TWI465378B - Auto-feeding apparatus - Google Patents

Description

Automatic reclaiming device

The invention relates to the field of automated production, and in particular to an automatic reclaiming device.

When inserting the workpiece into the mold, the workpiece needs to be placed in the mold, and after the mold is closed, the plastic is injected into the cavity to cover the workpiece. In order to reduce the labor intensity of the operator and increase the safety of the work, the robot usually grabs the workpiece and then puts the workpiece into the mold, but the operator still needs to place the workpiece into the robot picking fixture for the purpose. The robot grabs. In the process of placing the workpiece by the operator, if the operation is improper, it is easy to cause the robot to accidentally hit the operator, so there is a certain safety hazard.

In view of this, it is necessary to provide an automatic reclaiming device capable of automatically taking materials to eliminate safety hazards.

An automatic reclaiming device for automatically grasping a workpiece and conveying the workpiece to a processing platform, the automatic reclaiming device comprising a conveyor belt, a turning mechanism, a reclaiming positioning fixture, a conveying mechanism and a gripping mechanism driven by the conveying mechanism The conveyor belt is configured to convey the workpiece to the turning mechanism; the turning mechanism transfers the workpiece from the conveyor belt to the take-up positioning fixture; the picking mechanism picks up the workpiece from the picking and positioning fixture The workpiece is moved to the processing platform by a transport mechanism to place the workpiece on the processing platform.

The automatic reclaiming device transfers the workpiece to the turning mechanism by the conveyor belt, and the workpiece is automatically sucked and positioned by the turning mechanism to the reclaiming positioning jig. The worker only needs to place the workpiece on the conveyor belt, and the workpiece can be positioned on the reclaiming positioning fixture by the conveying of the conveyor belt and the grasping of the turning mechanism, and The gripping mechanism and the transport mechanism can position the workpiece on the processing platform. This can effectively prevent the operator from getting close to the parts of the automatic reclaiming device except the conveyor belt, thereby eliminating certain safety hazards.

100‧‧‧Automatic reclaiming device

10‧‧‧Installation base

11‧‧‧Installation base plate

13‧‧‧First mounting bracket

15‧‧‧Second mounting bracket

17‧‧‧ Third Mount

20‧‧‧Feeding agency

21‧‧‧Conveyor belt

23‧‧‧ Guides

231‧‧‧ Guide slot

25‧‧‧Fixed parts

30‧‧‧ flip mechanism

31‧‧‧ Lifting cylinder

33‧‧‧Rotary cylinder

35‧‧‧ swing arm

351‧‧‧ Avoidance opening

37‧‧‧ nozzle

40‧‧‧Receiving positioning fixture

41‧‧‧Bumps

411‧‧‧ Positioning block

50‧‧‧ Grab institutions

51‧‧‧Drive cylinder

53‧‧‧Connecting plate

55‧‧‧ Tip

60‧‧‧Transportation agency

61‧‧‧First slide rail

611‧‧‧Ontology

6111‧‧‧Chute

612‧‧‧First motor

613‧‧‧ screw

614‧‧‧ linkage block

6141‧‧‧ escaping slot

615‧‧‧Limited board

616‧‧‧ Assembly board

63‧‧‧Second rail

65‧‧‧Installation board

67‧‧‧Steering components

671‧‧‧Second motor

6711‧‧‧Drive wheel

673‧‧‧ driven shaft

6731‧‧‧ driven wheel

675‧‧‧Mapping belt

677‧‧‧ drive plate

200‧‧‧Workpiece

300‧‧‧Processing platform

310‧‧‧Processing fixture

1 is a perspective assembled view of an automatic reclaiming device according to a preferred embodiment of the present invention.

2 is a perspective assembled view of another view of the automatic reclaiming device of FIG. 1.

Figure 3 is a partially exploded view of the automatic reclaiming device of Figure 2;

Figure 4 is an enlarged view of a region IV of the automatic reclaiming device of Figure 1.

Fig. 5 is a perspective assembled view of the grasping mechanism and the conveying mechanism of the automatic reclaiming device shown in Fig. 1.

Figure 6 is a partially exploded view of the grasping mechanism and the transport mechanism of Figure 5.

Referring to FIGS. 1 and 2, the automatic reclaiming device 100 of the preferred embodiment of the present invention is used to automatically grasp the workpiece 200 and position the workpiece 200 onto the processing platform 300. A plurality of processing positioning jigs 310 are fixedly spaced on the processing platform 300 to position the workpiece 200 grasped by the automatic reclaiming device 100 to facilitate processing of the workpiece 200. The automatic reclaiming device 100 includes a mounting base 10, a feeding mechanism 20, a turning mechanism 30, a reclaiming positioning jig 40, a gripping mechanism 50, and a conveying mechanism 60. The feeding mechanism 20 will work The piece 200 is conveyed to the turning mechanism 30; the turning mechanism 30 grabs the workpiece 200 and places the workpiece 200 on the take-up positioning jig 40; the grasping mechanism 50 grasps from the take-up positioning jig 40 The workpiece 200 is taken; the transport mechanism 60 transfers the gripping mechanism 50 to the processing platform 300, and the transport mechanism 60 transfers the workpiece 200 to the processing platform 300.

Referring to FIG. 3, the mounting base 10 is used to mount the feeding mechanism 20, the turning mechanism 30, the reclaiming positioning fixture 40, the gripping mechanism 50, the conveying mechanism 60, and the processing platform 300. The mounting base 10 includes a mounting base 11, a first mounting bracket 13, a second mounting bracket 15, and a third mounting bracket 17. The first mounting bracket 13, the second mounting bracket 15, and the third mounting bracket 17 are both fixed to the mounting base 11. In the preferred embodiment, the number of the first mounting frame 13 and the second mounting bracket 15 is two. The two first mounting brackets 13 are spaced apart and fixed to the same end of the mounting base plate 11. The first mounting bracket 13 is used to mount the feeding mechanism 20, the turning mechanism 30, and the take-up positioning fixture 40. Two of the second mounting brackets 15 are spaced apart, and two of the first mounting brackets 13 are located between the two of the second mounting brackets 15. The second mounting bracket 15 is used to assemble the transport mechanism 60. The third mounting bracket 17 is fixed to the other end of the mounting base 11 with respect to the first mounting bracket 13. The third mounting bracket 17 is for fixing the processing platform 300.

The feeding mechanism 20 includes a conveyor belt 21, a guide member 23, and a fixing member 25. The conveyor belt 21 is used to convey the workpiece 200. The guiding member 23 is fixed to the first mounting frame 13 by the fixing member 25, and the guiding member 23 is disposed above the conveyor belt 21. The guiding member 23 includes a guiding groove 231. The orientation of the opening of the guide groove 231 is opposite to the direction of movement of the conveyor belt 21. After the workpiece 200 is placed on the conveyor belt 21, the workpiece 200 is slid toward the guide groove 231 of the guide member 23 by the conveyor belt 21 until the workpiece 200 enters the guide groove 231 and abuts against the guide member 23. At this time, the workpiece 200 Stop moving so that the flip mechanism 30 catches Take the workpiece 200.

Referring to FIG. 4, in the preferred embodiment, the number of the inverting mechanisms 30 is two. Accordingly, the number of the retrieving and positioning fixtures 40, the grasping mechanism 50, and the conveying mechanism 60 are two. . Each of the turning mechanisms 30 is mounted on one of the first mounting brackets 13 and on one side of the guide member 23. The two inverting mechanisms 30 alternately grip the workpiece 200 that slides into the guide member 23. That is, when one of the turning mechanisms 30 grabs one workpiece 200 and is positioned at the take-up positioning fixture 40, while the corresponding gripping mechanism 50 grabs the workpiece 200 from the take-up positioning fixture 40, the other turning mechanism 30 grabs another workpiece 200. In this way, the two inverting mechanisms 30 and the corresponding two gripping mechanisms 50 and the two transporting mechanisms 60 alternately work to improve work efficiency. It can be understood that, in order to enable the two inverting mechanisms 30 to work simultaneously and the corresponding gripping mechanism 50 and the transporting mechanism 60 to work simultaneously, two guiding members 23 can be disposed on the conveyor belt 21 to simultaneously separate the two workpieces 200. guide.

Referring to FIG. 3, FIG. 3 and FIG. 4, each of the reversing mechanisms 30 includes a lifting cylinder 31, a rotary cylinder 33 mounted on the lifting cylinder 31, a swing arm 35 driven by the rotary cylinder 33, and a swing arm 35. The nozzle 37 on the top. The lifting cylinder 31 is fixed to the corresponding first mounting bracket 13. The rotary cylinder 33 is disposed between the guide member 23 and the take-up positioning fixture 40. The swing arm 35 is disposed away from one end of the rotary cylinder 33 and has a avoidance opening 351 (shown in FIG. 3). In the preferred embodiment, the number of the suction nozzles 37 is plural. A plurality of the suction nozzles 37 are fixedly spaced apart from the swing arm 35 away from one end of the rotary cylinder 33 and disposed around the avoidance opening 351.

The lift cylinder 31 drives the rotary cylinder 33 to move toward or away from the conveyor belt 21 to move the swing arm 35 and the suction nozzle 37 toward or away from the conveyor belt 21. The rotary cylinder 33 drives the swing arm 35 to swing back and forth between the guide member 23 and the take-up positioning fixture 40 to drive The suction nozzle 37 moves back and forth between the guide groove 231 of the guide member 23 and the take-up positioning fixture 40. When the suction nozzle 37 is moved into the guiding groove 231, the suction nozzle 37 sucks the workpiece 200 in the guiding groove 231; when the suction nozzle 37 sucks the workpiece 200 and moves to the reclaiming positioning fixture 40, The workpiece 200 is positioned within the take-up positioning fixture 40.

Each of the retrieving and positioning fixtures 40 has a block shape, and the corresponding avoidance opening 351 is provided with a projection 41, and the projection 41 protrudes from the gripping mechanism 50 with a positioning block 411. When the swing arm 35 is moved to the take-up positioning fixture 40 under the driving of the lift cylinder 31, the bump 41 is received in the avoidance opening 351, and the plurality of suction nozzles 37 are located on both sides of the bump 41, and are attracted to the plurality. The workpieces 200 on the nozzles 37 are positioned on the positioning block 411.

Referring to FIGS. 1 and 5, each of the gripping mechanisms 50 includes a drive cylinder 51, a connecting plate 53, and a suction head 55. The connecting plate 53 is driven by the driving cylinder 51. In the preferred embodiment, the number of the tips 55 is plural. A plurality of the suction heads 55 are fixed to the connecting plate 53 at intervals. When the gripping mechanism 50 is moved to the top of the reclaiming positioning fixture 40 by the conveying mechanism 60, the driving cylinder 51 drives the connecting plate 53 to move the suction head 55 toward the reclaiming positioning fixture 40 to suck and take the material. The workpiece 200 positioned on the fixture 40 is positioned, and then the cylinder 51 is driven to reset the suction nozzle 55 to suck the workpiece 200 away from the reclaiming fixture 40. When the gripping mechanism 50 is moved by the conveying mechanism 60 to one of the processing positioning fixtures 310 of the processing platform 300, the driving cylinder 51 drives the connecting plate 53 to move the suction head 55 toward the processing positioning fixture 310. The tip 55 releases the workpiece 200 onto the processing fixture 300.

Each of the transport mechanisms 60 includes a first slide rail 61, a second slide rail 63 slidably mounted on the first slide rail 61, a mounting plate 65 slidably mounted on the second slide rail 63, and a mounting plate Steering assembly 67 on 65. The gripping mechanism 50 is coupled to the mounting plate 65 by a steering assembly 67. One end of the first slide rail 61 is disposed adjacent to the take-up positioning fixture 40 The other end is disposed adjacent to the processing platform 300. The direction in which the second slide rail 63 extends is perpendicular to the direction in which the first slide rail 61 extends. Thus, when the second sliding rail 63 moves on the first sliding rail 61, the mounting plate 65 and the grasping mechanism 50 can be driven to move back and forth between the reclaiming positioning fixture 40 and the processing platform 300. When the mounting plate 65 moves on the second sliding rail 63, the grasping mechanism 50 can be aligned with the reclaiming positioning fixture 40 or aligned with the machining positioning fixture 310, thereby facilitating the grasping or releasing of the workpiece 200. .

Referring to FIG. 6 , in the preferred embodiment, the movement of the second sliding rail 63 on the first sliding rail 61 is achieved by: the first sliding rail 61 is installed on the first a main body 611 on the mounting frame 15, a first motor 612 mounted on the main body 611, a screw 613 driven by the first motor 612, and a linkage block 614 screwed onto the screw 613 and provided with a threaded hole (not shown). A limiting plate 615 mounted on the body 611 and a mounting plate 616 mounted on the linkage block 614. A sliding slot 6111 is defined in the main body 611. The screw 613 is received in the sliding slot 6111. The linkage block 614 is slidably assembled in the sliding slot 6111. One end of the linkage block 614 facing away from the body 611 is provided with a avoidance slot 6141. The limiting plate 615 is disposed above the sliding slot 6111. The two ends of the limiting plate 615 are fixed to the body 611, and the limiting plate 615 is partially received in the avoiding slot 6141. The second slide rail 63 is fixed to the linkage block 614 by the mounting plate 616. The screw 613 rotates in the forward or reverse direction under the driving of the first motor 612, and since the linkage block 614 is restricted from rotating in the sliding slot 6111 and cannot rotate together with the screw 613, the linkage block 614 is driven by the screw 613. The axis of the screw 613 moves back and forth, thereby driving the mounting plate 616 and the second sliding rail 63 fixed to the mounting plate 616 to move back and forth. It can be understood that the second sliding rail 63 can also be directly fixed to the linkage block 614.

The second slide rail 63 has the same structure as the first slide rail 61. The second slide rail 63 drives the movement of the mounting plate 65 and the first slide rail 61 drives the second slide rail 63 to move. The principle is the same, so it will not be described here.

Referring to FIG. 5, the steering assembly 67 is configured to adjust the direction of the workpiece 200 adsorbed on the suction head 55 relative to the machining positioning fixture 310, so that the gripping mechanism 50 can correctly position the workpiece 200 on the machining positioning fixture. 310. The steering assembly 67 includes a second motor 671 mounted on the mounting plate 65, a driven shaft 673 rotatably mounted on the mounting plate 65, an engaging belt 675 connecting the second motor 671 and the driven shaft 673, and a fixed connection A drive plate 677 on the driven shaft 673. The second motor 671 is equipped with a driving wheel 6711; the driven shaft 673 is fixed with a driven wheel 6731. The two ends of the engaging belt 675 are respectively engaged with the driving wheel 6711 and the driven wheel 6731. The gripping mechanism 50 is fixed to the drive plate 677. In this manner, the second motor 671 drives the driving wheel 6711 to rotate in the forward or reverse direction. The driving wheel 6711 drives the driven wheel 6731 to rotate forward or backward by the engaging belt 675, and the driven shaft 673 is further driven by the driving plate 677. The suction head 55 of the gripping mechanism 50 and the workpiece 200 sucked by the suction head 55 are rotated in the forward or reverse direction.

It can be understood that when the workpiece 200 can be directly placed on the machining positioning fixture 310 without being turned by the steering mechanism, the steering assembly 67 can be omitted, so that the grasping mechanism 50 can be directly mounted on the mounting plate. 65 on.

Referring to FIG. 1 to FIG. 3, when the automatic reclaiming device 100 is in operation, the conveyor belt 21 first conveys the workpiece 200 into the guiding groove 231 of the guiding member 23, and then the swing arm 35 of the turning mechanism 30 drives the suction nozzle 37 to move. To the guide groove 231 to suck the workpiece 200, the swing arm 35 drives the suction nozzle 37 to move to the take-up positioning fixture 40 to position the workpiece 200 on the take-up positioning fixture 40. The suction head 55 is then moved toward the take-up positioning jig 40 by the transport mechanism 60 until it is disposed opposite the workpiece 200 on the take-up positioning jig 40. Immediately after the suction head 55 is driven by the drive cylinder 51, it moves toward the take-up positioning jig 40 to suck the workpiece 200. After the suction head 55 sucks the workpiece 200, the driving cylinder 51 is reset, and the suction head 55 is Moved by one of the processing positioning fixtures 310 toward the processing platform 300 by the transport mechanism 60. The steering assembly 67 then drives the suction head 55 to drive the workpiece 200 for steering. Finally, the suction head 55 is moved toward the machining positioning fixture 310 by the driving cylinder 51 until the suction head 55 releases the workpiece 200 to the machining positioning fixture 310. on.

The automatic reclaiming device 100 conveys the workpiece 200 to the turning mechanism 30 by the conveyor belt 21, and automatically picks up and positions the workpiece 200 to the reclaiming positioning fixture 40 by the turning mechanism 30. The worker only needs to place the workpiece 200 on the conveyor belt 21, and the workpiece 200 can be positioned on the reclaiming positioning fixture 40 by the conveying of the conveyor belt 21 and the gripping mechanism 30, and then by the gripping mechanism 50 and The transfer mechanism 60 can position the workpiece 200 on the processing platform 300. In this way, the operator can be prevented from being in close contact with the parts of the automatic reclaiming device 100 except the conveyor belt 21, thereby eliminating certain safety hazards.

In summary, the present invention complies with the requirements of the invention patent and submits a patent application according to law. The above is only the preferred embodiment of the present invention, and the scope of the present invention is not limited to the above-described embodiments, and equivalent modifications or variations made by those skilled in the art in light of the spirit of the present invention are It should be covered by the following patent application.

100‧‧‧Automatic reclaiming device

10‧‧‧Installation base

13‧‧‧First mounting bracket

20‧‧‧Feeding agency

21‧‧‧Conveyor belt

23‧‧‧ Guides

231‧‧‧ Guide slot

25‧‧‧Fixed parts

30‧‧‧ flip mechanism

40‧‧‧Receiving positioning fixture

50‧‧‧ Grab institutions

60‧‧‧Transportation agency

200‧‧‧Workpiece

300‧‧‧Processing platform

310‧‧‧Processing fixture

Claims (9)

An automatic reclaiming device for automatically grasping a workpiece and conveying the workpiece to the processing platform, the improvement being: the automatic reclaiming device comprises a conveyor belt, a turning mechanism, a reclaiming positioning jig, a conveying mechanism, and the conveying a mechanism-driven grasping mechanism for conveying the workpiece to the turning mechanism; the turning mechanism transferring a workpiece from a conveyor belt to a take-up positioning fixture, the turning mechanism comprising a rotary cylinder, a swing arm driven by the rotary cylinder and a nozzle mounted on the swing arm; the swing arm is provided with a avoidance opening away from one end of the rotary cylinder, and the take-up positioning fixture is opened corresponding to the avoidance opening a bump, the positioning block is convexly disposed on the bump, and the bump is received in the avoidance opening after the swing arm is moved to the take-up positioning fixture by the rotating cylinder The positioning block positions the workpiece adsorbed on the nozzle; the grasping mechanism grabs the workpiece from the take-up positioning fixture and moves to the processing platform by the conveying mechanism To the office A workpiece placed on the work stage. The automatic reclaiming device of claim 1, wherein the automatic reclaiming device further comprises a guiding member disposed above the conveyor belt, the guiding member is provided with a guiding groove, and the opening of the guiding groove is oriented The conveyor belt is moved in the opposite direction, and the conveyor conveys the workpiece into the guide groove and abuts against the guide. The automatic reclaiming device of claim 2, wherein the rotary cylinder is disposed between the guiding member and the reclaiming positioning fixture, and the rotating cylinder drives the swing arm to the guiding Swinging back and forth between the piece and the reclaiming positioning fixture, thereby driving the suction nozzle to move back and forth between the guiding groove of the guiding member and the reclaiming positioning jig, and the suction nozzle is correspondingly The guiding groove draws the workpiece and positions the workpiece on the take-up positioning fixture. The automatic reclaiming device of claim 3, wherein the turning mechanism further comprises a liter A cylinder is lowered, and the lift cylinder drives the rotary cylinder to move the nozzle toward or away from the conveyor belt. The automatic reclaiming device of claim 1, wherein the gripping mechanism comprises a driving cylinder, a connecting plate driven by the driving cylinder, and a suction head fixed to the connecting plate, when the gripping When the mechanism moves under the driving mechanism to move over the reclaiming fixture, the driving cylinder drives the connecting plate to move the nozzle toward the reclaiming positioning fixture to absorb the reclaiming positioning The workpiece positioned on the jig; when the gripping mechanism is moved to the upper of the processing platform by the conveying mechanism, the driving cylinder drives the connecting plate to drive the tip toward the processing The platform moves and the tip releases the workpiece onto the processing platform. The automatic reclaiming device of claim 1, wherein the conveying mechanism comprises a first sliding rail, a second sliding rail slidably mounted on the first sliding rail, and slidably assembled a mounting plate on the second sliding rail, the gripping mechanism is connected to the mounting plate, one end of the first sliding rail is disposed adjacent to the reclaiming positioning jig, and the other end is disposed adjacent to the processing platform, Moving the second slide rail on the first slide rail to move back and forth between the take-up positioning fixture and the processing platform by the mounting plate; the mounting plate moves on the second slide rail The driving mechanism is aligned with the reclaiming fixture or aligned with a machining positioning fixture. The automatic reclaiming device of claim 6, wherein the first slide rail comprises a body, a first motor mounted on the body, a screw driven by the first motor, and screwed into the a linkage block of a screw, the second slide rail is assembled to the linkage block, and the screw is moved forward or reversely under the driving of the first motor, and the linkage block is correspondingly driven by the screw Moving back and forth along the axis of the screw, thereby driving the second slide rail fixed to the linkage block to move back and forth. The automatic reclaiming device of claim 7, wherein the first sliding rail further comprises a limit a positional plate, the interlocking block is disposed away from one end of the body, and the two ends of the limiting plate are fixed on the body, and the limiting plate is partially received in the avoiding groove. The limiting plate slides in the avoidance groove as the linkage block moves. The automatic reclaiming device of claim 6, wherein the conveying mechanism further comprises a steering assembly, the steering assembly comprising a second motor mounted on the mounting plate, rotatably mounted on the mounting plate a driven shaft, a driving wheel driven by the second motor, a driven wheel fixed to the driven shaft, an engaging belt engaged with the driving wheel and the driven wheel, the grasping mechanism being fixed to the driven shaft The second motor drives the driving wheel to rotate in a forward or reverse direction, and the driving wheel drives the driven wheel to rotate in the forward or reverse direction by the engaging belt, and the driven shaft further drives the driven wheel. The gripping mechanism and the workpiece sucked by the gripping mechanism rotate in a forward or reverse direction.