CN217755512U - Online material caching and fixed-point supply system matched with multifunctional mechanical arm - Google Patents

Abstract

The utility model relates to the technical field of mechanical engineering application, and discloses an in-line material caching and fixed-point supply system matched with a multifunctional mechanical arm, which comprises an outlet material caching and caching system and an outlet material taking and fixed-point supply system; the discharging and caching system is used for feeding, discharging and temporarily storing the coiled materials; the material taking and discharging and fixed-point supplying system is connected with the material discharging and caching system and is used for hooking/pushing a material tray from the material discharging and caching system and conveying materials in the material tray to a fixed-point material taking position through the motion of XYZ three axes. The utility model provides an in-line material buffer memory and feed system that operating position and feeding agencies are integrated, can realize that polymorphic type material fixed point supplies with has effectively solved the unable fixed point supply of different materials among the prior art and has brought the phenomenon of debugging cycle increase.

Description

Online material caching and fixed-point supply system matched with multifunctional mechanical arm

Technical Field

The utility model relates to a mechanical engineering uses technical field, especially relates to an in-line material buffer memory and fixed point feed system of multi-functional arm of cooperation.

Background

With the continuous development of the technology level, electronic products represented by 3C, digital codes and the like are gradually developing towards high integration and miniaturization, and along with the development, the integration level of the mechanical arm of the electronic product assembling machine is higher and higher, and more than 4 assembling processes are always required to be undertaken by a single mechanical arm, which brings examination to material supply. The current material caching and supplying system mostly uses a material tray as an integral unit for supplying, the working position is mostly unadjustable, so that different material trays and different material taking positions in the same material tray are different when the material caching and supplying system is matched with a mechanical arm, the debugging point finding time and the program compiling time are greatly increased, and the adaptability to different systems is also greatly weakened.

Therefore, it is an urgent need to solve the problem of the art to provide an in-line material buffer system and a fixed-point feeding system that can realize fixed-point feeding of multiple types of materials and cooperate with a multifunctional robot.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides an operating position and extracting agencies are integrated, can realize the in-line material buffer memory and the feed system that polymorphic type material fixed point supplied with for solve among the prior art debugging cycle increase problem that the unable fixed point supply of different materials brought.

In order to solve the technical problem, the utility model provides an in-line material caching and fixed point supply system matched with a multifunctional mechanical arm, which comprises an outlet material and caching system, an outlet material and fixed point supply system;

the discharging and caching system is used for feeding, discharging and temporarily storing the coiled materials; the material taking and discharging and fixed-point supplying system is connected with the material discharging and caching system and is used for hooking/pushing a material tray from the material discharging and caching system and conveying materials in the material tray to a fixed-point material taking position through the motion of XYZ three axes.

Preferably, in the in-line material caching and fixed-point supplying system matched with the multifunctional mechanical arm, the material discharging and caching system comprises a material caching warehouse, a material conveying line and a height aligning mechanism;

the material buffer storage comprises a material buffer storage main body, a material plate supporting plate and a material plate supporting plate, wherein the material buffer storage main body is a supporting frame formed by splicing sectional materials; the material conveying line is arranged on the material cache library; the material conveying line comprises a feeding conveying line and a discharging conveying line which are respectively used for feeding and discharging the material tray; the height alignment mechanism is installed in the material cache, is connected with the material taking and placing and fixed-point supply system, and is used for adjusting the height alignment of the material taking and placing and fixed-point supply system and the material tray bearing plate.

Preferably, in the in-line material caching and fixed-point supplying system matched with the multifunctional mechanical arm, the material discharging and caching system further comprises a positioning device for fixing the position of the material tray;

the positioning device comprises a material tray position adjusting plate and a material tray sliding positioning strip;

the material tray position adjusting plate is arranged on the material tray supporting plate, is positioned at one end of the material tray and is used for positioning and adjusting the material trays with different sizes; the material tray sliding positioning strip is arranged on the material tray supporting plate, arranged on two sides of the material tray along the material conveying direction and used for positioning the material tray when the material is taken and placed.

Preferably, in the in-line material caching and fixed-point feeding system cooperating with the multifunctional mechanical arm, the material outlet and caching system further comprises a material tray sensing sensor mounted on the material tray supporting plate and used for detecting whether the material tray exists or not.

Preferably, in the in-line material caching and fixed-point supplying system matched with the multifunctional mechanical arm, the height aligning mechanism comprises a lead screw, a lead screw fixing seat, a servo motor, a driving belt wheel, a driven belt wheel, a transmission rod, a bevel gear set and a nut;

two ends of the screw rod are respectively installed at the top and the bottom of the material cache library through the screw rod fixing seats; the screw rod is connected with the servo motor, the output end of the servo motor is connected with the driving belt wheel, and the rotary motion output by the servo motor sequentially passes through the driving belt wheel, the driven belt wheel and the transmission rod and is output to the bevel gear set, so that the corresponding screw rod is driven to rotate and drive the screw nut to move.

Preferably, in the in-line material caching and fixed-point supply system with the multifunctional mechanical arm, an adjusting system adapter plate is mounted on the nut and used for mounting the material taking and placing and fixed-point supply system.

Preferably, in the in-line material caching and fixed-point supply system matched with the multifunctional mechanical arm, the material taking, placing and fixed-point supply system comprises an adjusting system bottom plate, a plane movement mechanism and a push-pull and material hooking mechanism;

the adjusting system bottom plate is arranged on the adjusting system adapter plate; the plane movement mechanism is connected with the adjusting system bottom plate in a sliding mode, and a material sliding plate is installed on the plane movement mechanism and used for receiving a material tray; the push-pull and hooking mechanism is arranged on the material sliding plate and is used for feeding the material disc into the material outlet and buffer system or pulling the material disc into the material sliding plate from the material outlet and buffer system.

Preferably, in the system for caching and feeding the in-line materials and supplying the fixed points by matching with the multifunctional mechanical arm, the plane movement mechanism comprises an X-direction movement mechanism and a Y-direction movement mechanism;

the X-direction movement mechanism comprises two groups of X-direction guide rails, a plurality of groups of X-direction sliding blocks, an X-direction linear motor and an X-direction drag chain; the X-direction guide rail and the X-direction linear motor are fixed on the upper surface of the adjusting system bottom plate, the X-direction linear motor is arranged between two groups of X-direction guide rails, and a plurality of groups of X-direction sliding blocks are connected to the X-direction guide rails in a sliding manner and used for positioning the Y-direction movement mechanism to move along the X-direction linear motor; and two ends of the X-direction drag chain are respectively connected with the adjusting system bottom plate and the Y-direction movement mechanism and can be used for electric wiring.

The Y-direction movement mechanism comprises two groups of Y-direction guide rails, a plurality of groups of Y-direction slide blocks, a Y-direction linear motor, two groups of Y-direction drag chains and a Y-direction adjusting bottom plate; the Y-direction adjusting bottom plate is fixed on the X-direction sliding blocks, the Y-direction guide rails and the Y-direction linear motors are fixed on the upper surface of the Y-direction adjusting bottom plate, the Y-direction linear motors are arranged between the two sets of Y-direction guide rails, and the Y-direction guide rails are connected with a plurality of sets of Y-direction sliding blocks in a sliding mode and used for driving the material sliding plate to move along the direction of the Y-direction linear motors. And two ends of the Y-direction drag chain are respectively connected with the Y-direction adjusting bottom plate and the material sliding plate, so that air path routing is realized.

Preferably, in the in-line material caching and fixed-point supplying system matched with the multifunctional mechanical arm, the push-pull and material hooking mechanism comprises a push-pull mechanism and a material hooking mechanism;

the push-pull mechanism comprises a push-pull rodless cylinder, a push-pull connecting block, a push-pull strip, a push-pull guide rail and a push-pull sliding block; the push-pull rodless cylinder is fixed at the top of the material sliding plate and is connected with the push-pull connecting block through an air cylinder sliding table; the bottom of the push-pull connecting block is connected with the push-pull sliding block and the push-pull guide rail, and the push-pull connecting block is connected with the material sliding plate in a sliding manner through the push-pull sliding block and the push-pull guide rail; one side of the push-pull connecting block is connected with the push-pull strip, and the push-pull jig is fixed on one side of the push-pull strip;

the material hooking mechanism comprises a material hooking cylinder, a material hooking connecting block and a material hooking jig; the material hooking cylinder is fixed on one side, away from the material pushing jig, of the push-pulling strip through the material hooking connecting block. Collude material cylinder top and install and collude the material tool for the material colludes and gets.

Preferably, in the in-line material caching and fixed-point feeding system matched with the multifunctional mechanical arm, lateral sliding positioning strips are installed on two sides of the material sliding plate, a blocking block is installed at one end of the material sliding plate, and the lateral sliding positioning strips and the blocking block are in a U shape and used for positioning the material tray;

and a material taking in-place sensor is arranged on the material sliding plate through an in-place sensor mounting piece and used for detecting whether the material disc is pulled into the material sliding plate from the material outlet and inlet and buffer system.

The utility model provides an in-line material buffer memory and fixed point feed system of cooperation multifunctional machinery arm, compared with the prior art, its beneficial effect lies in:

(1) The utility model discloses a many materials fixed point supply system has been developed, can carry out position compensation according to relative position relation, carry the different materials in different material trays to same material taking position, reduced debugging point and mechanical arm control program point by a wide margin, shortened automatic system and built the cycle;

(2) The utility model discloses creative extracting agencies and get the material workstation and integrated, when the arm in the face of different stroke, different functions, can freely adjust working height and operating position in its stroke, still reduced the occupation of land space simultaneously, increased the possibility of using in the different use scenes.

(3) The utility model discloses well each motion part structure is comparatively simple, reliable, no matter be accurate occasion or ordinary occasion, only has the adjustment of parts self grades such as motor, lead screw and need not change the part structure, and the application scenario scope is extensive, and the cost is controllable.

Drawings

Fig. 1 is an overall three-dimensional structure diagram of an inline material caching and fixed-point supply system according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a material feeding and buffering system according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a part of the height alignment mechanism of the feeding and buffering system in the embodiment of the present invention;

fig. 4 is a schematic structural diagram of a part of a feeding and buffering system in an embodiment of the present invention;

fig. 5 is a schematic structural view of the material taking and feeding and fixed-point supplying system in the embodiment of the present invention;

FIG. 6 is a schematic structural view of a push-pull and hook mechanism according to an embodiment of the present invention;

fig. 7 is a schematic view of an application scenario of an in-line material caching and fixed-point supply system according to an embodiment of the present invention;

fig. 8 is a schematic diagram of XYZ three-way alignment of an inline material caching and fixed point supply system before material fetching;

fig. 9 is a schematic diagram of XYZ alignment of an inline material caching and fixed point supply system before material fetching;

FIG. 10 is a schematic diagram of the fixed-point feed operation of the inline material buffer and fixed-point feed system.

In the figure:

1, a material inlet and outlet and buffer storage system, 101, a material inlet conveying line, 102, a material outlet conveying line, 103, an adjusting cavity housing, 104, a supporting frame, 105, an adjusting plate, 106, a foot cup, 107, a screw rod supporting bottom plate, 108, a screw rod fixing seat, 109, a driving pulley, 110, a servo motor, 111, a guide shaft, 112, a screw rod, 113, a Z-direction drag chain, 114, a drag chain fixing plate, 115, an adjusting system adapter plate, 116, a screw nut, 117, a linear bearing, 118, a screw rod supporting seat, 119, a material tray top plate, 120, a bottom sensor, 121, a top sensor, 122, a bevel gear set, 123, a driving rod, 124, a driven pulley, 125, a bearing seat, 126, 127, 128, 129, four, 130, 131, six, 132, 133, a material tray sliding positioning strip, 134, a material tray pushing block, 135, 136, a material tray sensing sensor fixing frame, 137, a material tray sensing sensor;

2, a material taking and placing and fixed point supplying system, 201, a bottom plate of the regulating system, 202, an X-direction drag chain, 203, a Y-direction regulating bottom plate, 204, a Y-direction linear motor, 205, a Y-direction guide rail, 206, a Y-direction slide block, 207, an in-place sensor mounting piece, 208, a push-pull guide rail, 209, a push-pull slide block, 210, a lateral sliding positioning strip, 212, a material sliding plate, 213, a Y-direction drag chain, 214, an X-direction slide block, 215, an X-direction linear motor, 216, an X-direction guide rail, 217, a material taking in-place sensor, 218, a material hooking jig, 219, a material hooking cylinder, 220, a material hooking connecting block, 221, a push-pull strip, 222, a push-pull connecting block, 223, a material pushing jig, 224, a push-pull rodless cylinder and 225, a push-pull cylinder fixing piece.

Detailed Description

The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

In the description of the present application, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present application.

The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.

In the description of the present application, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in this application will be understood to be a specific case for those of ordinary skill in the art.

As shown in fig. 1, an embodiment of the present invention provides an in-line material caching and fixed-point supplying system cooperating with a multifunctional mechanical arm, which includes a material feeding and caching system 1 and a material taking and placing and fixed-point supplying system 2;

the material inlet, outlet and buffer system 1 is used for feeding, discharging and temporarily storing the coiled materials; the material taking and placing and fixed-point supplying system 2 is connected with the material taking and placing and caching system 1 and used for hooking/pushing the material tray from the material taking and caching system 1 and conveying materials in the material tray to a fixed-point material taking position through the movement of the XYZ three axes.

Preferably, in the in-line material caching and fixed-point supply system matched with the multifunctional mechanical arm, the material input and output and caching system 1 comprises a material caching warehouse, a material conveying line and a height alignment mechanism;

the material cache main body is a support frame 104 formed by splicing sectional materials, and a material tray bearing plate 132 is arranged on the support frame 104; the material conveying line is arranged on the support frame 104; the material conveying line comprises a feeding conveying line 101 and a discharging conveying line 102 which are respectively used for feeding and discharging the material tray; the height alignment mechanism is installed in the support frame 104 and connected to the pick-and-place material and fixed-point feeding system 2, and is used for adjusting the height alignment between the pick-and-place material and fixed-point feeding system 2 and the tray support plate 132.

Preferably, in the in-line material caching and fixed-point supplying system matched with the multifunctional mechanical arm, the material inlet and outlet caching system 1 further comprises a positioning device for fixing the position of the material tray;

the positioning device comprises a tray position adjusting plate 135 and a tray sliding positioning bar 133;

the material tray position adjusting plate 135 is arranged on the material tray supporting plate 132, is positioned at one end of the material tray, and is used for positioning and adjusting the material trays with different sizes; the tray sliding positioning strips 133 are mounted on the tray supporting plate 132, and the tray sliding positioning strips 133 are arranged on two sides of the material tray along the material conveying direction and used for positioning the material tray when the material is taken and placed.

Preferably, in the in-line material buffering and fixed-point supplying system in cooperation with the multi-function robot, the material loading/unloading and buffering system 1 further includes a tray sensing sensor 137 mounted on the tray supporting plate 132 for detecting the presence or absence of the material tray.

Preferably, in the system for caching and feeding the in-line materials and supplying the fixed points in cooperation with the multifunctional manipulator, the height alignment mechanism comprises a lead screw 112, a lead screw 112 fixing seat 108, a servo motor 110, a driving pulley 109, a driven pulley 124, a transmission rod 123, a bevel gear set 122 and a nut 116;

two ends of the screw rod 112 are respectively installed at the top and the bottom of the support frame 104 through the screw rod 112 fixing seats 108; the screw 112 is connected with the servo motor 110, the output end of the servo motor 110 is connected with the driving pulley 109, and the rotary motion output by the servo motor 110 is output to the bevel gear set 122 through the driving pulley 109, the driven pulley 124 and the transmission rod 123 in sequence, so as to drive the corresponding screw 112 to rotate and drive the nut 116 to move.

Preferably, in the in-line material caching and fixed-point feeding system with the multifunctional mechanical arm, the nut 116 is provided with an adjustment system adapter plate 115 for installing the material taking and placing and fixed-point feeding system 2.

Preferably, in the in-line material caching and fixed-point feeding system matched with the multifunctional mechanical arm, the material taking and feeding and fixed-point feeding system 2 comprises an adjusting system bottom plate 201, a plane movement mechanism and a push-pull and hooking mechanism;

wherein, the adjusting system base plate 201 is installed on the adjusting system adapter plate 115; the plane motion mechanism is connected with the adjusting system bottom plate 201 in a sliding mode, and a material sliding plate 212 is installed on the plane motion mechanism and used for receiving a material tray; the push-pull and hooking mechanism is installed on the material sliding plate 212 and is used for feeding the material tray into the material outlet and inlet and buffer system 1 or pulling the material tray into the material sliding plate 212 from the material outlet and inlet and buffer system 1.

Preferably, in the in-line material caching and fixed-point supplying system matched with the multifunctional mechanical arm, the plane movement mechanism comprises an X-direction movement mechanism and a Y-direction movement mechanism;

the X-direction movement mechanism comprises two groups of X-direction guide rails 216, a plurality of groups of X-direction sliders 214, an X-direction linear motor 215 and an X-direction drag chain 202; the X-direction guide rail 216 and the X-direction linear motor 215 are fixed on the upper surface of the adjusting system bottom plate 201, the X-direction linear motor 215 is arranged between the two groups of X-direction guide rails 216, and a plurality of groups of X-direction sliders 214 are connected on the X-direction guide rails 216 in a sliding mode and used for positioning the Y-direction movement mechanism to move along the X-direction linear motor 215; two ends of the X-direction drag chain 202 are respectively connected with the adjusting system bottom plate 201 and the Y-direction movement mechanism and can be used for electric wiring;

the Y-direction movement mechanism comprises two groups of Y-direction guide rails 205, a plurality of groups of Y-direction sliders 206, a Y-direction linear motor 204, a Y-direction drag chain 213 and a Y-direction adjusting bottom plate 203; the Y-direction adjusting bottom plate 203 is fixed on the X-direction sliding block 214, the Y-direction guide rails 205 and the Y-direction linear motors 204 are fixed on the upper surface of the Y-direction adjusting bottom plate 203, the Y-direction linear motors 204 are arranged between the two groups of Y-direction guide rails 205, and the Y-direction guide rails 205 are connected with a plurality of groups of Y-direction sliding blocks 206 in a sliding mode and used for driving the material sliding plate 212 to move along the direction of the Y-direction linear motors 204; two ends of the Y-direction drag chain 213 are respectively connected with the Y-direction adjusting bottom plate 203 and the material sliding plate 212, so as to realize gas path routing.

Preferably, in the in-line material caching and fixed-point supplying system matched with the multifunctional mechanical arm, the push-pull and material-hooking mechanism comprises a push-pull mechanism and a material-hooking mechanism;

the push-pull mechanism comprises a push-pull rodless cylinder 224, a push-pull connecting block 222, a push-pull strip 221, a push-pull guide rail 208 and a push-pull sliding block 209; the push-pull rodless cylinder 224 is fixed on the top of the material sliding plate 212, and the push-pull rodless cylinder 224 is connected with a push-pull connecting block 222 through an air cylinder sliding table; the bottom of the push-pull connecting block 222 is connected with a push-pull sliding block 209 and a push-pull guide rail 208, and the push-pull connecting block 222 is connected with the material sliding plate 212 in a sliding manner through the push-pull sliding block 209 and the push-pull guide rail 208; one side of the push-pull connecting block 222 is connected with a push-pull strip 221, and the material pushing jig 223 is fixed on one side of the push-pull strip 221;

the material hooking mechanism comprises a material hooking cylinder 219, a material hooking connecting block 220 and a material hooking jig 218; the material hooking cylinder 219 is fixed on one side of the pushing strip 221 away from the material pushing jig 223 through the material hooking connecting block 220. The top of the material hooking cylinder 219 is provided with a material hooking jig 218 for hooking materials.

Preferably, in the in-line material caching and fixed-point feeding system matched with the multifunctional mechanical arm, lateral sliding positioning bars 211 are installed on two sides of a material sliding plate 212, a blocking block 210 is installed at one end of the material sliding plate 212, and the lateral sliding positioning bars 211 and the blocking block 210 are in a U shape and used for positioning a material tray;

a material take-in-place sensor 217 is mounted on the material sliding plate 212 through the in-place sensor mounting plate 207 for detecting whether the material tray is pulled into the material sliding plate 212 from the material in and out and buffer system 1.

The technical solution of the present invention will be described with reference to the following embodiments.

Referring to fig. 1, the in-line material buffer system of the present embodiment includes an out-feeding and buffer system 1 and an out-feeding and fixed-point feeding system 2. The material loading and unloading and buffer system 1 is a carrying main body and a receiving object of the material loading and unloading and fixed point supply system 2.

Referring to fig. 2-5, the material input and output and buffer system 1 includes a material input conveying line 101, a material output conveying line 102, an adjusting cavity housing 103, a supporting frame 104, an adjusting plate 105, a foot cup 106, a screw support bottom plate 107, a screw fixing seat 108, a driving pulley 109, a servo motor 110, a guide shaft 111, a screw 112, a Z-direction drag chain 113, a drag chain fixing plate 114, an adjusting system adapter plate 115, a screw nut 116, a linear bearing 117, a screw support seat 118, a tray top plate 119, a bottom sensor 120, a top sensor 121, a bevel gear set 122, a transmission rod 123, a driven pulley 124, a bearing seat 125, a tray one 126, a tray two 127, a tray three 128, a tray four 129, a tray five 130, a tray six, a tray support plate 132, a tray sliding positioning bar 133, a tray pushing block 134, a tray position adjusting plate 135, a tray sensing sensor fixing frame 136, and a tray sensing sensor 137.

The feeding conveying line 101 and the discharging conveying line 102 are respectively fixed on the supporting frame 104 through screws, the feeding conveying line 101 is arranged on the upper portion, the discharging conveying line 102 is arranged on the lower portion, the two conveying lines are identical in structure and are standard belt conveying lines with flanges positioned on two sides, the feeding conveying line 101 rotates clockwise during operation, the discharging conveying line 102 rotates anticlockwise, and the first material tray 126, the second material tray 127, the third material tray 128, the fourth material tray 129, the fifth material tray 130 and the sixth material tray 131 are sequentially conveyed into a working position by virtue of friction force. The support frame 104 is formed by lapping horizontal and vertical sectional materials and is an installation base of the whole system, 4 groups of adjusting plates 105 are installed at the lower part of the support frame, the lower part of each group of adjusting plates 105 is respectively screwed into the foot cup 106 through screws for leveling, and a material tray top plate 119 is installed at the top part of the support frame. The adjusting cavity housing 103 is a steel bending piece, the whole body is vertically installed on the supporting frame 104, the steel plate at the upper part of the adjusting cavity housing is thickened, and the center of the steel plate is provided with a through hole and a threaded hole for fixing the lead screw supporting seat 118. One end of a lead screw 112 penetrates through the lead screw supporting seat 118 and is matched with a lead screw fixing seat 108 fixed on the lead screw supporting bottom plate 107 at the bottom, so that the lead screw 112 is positioned together. The screw rods 112 are transmission components of the material feeding and discharging and buffer system 1, and are arranged in left-right symmetry in 2 groups, and power is provided by the servo motor 110. The servo motors 110 have only 1 set, and are mounted on the screw support base plate 107 through screws, and the output shaft ends thereof are connected with a driving pulley 109 through keys and screws. The driving pulley 109 transmits the rotation motion to the driven pulley 124 through a timing belt, a key groove is formed in the driven pulley 124, and the whole is penetrated by the transmission rod 123 and is connected through a key to realize circumferential positioning. The transmission rod 123 is connected to the screw support base plate 107 through a bearing seat 125, two ends of the transmission rod are respectively locked with a transverse bevel gear of the bevel gear set 122 through screws, and the other bevel gear of the bevel gear set 122 is locked with the screw 112 through screws, so that power transmission is realized. In order to ensure the stability of the up-and-down movement, two sides of each group of lead screws 112 are also provided with 2 groups of guide shafts 111, two end faces of each guide shaft 111 are provided with threaded holes, the threaded holes are respectively locked on the adjusting cavity housing 103 and the lead screw supporting base plate 107 through screws, and the linear bearings 117 are sleeved on the shafts. An adjusting system adapter plate 115 is locked on the linear bearing 117 and the nut 116 together, and a positioning groove and a screw through hole are formed in the adjusting system adapter plate 115, so that the material taking and placing and fixed-point supply system 2 can be positioned and fastened. In addition, a bent opposite-shaped piece drag chain fixing piece 114 is locked on the adjusting system adapter plate 115 and is used for connecting the Z-direction drag chain 113. A top sensor 121 and a bottom sensor 120 are also mounted near the upper and lower travel limits of the lead screw 112 and are used to sense the position of the nut 116 and prevent over travel collisions.

The discharging and caching system 1 further has a material storage function, and can store materials with different shapes and quantities in a first material storage tray 126, a second material tray 127, a third material tray 128, a fourth material tray 129, a fifth material tray 130 and a sixth material tray 131, positioning grooves with corresponding shapes of the materials are formed in the inner parts of the material trays, material tray pushing blocks 134 for material hooking are arranged at four corners of the material trays, and the lower parts of the material trays are supported by a material tray supporting plate 132 fixed on the supporting frame 104. The total 12 groups of charging tray bearing plate 132, the surface is lower through grinding roughness, the charging tray of being convenient for slides, all install position adjustable charging tray position control board 135 on every charging tray bearing plate 132 of group, the location regulation after the charging tray size of being convenient for is changed. In order to realize the positioning of both sides, 2 groups of tray sliding positioning strips 133 are further installed on the upper surface of the tray supporting plate 132, the tray sliding positioning strips 133 are made of POM materials, and a chamfer is formed at one end of each tray sliding positioning strip for facilitating feeding and discharging. In order to detect whether materials are stored or not, a tray sensing sensor 137 is further arranged on each group of tray bearing plates 132, and the tray sensing sensor is mounted in an avoiding groove of the tray position adjusting plate 135 through a tray sensing sensor fixing frame 136.

The material taking and placing and fixed-point supplying system 2 is composed of an adjusting system bottom plate 201, an X-direction drag chain 202, a Y-direction adjusting bottom plate 203, a Y-direction linear motor 204, a Y-direction guide rail 205, a Y-direction sliding block 206, an in-place sensor mounting piece 207, a push-pull guide rail 208, a push-pull sliding block 209, a blocking block 210, a lateral sliding positioning strip 211, a material sliding plate 212, a Y-direction drag chain 213, an X-direction sliding block 214, an X-direction linear motor 215, an X-direction guide rail 216, a material taking in-place sensor 217, a material hooking jig 218, a material hooking cylinder 219, a material hooking connecting block 220, a push-pull strip 221, a push-pull connecting block 222, a material pushing jig 223, a push-pull rodless cylinder 224 and a push-pull cylinder fixing piece 225.

Referring to fig. 6, describing the structural form of the feeding and discharging and fixed-point supplying system 2, the adjusting system bottom plate 201 is a solid aluminum plate with two threaded holes on two sides for fixing with the adjusting system adapter plate 115, and two protruding positioning edges are milled on the aluminum plate for positioning 2 sets of X-direction guide rails 216. An avoiding groove is further formed in the upper surface of the adjusting system bottom plate 201, one side of an X-direction drag chain 202 is installed in the groove, and the other side of the X-direction drag chain 202 is connected with a Y-direction adjusting bottom plate 203. The X-direction guide rail 216 is provided with 4 groups of X-direction sliders 214, and a Y-direction adjusting bottom plate 203 is arranged above the X-direction sliders 214. The power in the X direction is provided by an X-direction linear motor 215 arranged in the middle of the adjusting system bottom plate 201, and the moving part of the motor is connected with the Y-direction adjusting bottom plate 203. The structure of the Y-direction adjusting bottom plate 203 is similar to that of the adjusting system bottom plate 201, two bulges at the upper part are used for positioning a Y-direction guide rail 205, 4 groups of Y-direction sliding blocks 206 penetrate through the Y-direction guide rail 205, a material sliding plate 212 is fixed above the Y-direction guide rail, and power is provided by a Y-direction linear motor 204 which is fixed on the Y-direction adjusting bottom plate 203 and connected with the material sliding plate 212. Considering that two groups of push-pull air cylinders are arranged above, 2 groups of Y-direction drag chains 213 are arranged in the Y direction, and a through hole is formed in the material sliding plate 212 and used for passing an air pipe and a cable.

The material sliding plate 212 is provided with a mechanism capable of realizing the functions of pushing, pulling and material hooking, and the mechanism is mainly realized by the reciprocating motion of the pushing, pulling and rodless cylinder 224 and the material hooking cylinder 219, and the structural form is described with reference to fig. 7. The push-pull rodless cylinder 224 is fixed on the material sliding plate 212 through a push-pull cylinder fixing plate 225 with two sides penetrating, a sliding block is arranged on the cylinder body of the push-pull rodless cylinder 224, a push-pull connecting block 222 is installed on the sliding block through a screw, a push-pull sliding block 209 and a push-pull guide rail 208 are connected below the push-pull connecting block 222 and used for positioning in push-pull movement, and a C-shaped bending piece push-pull strip 221 is connected on the side wall of the upper portion. One end of the push-pull strip 221 is provided with a square hole, the square hole penetrates through the material hooking cylinder 219, and the three components are locked through the material hooking connecting block 220. The hooking cylinder 219 is further provided with a hooking fixture 218, which is in a hook shape and hooks the tray pusher 134 of the feeding and buffering system 1 to transfer the tray from the tray support plate 132 to the material sliding plate 212. In order to sense whether the tray is hooked out, a material taking-in-place sensor 217 is mounted on the tray supporting plate 132 through an in-place sensor mounting plate 207.

In addition, a material pushing jig 223 is further installed on the push-pull connecting block 222, so that when the push-pull rodless cylinder 224 operates, a material tray can be pushed onto the material tray supporting plate 132 from the material sliding plate 212, and material storage is achieved.

Referring to fig. 7, a recommended application method is provided, the system can be placed in a beam door opening of an automation unit, a feeding conveyor line 101 and a discharging conveyor line 102 are located at the outer side and used for manually discharging and feeding, and a feeding and fixed-point supply system 2 is located at the inner side of the automation unit and can provide material support for an inner mechanical arm of the automation unit.

In order to implement the in-line material caching and fixed-point feeding system of the present embodiment, the in-line material caching and fixed-point feeding system that is associated with the multifunctional robot arm has 7 sub-functions of material feeding, material discharging, Z-direction adjustment, X-direction adjustment, Y-direction adjustment, material hooking, material pushing, and the like, and the following description will be made for the 7 sub-functions respectively.

Feeding: the first material tray 126, the second material tray 127, the third material tray 128, the fourth material tray 129, the fifth material tray 130 and the sixth material tray 131 are sequentially placed on the feeding conveying line 101, after a starting button is clicked, the feeding conveying line 101 moves, and the material trays are conveyed to a position to be stored by means of belt friction force.

Discharging: after the material tray is sent into the discharging conveying line 102 by the system, the starting button is clicked, the discharging conveying line 102 moves, and the material tray is sent out of the system.

Adjusting in the Z direction: the servo motor 110 rotates to sequentially drive the driving pulley 109, the driven pulley 124, the transmission rod 123, the bevel gear set 122 and the lead screw 112 to rotate, and the nut 116 and the adjusting system bottom plate 201 connected with the nut move up and down along with the rotation of the driving pulley, the driven pulley 124, the transmission rod 123, the bevel gear set 122 and the lead screw 112, so that the material sliding plate 212 is driven to realize position change in the Z direction.

Adjusting in the X direction: the X-direction linear motor 215 drives the motor rotor and the Y-direction adjusting bottom plate 203 connected to the upper portion of the rotor to move along the X direction, and the position of the material sliding plate 212 in the X direction is changed by moving and positioning the X-direction guide rail 216 and the X-direction sliding block 214.

Y-direction adjustment: the Y-direction linear motor 204 drives the motor mover and the material sliding plate 212 connected to the upper portion of the motor mover to move along the Y direction, and the position of the material sliding plate 212 in the Y direction is changed by moving and positioning the Y-direction guide rail 205 and the Y-direction slider 206.

Material blending: referring to fig. 8-9, when the push-pull rodless cylinder 224 is in its maximum stroke, the material hooking cylinder 219 drives the material hooking fixture 218 to push out and contact with the material tray pushing block 134, and then the push-pull rodless cylinder 224 is pulled back, and the material hooking fixture 218 hooks the material tray and sends the material tray to the material sliding plate 212 along the material tray sliding positioning strip 133 and the lateral sliding positioning strip 211, so as to realize the material hooking function.

Material pushing: referring to fig. 9, when the material sliding plate 212 has material, the material buffering function can be realized through the material pushing function. The push-pull rodless cylinder 224 extends out to drive the push-pull connecting block 222 and the push-pull fixture 223 to move, and the push-pull fixture 223 pushes the material tray push block 134 and the material tray to move towards the material tray supporting plate 132 along the lateral sliding positioning strip 211 and the material tray sliding positioning strip 133. When the material tray sensing sensor 137 detects a material signal, the material hooking cylinder 219 retracts to release the material, and the rodless cylinder 224 is pushed and pulled to retract, so that a material pushing process is realized.

Through the combination of feeding, discharging, Z-direction adjustment, X-direction adjustment, Y-direction adjustment, material hooking and material pushing, multiple functions of charging of the charging tray, caching of the charging tray, work material changing, fixed-point supply and discharging of the charging tray can be realized.

Feeding a material tray: the feeding function is realized;

and (3) material disc caching: adjusting the material sliding plate 212, adjusting the Z direction to be aligned with the feeding conveying line 101, adjusting the X direction to be aligned with the center of the material tray, adjusting the Y direction to be connected with the feeding conveying line 101 → hooking → adjusting the material sliding plate 212, adjusting the Z direction to be aligned with the material tray 132, and adjusting the X direction to be aligned with the center of the material tray 132 → pushing;

changing the working materials: searching a tray bearing plate 132 without a tray, adjusting a material sliding plate 212, adjusting the Z direction to be aligned with the tray bearing plate 132, adjusting the X direction to be aligned with the center of the tray bearing plate 132, adjusting the Y direction to be connected with the tray bearing plate 132 → pushing material → searching the tray bearing plate 132 where the tray to be taken is located → adjusting the material sliding plate 212, adjusting the Z direction to be aligned with the tray bearing plate 132, and adjusting the X direction to be aligned with the center of the tray bearing plate 132 → hooking;

fixed-point supply: adjusting the Z direction to a working position → adjusting the X direction, adjusting the Y direction to the working position of the first block material → taking materials by the mechanical arm → calculating the offset of the working position of the second block material according to the relative position of the material tray → adjusting the X direction and adjusting the Y direction to the working position of the second block material → taking materials by the mechanical arm 8230, and repeating the steps until the materials in the current process are used;

discharging of the material tray: the material sliding plate 212 is adjusted to be aligned with the discharging conveying line 102 in the Z direction, the material sliding plate is adjusted to be aligned with the center of the discharging conveying line 102 in the X direction, and the material sliding plate is adjusted to be connected with the discharging conveying line 102 → pushing → discharging in the Y direction.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and replacements can be made without departing from the technical principle of the present invention, and these modifications and replacements should also be regarded as the protection scope of the present invention.

Claims (10)

1. An in-line material caching and fixed-point supply system matched with a multifunctional mechanical arm is characterized by comprising

The discharging and caching system is used for feeding, discharging and temporarily storing the finished materials; the feeding and discharging and caching system comprises a material caching warehouse, a material conveying line and a height alignment mechanism, wherein the material conveying line and the height alignment mechanism are both arranged in the material caching warehouse;

the material taking and feeding and fixed-point supplying system is connected with the material taking and storing system and is used for hooking/pushing a material tray from the material taking and storing system and conveying the materials in the material tray to a fixed-point material taking position through the motion of XYZ three axes.

2. The in-line material buffer and spot feed system of a multi-function robotic arm of claim 1,

the main body of the material cache library is a support frame formed by splicing sectional materials, and a material tray bearing plate is arranged on the material cache library;

the material conveying line is arranged on the material cache library; the material conveying line comprises a feeding conveying line and a discharging conveying line which are respectively used for feeding and discharging the material tray;

the height alignment mechanism is installed in the material cache, is connected with the material taking and placing and fixed-point supply system, and is used for adjusting the height alignment of the material taking and placing and fixed-point supply system and the material tray bearing plate.

3. The in-line material caching and fixed-point feeding system matched with the multifunctional mechanical arm as claimed in claim 2, wherein the in-out material caching and feeding system further comprises a positioning device for fixing the position of the material tray; the positioning device includes:

the material tray position adjusting plate is arranged on the material tray supporting plate, is positioned at one end of the material tray and is used for positioning and adjusting the material trays with different sizes;

and the material tray sliding positioning strips are arranged on the material tray bearing plate, arranged on two sides of the material tray along the material conveying direction and used for positioning the material tray when the material is taken and placed.

4. The in-line material caching and spot feeding system in cooperation with the multifunctional mechanical arm according to claim 2 or 3, wherein the in-line material caching and spot feeding system further comprises a material tray sensing sensor mounted on the material tray supporting plate and used for detecting the existence of the material tray.

5. The in-line material caching and fixed-point supply system matched with the multifunctional mechanical arm as claimed in claim 2, wherein the height alignment mechanism comprises a lead screw, a lead screw fixing seat, a servo motor, a driving belt pulley, a driven belt pulley, a transmission rod, a bevel gear set and a nut;

two ends of the screw rod are respectively installed at the top and the bottom of the material cache library through the screw rod fixing seats; the screw rod is connected with the servo motor, the output end of the servo motor is connected with the driving belt wheel, and the rotary motion output by the servo motor sequentially passes through the driving belt wheel, the driven belt wheel and the transmission rod and is output to the bevel gear set, so that the corresponding screw rod is driven to rotate and drive the screw nut to move.

6. The in-line material caching and spot feeding system with the multifunctional mechanical arm as claimed in claim 5, wherein an adjusting system adapter plate is installed on the nut for installing the material taking and feeding and spot feeding system.

7. The system of claim 6, wherein the pick and place system comprises a pick and place robot

The adjusting system base plate is arranged on the adjusting system adapter plate;

the plane movement mechanism is connected with the adjusting system bottom plate in a sliding mode, and a material sliding plate is installed on the plane movement mechanism and used for receiving a material tray;

and the push-pull and hook mechanism is arranged on the material sliding plate and is used for feeding the material disc into the material outlet and buffer system or pulling the material disc into the material sliding plate from the material outlet and buffer system.

8. The in-line material buffer and spot feed system in combination with a multi-function robotic arm of claim 7, wherein said planar motion mechanism comprises an X-direction motion mechanism and a Y-direction motion mechanism;

the X-direction movement mechanism comprises two groups of X-direction guide rails, a plurality of groups of X-direction sliding blocks, an X-direction linear motor and an X-direction drag chain; the X-direction guide rail and the X-direction linear motor are fixed on the upper surface of the adjusting system base plate, the X-direction linear motor is arranged between two groups of X-direction guide rails, and a plurality of groups of X-direction sliding blocks are connected to the X-direction guide rails in a sliding manner and used for positioning the Y-direction movement mechanism to move along the X-direction linear motor; two ends of the X-direction drag chain are respectively connected with the adjusting system bottom plate and the Y-direction movement mechanism and used for electric wiring;

the Y-direction movement mechanism comprises two groups of Y-direction guide rails, a plurality of groups of Y-direction sliding blocks, a Y-direction linear motor, two groups of Y-direction drag chains and a Y-direction adjusting bottom plate; the Y-direction adjusting bottom plate is fixed on the X-direction sliding block, the Y-direction guide rail and the Y-direction linear motor are both fixed on the upper surface of the Y-direction adjusting bottom plate, the Y-direction linear motor is arranged between two groups of Y-direction guide rails, and a plurality of groups of Y-direction sliding blocks are connected to the Y-direction guide rails in a sliding mode and used for driving the material sliding plate to move along the direction of the Y-direction linear motor; and two ends of the Y-direction drag chain are respectively connected with the Y-direction adjusting bottom plate and the material sliding plate and used for gas circuit wiring.

9. The in-line material caching and spot feeding system in combination with a multi-function robotic arm of claim 7, wherein said push-pull and hooking mechanism comprises a push-pull mechanism and a hooking mechanism;

the push-pull mechanism comprises a push-pull rodless cylinder, a push-pull connecting block, a push-pull strip, a push-pull guide rail and a push-pull sliding block; the push-pull rodless cylinder is fixed at the top of the material sliding plate and is connected with the push-pull connecting block through an air cylinder sliding table; the bottom of the push-pull connecting block is connected with the push-pull sliding block and the push-pull guide rail, and the push-pull connecting block is connected with the material sliding plate in a sliding manner through the push-pull sliding block and the push-pull guide rail; one side of the push-pull connecting block is connected with the push-pull strip, and the material pushing jig is fixed on one side of the push-pull strip;

the material hooking mechanism comprises a material hooking cylinder, a material hooking connecting block and a material hooking jig; the material hooking cylinder is fixed on one side, away from the material pushing jig, of the pushing strip through the material hooking connecting block; and a material hooking jig is installed at the top of the material hooking cylinder and used for hooking materials.

10. The in-line material caching and fixed-point supply system with the multifunctional mechanical arm matched with claim 7, wherein lateral sliding positioning bars are installed on two sides of the material sliding plate, a blocking block is installed at one end of the material sliding plate, and the lateral sliding positioning bars and the blocking block are U-shaped and used for positioning the material tray;

and a material taking in-place sensor is arranged on the material sliding plate through an in-place sensor mounting piece and used for detecting whether the material disc is pulled into the material sliding plate from the material outlet and inlet and buffer system.

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