CN210635405U

CN210635405U - Feeding device

Info

Publication number: CN210635405U
Application number: CN201920615694.8U
Authority: CN
Inventors: 郭金山; 李振岩; 牛瑞霞; 仲太生; 詹俊勇; 周智伟; 张明路
Original assignee: Yangli Group Co ltd
Current assignee: Yangli Group Co ltd
Priority date: 2019-04-30
Filing date: 2019-04-30
Publication date: 2020-05-29
Anticipated expiration: 2029-04-30

Abstract

The utility model provides a feeding device in the technical field of manipulator feeding, which comprises a feeding mechanism and an end effector replacing mechanism, wherein the feeding mechanism comprises a feeding rack, the end effector replacing mechanism comprises a replacing rack, a plurality of supporting claws are distributed at the periphery of the replacing rack, at least two groups of replacing components are arranged on the replacing rack, the replacing components comprise a claw which can rotate and do reciprocating linear movement in the left and right direction and a movable plate which can be lifted, and a rotatable claw is hinged on the movable plate; a sliding table rack and a material blocking rack are arranged on one side of the feeding rack, a moving seat capable of moving in the left-right direction is arranged on the feeding rack, a lifting rod capable of lifting is arranged on the moving seat, one downward end of the lifting rod is connected with an end effector for absorbing material pieces, a vacuum sucker extending downwards is connected to the end effector, the material blocking rack is arranged below the end effector, and a sliding table capable of reciprocating in the left-right direction is arranged on the sliding table rack; the utility model discloses work is laborsaving, and work efficiency is high, can realize the automatic feeding of tablet.

Description

Feeding device

Technical Field

The utility model belongs to the technical field of the manipulator material loading, in particular to loading attachment.

Background

Sheet material for stamping or laser cutting, which sheet material is required to be placed on a work prior to stamping or cutting; after punching or cutting, the plate needs to be moved away from the workbench, the existing feeding machine has a single function, and the working efficiency of the existing feeding machine cannot be met for the existing industrial processing. Traditional material loading machine is only with the material from a certain department transportation to another department, can not right the position of material, present panel all adopts the workstation to remove the drive when the feed many, make panel reach appointed processing station, adopt the manual work to remove or the workstation conveying to remove after the processing is accomplished, consequently, whole working process need consume time more, and need consume more energy, the energy cost is improved, and consume the cost of labor, greatly reduced production efficiency, operation workman's working strength has also been increased.

SUMMERY OF THE UTILITY MODEL

To the defect among the prior art, the utility model discloses an aim at solves the weak point among the prior art, and it is hard to have solved work among the prior art, and technical problem that work efficiency is low provides a loading attachment, and this device work is laborsaving, and work efficiency is high.

The purpose of the utility model is realized like this: a feeding device comprises a feeding mechanism and an end effector replacing mechanism, wherein the feeding mechanism comprises a feeding rack, the end effector replacing mechanism comprises a replacing rack, a plurality of supporting claws for supporting an end effector are arranged at the periphery of the replacing rack, at least two groups of replacing components are arranged on the replacing rack, each replacing component comprises a clamping jaw capable of rotating and performing reciprocating linear movement in the left-right direction and a liftable moving plate, when the end effector is supported and arranged on the supporting claw, the clamping jaw can clamp the upper part of the end effector, and a hook claw which extends upwards and can rotate is hinged on the moving plate; one side of material loading frame is equipped with the slip table frame that is used for conveying the tablet and is used for placing the fender material frame of tablet, be equipped with the removal seat that can control direction reciprocating motion on the material loading frame, remove the lifter that is equipped with the liftable on the seat, lifter one end down is connected with the end effector that is used for absorbing the tablet, is connected with the vacuum chuck that stretches out down on the end effector, and the fender material frame is in the below of end effector, be equipped with the slip table that can control direction reciprocating motion in the slip table frame.

The material sheet is stacked on the material blocking frame in advance, the end effector can be replaced on the end effector replacing mechanism according to the shape of the material sheet, a replacing component for separating the mechanical arm and the end effector is a replacing component I, a replacing component for connecting the mechanical arm and the end effector to be replaced is a replacing component II, the end effector is installed on the mechanical arm, the mechanical arm is a device for driving the end effector to move towards the direction of the replacing rack or away from the direction of the replacing rack, the end effector to be replaced is placed on a supporting claw close to the replacing component II, the mechanical arm drives the end effector to move towards the direction of the supporting claw close to the replacing component I, the end effector is placed on the supporting claw, a clamping claw of the replacing component I moves towards the direction of the end effector in the left-right direction and rotates, the end effector is fixed on the replacing rack, and the hooking claw rotates towards the direction of the mechanical arm to clamp the mechanical arm, the moving plate drives the claw to move upwards, the claw pushes the mechanical arm, the mechanical arm is separated from the end effector, then the claw rotates towards the direction away from the mechanical arm, the claw is separated from the mechanical arm, the mechanical arm moves to the designated position on the end effector to be replaced, the mechanical arm stops moving, the support claw of the replacing component II rotates towards the direction of the end effector to be replaced, the end effector to be replaced is fixed on the replacing rack, the moving plate drives the claw to move upwards to the designated position, the claw rotates towards the direction of the mechanical arm, the claw clamps the mechanical arm, then the moving plate drives the claw to move downwards, the claw pulls the mechanical arm to connect the mechanical arm with the end effector, finally the claw rotates towards the direction away from the mechanical arm to separate the claw from the mechanical arm, the claw, the moving plate and the support claw return to the initial position to complete the automatic replacement of the end effector, and the mechanical arm drives the replaced end effector to move away from the replacing rack to the lower side of the lifting rod, the end effector is manually fixed to the lower end of the lifting rod, the handle is stirred to separate the end effector from the manipulator, feeding of a material sheet can be conducted at the time, the lifting rod is enabled to move towards the direction of the material sheet, when the vacuum suction disc abuts against the material sheet, the vacuum suction disc sucks the material sheet, the lifting rod moves upwards for a certain distance, the moving seat drives the lifting rod to move to the position above the sliding table, the material sheet is placed on the sliding table by the lifting rod, the vacuum suction disc loosens the material sheet, then the telescopic plate stretches and retracts to centralize the material sheet, the sliding table drives the material sheet to move to the next station, and the telescopic plate, the sliding table, the moving seat and the lifting rod return to the initial position to conduct feeding; the utility model can change the end picking device with different specifications by using the end picking device changing mechanism according to the actual shape of the material sheet, thereby improving the efficiency of changing the end picking device; due to the arrangement of the feeding mechanism, the labor is saved, and the working efficiency is high; the feeding device can be applied to the feeding work of the material sheets.

In order to realize the change of end effector, end effector replacement mechanism is still including connecting the female head of quick change on the manipulator and connecting the public head of quick change on the end effector, be equipped with in the female head of quick change and hold the chamber, the public head of quick change is kept away from the one end of end effector and is upwards inserted and hold the intracavity, the outside of the relative end effector setting of the female head of quick change is opened and is had at least one and lead the spout, be equipped with tight round pin of clamp on the public head of quick change, the outside of the female head of quick change articulates there is at least one to press from both sides tight hook, press from both sides tight hook and can hook the tight round pin of clamp that stretches out and lead the spout, press from both sides the handle.

Can hold and put down the tablet in order to realize the end effector, the end effector includes that the end effector is responsible for, the upper end that the end effector is responsible for is equipped with the connecting plate, and the end effector can be connected at the lifter lower extreme through the connecting plate, the end effector is responsible for and is connected with two at least end effector branch pipes that are responsible for both sides direction extension to the end effector respectively, the one end that the end effector branch pipe stretches out outwards is equipped with the fixed plate, vacuum chuck connects on the fixed plate.

In order to realize that the claw can hook or release the handle, the upper end of the replacing rack is provided with a corner pressing cylinder, the corner pressing cylinder is provided with a first telescopic rod which can reciprocate and rotate in the left-right direction, one end of the clamping jaw is fixedly connected with the outward end of the first telescopic rod, and the other end of the clamping jaw can clamp the end effector; the replacing assembly further comprises a first linear driver fixedly connected to the replacing rack, a moving body capable of vertically reciprocating in the height direction is arranged on the first linear driver, and the moving body is fixedly connected with the moving body; the moving plate is hinged with a second linear driver, the second linear driver is provided with a push-pull rod which can reciprocate up and down in the height direction and extends upwards, and the upward end of the push-pull rod is hinged with the claw.

Can be in the direction of left and right sides reciprocating motion in order to realize removing the seat, be equipped with an at least slide rail on the material loading frame, slidable connects on the slide rail on removing the seat, removes fixedly connected with mounting panel on the seat, and the mounting panel is connected with driving motor and two pinch rollers in material loading frame top on the mounting panel, is connected with the drive synchronizing wheel on driving motor's the output shaft, and the drive synchronizing wheel is between two pinch rollers, and the drive synchronizing wheel links together through the drive hold-in range with the pinch roller, and the both ends difference fixed connection of drive hold-in range is at the both ends of material loading frame.

In order to limit the moving range of the moving seat, the two ends of the feeding frame in the height direction are provided with limiting blocks, end buffering blocks are arranged at the inward ends of the limiting blocks, and the moving seat can move left and right between the two end buffering blocks.

In order to realize that the lifter can be lifted, be equipped with the guide rail on removing the seat, lifter slidable connects on the guide rail, remove still fixedly connected with motor mount pad on the seat, install elevator motor and two take-up pulleys on the motor mount pad, be connected with the lift synchronizing wheel on elevator motor's the output shaft, the lift synchronizing wheel is between two take-up pulleys, and the lift synchronizing wheel links together through the lift hold-in range with the take-up pulley, and the both ends difference fixed connection of lift hold-in range is at the both ends of lifter on the direction of height.

In order to realize that the sliding table can reciprocate in the left and right directions, the upper end of the sliding table rack is provided with at least one sliding table mounting seat, one end of the sliding table mounting seat arranged opposite to the material blocking frame is fixedly connected with a first driving wheel mounting seat, the inside of the first driving wheel mounting seat is rotatably connected with a first driving wheel, the other end of the sliding table mounting seat is fixedly connected with a second driving wheel mounting seat, the inside of the second driving wheel mounting seat is rotatably connected with a second driving wheel, the second driving wheel mounting seat is rotatably connected with a rotating shaft, the first driving wheel and the second driving wheel are connected together through a driving belt, the sliding table mounting seat is provided with a guide rail, the guide rail is slidably connected with a sliding block, the sliding table is fixedly connected with the sliding block, the sliding table is connected with the driving belt, the, the driving wheel and the driven wheel are connected together through a transmission belt.

In order to realize that the expansion plate can right the material piece, a plurality of linear drivers is arranged all around of slip table three, is equipped with telescopic link two on the linear driver three, and the one end that telescopic link two stretches out outwards is connected with the expansion plate.

Drawings

Fig. 1 is a front view of the present invention.

Fig. 2 is a perspective structural view of the present invention.

Fig. 3 is a partially enlarged view of a portion a in fig. 2.

Fig. 4 is a partially enlarged view of fig. 2 at B.

Fig. 5 is a first three-dimensional structure diagram of the middle feeding mechanism of the present invention.

Fig. 6 is a partially enlarged view of C in fig. 5.

Fig. 7 is a second three-dimensional structure diagram of the middle feeding mechanism of the present invention.

Fig. 8 is a partial enlarged view of fig. 7 at D.

Fig. 9 is a perspective view of the changing mechanism of the middle pick-up of the present invention.

Fig. 10 is a partial enlarged view at E in fig. 9.

Fig. 11 is a three-dimensional structure diagram of the female head of the quick change of the utility model.

Fig. 12 is a three-dimensional structure diagram of the quick-change male head of the present invention.

Fig. 13 is a perspective view of the middle pick-up according to the present invention.

Wherein, 1 the end effector replacing mechanism, 101 the replacing frame, 101a the supporting jaw, 102 corner down-pressure cylinder, 103 the telescopic rod I, 104 the jaw, 105 the linear actuator I, 106 the moving body, 107 the moving plate, 108 the linear actuator II, 109 the push-pull rod, 110 the claw, 2 the quick change tooling, 201 the quick change female head, 201a the containing cavity, 201b the guide chute, 201c the clamping hook, 201d the handle, 202 the quick change male head, 202a the clamping pin, 3 the end effector, 301 the end effector main tube, 302 the connecting plate, 303 the end effector branch tube, 304 the fixed plate, 305 the vacuum chuck, 4 the feeding mechanism, 401 the feeding frame, 401a the slide rail, 402 the moving seat, 402a guide rail, 402b the mounting plate, 403 the driving motor, 404 the pinch roller, 405 the driving synchronous wheel, 406 the driving synchronous belt, 407 the limited block, 408 the end buffer block, 409 the lifting rod, 410 the motor mounting seat, 411 the lifting motor, 412 the tension wheel, 413, 414 lifting synchronous belt, 415 sliding table rack, 416 sliding table mounting seat, 417 driving wheel mounting seat I, 418 driving wheel I, 419 driving wheel mounting seat II, 420 driving wheel II, 421 driving belt, 422 rotating shaft, 423 guide rail, 424 sliding block, 425 sliding table, 426 driving motor, 426a output shaft, 427 driving wheel, 428 driven wheel, 429 driving belt, 430 linear driver III, 431 telescopic rod II, 432 telescopic plate, 433 material blocking frame, 434 magnetic force separating device and 5 material pile.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

As shown in fig. 1 to 13, a feeding device comprises a feeding mechanism 4 and an end effector 3 replacing mechanism 1, the feeding mechanism 4 comprises a feeding frame 401, the end effector 3 replacing mechanism 1 comprises a replacing frame 101, a plurality of supporting claws 101a for supporting the end effector 3 are arranged on the periphery of the replacing frame 101, at least two replacing assemblies are arranged on the replacing frame 101, each replacing assembly comprises a claw 104 which can rotate and reciprocate linearly in the left-right direction and a movable plate 107 which can lift, when the end effector 3 is supported on the supporting claw 101a, the claw 104 can clamp the upper part of the end effector 3, the movable plate 107 is hinged with a claw 110 which extends upwards and can rotate, a corner pressing cylinder 102 is arranged at the upper end of the replacing frame 101, a telescopic rod 103 which can reciprocate and rotate in the left-right direction is arranged on the corner pressing cylinder 102, one end of the claw 104 is fixedly connected with one end of the telescopic rod 103 which faces outwards, the other end of the claw 104 can catch the end effector 3; the replacing component also comprises a first linear driver 105 fixedly connected to the replacing rack 101, a moving body 106 capable of vertically reciprocating in the height direction is arranged on the first linear driver 105, and a moving plate 107 is fixedly connected with the moving body 106; a second linear driver 108 is hinged on the moving plate 107, a push-pull rod 109 which can reciprocate up and down in the height direction and extends upwards is arranged on the second linear driver 108, and the upward end of the push-pull rod 109 is hinged with a claw 110; the replacing mechanism 1 of the end effector 3 further comprises a quick-change female head 201 connected to the manipulator and a quick-change male head connected to the end effector 3, the quick-change female head 201 and the quick-change tool head 202 form a quick-change tool 2, a containing cavity 201a is formed in the quick-change female head 201, one end, far away from the end effector 3, of the quick-change male head is upwards inserted into the containing cavity 201a, the outer side of one end, opposite to the end effector 3, of the quick-change female head 201 is provided with at least one guide chute 201b, the quick-change male head is provided with a clamping pin 202a, the outer side of the quick-change female head 201 is hinged with at least one clamping hook 201c, the clamping pin 202a extending out of the guide chute 201b can be hooked by the clamping hook 201c, a handle 201d extending out is fixedly connected to the clamping; a sliding table rack 415 for conveying material sheets and a material blocking rack 433 for placing the material sheets are arranged on one side of the feeding rack 401, and a magnetic force separator 434 is fixedly connected to one side of the material blocking rack 433; the feeding machine frame 401 is provided with a moving seat 402 capable of reciprocating in the left-right direction, the feeding machine frame 401 is provided with at least one sliding rail 401a, the moving seat 402 is connected to the sliding rail 401a in a sliding manner, the moving seat 402 is fixedly connected with a mounting plate 402b, the mounting plate 402b is arranged above the feeding machine frame 401, the mounting plate 402b is connected with a driving motor 403 and two pressing wheels 404, an output shaft 426a of the driving motor 403 is connected with a driving synchronous wheel 405, the driving synchronous wheel 405 is arranged between the two pressing wheels 404, the driving synchronous wheel 405 and the pressing wheels 404 are connected together through a driving synchronous belt 406, two ends of the driving synchronous belt 406 are respectively and fixedly connected to two ends of the feeding machine frame 401, two ends of the feeding machine frame 401 in the height direction are provided with limiting blocks 407, one inward end of the limiting blocks 407 is provided with an end buffer block 408, and the; a lifting rod 409 capable of lifting is arranged on the moving seat 402, a guide rail 402a is arranged on the moving seat 402, the lifting rod 409 is connected to the guide rail 402a in a sliding manner, a motor installation seat 410 is also fixedly connected to the moving seat 402, a lifting motor 411 and two tension pulleys 412 are installed on the motor installation seat 410, a lifting synchronous wheel 413 is connected to an output shaft 426a of the lifting motor 411, the lifting synchronous wheel 413 is arranged between the two tension pulleys 412, the lifting synchronous wheel 413 and the tension pulleys 412 are connected together through a lifting synchronous belt 414, and two ends of the lifting synchronous belt 414 are respectively and fixedly connected to two ends of the lifting rod 409 in the height direction; the downward end of the lifting rod 409 is connected with an end effector 3 for absorbing material pieces, the end effector 3 is connected with a vacuum sucker 305 extending downwards, the material blocking frame 433 is arranged below the end effector 3, the end effector 3 comprises an end effector main pipe 301, the upper end of the end effector main pipe 301 is provided with a connecting plate 302, the end effector 3 can be connected with the lower end of the lifting rod 409 through the connecting plate 302, the end effector main pipe 301 is connected with at least two end effector branch pipes 301 extending towards the two sides of the end effector main pipe 301 respectively, the outward extending end of the end effector branch pipe 303 is provided with a fixing plate 304, and the vacuum sucker 305 is connected on the fixing plate 304; a sliding table 425 which can reciprocate in the left-right direction is arranged on the sliding table rack 415, at least one sliding table mounting seat 416 is arranged at the upper end of the sliding table rack 415, one end of the sliding table mounting seat 416 arranged opposite to the material blocking frame 433 is fixedly connected with a first driving wheel mounting seat 417, a first driving wheel 418 is rotatably connected in the first driving wheel mounting seat 417, the other end of the sliding table mounting seat 416 is fixedly connected with a second driving wheel mounting seat 419, a second driving wheel 420 is rotatably connected in the second driving wheel mounting seat 419, a rotating shaft 422 is rotatably connected on the second driving wheel mounting seat 419, the first driving wheel 418 and the second driving wheel 420 are connected together through a driving belt 421, a guide sliding rail 423401a is arranged on the sliding table mounting seat 416, a sliding block 424 is slidably connected on a guide sliding rail 423401a, the sliding table 425 is fixedly connected on the sliding table 424, a driving wheel 427 is connected to an output shaft 426a of the transmission motor 426, a driven wheel 428 is connected to the rotating shaft 422, and the driving wheel 427 and the driven wheel 428 are connected together through a transmission belt 429; a plurality of linear drivers III 430 are arranged around the sliding table 425, a telescopic rod II 431 is arranged on each linear driver III 430, and a telescopic plate 432 is connected to one end, extending outwards, of each telescopic rod II 431; the utility model discloses in, linear actuator 105 is the rodless cylinder of guide arm type electromagnetic coupling.

When the utility model works, a plurality of layers of material sheets are stacked on the material blocking frame 433 in advance to form the material stack 5, the magnetic force separator 434 separates the material sheets on the uppermost 1-5 layers of the material stack 5, so that each material sheet on the 1-5 layers is slightly separated, and the vacuum sucker 305 material sheets are convenient; according to the shape of a material sheet, the end effector 3 can be replaced on the replacing mechanism 1 of the end effector 3, a replacing component for separating the manipulator and the end effector 3 is a replacing component I, a replacing component for connecting the manipulator and the end effector 3 to be replaced is a replacing component II, the end effector 3 is installed on the manipulator, the manipulator is a device for driving the end effector 3 to move towards the direction of the replacing rack 101 or away from the direction of the replacing rack 101, the end effector 3 to be replaced is placed on the supporting claw 101a close to the replacing component II, the manipulator drives the end effector 3 to move towards the direction of the supporting claw 101a close to the replacing component I, the end effector 3 is placed on the supporting claw 101a, the corner pressing cylinder 102 of the replacing component I acts, the telescopic rod I103 of the corner pressing cylinder 102 drives the claw 104 to move and rotate towards the direction of the end effector 3 in the left-right direction, the gripper 104 fixes the end effector 3 on the replacing rack 101, the linear actuator two 108 operates, the push-pull rod 109 pushes the hook claw 110 to rotate towards the direction of the handle 201d, when the hook claw 110 hooks the handle 201d, the linear actuator two 108 stops operating, the linear actuator one 105 controls the moving body 106 to move upwards, the moving body 106 drives the moving plate 107 to move upwards, the moving plate 107 pushes the hook claw 110 to move upwards, the hook claw 110 pushes the handle 201d to rotate upwards, when the clamping hook 201c is separated from the clamping pin 202a, the manipulator is separated from the end effector 3, the linear actuator one 105 stops operating, the linear actuator two 108 reversely operates, the push-pull rod 109 pushes the hook claw 110 to rotate away from the handle 201d, the hook claw 110 is separated from the handle 201d, namely, the hook claw 110 is separated from the quick-change female head 201, the manipulator drives the quick-change female head 201 to move towards the direction of the end effector 3 to be replaced, so that the quick-change male head is inserted into the accommodating cavity 201, the manipulator stops moving, the replacing component II acts, the corner pressing cylinder 102 of the replacing component II acts, the telescopic rod I103 of the corner pressing cylinder 102 drives the clamping jaw 104 to rotate and move towards the direction of the end effector 3 to be replaced, the end effector 3 to be replaced is fixed on the rack, the linear driver I105 acts, the linear driver I105 drives the moving body 106 to move upwards until the moving plate 107 drives the claw 110 to move upwards to a specified position, the linear driver I105 stops acting, the linear driver II 108 acts, the push-pull rod 109 pushes the claw 110 to rotate towards the direction of the handle 201d, when the claw 110 hooks the handle 201d, the linear driver II 108 stops acting, the linear driver I105 reversely acts to drive the moving body 106 to move downwards, the moving plate 106 drives the moving plate 107 to move downwards, the moving plate 107 pushes the claw 110 to move downwards, the claw 110 pulls the handle 201d to rotate downwards, when the clamping pin 202a is hooked by the clamping hook 201c, the manipulator is connected with the end effector 3 to be replaced, the first linear driver 105 stops acting, the second linear driver 108 reversely acts, the push-pull rod 109 pushes the hook claw 110 to rotate towards the direction away from the handle 201d, the hook claw 110 is separated from the handle 201d, namely the hook claw 110 is separated from the quick-change female head 201, and the replacement work of the end effector 3 is completed; the manipulator drives the replaced new end effector 3 to move towards the direction of the lifting rod 409, when the connecting plate 302 abuts against the lower end of the lifting rod 409, the manipulator stops moving, the connecting plate 302 and the lifting rod 409 are manually fixed, the handle 201d is pulled out, the clamping pin 202a is separated from the clamping pin 202a, and the new end effector 3 is separated from the manipulator; the lifting motor 411 is operated, the lifting motor 411 is operated to rotate the lifting synchronous wheel 413, the tension wheel 412 is arranged to ensure the meshing transmission between the lifting synchronous wheel 413 and the lifting synchronous belt 414, so that the lifting rod 409 moves downwards on the moving seat 402 along the guide rail 402a, when the support rod and the vacuum suction cup 305 abut against the material sheet, the lifting motor 411 stops operating, the vacuum suction cup 305 sucks the material sheet on the upper side of the material stack 5, the lifting motor 411 reversely operates, after the lifting rod 409 drives the end effector 3 to move upwards for a proper distance, the lifting motor 411 stops operating, the driving motor 403 operates to rotate the driving synchronous wheel 405, the pressing wheel 404 is arranged to ensure the meshing transmission between the driving synchronous wheel 405 and the driving synchronous belt 406, so that the moving seat 402 moves leftwards on the material loading rack 401 along the slide rail 401a, the moving seat 402 moves to the position above the sliding table 425, and the lifting motor 411 operates again, the lifting rod 409 puts a material sheet on the sliding table 425, the vacuum chuck 305 loosens the material sheet, the linear driver three 430 acts, the telescopic rod two 431 of the linear driver three 430 drives the telescopic plate 432 to stretch and stretch to centralize the material sheet, the transmission motor 426 acts, the output shaft 426a of the transmission motor 426 drives the driving wheel 427 to rotate, the driving wheel 427 transmits force to the driven wheel 428 through the transmission belt 429 to enable the driven wheel 428 to rotate, the rotation of the driven wheel 428 drives the rotating shaft 422 to rotate, the rotation of the rotating shaft 422 drives the transmission wheel one 418 to rotate, the transmission wheel one 418 transmits power to the transmission wheel two 420 through the transmission belt 421 to enable the transmission wheel two 420 to rotate, the transmission belt 421 moves to drive the sliding table 425 to move leftwards, the sliding table 425 drives the material sheet to move to the next station, and the telescopic plate 432, the sliding table 425, the moving seat 402; the utility model can change the end-picking device 3 with different specifications by using the end-picking device 3 changing mechanism 1 according to the actual shape of the material sheet, and the feeding mechanism 4 is arranged, thereby saving labor and having high working efficiency; the feeding device can be applied to the feeding work of the material sheets.

The present invention is not limited to the above embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some replacements and transformations for some technical features without creative labor according to the disclosed technical contents, and these replacements and transformations are all within the protection scope of the present invention.

Claims

1. A loading attachment which characterized in that: the automatic end effector replacing mechanism comprises a feeding mechanism and an end effector replacing mechanism, wherein the feeding mechanism comprises a feeding rack, the end effector replacing mechanism comprises a replacing rack, a plurality of supporting claws for supporting an end effector are arranged at the periphery of the replacing rack, at least two groups of replacing components are arranged on the replacing rack, each replacing component comprises a clamping jaw capable of rotating and performing reciprocating linear movement in the left-right direction and a liftable moving plate, when the end effector is supported and arranged on the supporting jaw, the clamping jaw can clamp the upper part of the end effector, and a hook extending upwards and rotating is hinged to the moving plate; one side of material loading frame is equipped with the slip table frame that is used for conveying the tablet and is used for placing the fender material frame of tablet, be equipped with the removal seat that can control direction reciprocating motion on the material loading frame, remove the lifter that is equipped with the liftable on the seat, lifter one end down is connected with the end effector that is used for absorbing the tablet, is connected with the vacuum chuck that stretches out down on the end effector, and the fender material frame is in the below of end effector, be equipped with the slip table that can control direction reciprocating motion in the slip table frame.

2. A loading device according to claim 1, characterised in that: the end effector is changed the mechanism and is still including connecting the female head of quick change on the manipulator and connecting the public head of quick change on the end effector, be equipped with in the female head of quick change and hold the chamber, the public head of quick change is kept away from the one end of end effector and is upwards inserted and hold the intracavity, the outside of the relative end effector setting of the female head of quick change is opened and is had at least one and lead the spout, be equipped with tight round pin of clamp on the public head of quick change, the outside of the female head of quick change articulates there is at least one to press from both sides tight hook, press from both sides tight hook and can hook the tight round pin of clamp that stretches out the spout, press from both sides the handle.

3. A loading device according to claim 1, characterised in that: the end effector includes that the end effector is responsible for, the upper end that the end effector is responsible for is equipped with the connecting plate, and the end effector can be connected at the lifter lower extreme through the connecting plate, the end effector is responsible for and is connected with two at least end effector branch pipes that are responsible for both sides direction extension to the end effector respectively, the one end that the end effector branch pipe stretches out outwards is equipped with the fixed plate, vacuum chuck connects on the fixed plate.

4. The feeding device according to claim 1, wherein a corner pressing cylinder is arranged at the upper end of the replacing rack, a first telescopic rod capable of reciprocating and rotating in the left-right direction is arranged on the corner pressing cylinder, one end of the clamping jaw is fixedly connected with the outward end of the first telescopic rod, and the other end of the clamping jaw can clamp the end effector; the replacing assembly further comprises a first linear driver fixedly connected to the replacing rack, a moving body capable of vertically reciprocating in the height direction is arranged on the first linear driver, and the moving body is fixedly connected with the moving body; the moving plate is hinged with a second linear driver, the second linear driver is provided with a push-pull rod which can reciprocate up and down in the height direction and extends upwards, and the upward end of the push-pull rod is hinged with the claw.

5. A loading device according to claim 1, characterised in that: the feeding rack is provided with at least one sliding rail, the movable seat is connected to the sliding rail in a sliding mode, the movable seat is fixedly connected with a mounting plate, the mounting plate is connected to the upper portion of the feeding rack and is connected with a driving motor and two pressing wheels, a driving synchronizing wheel is connected to an output shaft of the driving motor and is arranged between the two pressing wheels, the driving synchronizing wheel and the pressing wheels are connected together through a driving synchronous belt, and two ends of the driving synchronous belt are fixedly connected to two ends of the feeding rack respectively.

6. A loading device according to claim 5, characterized in that: the material loading frame is equipped with the stopper at ascending both ends of direction of height, and stopper one end inwards is equipped with the end buffer block, removes the seat and can remove between two end buffer blocks and remove.

7. A loading device according to claim 1, characterised in that: the utility model discloses a lifting synchronous pulley, including removal seat, lifter, motor mount pad, lift synchronous pulley and take-up pulley, be equipped with the guide rail on removing the seat, lifter slidable connects on the guide rail, remove still fixedly connected with motor mount pad on the seat, install lift motor and two take-up pulleys on the motor mount pad, be connected with the lift synchronous pulley on lift motor's the output shaft, the lift synchronous pulley is between two take-up pulleys, and lift synchronous pulley links together through the lift synchronous belt with the take-up pulley.

8. A loading device according to claim 1, characterised in that: the upper end of the sliding table rack is provided with at least one sliding table mounting seat, one end of the sliding table mounting seat arranged opposite to the material blocking frame is fixedly connected with a first driving wheel mounting seat, a first driving wheel is rotatably connected in the first driving wheel mounting seat, the other end of the sliding table mounting seat is fixedly connected with a second driving wheel mounting seat, a second driving wheel is rotatably connected in the second driving wheel mounting seat, a rotating shaft is rotatably connected on the second driving wheel mounting seat, the first driving wheel and the second driving wheel are connected together through a driving belt, the sliding table mounting seat is provided with a guide sliding rail which is connected with a sliding block in a sliding way, the sliding table is fixedly connected to the sliding block, the sliding table is connected with the transmission belt, the sliding table frame is connected with a transmission motor, the output shaft of the transmission motor is connected with a driving wheel, the rotating shaft is connected with a driven wheel, and the driving wheel and the driven wheel are connected together through a transmission belt.

9. A loading device according to claim 8, characterised in that: a plurality of linear drivers III are arranged on the periphery of the sliding table, a telescopic rod II is arranged on the linear drivers III, and one end, extending outwards, of the telescopic rod II is connected with a telescopic plate.