CN217534520U - Loading device and carrying equipment - Google Patents

Abstract

The utility model discloses a loading attachment and haulage equipment, this loading attachment's a detecting component detects the relative inclination of the axle head face of material axle for the axle head face of board axle, again based on relative inclination who detects and predetermine the comparative result between the relative inclination, by relative position of angular adjustment mechanism adjustment material axle and board axle to material axle and board axle relative inclination between them reach and predetermine relative inclination, push the board epaxial with the epaxial target material loading spare of material by pushing equipment at last. This loading attachment is promoting the material and is epaxial the in-process real-time adjustment material axle and the relative position relation of board axle of target material loading to the compensation promotes the deformation that target material loading process material axle produced, has guaranteed material axle and board axle and has kept the centering in real time, thereby accomplishes target material loading work smoothly, the utility model discloses a device is particularly useful for the material loading work of six cun axle pieces.

Description

Loading device and carrying equipment

Technical Field

The utility model relates to an intelligent storage technical field, in particular to loading attachment and haulage equipment.

Background

The preparation technology anterior segment process of lithium cell involves getting of axle pole piece, transports, material loading, can produce the graphite dust in the lithium cell production anterior segment process, if do not do well the protection of producers, can endanger personnel healthy. With the rapid development of intelligent manufacturing in recent years, unmanned requirements are put on the carrying of the shaft pole pieces.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a realize unmanned automatic handling target material loading spare, the first aspect provides a loading attachment.

The utility model discloses a loading attachment, include:

a base;

the material shaft is oppositely arranged on the base and is configured to be used for sleeving a target feeding piece, and the axial direction of the material shaft is marked as a Y axis;

the first detection assembly is configured to be used for detecting the relative inclination angles of the shaft end faces of the material shaft and the machine table shaft;

the angle adjusting mechanism is configured to drive the shaft end face of the material shaft to rotate to a preset relative inclination angle relative to the machine table shaft according to a comparison result of the relative inclination angle and the preset relative inclination angle;

the material pushing mechanism is configured to push a target feeding piece on the material shaft into the machine table shaft.

The utility model discloses an in an embodiment of loading attachment, loading attachment still includes:

a second detection component configured to detect a relative offset distance of centers of shaft end faces of the material shaft and a machine table shaft;

the distance adjusting mechanism is configured to drive the material shaft to move to a preset relative offset distance relative to the machine table shaft according to a comparison result of the relative offset distance and the preset relative offset distance.

In an embodiment of the feeding device of the present invention, the relative inclination angle includes a first relative inclination angle of the shaft end surfaces of the material shaft and the machine table shaft with respect to the Z-axis;

the angle adjusting mechanism comprises a Z-axis angle adjusting mechanism, and the Z-axis angle adjusting mechanism is configured to drive the material shaft to rotate around the Z axis to a preset first relative inclination angle according to a comparison result of the first relative inclination angle and the preset first relative inclination angle.

The utility model discloses an in an embodiment of loading attachment, Z axle angle guiding mechanism includes:

the Z-axis rotating piece is arranged on the base in a mode of rotating around a Z axis, and the material axis is oppositely arranged on the Z-axis rotating piece;

the Z-axis rotating driving assembly is arranged on the base and is configured to drive the Z-axis rotating member to rotate around a Z axis.

The utility model discloses an in the loading attachment's an embodiment, Z axle rotating member is cross roller bearing, cross roller bearing's inner circle fixed connection be in on the base and the central line extends along Z axle direction, cross roller bearing's outer lane is for being provided with the material axle and by Z axle rotation drive assembly promotes the rotation.

The utility model discloses an in the one embodiment of loading attachment, Z axle rotation drive subassembly includes:

the Z-axis pushing piece is hinged with the Z-axis rotating piece;

a Z-axis rotating motor disposed on the base;

a Z-axis rotating transmission mechanism is arranged on the Z-axis, the Z-axis rotating transmission mechanism is configured to convert the rotating motion of the Z-axis rotating motor into a linear motion to push the Z-axis pushing piece to move.

In an embodiment of the feeding device of the present invention, the relative offset distance includes a first relative offset distance of the shaft end surfaces of the material shaft and the machine table shaft in the X-axis direction;

distance adjustment mechanism includes X axle distance adjustment mechanism, X axle distance adjustment mechanism includes:

the X-axis movable piece is arranged on the Z-axis movable piece, the material shaft is oppositely arranged on the X-axis movable piece, and the X-axis movable piece is configured to be controlled by an X-axis movement driving assembly to drive the material shaft to move to a preset first relative distance along the X-axis direction according to a comparison result of a first relative offset distance and the preset first relative offset distance.

The utility model discloses an in an embodiment of loading attachment, X axle removes drive assembly includes:

the X-axis moving motor is arranged on the Z-axis rotating member;

the X-axis movement transmission assembly is configured to convert the rotary motion of the X-axis movement motor into linear motion to push the X-axis movable piece to move along the X axis.

The utility model discloses an in the one embodiment of loading attachment, X axle distance guiding mechanism still includes X axle removal direction subassembly, X axle removal direction subassembly is configured to be used for the guide X axle moving part is followed the motion of X axle.

In an embodiment of the feeding device of the present invention, the relative offset distance includes a second relative offset distance of the shaft end surfaces of the material shaft and the machine table shaft in the Z-axis direction;

distance adjustment mechanism still includes Z axle distance adjustment mechanism, Z axle distance adjustment mechanism includes:

and the Z-axis movable piece is arranged on the X-axis movable piece, the material shaft is arranged on the Z-axis movable piece, and the Z-axis movable piece is configured to drive the material shaft to move to a second preset relative offset distance along the Z-axis direction under the control of a Z-axis movement driving assembly according to a comparison result of the second relative offset distance and the preset second relative offset distance.

The utility model discloses an in the one embodiment of loading attachment, the Z axle removes drive assembly includes:

the Z-axis moving motor is arranged on the X-axis moving piece;

the Z-axis movement transmission component is configured to convert the rotary motion of the Z-axis movement motor into linear motion to push the Z-axis movable piece to move along the Z axis.

The utility model discloses an in the one embodiment of loading attachment, Z axle distance guiding mechanism still includes Z axle removal direction subassembly, Z axle removal direction subassembly is configured to be used for the guide the Z axle moving part is followed the motion of Z axle.

In an embodiment of the feeding device of the present invention, the relative inclination angle further includes a second relative inclination angle of the shaft end surfaces of the material shaft and the machine table shaft with respect to the X-axis;

the angle adjusting mechanism further comprises an X-axis angle adjusting mechanism, and the X-axis angle adjusting mechanism is configured to be used for comparing the second relative inclination angle with a preset second relative inclination angle, so as to drive the material shaft to rotate around the X axis to the second preset relative inclination angle.

The utility model discloses an in an embodiment of loading attachment, X axle angle guiding mechanism includes:

one end of the first connecting rod is fixedly connected with the Z-axis movable piece, and the other end of the first connecting rod is hinged with the second connecting rod through a first hinge shaft;

the sliding block is hinged with the second connecting rod through a second hinge shaft and is controlled by an X-axis rotating driving component to move along a connecting line of the first hinge shaft and the second hinge shaft so as to push the material shaft to rotate around the X axis relative to the Z-axis movable component.

The utility model discloses an in one embodiment of loading attachment, X axle rotation drive subassembly includes:

an X-axis rotating motor disposed on the first link;

an X-axis rotation transmission component configured to convert the rotation motion of the X-axis rotation motor into a linear motion to push the slider to move along the connecting line of the first hinge shaft and the second hinge shaft.

The utility model discloses an in an embodiment of loading attachment, pushing equipment includes:

the pushing piece is movably arranged on the material shaft and is constructed to be controlled by a pushing driving mechanism to push the shaft pole piece on the material shaft into the machine table shaft.

The utility model discloses an in an embodiment of loading attachment, material pushing drive mechanism includes:

the material pushing motor is arranged on the material shaft;

the pushing transmission mechanism is configured to convert the rotary motion of the pushing motor into linear motion to push the pushing piece to move.

In one embodiment of the feeding device of the utility model, the material pushing part is arranged on the base, and is configured to be controlled by a pushing drive mechanism for pushing a target loading member on the material shaft into the machine shaft.

The utility model discloses an in an embodiment of loading attachment, the second detection component includes visual angle sensor.

The utility model discloses an in an embodiment of loading attachment, first determine module includes:

the distance measuring device comprises at least three distance measuring sensors which are arranged on the shaft end surface of the material shaft in a triangular mode and are configured to be used for detecting the distance between the shaft end surface of the material shaft and the shaft end surface of the machine table shaft.

The utility model discloses an in one embodiment of loading attachment, the target material loading spare is the axle pole piece.

In a second aspect, the present invention further provides a carrying device, the carrying device includes a carrying vehicle and a feeding device as described above, and the base is disposed on the carrying vehicle.

The user or the external auxiliary equipment sleeves the target feeding part into the feeding shaft of the feeding device, the feeding shaft and the machine shaft are kept approximately aligned, the feeding device adjusts the relative positions of the feeding shaft and the machine shaft through the angle adjusting mechanism based on the comparison result of the first detection assembly until the relative inclination angles of the feeding shaft and the machine shaft reach a preset relative inclination angle, and finally the target feeding part on the feeding shaft is pushed into the machine shaft through the material pushing mechanism.

Can understand, this loading attachment can accomplish the material loading process of target material loading spare automatically, has saved artifical material loading cost, can also avoid when artifical material loading causing the axle utmost point piece accident to fall and cause the problem that the product damaged or personnel are injured because of the operation carelessly, can improve the security and the reliability of target material loading spare material loading. And, this loading attachment is promoting the material and is epaxial the in-process real-time adjustment material axle and the relative position relation of board axle of target material loading to the compensation promotes the deformation that target material loading process material axle produced, has guaranteed material axle and board axle and has kept the centering in real time, thereby accomplishes the material loading work of target material loading smoothly, the utility model discloses a device is particularly useful for the material loading work of six cun axle pole pieces.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.

Fig. 1 is a schematic front view of an embodiment of a feeding device provided by the present invention;

FIG. 2 is a right side view of FIG. 1;

FIG. 2a is a schematic perspective view of the relative position relationship between the material axis and the machine axis;

FIG. 2b is a schematic structural view of an axial end face of the stub shaft;

FIG. 2c is a schematic view of a plane structure of the relative position relationship between the material axis and the machine axis;

FIG. 2d is another schematic plan view of the relative position relationship between the material axis and the machine axis;

FIG. 3 is a schematic view of the interior of the loading device of FIG. 1 with the housing and X-axis movable members removed;

FIG. 4 is a schematic front view of the X-axis movable members and base assembly of the loading apparatus of FIG. 1;

FIG. 5 is a schematic top view of the X-axis movable member and base assembly of the loading assembly of FIG. 1;

FIG. 6 is an interior left side view of the loading unit of FIG. 1 with the housing removed;

FIG. 7 is a top view of the interior of the loading unit of FIG. 1 with the housing removed;

FIG. 8 is a schematic front view of the X-axis angular adjustment mechanism;

FIG. 9 is a schematic left side view of the X-axis angular adjustment mechanism;

fig. 10 is a schematic flow chart illustrating the main steps of an embodiment of the control method of the feeding device of the present invention;

fig. 11 is a schematic flow chart illustrating the main steps of another embodiment of the control method of the feeding device according to the present invention;

fig. 12 is a detailed step flow diagram of the control method of the feeding device according to the present invention.

The one-to-one correspondence between component names and reference numbers in fig. 1 to 9 is as follows:

1 is a transport vehicle;

z axle angle adjustment mechanism:

2000 is a base, 2001 is a Z-axis rotating part, 2002 is a Z-axis rotating motor, 2003Z-axis rotating ball screw, 2004Z-axis rotating nut block, 2005Z-axis pushing part, 2006Z-axis rotating speed reducer, 2007Z-axis rotating mounting seat, 2008Z-axis rotating guide rail and 2009Z-axis rotating guide sliding block;

x axle distance adjustment mechanism:

2101X-axis movable pieces, 21011 bottom plates, 21012 top plates, 21013 supporting plates, 2102X-axis moving motors, 2103X-axis moving ball screws, 2104X-axis moving nut blocks, 2105X-axis moving bearing seats, 2106X-axis moving speed reducers, 2107X-axis moving guide rails and 2108X-axis moving guide sliders;

z axle distance guiding mechanism:

a 2201Z-axis moving part, 2202, a Z-axis moving motor, a 2203Z-axis moving ball screw, a 2204Z-axis moving nut block, a 2205Z-axis driving gear, a 2206Z-axis driven gear, a 2207Z-axis moving speed reducer, a 2208Z-axis moving guide track and a 2209Z-axis moving guide slider;

x axle rotation adjustment mechanism:

2301 a first connecting rod, 2302 a first hinged shaft, 2303 a sliding block, 2304 a second hinged shaft, 2305 an X-axis rotating motor, 2306 an X-axis rotating ball screw, 2307 an X-axis rotating nut block, 2308 an X-axis rotating speed reducer and 2309 an X-axis rotating mounting seat;

a material pushing mechanism:

2401 pushing parts, 2402 pushing motors, 2403 pushing ball screws, 2404 pushing nut blocks, 2405 pushing driving gears and 2406 pushing driven gears;

2500 material shafts, 2501 material shaft seats, 2600 vision sensors, 2601 first displacement sensors, 2602 second displacement sensors, 2603 third displacement sensors, 2700 housings, 27000 sliding holes;

3-axis pole pieces and 4 machine table axes.

Detailed Description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: unless specifically stated otherwise, the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In order to automatically complete the feeding task of a target feeding piece without human, the utility model provides a feeding device. For the convenience of understanding, use the axle pole piece as the concrete structure of this loading attachment and theory of operation of target material loading spare detailed description below, of course, the utility model discloses a loading attachment application range is not limited only to the material loading task of implementing the axle pole piece, and the skilled person in the art can use according to actual need the utility model discloses a loading attachment accomplishes the material loading task of other target material loading spares.

It should be noted that for the sake of clarity, the "X axis, Y axis, and Z axis" used herein to describe the relative movement of the components of the feeding device is a spatial coordinate system established by taking the axial direction of the material shaft as a reference, wherein the axis of the material shaft is referred to as the Y axis, the axis perpendicular to the Y axis in the horizontal plane is referred to as the X axis, and the axis perpendicular to the horizontal plane is referred to as the Z axis.

The shaft pole piece is usually a middle shaft and an annular piece formed on the middle shaft, the middle shaft has a center hole, and the specification of the shaft pole piece is usually named by the aperture of the center hole, for example, the shaft pole piece includes a three-inch shaft pole piece, a six-inch shaft pole piece, and the like, that is, the aperture of the center hole of the three-inch shaft pole piece is 76mm, and the aperture of the center hole of the six-inch shaft pole piece is 152mm. The utility model discloses an axle pole piece handling system is used for carrying six cun axle pole pieces usually.

Because six cun axle pole pieces weight ratio is great, when promotion axle pole piece moves from the material axle to the board axle, the material axle can take place to warp and can't keep material axle and board axle centering in real time, has axle pole piece and board axle week terminal surface to offset and can't push the board axle with it, the risk of material loading failure.

Therefore, the utility model provides a loading attachment, the device can remove the in-process at the axle pole piece and adjust material axle and board axle in real time and keep the centering, finally can be smoothly with the axle pole piece from the material axle push-in board axle, accomplish its material loading process.

The utility model discloses a loading attachment includes base, material axle, first determine module, angular adjustment mechanism and pushing equipment. The material shaft is oppositely arranged on the base and is constructed for sleeving a shaft pole piece, and the axial direction of the material shaft is marked as a Y axis; the first detection assembly is configured to be used for detecting the relative inclination angle of the shaft end faces of the material shaft and the machine table shaft; the angle adjusting mechanism is configured to drive the shaft end face of the material shaft to rotate to a preset relative inclination angle relative to the machine table shaft according to the comparison result of the relative inclination angle and the preset relative inclination angle; the material pushing mechanism is configured to push the shaft pole piece on the material shaft into the machine table shaft.

It should be noted that, when the material shaft reaches the preset relative inclination angle with respect to the machine shaft, the material shaft and the machine shaft are substantially kept in the aligned state, and the material pushing mechanism can smoothly push the shaft pole piece on the material shaft into the machine shaft. The preset relative inclination angle may be a specific value, such as 5 ° or 10 °, or may be a range of values, such as 5 ° to 10 °, and the skilled person may select an appropriate value based on the specific structures and dimensions of the material shaft, the machine shaft, and the shaft sheet.

A user or external auxiliary equipment sleeves the shaft pole piece into the material shaft of the feeding device, the material shaft and the machine shaft are kept approximately aligned, the feeding device adjusts the relative position of the material shaft and the machine shaft through the angle adjusting mechanism based on the comparison result of the first detection assembly until the relative inclination angle of the material shaft and the machine shaft reaches a preset relative inclination angle, and finally the shaft pole piece on the material shaft is pushed into the machine shaft through the material pushing mechanism.

Further, in order to improve the butt joint precision of material axle and board axle, according to the utility model discloses a further embodiment, loading attachment still includes second determine module and distance adjustment mechanism. The second detection assembly is configured to be used for detecting the relative offset distance of the centers of the shaft end faces of the material shaft and the machine table shaft, and the distance adjusting mechanism is configured to be used for driving the material shaft to move to the preset relative offset distance relative to the machine table shaft according to the comparison result of the relative offset distance and the preset relative offset distance.

It should be noted that, when the material shaft reaches the preset relative offset distance with respect to the machine shaft, the material shaft and the machine shaft are substantially kept in a centering state, and the material pushing mechanism can smoothly push the shaft pole piece on the material shaft into the machine shaft. The preset relative offset distance may be a specific value, for example, the relative offset distance in the X-axis direction is 2cm, the relative offset distance in the Z-axis direction is 2cm, or may be a range of values, for example, the relative offset distance in the X-axis direction is 2cm to 5cm, and the relative offset distance in the Z-axis direction is 2cm to 4cm, and those skilled in the art may select an appropriate value based on the specific structure and size of the material axis, the machine axis, and the shaft pole piece.

In this embodiment, when the angle adjusting mechanism adjusts the relative position between the material shaft and the machine shaft until the relative inclination angle between the material shaft and the machine shaft reaches the preset relative inclination angle, the distance adjusting mechanism adjusts the relative position between the material shaft and the machine shaft until the relative offset distance between the material shaft and the machine shaft reaches the allowable preset relative offset distance, and finally the material pushing mechanism pushes the shaft pole piece on the material shaft into the machine shaft.

Can understand, this loading attachment can accomplish the material loading process of axle pole piece automatically, has saved artifical material loading cost, can also avoid when artifical material loading because of the operation carelessly causes the axle pole piece accident to fall and causes the product to damage or personnel injured's problem, can improve the security and the reliability of axle pole piece material loading. And, this loading attachment adjusts the relative position relation of material axle and board axle in real time at the in-process that promotes the pole piece on the material axle to the compensation promotes the deformation that the axle pole piece process material axle produced, has guaranteed material axle and board axle and has kept the centering in real time, thereby accomplishes the work of axle pole piece material loading smoothly, the utility model discloses a device is particularly useful for the work of material loading of six cun pole pieces.

For better understanding, the specific structure of the feeding device and the working principle thereof will be described in detail below by taking a specific embodiment as an example in conjunction with fig. 1 to 9.

It should be noted that, the utility model discloses a loading attachment uses with the carrier cooperation, the utility model discloses in with the system that loading attachment and carrier combination used usually be haulage equipment. In order to keep the text simple, the loading device is described in the following text together with the description of the handling device, and is not described separately.

The carrying equipment comprises a carrying vehicle 1 and a feeding device. Wherein, loading attachment is used for pushing into the board axle of board with the axle pole piece 3 on its material axle 2500.

Wherein, the board is directly placed on the warehouse ground or is fixed on the warehouse ground through chemical bolts. The machine table shaft is a cantilever shaft fixedly arranged on the machine table, the machine table shaft generally extends approximately in the horizontal direction, and the shaft diameter of the machine table shaft is smaller than the central hole in the middle of the shaft pole piece, so that the shaft pole piece on the material shaft can be pushed into the machine table shaft by the feeding device.

According to the utility model discloses an embodiment, the utility model discloses a carrier 1 specifically can be for the AGV carrier, also commonly known as AGV dolly. An AGV is a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, and having safety protection and various transfer functions. The industrial application does not need a driver's truck, and a rechargeable battery is used as a power source of the truck. Generally, the traveling path and behavior can be controlled by a computer, or the traveling path is set up by using an electromagnetic track (electromagnetic path-following system), the electromagnetic track is adhered to the ground, and the unmanned transport vehicle moves by using a message brought by the electromagnetic track or uses a ground two-dimensional code or SLAM navigation.

Among them, SLAM (simultaneous Localization and Mapping), also called CML (current Localization and Localization), performs instant positioning and Mapping, or performs Mapping and positioning concurrently. The problem can be described as: the present invention relates to a method for mapping an unknown environment, and more particularly, to a method for placing a robot at an unknown position in an unknown environment, and whether there is a method for allowing the robot to trace a complete map of the environment while moving, wherein the complete map (a contained map) refers to every corner where a room can enter without being obstructed.

Of course, the transport vehicle is not limited to an AGV transport vehicle, as long as it is satisfied that the transport vehicle travels on the ground according to a preset path under the unmanned driving condition to transport the material. According to the utility model discloses in other embodiments, the utility model discloses a carrier 1 also can be for the vehicle that needs manual driving.

Referring to fig. 1 and fig. 2, in this embodiment, the feeding device of the present invention includes a base 2000, a material shaft 2500, and an outer shell 2700. Wherein, the base 2000 is arranged on the carrier 1, and can be detachably arranged on the carrier through bolts; the outer shell 2700 is arranged on the base 2000, and particularly, the base 2000 and the outer shell 2700 can be detachably connected through bolts and can also be directly fixedly connected through welding or riveting; the material shaft 2500 is partially positioned in the outer shell, and the other part of the material shaft extends out of the outer shell 2700, and the material shaft 2500 is configured to rotate or move relative to the machine table shaft under the driving of the auxiliary mechanism so as to align the shaft end surface of the material shaft 2500 with the shaft end surface of the machine table shaft. Because the material shaft 2500 moves relative to the base 2000 and the outer shell 2700 under the action of the auxiliary mechanism, a through hole 27000 is formed in the outer shell 2700 for the purpose of moving the material shaft 2500 relative to the outer shell 2700, and particularly, the through hole 27000 is a long through hole extending along the vertical direction.

According to the utility model discloses an embodiment, the utility model discloses a base 2000 is a flat board, and it sets up on carrier 1 with fixed mode or detachably mode, base 2000 can also even with carrier 1's automobile body integrated into one piece. That is, the feeding device in this embodiment not only can automatically complete the feeding process of the shaft sheet 3, can also transport axle piece 3 to board axle workspace from the axle pole piece storage area in warehouse, further improvement the automation level of transport axle pole piece.

The utility model discloses a loading attachment still includes first determine module 2601, second determine module 2600, angle adjustment mechanism, distance guiding mechanism and pushing equipment. Wherein, angle adjustment mechanism, distance adjustment mechanism and part pushing equipment all set up in shell 2700, and shell 2700's effect is dustproof and waterproof to electronic component avoids rainwater erosion, dust pollution among angle adjustment mechanism, distance adjustment mechanism and the pushing equipment.

With reference to fig. 1 and fig. 2, in this embodiment, the outer shell 2700 is a rectangular box structure, and the outer shell 2700 may be made of a material that has a certain strength and is waterproof and dustproof, such as metal, resin, or plastic.

Based on under the effect of shell 2700, if loading attachment uses when the place possesses waterproof dustproof function, according to the utility model discloses an embodiment, the utility model discloses a loading attachment also can save shell 2700.

As before, the utility model discloses a loading attachment still includes first detection component 2601, second detection component 2600, angle adjustment mechanism, distance adjustment mechanism and pushing equipment.

The first detecting assembly 2601 is configured to detect a relative inclination angle of the axial end faces of the material shaft 2500 and the machine shaft.

In this embodiment, combine fig. 2a to 2d, the utility model discloses a first detection element 2601 includes three range finding sensor, and these three range finding sensor are triangle-shaped and arrange the setting on the axle terminal surface of material axle 2500, first range finding sensor 26011, second range finding sensor 26012 and third range finding sensor 26013 promptly, and third range finding sensor 26013 is located first range finding sensor 26011 and second range finding sensor 26012's top. That is, the first distance measuring sensor 26011 and the second distance measuring sensor 26012 are sequentially disposed on the axial end surface of the material shaft 2500 at intervals along the X-axis direction, and the first distance measuring sensor 26011, the second distance measuring sensor 26012 and the third distance measuring sensor 26013 are sequentially disposed on the axial end surface of the material shaft 2500 at intervals along the Z-axis direction.

Based on the arrangement mode, with reference to fig. 2c and 2d, the third distance measuring sensor 26013 detects that the first distance between the material shaft 2500 and the machine axis is L1, the second distance measuring sensor 26012 detects that the second distance between the material shaft 2500 and the machine axis is L2, and the first distance measuring sensor 26011 detects that the third distance between the material shaft 2500 and the machine axis is L3), and when any two of the first distance L1, the second distance L2, and the third distance L3 are not equal, it indicates that the shaft end surfaces of the material shaft 2500 and the machine axis are not parallel, that is, the shaft end surface of the material shaft 2500 is inclined with respect to the shaft end surface of the machine axis.

The processor of the feeding device acquires the detection result of the first detection assembly 2601, analyzes and processes the detection result, and then controls the angle adjusting mechanism to act according to the processing result.

Specifically, the processor further includes a first calculating unit, and the first calculating unit may calculate a first relative inclination angle α of the shaft end surface of the material shaft 2500 with respect to the Z axis of the shaft end surface of the machine table shaft 4 and a second relative inclination angle γ of the shaft end surface of the material shaft 2500 with respect to the X axis of the shaft end surface of the machine table shaft 4 according to the pythagorean theorem in combination with detection results of the first distance measuring sensor 26011, the second distance measuring sensor 26012, and the second distance measuring sensor 26013.

The processor further comprises a first comparison unit configured to compare a magnitude relationship between the first relative inclination angle and a preset first relative inclination angle, and to compare a magnitude relationship between the second relative inclination angle and a preset second relative inclination angle.

It should be noted that, processing methods such as algorithms used by the first calculating unit and the first comparing unit of the processor are not existing calculation programs, and those skilled in the art can completely implement the methods based on the prior art, and are not described herein again.

Based on relative inclination of material axle 2500 for the board axle, the utility model discloses a loading attachment still includes angle adjustment mechanism, and angle adjustment mechanism is configured to be used for according to relative inclination and predetermine relative inclination's comparative result, and the axle head face that drives material axle 2500 rotates for the board axle, reaches the relative inclination of predetermineeing that allows for the axle head face of board axle until the axle head face of material axle 2500.

With reference to fig. 3 to 5, in this embodiment, the first detecting component 2601 of the present invention can detect the relative inclination angle of the material axle 2500 relative to the machine axle through two dimensions, that is, the relative inclination angle of the material axle 2500 around the Z axle relative to the machine axle is the first relative inclination angle, and the relative inclination angle around the Z axle is the second relative inclination angle. Correspondingly, the relative inclination angle of the preset material-allowing shaft around the Z axis relative to the machine table axis is a preset first relative inclination angle, and the relative inclination angle of the preset material-allowing shaft around the X axis relative to the machine table axis is a preset second relative inclination angle.

The utility model discloses an angle adjustment mechanism includes Z axle angle adjustment mechanism, and Z axle angle adjustment mechanism is configured to be used for according to first relative inclination and predetermine first relative inclination's comparative result, and when first relative inclination is not equal to when predetermineeing first relative inclination promptly, drive material axle 2500 around the Z axle rotate to predetermine first relative inclination.

The Z-axis angle adjusting mechanism includes a Z-axis rotating member 2001 provided on the base 2000 in a manner rotatable about Z, and a material axis is provided on the Z-axis rotating member 2001 oppositely.

Specifically, the Z-axis rotor 2001 is a cross roller bearing in which an inner ring is fixedly connected to the base 2000 and a center line of the inner ring extends in the Z-axis direction, and an outer ring is provided with a material shaft.

The Z-axis angle adjustment mechanism further includes a Z-axis rotation drive assembly provided on the base 2000 and configured to drive the Z-axis rotatable member 2001 to rotate about the Z-axis.

In detail, the Z-axis rotation driving assembly includes a Z-axis rotation motor 2002, a Z-axis pusher 2005, and a Z-axis rotation transmission mechanism. Wherein the Z-axis rotating motor 2002 is disposed on the base 2000, and specifically, the housing of the Z-axis rotating motor 2002 is fixedly connected to the base 2000. The Z-axis rotating member 2001 and the Z-axis pushing member 2005 are provided in linkage. The Z-axis rotation transmission mechanism is configured to convert the rotational motion of the Z-axis motor 2002 into a linear motion to push the Z-axis pusher 2005 to rotate the Z-axis rotator 2001 around the Z-axis.

In this embodiment, the Z-axis rotary transmission mechanism of the present invention includes a Z-axis rotary ball screw 2003 and a Z-axis rotary nut block 2004 that are connected to each other by a screw, the Z-axis rotary ball screw 2003 is rotatably connected to the base 2000 by a Z-axis rotary bearing 2007, and the Z-axis rotary motor 2002 drives the Z-axis rotary ball screw 2003, the Z-axis rotary nut block 2004 and the Z-axis pusher 2005 to hinge.

The Z-axis rotating motor 2002 is started to drive the Z-axis rotating ball screw 2003 to rotate, the Z-axis rotating nut block 2004 moves along the Z-axis rotating ball screw 2003 to drive the Z-axis pushing piece 2005 to rotate around a first hinge shaft 20010, the Z-axis pushing piece 2005 pushes the Z-axis rotating piece 2001 to rotate around the Z axis, then the material shaft 2500 is driven to rotate around the Z axis by a first relative inclination angle alpha, and the rotating direction of the material shaft 2500 around the Z axis can be controlled by changing the rotating direction of the Z-axis rotating motor 2002, namely the material shaft 2500 rotates around the Z axis in a forward or reverse mode.

When the Z-axis rotation driving assembly drives the Z-axis rotating member 2001 to rotate around the Z-axis, so as to drive the material shaft 2500 to rotate around the Z-axis relative to the machine axis. Because the existing motor has a large rotating speed, the relative position between the material shaft 2500 and the machine shaft cannot be finely adjusted after the Z-axis rotating motor 2002 is started, and therefore the Z-axis rotating motor 2002 and the Z-axis rotating ball screw 2003 are in transmission connection through a Z-axis rotating speed reducer 2006 in the embodiment.

To ensure stability and consistency of movement of the Z-axis angle adjustment mechanism, in this embodiment, the Z-axis angle adjustment mechanism further includes a Z-axis rotational guide mechanism configured to guide the Z-axis rotational nut block 2004 along the Z-axis rotational ball screw 2003 relative to the base 2000.

In detail, the Z-axis rotation guide mechanism is a linear guide rail, a Z-axis rotation guide rail 2008 of the Z-axis rotation guide mechanism is fixedly or detachably disposed on the base 2000, a Z-axis rotation guide slider 2009 of the Z-axis rotation guide mechanism is slidable along the Z-axis rotation guide rail 2008 under an external force, and a Z-axis rotation nut 2004 is fixedly connected to the Z-axis rotation guide slider 2009.

In other embodiments, the Z-axis pivot guide block 2009 may be integrally formed on the Z-axis pivot nut block 2004, i.e., the Z-axis pivot nut block 2004 is directly slidably connected to the Z-axis pivot guide block 2009.

In this embodiment, the utility model discloses an angle adjustment device still includes X axle angle guiding mechanism, and X axle angle guiding mechanism is configured to be used for according to second relative inclination and predetermineeing second relative inclination, and second relative inclination is not equal to when predetermineeing second relative inclination promptly, drives material axle 2500 and rotates around the X axle for the board axle, and second relative inclination to the axle head face of material axle 2500 reaches the second relative inclination of predetermineeing of allowwing for the axle head face of board axle.

Referring to fig. 8 and 9, the X-axis angular adjustment mechanism includes a first link 2301, an X-axis rotational mount 2309, a slider 2303, and an X-axis rotational drive assembly. One end of the first link 2301 is fixedly connected to the Z-axis movable member 2201, and the other end is hinged to the axis rotation mounting base 2309 through a first hinge axis 2303. The slider 2303 is hinged to one end of the material shaft 2500 through a second connecting shaft 2304, and the slider 2303 is controlled by the X-axis rotation driving assembly to move along the connection line of the first hinging shaft 2302 and the second hinging shaft 2304 so as to drive the material shaft 2500 to rotate around the X-axis relative to the Z-axis movable member 2201. The material shaft 2500 and the Z-axis movable member 2201 are hinged by a third hinge shaft (not shown), and the first hinge shaft 2302, the second hinge shaft 2304 and the third hinge shaft all extend along the X-axis direction.

With continued reference to fig. 9, the X-axis rotational drive assembly includes an X-axis rotational motor 2305 and an X-axis rotational transmission assembly. Wherein the X-axis rotating motor 2305 is provided on the first link 2301; the X-axis rotation transmission assembly is configured to convert the rotational motion of the X-axis motor 2305 into a linear motion pushing the slider 2303 along a line connecting the first hinge axis 2302 and the second hinge axis 2304.

In this embodiment, the X-axis rotation transmission mechanism of the present invention includes an X-axis rotation ball screw 2306 and an X-axis rotation nut block 2307 which are connected to each other by a screw thread, the X-axis rotation ball screw 2306 is rotatably connected to the X-axis rotation mounting base 2309 by an X-axis rotation bearing base, and the X-axis rotation motor 2305 drives the X-axis rotation ball screw 2306, and the X-axis rotation nut block 2307 is fixedly connected to the slider 2303.

The X-axis rotating motor 2305 is started to drive the X-axis rotating ball screw 2306 to rotate, the X-axis rotating nut block 2307 moves along the X-axis rotating ball screw 2607 to drive the slider 2303 to move along the connection line of the first hinged shaft 2302 and the second hinged shaft 2304, the slider 2303 drives the material shaft 2500 to rotate around the second hinged shaft 2304 and the third hinged shaft (X axis) at a second relative inclination angle gamma, and the rotation direction of the X-axis rotating motor 2305 is changed to control the rotation direction of the material shaft 2500 around the X axis, namely the material shaft 2500 rotates around the X axis in a forward or reverse mode.

When the X-axis rotation driving assembly drives the first connecting rod 2301 to rotate around the X-axis, so as to drive the material shaft 2500 to rotate around the X-axis relative to the machine axis. Because the existing motor has a large rotating speed, the relative position between the material shaft 2500 and the machine shaft cannot be finely adjusted after the X-axis rotating motor 2305 is started, so that the X-axis rotating motor 2305 and the X-axis rotating ball screw 2306 are in transmission connection through the X-axis rotating speed reducer 2308 in the embodiment.

When pushing equipment promoted the axle pole piece 3 on the material axle 2500 to the cantilever end of material axle 2500, material axle 2500 can take place to warp crooked, even if based on the detection result angle adjustment mechanism of first detection component 2601 drive material axle 2500 and rotate for the board axle, reach and predetermine relative inclination to the relative inclination of material axle 2500 and board axle shaft end face between them. However, because reasons such as stub shaft 2500 warp, stub shaft 2500 and board axle both's axle head face is not the centering, and for this reason, in this embodiment, the utility model discloses a loading attachment still includes second detection component 2600 and distance adjustment mechanism.

The second detection assembly is configured to detect a relative offset distance of centers of the shaft end faces of both the stub shaft 2500 and the machine axis.

The distance adjusting mechanism is configured to drive the material shaft 2500 to move relative to the machine table shaft according to a comparison result of the relative offset distance and the preset relative offset distance, and the relative offset distance to the centers of the shaft end faces of the material shaft 2500 and the machine table shaft reaches the preset relative offset distance.

The second detection assembly 2600 includes a vision sensor configured to acquire a centered reference pattern disposed on the machine axis.

The processor of the feeding device obtains the detection result of the second detection assembly 2600, analyzes and processes the detection result, and then controls the angle adjusting mechanism to act according to the processing result.

Specifically, the processor includes a second calculation unit and a second comparison unit. Wherein the second calculation unit is configured to calculate a relative offset distance between the centering reference pattern and the calibration centering reference pattern, and the second comparison unit is configured to compare a magnitude relationship between the relative offset distance and an allowable relative offset distance.

The calibration centering reference graph is a centering reference graph collected when the relative offset distance of the centers of the shaft end faces of the material shaft and the machine shaft reaches a preset relative offset distance.

It should be noted that, processing methods such as algorithms used by the second calculating unit and the second comparing unit of the processor are not existing calculation programs, and those skilled in the art can completely implement the methods based on the prior art, and are not described herein again.

When the actually shot centering reference pattern and the calibration centering reference pattern stored in the processor are not coincident or are not in an allowable relative offset distance, the first calculation unit calculates the distance between the actually shot centering reference pattern and the calibration centering reference pattern stored in the processor, then controls the X-axis movement driving mechanism to push the material shaft 2500 to move along the X-axis direction until the actually shot centering reference pattern and the calibration centering reference pattern are coincident on an X-axis coordinate, then controls the Z-axis movement driving mechanism to push the material shaft 2500 to move along the Z-axis direction until the actually shot centering reference pattern and the calibration centering reference pattern are coincident on a Z-axis coordinate, and the calibration centering reference pattern shot by the second detection component 2600 in real time is completely coincident so that the relative offset distance between the centers of the shaft end surfaces of the material shaft 2500 and the machine shaft reaches the allowable preset relative offset distance.

For example, the centering reference graph is a cross "ten", where the horizontal line is an X-axis coordinate, the vertical line is a Z-axis coordinate, an intersection point of the horizontal line and the vertical line is a center point of an axial end face of the machine axis, and a dotted line frame in the graph indicates an allowable range relative to the offset distance threshold.

In other embodiments, the centering reference pattern may be a dot located on the axial end surface of the machine axis, and the distance adjustment mechanism adjusts the relative positions of the material axis 2500 and the machine axis with the dot as a reference until the relative offset distance between the centers of the axial end surfaces of the material axis 2500 and the machine axis reaches the allowable preset relative offset distance.

The utility model discloses a second detects subassembly 2600 can detect the relative offset distance of material axle 2500 for the board axle through two dimensions, and material axle 2500 is first relative offset distance for the board axle along the ascending relative offset distance of X axle side, and the relative offset distance in the Z axle side of edge is second relative offset distance promptly. Correspondingly, the relative offset distance of the preset material-allowing shaft relative to the machine table shaft along the X-axis direction is a preset first relative offset distance, and the relative offset distance of the preset material-allowing shaft relative to the machine table shaft along the Z-axis direction is a preset second relative offset distance.

The distance adjusting mechanism comprises an X-axis distance adjusting mechanism, the X-axis distance adjusting mechanism comprises an X-axis moving part 2101, the X-axis moving part 2101 is arranged on a Z-axis rotating part 2001, and the X-axis moving part 2101 is configured to be controlled by an X-axis movement driving mechanism to push the material shaft 2500 to move along the X-axis direction according to a comparison result of the first relative offset distance and a preset first relative offset distance so as to adjust the relative position of the material shaft 2500 relative to the machine table shaft in the X-axis direction until the preset first relative offset distance is reached.

The X-axis driving mechanism includes an X-axis moving motor 2102 and an X-axis moving transmission mechanism, and the X-axis moving transmission mechanism is configured to convert the rotational motion of the X-axis moving motor 2102 into a linear motion to push the X-axis moving member 2101 to move along the X-axis direction relative to the Z-axis moving member 2001, and then drive the material shaft 2500 to move along the X-axis direction relative to the Z-axis moving member 2001 until the material shaft 2500 and the machine table shaft are centered in the X-axis direction.

The X-axis moving transmission mechanism comprises an X-axis moving ball screw 2103, the X-axis moving ball screw 2103 is rotatably arranged on a Z-axis rotating member 2001 through an X-axis moving bearing seat 2105 and extends along the X-axis direction, a motor shell of an X-axis moving motor 2102 is fixedly or detachably arranged on the Z-axis rotating member 2001, a power output shaft of the X-axis moving motor 2102 drives the X-axis moving ball screw 2103 to rotate, an X-axis moving nut block 2104 is in threaded connection with the X-axis moving ball screw 2103, the X-axis moving nut block 2104 is fixedly or detachably arranged on an X-axis movable member 2101, the X-axis moving motor 2102 drives the X-axis moving ball screw 2103 to rotate, and then the X-axis moving nut block 2104 drives the X-axis movable member 2101 to move along the X-axis direction relative to the Z-axis rotating member 2001, so that the material shaft 2500 is driven to move along the X-axis direction relative to the Z-axis rotating member 2001.

Of course, the X-axis moving nut block 2104 may also be directly formed integrally with the X-axis moving part 2101, that is, a threaded hole adapted to the X-axis moving ball screw 2103 may be directly machined on the X-axis moving part 2101, and the X-axis moving part 2101 is threadedly connected to the X-axis moving ball screw 2103 through the threaded hole.

When the X-axis driving mechanism pushes the X-axis moving part 2101 to move along the X-axis direction to drive the material shaft 2500 to move along the X-axis to be butted with the machine table shaft, because the rotating speed of the existing motor is large, the gap between the material shaft 2500 and the machine table shaft in the X-axis direction cannot be finely adjusted after the X-axis moving motor 2102 is started, so that the X-axis moving motor 2102 and the X-axis moving transmission mechanism are in transmission connection through the X-axis speed reducer 2106 in this embodiment.

Specifically, the power input shaft of the X-axis movement reducer 2106 and the power output shaft of the X-axis movement motor 2102 are coupled by a coupling, and the power output shaft of the X-axis movement reducer 2106 directly drives the X-axis movement ball screw 2103 to rotate.

It can be understood that the X-axis movement reducer 2106 can reduce the rotation speed of the X-axis movement motor 2102, so that the docking adjustment mechanism pushes the material shaft 2500 to slowly move towards the machine shaft, and fine-tunes the relative position of the two in the X-axis direction.

In other embodiments, the X-axis moving mechanism is a rack and pinion mechanism, a gear of the rack and pinion mechanism is rotatably disposed on the X-axis moving motor 2102 via a corresponding bearing seat and a corresponding rotating bearing, the X-axis moving motor 2102 drives the gear to rotate, the X-axis moving motor 2102 is disposed on the X-axis moving member 2101 in a fixed or detachable manner, a rack of the rack and pinion mechanism is engaged with the gear, and the rack of the rack and pinion mechanism is disposed on the Z-axis moving member 2001 in a fixed or detachable manner.

Also, in order to ensure the stability and consistency of the movement of the distance adjustment mechanism, in the present embodiment, the distance adjustment mechanism further includes an X-axis movement guide mechanism configured to guide the movement of the X-axis movable member 2101 in the X-axis direction with respect to the Z-axis movable member 2001.

In detail, the X-axis movement guide mechanism is a linear guide, an X-axis movement guide rail 2107 of the X-axis movement guide mechanism is fixedly or detachably provided on the Z-axis rotator 2001, an X-axis movement guide slider 2108 thereof is slidable along the X-axis movement guide rail 2107 by an external force, and the X-axis movement guide slider 2108 is fixedly or detachably provided on the X-axis rotator 2101.

In other embodiments, the X-axis movement guide slider 2108 may also be integrally formed on the X-axis movable member 2101, i.e., the X-axis movable member 2101 is directly slidably connected to the X-axis movement guide track 2107.

Referring to fig. 3, 6 and 7, the distance adjustment mechanism further includes a Z-axis distance adjustment mechanism, the Z-axis distance adjustment mechanism includes a Z-axis moving member 2201, the Z-axis moving member 2201 is disposed on the X-axis moving member 2101, and the Z-axis moving member 2201 is controlled by the Z-axis movement driving mechanism to push the material shaft 2500 to move along the Z-axis direction according to a comparison result between the second relative offset distance and the preset second relative offset distance, so as to adjust a relative position of the material shaft 2500 in the Z-axis direction with respect to the machine table axis until the second relative distance reaches the second relative distance threshold.

The Z-axis driving mechanism includes a Z-axis moving motor 2202 and a Z-axis moving transmission mechanism, and the Z-axis moving transmission mechanism is configured to convert a rotational motion of the Z-axis moving motor 2202 into a linear motion to push the Z-axis moving member 2201 to move along the Z-axis direction relative to the base 2000, and then drive the material shaft 2500 to move along the Z-axis direction relative to the X-axis moving member 2101 until a center of an axial end face of the material shaft 2500 and a center of an axial end face of the machine shaft are centered in the Z-axis direction, that is, the second relative offset distance reaches a preset second relative offset distance.

The Z-axis moving transmission mechanism comprises a Z-axis moving ball screw 2203, the Z-axis moving ball screw 2203 is rotatably arranged on a bottom plate 21011 and a top plate 21012 of an X-axis movable part 2101 through a screw bearing seat and extends along the Z-axis direction, a motor shell of a Z-axis moving motor 2202 is fixedly or detachably arranged on the top plate 21012 of the X-axis movable part 2101, a power output shaft of the Z-axis moving motor 2202 drives the Z-axis moving ball screw 2203 to rotate, a Z-axis moving nut block 2204 is in threaded connection with the Z-axis moving ball screw 2203, the Z-axis moving nut block 2204 is fixedly or detachably arranged on the Z-axis movable part 2201, the Z-axis moving motor 2202 drives the Z-axis moving ball screw 2203 to rotate, and then the Z-axis moving nut block 2204 drives the Z-axis movable part 2201 to move along the Z-axis direction relative to the X-axis movable part 2101, so that the material-axis movable part 2500 is pushed to move along the Z-axis direction relative to the X-axis movable part 2101.

Of course, the Z-axis moving nut block 2204 may also be directly formed integrally with the Z-axis moving member 2201, that is, a threaded hole adapted to the Z-axis moving ball screw 2203 may be directly machined in the Z-axis moving member 2201, and the Z-axis moving member 2201 is in threaded connection with the Z-axis moving ball screw 2203 through the threaded hole.

When the Z-axis movement driving mechanism pushes the Z-axis moving part 2201 to move along the Z-axis direction, so as to drive the material shaft 2500 to move along the Z-axis to be butted with the machine table shaft, because the rotating speed of the existing motor is large, the gap between the material shaft 2500 and the machine table shaft in the Z-axis direction cannot be finely adjusted after the Z-axis movement motor 2202 is started, and therefore the Z-axis movement motor 2202 and the Z-axis transmission mechanism are in transmission connection through the Z-axis movement speed reducer 2207 in the embodiment.

Further, the X-axis moving member 2101 is a frame structure composed of a bottom plate 21011, a supporting plate 21013 and a top plate 21012, the bottom plate 21011 is controlled by the X-axis moving driving mechanism to drive the vertical column 21013 and the top plate 21012 to move along the X-axis direction relative to the Z-axis moving member 2001, and the bottom plate 21011 is slidably connected to the Z-axis moving member 2001 along the X-axis direction through the X-axis moving guiding mechanism.

In detail, a power input shaft of the Z-axis movement speed reducer 2207 and a power output shaft of the Z-axis motor 2202 are connected through a coupling, the power output shaft of the Z-axis movement speed reducer 2207 is rotatably connected to the top plate 21012 through a motor bearing block, the Z-axis movement ball screw 2203 is also rotatably connected to the bottom plate 21011 and the top plate 21012 through a screw bearing block, the Z-axis movement motor 2202 and the Z-axis movement ball screw 2203 are arranged side by side along the Z-axis, a Z-axis driving gear 2204 is drivingly connected to the power output shaft of the Z-axis movement speed reducer 2203, and a Z-axis driven gear 2206 meshed with the Z-axis driving gear 2205 is fixedly connected to the Z-axis movement ball screw 2203.

It can be understood that the Z-axis moving speed reducer 2207 can reduce the rotation speed of the Z-axis moving motor 2202, so that the docking adjustment mechanism pushes the material shaft 2500 to move slowly toward the machine axis, and the relative position of the two in the Z-axis direction is finely adjusted.

In addition, the Z-axis moving motor 2202 and the Z-axis moving reducer 2207 are arranged in parallel with the Z-axis moving ball screw 2203, so that the height of the X-axis moving part 2101 in the Z-axis direction can be controlled, and the stability of the overall structure of the feeding device is ensured.

In other embodiments, the feeding device may also omit the Z-axis moving speed reducer 2207, and the Z-axis moving motor 2202 and the Z-axis moving ball screw 2203 are arranged side by side and are in transmission connection with each other through the Z-axis driving gear 2205 and the Z-axis driven gear 2206.

In other embodiments, the Z-axis transmission mechanism is a rack and pinion transmission mechanism, a gear of the rack and pinion transmission mechanism is rotatably disposed on the Z-axis movable member 2201 through a corresponding bearing seat and a corresponding rotating bearing, and a Z-axis moving motor 2202 drives the gear to rotate, and the Z-axis moving motor 2202 is fixedly or detachably disposed on the Z-axis movable member 2101, and a rack of the rack and pinion transmission mechanism is engaged with the gear and is fixedly or detachably disposed on the X-axis movable member 2101.

Also, in order to ensure the stability and consistency of the movement of the docking adjustment mechanism, in the present embodiment, the Z-axis distance adjustment mechanism further includes a Z-axis movement guide mechanism configured to guide the movement of the Z-axis movable member 2201 relative to the X-axis movable member 2101 in the Z-axis direction.

In detail, the Z-axis movement guide mechanism is a linear guide, a Z-axis movement guide rail 2208 of the Z-axis movement guide mechanism is fixedly or detachably disposed on the Z-axis movable member 2201, a Z-axis movement guide slider 2209 thereof is slidable along the Z-axis movement guide rail 2208 under an external force, and the Z-axis movement guide slider 2209 is fixedly or detachably disposed on the Z-axis movable member 2201.

In other embodiments, the Z-axis movement guide slider 2209 may also be integrally formed on the Z-axis movable member 2201, that is, the Z-axis movable member 2201 is directly slidably connected to the Z-axis movement guide rail 2208.

When the relative offset distance of the centers of the shaft end faces of the material shaft 2500 and the machine table shaft reaches the preset relative offset distance, the material pushing mechanism pushes the shaft pole piece 3 on the material shaft into the machine table shaft.

The pushing mechanism comprises a pushing element 2401, the pushing element 2401 is arranged on the Z-axis moving element 2201, and the pushing element 2401 is controlled by the pushing driving mechanism to push the shaft pole piece 3 on the material shaft 2500 into the machine table shaft.

In detail, the material shaft 2500 is fixedly or detachably disposed on the Z-axis movable member 2201 through the material shaft seat. The pushing element 2401 is slidably arranged on the material shaft seat.

The pushing driving mechanism comprises a pushing motor 2402 and a pushing transmission mechanism, and the pushing transmission mechanism is configured to convert the rotary motion of the pushing motor 2402 into linear motion to push the pushing element 2401 to move relative to the extending direction of the material shaft 2500 so as to push the shaft pole piece 3 on the material shaft 2500 onto the machine shaft.

The pushing transmission mechanism comprises a pushing ball screw 2403, the pushing ball screw 2403 is rotatably arranged on the Z-axis moving part 2201 through a pushing bearing seat and extends along a pushing direction, a motor shell of the pushing motor 2402 is fixedly or detachably arranged on the Z-axis moving part 2201, a power output shaft of the pushing motor 2402 drives the pushing ball screw 2403 to rotate, a nut block is connected to the pushing ball screw 2403 in a threaded manner and is fixedly or detachably arranged on the pushing part 2401, the pushing motor 2402 drives the pushing ball screw 2403 to rotate, and then the nut block drives the pushing part 2401 to move along the pushing direction relative to the material shaft 2500, so that the shaft piece 3 on the material shaft 2500 is pushed into the machine table shaft.

Of course, the nut block in threaded connection with the pushing ball screw 2403 may also be directly integrated with the pushing member 2401, that is, a threaded hole adapted to the pushing ball screw 2403 may be directly machined in the pushing member 2401, and the pushing member 2401 is in threaded connection with the pushing ball screw 2403 through the threaded hole.

The pushing motor 2402 and the pushing ball screw 2403 are arranged side by side along the extending direction of the material shaft 2500, a power output shaft of the pushing motor 2402 is connected with a pushing driving gear 2405 in a driving mode, and a pushing driven gear 2406 meshed with the pushing driving gear 2405 is fixedly connected with the pushing ball screw 2403.

The material pushing motor 2402 and the material pushing ball screw 2403 are arranged side by side, so that the size of the feeding device of the shaft pole piece 3 in the Y-axis direction can be controlled, and the overall structure of the feeding device is relatively compact.

In other embodiments, the pushing mechanism is a rack and pinion mechanism, a gear of the rack and pinion mechanism is rotatably disposed on the Z-axis moving member 2201 through a bearing seat and a rotating bearing adapted to the bearing seat, the pushing motor 2402 drives the gear to rotate, the pushing motor 2402 is fixedly or detachably disposed on the pushing member 2401, a rack of the rack and pinion mechanism is engaged with the gear, and is fixedly or detachably disposed on the Z-axis moving member 2201 or the material axis seat.

In this embodiment, the pushing element 2401 and the pushing driving mechanism are both disposed on the Z-axis moving element 2201, so that when the centering adjustment mechanism and the docking adjustment mechanism adjust the position of the material axis relative to the base 2000, the pushing element 2401 moves along with the overall structure, so that the relative position between the pushing element and the material axis 2500 is substantially kept fixed, thereby the shaft pole piece 3 can be accurately pushed into the machine axis, and the feeding device has a compact overall structure, and meets the design requirement of miniaturization of the volume of the feeding device at present.

According to another embodiment of the present invention, the pushing element 2401 and the pushing driving mechanism are both disposed on the base 2000. When the centering adjusting mechanism and the butt adjusting mechanism adjust the position of the material shaft 2500 relative to the machine shaft, the material pushing mechanism is kept stationary relative to the material shaft 2500. After the material shaft 2500 and the machine shaft are aligned and butted, the pushing member 2401 of the pushing mechanism pushes the shaft pole piece 3 on the material shaft 2500 into the machine shaft under the driving action of the pushing driving mechanism.

Besides, the utility model discloses still provide a control method suitable for above-mentioned loading attachment, see fig. 10, according to the utility model discloses an embodiment, the utility model discloses a control method includes following main step:

detecting the relative inclination angle of the shaft end surface of the material shaft relative to the shaft end surface of the machine table shaft;

comparing the relative inclination angle with a preset relative inclination angle;

when the relative inclination angle exceeds the allowed preset relative inclination angle, the angle adjusting mechanism drives the material shaft to rotate to the preset relative inclination angle relative to the machine table shaft, and the step of detecting the relative inclination angle of the shaft end surface of the material shaft relative to the shaft end surface of the machine table shaft is returned;

when the relative inclination angle reaches the allowed preset relative inclination angle, the target feeding part on the feeding shaft is pushed onto the machine table shaft by the material pushing mechanism.

The utility model discloses a control method utilizes angular adjustment mechanism to drive the material axle and rotates for the board axle to the offset of the material axle that the automatic compensation material axle warp and arouse and board axle relative position between the two guarantees to push the board axle with target material loading spare smoothly.

Further, in order to improve the docking accuracy of the material shaft and the machine shaft, see fig. 11, according to the present invention, when the relative inclination angle reaches the allowable preset relative inclination angle, the control method of the present invention further includes the following steps:

detecting the relative offset distance of the centers of the shaft end faces of the material shaft and the machine table shaft;

comparing the relative offset distance with the allowable preset relative offset distance;

when the relative offset distance exceeds the allowed preset relative offset distance, the distance adjusting mechanism drives the material shaft to move to the preset relative offset distance relative to the machine table shaft, and the step of detecting the relative offset distance of the centers of the shaft end surfaces of the material shaft and the machine table shaft by the second detecting assembly is returned;

when the relative inclination angle reaches the allowed preset relative inclination angle, the material pushing mechanism pushes the target feeding piece on the material shaft into the machine table shaft.

In this embodiment, loading attachment both can compensate the axle end face relative inclination of material axle for the axle end face of board axle, can also compensate the material axle for the skew distance of board axle, has compensated the skew because of the relative position relation between material axle and the board axle that the material axle warp and arouse from two dimensions of angle and distance, can guarantee that material axle and board axle keep the centering state basically, then can push the epaxial target material loading spare of material axle on the board more smoothly epaxially.

For better understanding, a specific control flow of the control method is described in detail below with reference to fig. 12 by taking a specific embodiment as an example.

Referring to fig. 12, in this embodiment, the method for detecting the relative inclination angle of the shaft end surface of the material shaft with respect to the shaft end surface of the machine table shaft by the first detection assembly includes the following steps:

s1001, a first distance measuring sensor, a second distance measuring sensor and a third distance measuring sensor respectively detect the distance between the shaft end faces of the material shaft and the machine shaft, wherein the first distance measuring sensor and the second distance measuring sensor are sequentially arranged on the shaft end face of the material shaft at intervals along the X-axis direction, and the first distance measuring sensor and the third distance measuring sensor are sequentially arranged on the shaft end face of the material shaft along the Z-axis direction.

S1002, the first calculating unit calculates a first relative inclination angle of the shaft end surfaces of the material shaft and the machine table shaft relative to the Z shaft based on the relative distance of the first distance measuring sensor and the second distance measuring sensor in the X shaft direction and the measured distance difference, and calculates a second relative inclination angle of the shaft end surfaces of the material shaft and the machine table shaft relative to the X shaft based on the relative distance of the first distance measuring sensor and the third distance measuring sensor in the Z shaft direction and the measured distance difference.

S1003, the first comparing unit compares whether the first relative inclination angle reaches a preset first relative inclination angle.

When the first relative inclination angle reaches the preset first relative inclination angle, executing step S1005; otherwise, step S1004 is executed.

And S1004, driving the material shaft to rotate around the Z shaft relative to the machine table shaft by the Z shaft angle adjusting mechanism until the first relative inclination angle reaches a preset first relative inclination angle.

S1005, the first comparing unit compares whether the second relative tilt angle reaches a preset second relative tilt angle.

When the second relative inclination angle reaches a preset second relative inclination angle, the second detection assembly detects the relative offset distance of the centers of the shaft end surfaces of the material shaft and the machine table shaft, and compares the relative offset distance with the allowable preset relative offset distance; otherwise, step S1006 is executed.

S1006, the X-axis angle adjusting mechanism drives the material shaft to rotate around the X-axis relative to the machine table shaft until the second relative inclination angle reaches a preset second relative inclination angle.

It should be noted that the sequence of steps S1003 and S1005 may be interchanged, that is, step S1005 is executed first, and then step S1003 is executed based on the comparison result of step S1005.

Detecting the relative offset distance of the centers of the shaft end faces of the material shaft and the machine table shaft by a second detection assembly, and comparing the relative offset distance with the allowable preset relative offset distance comprises the following steps:

s1007, a vision sensor acquires a centering reference graph of a machine table shaft;

the centering reference pattern is a pattern for identifying the center position of the peripheral end surface of the machine axis.

In some embodiments, the centering reference pattern is a cross "ten", wherein the horizontal line is an X-axis coordinate, the vertical line is a Z-axis coordinate, and the intersection point of the horizontal line and the vertical line is the center point of the peripheral end surface of the machine axis.

In other embodiments, the centering reference pattern may be a dot located on the peripheral end surface of the machine axis, and the centering adjustment mechanism adjusts the relative position of the material axis 2500 and the machine axis with the dot as a reference until the material axis 2500 and the machine axis are centered.

S1008, a second calculating unit calculates a first relative offset distance in the Z-axis direction and a second relative offset distance in the X-axis direction between the centering reference pattern and the calibration centering reference pattern;

s1009, the second comparing unit compares whether the first relative offset distance reaches a preset first relative offset distance.

If the first relative offset distance reaches the preset first relative offset distance, go to step S2001; otherwise, step S2000 is performed.

S2000, the X-axis distance adjusting mechanism drives the material shaft to move relative to the machine table shaft along the X axis until the first relative offset distance reaches a preset first relative offset distance.

S2001, the second comparing unit compares whether the second relative offset distance reaches a preset second relative offset distance.

If the second relative offset distance reaches the preset second relative offset distance, executing step S2003; otherwise, step S2002 is performed.

S2002, the Z-axis distance adjusting mechanism drives the material shaft to move relative to the machine table shaft along the Z axis until the first relative offset distance reaches a preset first relative offset distance.

And S2003, pushing the shaft pole piece on the material shaft into the machine table shaft by the material pushing mechanism.

It should be noted that the order of steps S1009 and S2001 may be interchanged, that is, step S2001 is performed first, and then step S1009 is performed based on the comparison result of S2001.

In order to further improve the automation control level of the axial pole piece handling system, in this embodiment, between step S1000, the control method further includes the following steps:

and (3) installing the shaft pole piece to be transferred on the material shaft in the shaft pole piece storage area, and then transferring the shaft pole piece from the shaft pole piece storage area to a working station area where the machine shaft is located.

While various embodiments of the present invention have been described above, the above description is intended to be illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art 1 without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims (22)

1. A loading device, comprising:

a base (2000);

a material shaft (2500), wherein the material shaft (2500) is oppositely arranged on the base (2000) and is configured to be used for sleeving a target material loading part, and the axial direction of the material shaft (2500) is marked as a Y axis;

a first detection assembly configured for detecting a relative inclination angle of shaft end faces of both the material shaft (2500) and a machine shaft;

the angle adjusting mechanism is configured to drive the shaft end face of the material shaft (2500) to rotate to a preset relative inclination angle relative to the machine table shaft according to the comparison result of the relative inclination angle and the preset relative inclination angle;

a pushing mechanism configured to push a target loading piece on the material shaft (2500) onto the machine shaft.

2. The loading device of claim 1, further comprising:

a second detection assembly configured for detecting a relative offset distance of centers of shaft end faces of both the material shaft (2500) and the machine shaft;

a distance adjustment mechanism configured to drive the material shaft (2500) to move to a preset relative offset distance relative to the machine table shaft according to a comparison result of the relative offset distance and the preset relative offset distance.

3. A loading unit according to claim 2, wherein the relative inclination angle comprises a first relative inclination angle of the axial end faces of both the material axis (2500) and the machine axis with respect to the Z-axis;

the angle adjusting mechanism comprises a Z-axis angle adjusting mechanism, and the Z-axis angle adjusting mechanism is configured to drive the material shaft (2500) to rotate around the Z axis to a preset first relative inclination angle according to a comparison result of the first relative inclination angle and the preset first relative inclination angle.

4. A loading device as claimed in claim 3, wherein said Z-axis angular adjustment mechanism comprises:

the Z-axis rotating piece (2001) is arranged on the base (2000) in a manner of rotating around a Z axis, and the material shaft (2500) is oppositely arranged on the Z-axis rotating piece (2001);

a Z-axis rotation driving assembly arranged on the base (2000) and configured to drive the Z-axis rotating member (2001) to rotate around a Z axis.

5. A feeding device according to claim 4, characterized in that the Z-axis rotating member (2001) is a cross roller bearing, an inner ring of the cross roller bearing is fixedly connected to the base (2000) and a central line of the cross roller bearing extends along the Z-axis direction, and an outer ring of the cross roller bearing is arranged opposite to the feeding shaft (2500) and is driven to rotate by the Z-axis rotation driving component.

6. A loading device as claimed in claim 4, wherein said Z-axis rotary drive assembly comprises:

a Z-axis pusher (2005), wherein the Z-axis pusher (2005) is hinged with the Z-axis rotator (2001);

a Z-axis rotating motor (2002), the Z-axis rotating motor (2002) being provided on the base (2000);

a Z-axis rotation transmission mechanism configured to convert the rotational motion of the Z-axis rotation motor (2002) into a linear motion to push the Z-axis pusher (2005) to move.

7. A loading device according to claim 4, wherein the relative offset distance comprises a first relative offset distance of the shaft end faces of both the material shaft (2500) and the machine table shaft in the X-axis direction;

distance adjustment mechanism includes X axle distance adjustment mechanism, X axle distance adjustment mechanism includes:

the material shaft adjusting device comprises an X-axis moving piece (2101), wherein the X-axis moving piece (2101) is arranged on the Z-axis rotating piece (2001), the material shaft (2500) is oppositely arranged on the X-axis moving piece (2101), and the X-axis moving piece (2101) is configured to be controlled by an X-axis moving driving assembly to drive the material shaft to move to a preset first relative offset distance along the X-axis direction according to a comparison result of the first relative offset distance and the preset first relative offset distance.

8. A loading device as claimed in claim 7, wherein said X-axis movement drive assembly comprises:

an X-axis moving motor (2102), the X-axis moving motor (2102) being provided on the Z-axis rotating member (2001);

an X-axis movement transmission component configured to convert the rotation movement of the X-axis movement motor (2102) into a linear movement to push the X-axis movable piece (2101) to move along an X axis.

9. A loading device according to claim 7, wherein said X-axis distance adjustment mechanism further comprises an X-axis movement guide assembly configured for guiding the X-axis moveable member (2101) in movement along the X-axis.

10. A loading device according to claim 7, wherein said relative offset distance comprises a second relative offset distance of the axial end faces of both the material axis (2500) and the machine axis in the Z-axis direction;

distance adjustment mechanism still includes Z axle distance adjustment mechanism, Z axle distance adjustment mechanism includes:

the material shaft moving device comprises a Z-axis moving piece (2201), wherein the Z-axis moving piece (2201) is arranged on the X-axis moving piece (2101), the material shaft (2500) is arranged on the Z-axis moving piece (2201), and the Z-axis moving piece (2201) is configured to be controlled by a Z-axis moving driving assembly to drive the material shaft to move to a preset second relative offset distance along the Z-axis direction according to a comparison result of the second relative offset distance and the preset second relative offset distance.

11. A loading device as claimed in claim 10, wherein said Z-axis movement drive assembly comprises:

the Z-axis moving motor (2202) is arranged on the X-axis moving part (2101);

a Z-axis movement transmission assembly configured to convert the rotary motion of the Z-axis movement motor (2202) into linear motion to push the Z-axis movable piece (2201) to move along a Z axis.

12. The feeding device as claimed in claim 10, wherein the Z-axis distance adjusting mechanism further comprises a Z-axis movement guiding component configured to guide the Z-axis movable member (2201) to move along the Z-axis.

13. A loading unit as claimed in any one of claims 10 to 12, wherein the relative inclination angles further comprise a second relative inclination angle of the axial end faces of both the loading shaft (2500) and the machine table shaft with respect to the X-axis;

the angle adjusting mechanism further comprises an X-axis angle adjusting mechanism, and the X-axis angle adjusting mechanism is configured to drive the material shaft (2500) to rotate around the X-axis to a preset second relative inclination angle according to a comparison result of the second relative inclination angle and the preset second relative inclination angle.

14. A loading device as claimed in claim 13, wherein said X-axis angular adjustment mechanism comprises:

a first connecting rod (2301), one end of the first connecting rod (2301) is fixedly connected with the Z-axis movable piece (2201), and the other end of the first connecting rod is hinged with a second connecting rod through a first hinge shaft (2302);

a sliding block (2303), wherein the sliding block (2303) is hinged with the second connecting rod through a second hinge shaft (2304), and the sliding block (2303) is configured to be controlled to move along a connection line of the first hinge shaft (2302) and the second hinge shaft (2304) by an X-axis rotation driving component so as to push the material shaft (2500) to rotate around the X-axis relative to the Z-axis movable component (2201).

15. A loading device as claimed in claim 14, wherein said X-axis rotary drive assembly comprises:

an X-axis rotating motor (2305), the X-axis rotating motor (2305) being disposed on the first link (2301);

an X-axis rotation transmission assembly configured to convert a rotational motion of the X-axis rotation motor (2305) into a linear motion pushing the slider (2303) to move along a line connecting the first hinge axis (2302) and the second hinge axis (2304).

16. A loading device according to any one of claims 1 to 12, wherein said pushing mechanism comprises:

a pusher (2401), the pusher (2401) being movably disposed on the stub shaft (2500) and configured to be controlled by a pusher driving mechanism for pushing a target loading on the stub shaft (2500) into a machine shaft.

17. A loading device according to claim 16, wherein said pusher actuating mechanism comprises:

the material pushing motor (2402), the said material pushing motor (2402) is set up on the said material shaft (2500);

the pushing transmission mechanism is configured to convert the rotary motion of the pushing motor (2402) into linear motion to push the pushing piece (2401) to move.

18. A loading device according to any one of claims 1 to 12, wherein said pushing mechanism comprises:

a pusher (2401) disposed on the base (2000) and configured to be controlled by a pusher drive mechanism for pushing a target loading on the stub shaft (2500) into a machine shaft.

19. A loading device according to any one of claims 2 to 12, wherein said second detection assembly comprises a viewing angle sensor (2600).

20. A loading device as claimed in any one of claims 1 to 12, wherein said first detecting assembly comprises:

the distance measuring device comprises at least three distance measuring sensors which are arranged on the shaft end surface of the material shaft in a triangular mode and are configured to be used for detecting the distance between the shaft end surface of the material shaft and the shaft end surface of the machine table shaft.

21. A feeding arrangement according to any one of claims 1-12, characterised in that the target feeding member is a shank (3).

22. A handling arrangement, characterized in that it comprises a truck (1) and a loading device according to any one of claims 1-21, the base (2000) being provided on the truck (1).

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