201920281397U CN 209648440 U CN209648440 U CN 209648440U
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- guide post
- rotary table
- multistation
- rack gear
- stock shelf
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Abstract
The utility model relates to Automatic-feeding equipment technical fields, specifically, it is related to a kind of mating feeding machine of robot, it include rotary table, multistation stock shelf, feeding rack and stepping lifting device, multistation stock shelf is fixedly mounted on the working end of rotary table, feeding rack is fixedly mounted on the periphery edge of multistation stock shelf, multiple feeding racks are around the distribution of the central angles such as the rotary shaft of multistation stock shelf, stepping lifting device is fixedly mounted on the lower section of rotary table, the operative orientation of stepping lifting device is vertically arranged, the table top that rotary table is run through in the working end of stepping lifting device straight up extends to the lower section of multistation stock shelf, feeding rack includes the first guide post, second guide post and third guide post, the feeding machine can batch feeding and Automatic-feeding, it is high-efficient, and the feeding machine is adapted to not The cylindrical material of same specification size, use scope are wide.
Description
Technical field
The utility model relates to Automatic-feeding equipment technical fields, and in particular, to a kind of mating feeding machine of robot.
Background technique
Robot is widely used in auto manufacturing to improve working efficiency, but picking up material is often robot oneself
It completes, the robot supply material of the prior art can only put the extremely limited material shelf of quantity using one to contain
It puts, and a sensor will be arranged in each position of this shelf, a station is specially set and is added materials for shelf, this
Sample increases sensor usage amount, also wastes a station, while the material that each shelf is held is very few, influences to produce
The raising of efficiency.
Robotization polishing system is used cooperatively using robot gribing part with belt sander at present, and robot is needed and beaten
Grinding machine precision-fit can guarantee processing quality.Currently, it is not equipped with automatic feeding system in certain mechanical arm polishing systems,
It is only on shelf that workpiece is put, to be taken and put back to by six degree of freedom industrial machinery arm, such mode is suitble to number of parts few,
The situation of part shape complexity.When part shape rule, when polishing task is again many and diverse, if not no automatic feeding system is auxiliary
It helps, the polishing speed of mechanical arm automation polishing system will be limited by feeding and the blanking of workpiece, and speed would become hard to improve.
Chinese patent CN207417852U discloses a kind of milling robot Automatic-feeding and feeding device, it is described be fed into
To mechanism by being fixed with E horizontal rectilinear motion unit main body and E horizontal rectilinear motion unit sliding block under the first L-shaped section and consolidating
The F horizontal rectilinear motion unit main body and F horizontal rectilinear motion unit sliding block that are scheduled under the second L-shaped section of the other side, feed beam,
Second servo motor, feeding plate and sheet folding mechanism composition, feed beam connect E horizontal rectilinear motion unit sliding block and F horizontal linear
Moving cell sliding block, the second servo motor of input axis connection of F horizontal rectilinear motion unit main body, F horizontal rectilinear motion unit
The output shaft of main body drives with the input shaft of E horizontal rectilinear motion unit main body by the way that shaft coupling connection realization is synchronous.
The Automatic-feeding and feeding device of the patent disclosure realize the purpose that batch automatically supplies and artificial batch loads,
It is high-efficient, but the device is only applicable to the batch feeding and feed of a kind of material, when the specification and size of material change
When, then need replacing material box, higher cost so that the application range of the device is more narrow, be not suitable for producing in enormous quantities and
Sale.
Utility model content
In view of the deficiencies of the prior art, the utility model provides a kind of mating feeding machine of robot, which can criticize
Feeding and Automatic-feeding are measured, it is high-efficient, and the feeding machine is adapted to the cylindrical material of different specification size, use scope
Extensively.
The mating feeding machine of a kind of robot disclosed by the utility model, includes rotary table, multistation stock shelf, sets
Material frame and stepping lifting device, multistation stock shelf are fixedly mounted on the working end of rotary table, and feeding rack is fixedly mounted on
The periphery edge of multistation stock shelf, multiple feeding racks are around the distribution of the central angles such as the rotary shaft of multistation stock shelf, stepping
Lifting device is fixedly mounted on the lower section of rotary table, and the operative orientation of stepping lifting device is vertically arranged, stepping lifting dress
The table top that rotary table is run through in the working end set straight up extends to the lower section of multistation stock shelf；
Feeding rack includes the first guide post, the second guide post and third guide post, the first guide post, the second guide post and
Third guide post is vertically arranged, and the first guide post and the second guide post are fixedly mounted on multistation stock shelf, third guiding
The top and bottom end of column are provided with rotating arm, and the middle-end of rotating arm is rotatably installed on multistation stock shelf, Mei Gexuan
The side of pivoted arm is provided with rack gear, and one end of rotating arm towards rack gear is provided with pawl, and the side of rack gear towards rotating arm is set
It is equipped with row's ratchet, pawl and ratchet engagement, pallet is horizontally disposed, pallet and the first guide post, the second guide post company of sliding
It connects, under off working state, pallet is placed on multistation stock shelf, and the first guide post, the second guide post and third are oriented to the band of column
It is distributed around central angles such as pallets.
Preferably, multistation stock shelf includes top rotary table, main shaft and lower rotary table, and top rotary table and lower rotary table are horizontal and same
Axis setting, main shaft are vertically arranged and are mounted on the axle center of top rotary table and lower rotary table, and top rotary table, main shaft and lower rotary table are fixed to be connected
It connects, the both ends of the first guide post and the second guide post are respectively and fixedly installed on top rotary table and lower rotary table, third guide post both ends
Rotating arm and rack gear be respectively rotatably mounted on the top surface of top rotary table and lower rotary table, pallet is placed in top rotary table and lower rotary table
Between, lower rotary table is fixedly connected with the working end of rotary table, be provided on lower rotary table with each pallet it is one-to-one under
It is open, is provided on top rotary table and is set in stepping act with the one-to-one upper opening of each under shed, the inner wall edge of under shed
On the outside of the fascia edge for rising device working end, the inner wall edge of under shed intersects with the fascia edge of pallet.
Preferably, the edge of under shed is provided with multiple lower mounting holes, is provided on top rotary table and each descends mounting hole one
One corresponding upper installing hole, upper installing hole and lower mounting hole are 3/4 circular hole, the both ends of the first guide post respectively with upper installing hole
It is fixedly connected with lower mounting hole, the both ends of the second guide post are fixedly connected with the upper installing hole of side, lower mounting hole respectively, rotation
Being used to install the mounting hole of third guide post on arm is also 3/4 circular hole.
Preferably, under shed is elliptical openings, and the long axis of under shed intersects with the axis of main shaft, and lower mounting hole one is shared
Six, wherein three lower mounting holes are equidistantly arranged along the edge of under shed, mounting hole and these three lower peaces under the other three
Long axis bilateral symmetry of the hole relative under shed is filled, lower mounting hole is entirely located in side of the short axle close to main shaft of under shed, the
One guide post and the second guide post are symmetrically installed relative to the long axis of under shed.
Preferably, the first mobile rebounding mechanism of the direction for being equipped with drive rack towards close rotating arm on rack gear, the
One rebounding mechanism includes cover board and torsional spring, and cover board is placed in the top of rack gear and is fixedly connected with multistation stock shelf, and torsional spring is set
It sets between cover board and rack gear, two working ends of torsional spring are fixedly connected with rack gear, cover board respectively.
Preferably, driving rotating arm second rebounding mechanism mobile away from the direction of rack gear is installed on rotating arm,
Second rebounding mechanism includes tension spring and the first pin, the second pin for being mounted on tension spring both ends, and the first pin is remote with rotating arm
One end from pawl is fixedly connected, and the second pin is fixedly connected with multistation stock shelf, and working condition tension spring, which is in, stretches shape
State.
Preferably, connecting rod is installed, connecting rod is vertically arranged and is fixedly connected with two rack gears symmetrical above and below on rack gear.
It preferably, further include having unlocking mechanism, the one end of rack gear outwardly is provided with the round bar extended straight down, Xie Suoji
Structure includes linear drive apparatus and connecting rod, and the middle-end of connecting rod is rotatably installed on rotary table, linear drive apparatus
Fixing end be hinged on rotary table, the working end of linear drive apparatus and one end of connecting rod are hinged, and connecting rod is far from straight line
One end of driving device is provided with the wedge-shaped jacking block towards the extension of the direction of round bar.
Preferably, rack gear further includes having arresting lever, and arresting lever is arranged in side of the rack gear towards rotating arm, arresting lever and more
Station stock shelf is fixedly connected, and under working condition, the side of rack gear is connected on arresting lever.
Preferably, unlocking mechanism further includes having limiting device, and limiting device includes that there are two range sensor, Distance-sensings
The working end of device is right against the side of connecting rod two end respectively, and limiting device and linear drive apparatus are electrically connected.
The utility model has the advantages that
Rotary table is the workbench for being equipped with electric precise turntable, and rotary table drives the rotation of multistation stock shelf
Turn, so that the feeding rack that placed material is moved to above the working end of stepping lifting device, pallet is located at stepping lifting at this time
The surface of device working end, stepping lifting device driving pallet step up it is mobile so that the material placed on pallet by
Edge up to feeding rack top and be crawled by robots, after the material in a feeding rack is all crawled by robots, step
Initial position is returned into lifting device, rotary table drives the rotation of multistation stock shelf so that next feeding rack is moved to step
Into above the working end of lifting device；
When feeding, staff manipulates linear drive apparatus work, linear drive apparatus work by switches such as foot pedals
Drive link is rotated around its middle-end so that being rotating for wedge-shaped jacking block is mobile towards round bar, the inclined-plane of wedge-shaped jacking block with
Round bar contact, round bar is along the inclined-plane sliding of wedge-shaped jacking block so that the direction away from wedge-shaped jacking block is moved, and then leads to tooth
Item is mobile away from the direction of rotating arm, so that pawl and ratchet release engagement；
The pulling force driving rotating arm that the internal stress of first pin generates rotates with the sun, so that rotating arm
Automatically it rotarily opens, the opening that can fill in material together is generated between third guide post and the second guide post, staff is
The cylindrical material stacked batch can be placed on pallet by the gap between the second guide post and third guide post；
Subsequent staff shuts rotating arm, so that the first guide post, the second guide post and third guide post are tight by material
It is clamped at centre, then manipulates linear drive apparatus reset, the screen resilience drive rack that the internal stress of torsional spring generates is towards rotating arm
Close, so that ratchet engages again with pawl, material is i.e. fixed to move along vertical direction by feeding rack；
The feeding machine, when the diameter of material is smaller, can rotate inward rotation with the various sizes of cylindrical material of feeding
Arm make the ratchet engagement of pawl and inside can the lesser cylindrical material of fixed diameter, when material is when being relatively large in diameter, to
Outward turning rotates pivoted arm and makes the ratchet engagement in pawl and outside can the biggish cylindrical material of fixed diameter；
When the specification of material is excessive or too small, can also the first guide post and the second guide post be removed and be mounted on not
On same lower mounting hole, since under shed is ellipse, the first guide post will lead to so being mounted on different lower mounting holes
And the second spacing between guide post is expanded or shunk, while third guide post can also be close or remote by the rotation of rotating arm
From the first guide post and the second guide post, so that the first guide post, the second guide post and third guide post are able to clamp more
The material of multi-specification.
1. the feeding machine can batch feeding and Automatic-feeding, it is high-efficient；
2. the feeding machine is adapted to the cylindrical material of different specification size, use scope is wide.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 is the perspective view one of embodiment；
Fig. 2 is the front view of embodiment；
Fig. 3 is the top view of embodiment；
Fig. 4 is the perspective view two of embodiment；
Fig. 5 is partial enlarged view at the A of implementation example figure 4；
Fig. 6 is the perspective view three of embodiment；
Fig. 7 is partial enlarged view at the B of implementation example figure 6；
Fig. 8 is the part-structure perspective view one of embodiment；
Fig. 9 is partial enlarged view at the C of implementation example figure 8；
Figure 10 is the part-structure perspective view two of embodiment；
Description of symbols:
Rotary table 1, multistation stock shelf 2, top rotary table 2a, upper opening 2a1, upper installing hole 2a2, main shaft 2b, lower turn
Disk 2c, under shed 2c1, lower mounting hole 2c2, feeding rack 3, the first guide post 3a, the second guide post 3b, third guide post 3c, rotation
Pivoted arm 3d, pawl 3d1, rack gear 3e, ratchet 3e1, connecting rod 3e2, round bar 3e3, arresting lever 3e4, pallet 3f, the first rebounding mechanism
3g, cover board 3g1, torsional spring 3g2, the second rebounding mechanism 3h, tension spring 3h1, the first pin 3h2, the second pin 3h3, stepping, which lifts, to be filled
Set 4, unlocking mechanism 5, linear drive apparatus 5a, connecting rod 5b, wedge-shaped jacking block 5b1, limiting device 5c.
Specific embodiment
Multiple embodiments that the utility model will be disclosed with schema below, as clearly stated, in many practices
Details will be explained in the following description.It should be appreciated, however, that the details in these practices does not apply this with limitation practical new
Type.That is, the details in these practices is non-essential in some embodiments of the utility model.In addition, for letter
For the sake of changing schema, some known usual structures and component will be painted it in the drawings in simply illustrative mode.
In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, and non-specifically
The meaning of order or cis-position is censured, it is also non-to limit the utility model, it is retouched just for the sake of difference with same technique term
The component stated or operation are not understood to indicate or imply its relative importance or implicitly indicate indicated technology
The quantity of feature." first " is defined as a result, the feature of " second " can explicitly or implicitly include at least one spy
Sign.It in addition, the technical solution between each embodiment can be combined with each other, but must be with those of ordinary skill in the art's energy
It is enough realize based on, will be understood that the knot of this technical solution when conflicting or cannot achieve when occurs in the combination of technical solution
Conjunction is not present, also not within the protection scope of the requires of the utility model.
It include rotary table 1, multistation feeding referring to figs. 1 to a kind of mating feeding machine of robot shown in Fig. 10
Frame 2, feeding rack 3 and stepping lifting device 4, multistation stock shelf 2 are fixedly mounted on the working end of rotary table 1, feeding rack 3
It is fixedly mounted on the periphery edge of multistation stock shelf 2, multiple feeding racks 3 are around the circle such as rotary shaft of multistation stock shelf 2
The distribution of heart angle, stepping lifting device 4 are fixedly mounted on the lower section of rotary table 1, and the operative orientation of stepping lifting device 4 is vertical
Setting, the table top that rotary table 1 is run through in the working end of stepping lifting device 4 straight up extend to multistation stock shelf 2
Lower section；
Feeding rack 3 includes the first guide post 3a, the second guide post 3b and third guide post 3c, the first guide post 3a,
Two guide post 3b and third guide post 3c are vertically arranged, and the first guide post 3a and the second guide post 3b are fixedly mounted on multistation
On stock shelf 2, the top and bottom end of third guide post 3c is provided with rotating arm 3d, and the middle-end of rotating arm 3d is rotatably mounted
On multistation stock shelf 2, the side of each rotating arm 3d is provided with rack gear 3e, and one end of rotating arm 3d towards rack gear 3e are set
It is equipped with pawl 3d1, the side of rack gear 3e towards rotating arm 3d are provided with row a ratchet 3e1, pawl 3d1 and ratchet 3e1 engagement, support
Disk 3f is horizontally disposed, and pallet 3f and the first guide post 3a, the second guide post 3b are slidably connected, under off working state, pallet 3f
It is placed on multistation stock shelf 2, the first guide post 3a, the second guide post 3b and third guide post 3c are around centers of circle such as pallet 3f
Angle distribution.
Rotary table 1 is the workbench for being equipped with electric precise turntable, and rotary table 1 drives multistation stock shelf 2
Rotation, so that the feeding rack 3 that placed material is moved to above the working end of stepping lifting device 4, pallet 3f is located at step at this time
Into the surface of 4 working end of lifting device, it is mobile so that on pallet 3f that stepping lifting device 4 drives pallet 3f to step up
The material of placement is gradually raised to the top of feeding rack 3 and is crawled by robots, when the material in a feeding rack 3 is all by machine
After people's crawl, stepping lifting device 4 returns to initial position, and rotary table 1 drives the rotation of multistation stock shelf 2 so that next
A feeding rack 3 is moved to above the working end of stepping lifting device 4；
When needing feeding, staff pushes rack gear 3e aside, so that pawl 3d1 and ratchet 3e1 releases engagement, it then will rotation
Arm 3d rotates outward unlatching, so that third guide post 3c is moved away from the direction of the first guide post 3a and the second guide post 3b
Dynamic, to open together the opening that can fill in material between third guide post 3c and the second guide post 3b, then work people
The cylindrical material stacked batch is placed on pallet 3f by member, then rotary closing rotating arm 3d makes the first guide post 3a, the
Cylindrical material is clipped in the middle by two guide post 3b and third guide post 3c, and subsequent rack gear 3e resets so that pawl 3d1 and ratchet
3e1 is engaged again, and material is i.e. fixed to move along vertical direction by feeding rack 3；
The feeding machine can be with the various sizes of cylindrical material of feeding, when the diameter of material is smaller, pawl 3d1 and inside
Ratchet 3e1 engagement can the lesser cylindrical material of fixed diameter, when material is when being relatively large in diameter, pawl 3d1 and outside
Ratchet 3e1 engagement can the biggish cylindrical material of fixed diameter.
Multistation stock shelf 2 includes top rotary table 2a, main shaft 2b and lower rotary table 2c, and top rotary table 2a and lower rotary table 2c level are simultaneously
And be coaxially disposed, main shaft 2b is vertically arranged and is mounted on the axle center of top rotary table 2a and lower rotary table 2c, top rotary table 2a, main shaft 2b and
Lower rotary table 2c is fixedly connected, and the both ends of the first guide post 3a and the second guide post 3b are respectively and fixedly installed to top rotary table 2a and lower turn
On disk 2c, the rotating arm 3d and rack gear 3e at the both ends third guide post 3c are respectively rotatably mounted on top rotary table 2a and lower rotary table 2c
Top surface on, pallet 3f is placed between top rotary table 2a and lower rotary table 2c, and the working end of lower rotary table 2c and rotary table 1 is fixed to be connected
Connect, be provided on lower rotary table 2c with the one-to-one under shed 2c1 of each pallet 3f, be provided on top rotary table 2a with it is each under open
The mouth one-to-one upper opening 2a1 of 2c1, the inner wall edge of under shed 2c1 are set in the outer wall side of 4 working end of stepping lifting device
On the outside of edge, the inner wall edge of under shed 2c1 intersects with the fascia edge of pallet 3f.
Top rotary table 2a, main shaft 2b and lower rotary table 2c constitute the bracket for installing feeding rack 3, under off working state, support
Disk 3f rides on lower rotary table 2c and the edge of pallet 3f rides on the edge of under shed 2c1, under working condition, stepping lifting dress
The working end for setting 4 moves upwards through the bottom surface that under shed 2c1 is connected to pallet 3f, and stepping lifting device 4 is screw rod stepping electricity
Machine, the working end of stepping lifting device 4 are fixedly installed with mandril, and stepping lifting device 4 is moved up by motor driven screw rod,
So that mandril jacks up pallet 3f, so that pallet 3f pushes up the material placed above it one by one to feeding rack 3
Outside.
The edge of under shed 2c1 is provided with multiple lower mounting hole 2c2, is provided on top rotary table 2a and each descends mounting hole
2c2 one-to-one upper installing hole 2a2, upper installing hole 2a2 and lower mounting hole 2c2 are 3/4 circular hole, and the two of the first guide post 3a
End be fixedly connected respectively with upper installing hole 2a2 and lower mounting hole 2c2, the both ends of the second guide post 3b respectively with the upper installation of side
Hole 2a2, lower mounting hole 2c2 are fixedly connected, and being used to install the mounting hole of third guide post 3c on rotating arm 3d is also 3/4 circular hole.
First guide post 3a and the second guide post 3b is fixedly mounted on the edge of under shed 2c1, while the first guide post 3a
Only have 3/4 cylindrical surface to be fixedly mounted in upper installing hole 2a2 and lower mounting hole 2c2 with the second guide post 3b, there are also 1/4 circles
Cylinder is exposed to outside, and similarly third guide post 3c also has 1/4 cylindrical surface to be exposed to outside, so that material is by the first guide post
When 3a, the second guide post 3b and third guide post 3c are fixed therein portion, material only with the first guide post 3a, the second guide post 3b
With the Cylindrical Surfaces Contact of third guide post 3c, not with other location contacts.
Under shed 2c1 is elliptical openings, and the long axis of under shed 2c1 intersects with the axis of main shaft 2b, lower mounting hole 2c2 mono-
There are six altogether, wherein three lower mounting hole 2c2 are equidistantly arranged along the edge of under shed 2c1, mounting hole 2c2 under the other three
Long axis bilateral symmetry with these three lower mounting hole 2c2 relative under shed 2c1, lower mounting hole 2c2 are entirely located under shed 2c1
Short axle close to the side of main shaft 2b, the first guide post 3a and the second guide post 3b relative under shed 2c1 long axial symmetry pacify
Dress.
Under shed 2c1 is ellipse, and ellipse is the curve in the plane of two focuses, elliptical cross section and bifocal line
The resulting string of the straight line of coincidence is long axis, and it is short axle that elliptical cross section, which vertically divides string obtained by the straight line of bifocal line equally,；
There are three be mounted on staff not the first guide post 3a and the second guide post 3b to lower mounting hole 2c2
With lower mounting hole 2c2 on, since under shed 2c1 is ellipse, will lead to the so being mounted on different lower mounting hole 2c2
Spacing between one guide post 3a and the second guide post 3b is expanded or shunk, while third guide post 3c can also pass through rotating arm
The rotation of 3d is close to or far from the first guide post 3a and the second guide post 3b, so that the first guide post 3a, the second guide post
3b and third guide post 3c is able to clamp the material of more multi-specification.
The first mobile rebounding mechanism 3g of the direction for being equipped with drive rack 3e towards close rotating arm 3d on rack gear 3e, the
One rebounding mechanism 3g includes cover board 3g1 and torsional spring 3g2, and cover board 3g1 is placed in the top of rack gear 3e and consolidates with multistation stock shelf 2
Fixed connection, torsional spring 3g2 are arranged between cover board 3g1 and rack gear 3e, two working ends of torsional spring 3g2 respectively with rack gear 3e, cover board
3g1 is fixedly connected.
One end of rack gear 3e is rotatably installed on multistation stock shelf 2 by shaft, and torsional spring 3g2 is set in the shaft
On, the screen resilience drive rack 3e that the internal stress of torsional spring 3g2 generates is close towards rotating arm 3d, so that ratchet 3e1 can
It is tightly engaged with pawl 3d1.
The driving rotating arm 3d second rebounding mechanism 3h mobile away from the direction of rack gear 3e is installed on rotating arm 3d,
Second rebounding mechanism 3h includes tension spring 3h1 and is mounted on the first pin 3h2 at the both ends tension spring 3h1, the second pin 3h3, and first
Pin 3h2 is fixedly connected with rotating arm 3d far from one end of pawl 3d1, the second pin 3h3 and the fixed company of multistation stock shelf 2
It connects, working condition tension spring 3h1 is in tensional state.
When pawl 3d1 and ratchet 3e1 releases engagement, the pulling force that the internal stress of tension spring 3h1 generates drives rotating arm 3d court
Be rotated clockwise so that rotating arm 3d is rotarily opened automatically, staff can by the second guide post 3b and
Gap between third guide post 3c, the cylindrical material stacked is placed on pallet 3f.
Connecting rod 3e2 is installed, connecting rod 3e2 is vertically arranged and is fixedly connected with two rack gears symmetrical above and below on rack gear 3e
3e。
When the direction that one of rack gear 3e is directed away from rotating arm 3d is mobile, symmetrical another rack gear 3e up and down
Also synchronizing moving therewith, thus two pawl 3d1 and ratchet 3e1 that synchronizing unlocking is symmetrical above and below.
It further include having unlocking mechanism 5, the one end of rack gear 3e outwardly is provided with the round bar 3e3, Xie Suoji extended straight down
Structure 5 includes linear drive apparatus 5a and connecting rod 5b, and the middle-end of connecting rod 5b is rotatably installed on rotary table 1, straight line
The fixing end of driving device 5a is hinged on rotary table 1, and the working end of linear drive apparatus 5a and one end of connecting rod 5b are cut with scissors
It connects, connecting rod 5b is provided with the wedge-shaped jacking block 5b1 towards the extension of the direction of round bar 3e3 far from one end of linear drive apparatus 5a.
Linear drive apparatus 5a is uniaxial single pole cylinder, and linear drive apparatus 5a task driven connecting rod 5b is revolved around its middle-end
Turn, so that being rotating for wedge-shaped jacking block 5b1 is mobile towards round bar 3e3, the inclined-plane of wedge-shaped jacking block 5b1 is contacted with round bar 3e3,
Round bar 3e3 is along the inclined-plane sliding of wedge-shaped jacking block 5b1 so that the direction away from wedge-shaped jacking block 5b1 is moved, and then leads to tooth
3e is mobile away from the direction of rotating arm 3d, and staff can pass through the switches such as foot pedal and manipulate linear drive apparatus 5a
Can automatic unlocking pawl 3d1 and ratchet 3e1 engagement.
Rack gear 3e further includes having arresting lever 3e4, and rack gear 3e is arranged in towards the side of rotating arm 3d, stop in arresting lever 3e4
Bar 3e4 is fixedly connected with multistation stock shelf 2, and under working condition, the side of rack gear 3e is connected on arresting lever 3e4.
Arresting lever 3e4 limits the scope of activities of rack gear 3e, avoids for preventing rack gear 3e excessively close towards rotating arm 3d
Round bar 3e3 is led to the problem of to be moved to except wedge-shaped jacking block 5b1 working range.
Unlocking mechanism 5 further includes having limiting device 5c, and limiting device 5c includes that there are two range sensor, range sensors
Working end be right against the side at the both ends connecting rod 5b respectively, limiting device 5c and linear drive apparatus 5a are electrically connected.
Range sensor is to diffuse electric switch, when the side at the both ends connecting rod 5b close to diffuse electric switch when, overflow
Reflection photoelectric switch sends a signal to linear drive apparatus 5a at once, and linear drive apparatus 5a is enabled to stop working, so that limitation is straight
The stroke of line driving device 5a.
Working principle:
Rotary table 1 is the workbench for being equipped with electric precise turntable, and rotary table 1 drives multistation stock shelf 2
Rotation, so that the feeding rack 3 that placed material is moved to above the working end of stepping lifting device 4, pallet 3f is located at step at this time
Into the surface of 4 working end of lifting device, it is mobile so that on pallet 3f that stepping lifting device 4 drives pallet 3f to step up
The material of placement is gradually raised to the top of feeding rack 3 and is crawled by robots, when the material in a feeding rack 3 is all by machine
After people's crawl, stepping lifting device 4 returns to initial position, and rotary table 1 drives the rotation of multistation stock shelf 2 so that next
A feeding rack 3 is moved to above the working end of stepping lifting device 4；
When feeding, staff manipulates linear drive apparatus 5a work, linear drive apparatus 5a by switches such as foot pedals
Task driven connecting rod 5b is rotated around its middle-end, so that wedge-shaped jacking block 5b1's is rotating, wedge shape mobile towards round bar 3e3
The inclined-plane of jacking block 5b1 is contacted with round bar 3e3, and round bar 3e3 is along the inclined-plane sliding of wedge-shaped jacking block 5b1 to push up away from wedge shape
The direction of block 5b1 is mobile, and then causes rack gear 3e mobile away from the direction of rotating arm 3d, so that pawl 3d1 and spine
Tooth 3e1 releases engagement；
The pulling force driving rotating arm 3d that the internal stress of first pin 3h2 generates rotates with the sun, so that
Rotating arm 3d is rotarily opened automatically, and opening for material can be filled in together by generating between third guide post 3c and the second guide post 3b
Mouthful, staff can be by the gap between the second guide post 3b and third guide post 3c, the cylinder thing charge that will be stacked
Amount is placed on pallet 3f；
Subsequent staff shuts rotating arm 3d, so that the first guide post 3a, the second guide post 3b and third guide post 3c
Material is tightly clipped in the middle, then manipulates linear drive apparatus 5a reset, the screen resilience sliding tooth that the internal stress of torsional spring 3g2 generates
3e is close towards rotating arm 3d so that ratchet 3e1 is engaged again with pawl 3d1, material i.e. by feeding rack 3 it is fixed to
It can only move along vertical direction；
The feeding machine, when the diameter of material is smaller, can rotate inward rotation with the various sizes of cylindrical material of feeding
Arm 3d make pawl 3d1 engaged with the ratchet 3e1 of inside can the lesser cylindrical material of fixed diameter, when material diameter compared with
When big, rotate outward rotating arm 3d pawl 3d1 is engaged with the ratchet 3e1 in outside can the biggish cylinder thing of fixed diameter
Material；
When the specification of material is excessive or too small, the first guide post 3a and the second guide post 3b can also be removed installation
On different lower mounting hole 2c2, since under shed 2c1 is ellipse, so being mounted on different lower mounting hole 2c2 can lead
The spacing between the first guide post 3a and the second guide post 3b is caused to expand or shrink, while third guide post 3c can also pass through rotation
The rotation of pivoted arm 3d is close to or far from the first guide post 3a and the second guide post 3b, so that the first guide post 3a, second leading
It is able to clamp the material of more multi-specification to column 3b and third guide post 3c.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (10)
1. a kind of mating feeding machine of robot, it is characterised in that: include rotary table (1), multistation stock shelf (2), set
Material frame (3) and stepping lifting device (4), multistation stock shelf (2) are fixedly mounted on the working end of rotary table (1), set material
Frame (3) is fixedly mounted on the periphery edge of multistation stock shelf (2), and multiple feeding racks (3) are around multistation stock shelf (2)
The distribution of the central angles such as rotary shaft, stepping lifting device (4) are fixedly mounted on the lower section of rotary table (1), stepping lifting device
(4) operative orientation is vertically arranged, and the table top of rotary table (1) is run through in the working end of stepping lifting device (4) straight up
Extend to the lower section of multistation stock shelf (2)；
Feeding rack (3) includes the first guide post (3a), the second guide post (3b) and third guide post (3c), the first guide post
(3a), the second guide post (3b) and third guide post (3c) are vertically arranged, the first guide post (3a) and the second guide post (3b)
It is fixedly mounted on multistation stock shelf (2), the top and bottom end of third guide post (3c) are provided with rotating arm (3d), rotation
The middle-end of arm (3d) is rotatably installed on multistation stock shelf (2), and the side of each rotating arm (3d) is provided with rack gear
(3e), one end of rotating arm (3d) towards rack gear (3e) are provided with pawl (3d1), and rack gear (3e) is towards the side of rotating arm (3d)
It is provided with row's ratchet (3e1), pawl (3d1) and ratchet (3e1) engagement, pallet (3f) is horizontally disposed, pallet (3f) and first
Guide post (3a), the second guide post (3b) are slidably connected, and under off working state, pallet (3f) is placed on multistation stock shelf
(2) on, the first guide post (3a), the second guide post (3b) and third guide post (3c) are around the distribution such as pallet (3f) central angles.
2. the mating feeding machine of a kind of robot according to claim 1, it is characterised in that: multistation stock shelf (2) includes
There are top rotary table (2a), main shaft (2b) and a lower rotary table (2c), top rotary table (2a) and lower rotary table (2c) are horizontal and be coaxially disposed, main shaft
(2b) is vertically arranged and is mounted on the axle center of top rotary table (2a) and lower rotary table (2c), top rotary table (2a), main shaft (2b) He Xiazhuan
Disk (2c) is fixedly connected, the both ends of the first guide post (3a) and the second guide post (3b) be respectively and fixedly installed to top rotary table (2a) and
On lower rotary table (2c), the rotating arm (3d) and rack gear (3e) at the both ends third guide post (3c) are respectively rotatably mounted on top rotary table
On the top surface of (2a) and lower rotary table (2c), pallet (3f) is placed between top rotary table (2a) and lower rotary table (2c), lower rotary table (2c) and
The working end of rotary table (1) is fixedly connected, and is provided on lower rotary table (2c) and is opened under correspondingly with each pallet (3f)
Mouthful (2c1), is provided on top rotary table (2a) and the one-to-one upper opening (2a1) of each under shed (2c1), under shed (2c1)
Inner wall edge be set on the outside of the fascia edge of stepping lifting device (4) working end, the inner wall edge and support of under shed (2c1)
The fascia edge of disk (3f) intersects.
3. the mating feeding machine of a kind of robot according to claim 2, it is characterised in that: the edge of under shed (2c1) is set
Multiple lower mounting holes (2c2) are equipped with, be provided on top rotary table (2a) and each descend mounting hole (2c2) one-to-one upper installing hole
(2a2), upper installing hole (2a2) and lower mounting hole (2c2) are 3/4 circular hole, the both ends of the first guide post (3a) respectively with upper peace
Dress hole (2a2) be fixedly connected with lower mounting hole (2c2), the both ends of the second guide post (3b) respectively with the upper installing hole of side
(2a2), lower mounting hole (2c2) are fixedly connected, and being used to install the mounting hole of third guide post (3c) on rotating arm (3d) is also 3/4
Circular hole.
4. the mating feeding machine of a kind of robot according to claim 2, it is characterised in that: under shed (2c1) is ellipse
Opening, the long axis of under shed (2c1) intersects with the axis of main shaft (2b), lower mounting hole (2c2) altogether there are six, wherein under three
Mounting hole (2c2) is equidistantly arranged along the edge of under shed (2c1), mounting hole (2c2) and these three lower peaces under the other three
The long axis bilateral symmetry of hole (2c2) relative under shed (2c1) is filled, lower mounting hole (2c2) is entirely located in the short of under shed (2c1)
Axis is close to the side of main shaft (2b), the long axis pair of the first guide post (3a) and the second guide post (3b) relative under shed (2c1)
Claim installation.
5. the mating feeding machine of a kind of robot according to claim 1, it is characterised in that: be equipped with driving on rack gear (3e)
Rack gear (3e) first rebounding mechanism (3g) mobile towards the direction of close rotating arm (3d), the first rebounding mechanism (3g) include
Cover board (3g1) and torsional spring (3g2), cover board (3g1) are placed in the top of rack gear (3e) and are fixedly connected with multistation stock shelf (2),
Torsional spring (3g2) be arranged between cover board (3g1) and rack gear (3e), two working ends of torsional spring (3g2) respectively with rack gear (3e), cover
Plate (3g1) is fixedly connected.
6. the mating feeding machine of a kind of robot according to claim 1, it is characterised in that: be equipped with drive on rotating arm (3d)
The second rebounding mechanism (3h) dynamic rotating arm (3d) mobile away from the direction of rack gear (3e), the second rebounding mechanism (3h) include
Have tension spring (3h1) and be mounted on first pin (3h2) at the both ends tension spring (3h1), the second pin (3h3), the first pin (3h2) with
Rotating arm (3d) is fixedly connected far from the one end of pawl (3d1), and the second pin (3h3) is fixedly connected with multistation stock shelf (2),
Working condition tension spring (3h1) is in tensional state.
7. the mating feeding machine of a kind of robot according to claim 1, it is characterised in that: be equipped with connection on rack gear (3e)
Bar (3e2), connecting rod (3e2) are vertically arranged and are fixedly connected with two rack gears (3e) symmetrical above and below.
8. the mating feeding machine of a kind of robot according to claim 1, it is characterised in that: it further include having unlocking mechanism (5),
The one end of rack gear (3e) outwardly is provided with the round bar (3e3) extended straight down, and unlocking mechanism (5) includes linear drive apparatus
(5a) and connecting rod (5b), the middle-end of connecting rod (5b) are rotatably installed on rotary table (1), linear drive apparatus (5a)
Fixing end is hinged on rotary table (1), and the working end of linear drive apparatus (5a) and one end of connecting rod (5b) are hinged, connecting rod
(5b) is provided with the wedge-shaped jacking block (5b1) towards the extension of the direction of round bar (3e3) far from the one end of linear drive apparatus (5a).
9. the mating feeding machine of a kind of robot according to claim 1, it is characterised in that: rack gear (3e) further includes having stop
Bar (3e4), arresting lever (3e4) setting in rack gear (3e) towards the side of rotating arm (3d), arresting lever (3e4) and multistation feeding
Frame (2) is fixedly connected, and under working condition, the side of rack gear (3e) is connected on arresting lever (3e4).
10. the mating feeding machine of a kind of robot according to claim 8, it is characterised in that: unlocking mechanism (5) further includes having
Limiting device (5c), limiting device (5c) include the working end of the range sensor company of being right against respectively there are two range sensor
The side at the both ends bar (5b), limiting device (5c) and linear drive apparatus (5a) are electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920281397.4U CN209648440U (en) | 2019-03-05 | 2019-03-05 | A kind of mating feeding machine of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920281397.4U CN209648440U (en) | 2019-03-05 | 2019-03-05 | A kind of mating feeding machine of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209648440U true CN209648440U (en) | 2019-11-19 |
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ID=68526142
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920281397.4U Expired - Fee Related CN209648440U (en) | 2019-03-05 | 2019-03-05 | A kind of mating feeding machine of robot |
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| Country | Link |
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| CN (1) | CN209648440U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111185791A (en) * | 2020-01-13 | 2020-05-22 | 珠海格力智能装备有限公司 | Feeding and discharging mechanism and machine tool |
| CN112964811A (en) * | 2021-02-05 | 2021-06-15 | 杨德毅 | Fixed nitrogen blowing instrument |
-
2019
- 2019-03-05 CN CN201920281397.4U patent/CN209648440U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111185791A (en) * | 2020-01-13 | 2020-05-22 | 珠海格力智能装备有限公司 | Feeding and discharging mechanism and machine tool |
| CN112964811A (en) * | 2021-02-05 | 2021-06-15 | 杨德毅 | Fixed nitrogen blowing instrument |
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Granted publication date: 20191119 |