WO2021119948A1

WO2021119948A1 - Automatic feeding device

Info

Publication number: WO2021119948A1
Application number: PCT/CN2019/125741
Authority: WO
Inventors: 章娜
Original assignee: 扬州云帆智能装备科技有限公司
Priority date: 2019-12-16
Filing date: 2019-12-16
Publication date: 2021-06-24

Abstract

An automatic feeding device, comprising a material conveying mechanism. A material conveying system comprises a horizontally disposed base (1). The base (1) is provided with a plurality of transmission assemblies (2) in the length direction at intervals. Each transmission assembly (2) comprises a roller shaft (3). The roller shaft (3) is sleeved with a rotating roller (4). One end of the roller shaft (3) is supported on a corresponding support seat (5) by means of a bearing, and the other end of the roller shaft (3) is transmittingly connected to a corresponding transmission case (6). Two adjacent transmission cases (6) are transmittingly connected by means of a synchronization mechanism. Any one of the transmission cases (6) is transmittingly connected to a driving mechanism. The rotating roller (4) comprises a flat roller segment (4a). Both left and right ends of the flat roller segment (4a) are integrally provided with an end positioning segment (4b). The left and right end positioning segments (4b) are arranged symmetrically. An end of the material conveying mechanism is correspondingly provided with a mobile manipulator (7). The mobile manipulator (7) is provided with a suction disc assembly (8) capable of sucking an object. The automatic feeding device can achieve automatic feeding and improve feeding efficiency.

Description

Automatic feeding device

Technical field

The invention belongs to the field of feeding equipment, and particularly relates to an automatic feeding device for sheet materials.

Background technique

For processing equipment with a high degree of automation, it is necessary to be equipped with a feeding device to improve the feeding efficiency and facilitate the processing and manufacturing process. The Chinese patent database discloses a loading device, its patent application number: 201810250364.3; application date: 2018-03-26; its structure includes a loading rack and a loading board, the loading rack includes a base, a column, and a top frame, A lifting mechanism is provided between the loading rack and the loading plate to allow the loading plate to be raised and lowered along the column. The lifting mechanism includes a lifting screw, a lifting nut, and a lifting power source. The lifting power source is located on the top frame, and the lifting screw and lifting The nut is located in the column, and a transmission mechanism is arranged between the upper end of the lifting screw and the lifting power source. The device uses a screw to drive the upper plate to move, which can realize the movement of the animal body, but the disadvantage of this device is that the upper frame is composed of a base, a column and a top frame, and can only move objects located in the area below the upper frame. And for feeding, it is impossible to move the object from one area to another area far away, and it is impossible to carry the animal's body to move for a long distance for feeding.

Summary of the invention

The purpose of the present invention is to provide an automatic feeding device, which can realize automatic conveying of the sheet material to a designated area along a straight line, and then the sheet material is moved to a corresponding position by a manipulator to realize automatic feeding.

The object of the present invention is achieved as follows: an automatic feeding device includes a material conveying mechanism, the material conveying system includes a horizontally arranged machine base, and a plurality of transmission components are arranged at intervals along the length of the machine base. The transmission assembly includes a roller shaft, the roller shaft is sleeved with rotating rollers, the base is provided with a support seat and a transmission box corresponding to the left and right ends of each rotating roller, and one end of the roller shaft rotates through a bearing Supported on a corresponding support seat, the other end of the roller shaft is in transmission connection with a corresponding transmission box, and two adjacent transmission boxes are connected in transmission through a synchronization mechanism, and any one of the transmission boxes is in transmission connection with the driving mechanism. Including a flat roller section. Both the left and right ends of the flat roller section are integrally provided with end positioning sections. The diameter of the end positioning section of the transmission roller is set incrementally from the end close to the flat roller section to the end far away from the flat roller section. The positioning sections are arranged symmetrically, and the ratio of the axial length of the flat roller section of the drive roller to the axial length of the end positioning section is 10-15; the end of the material conveying mechanism is provided with a mobile manipulator corresponding to the mobile manipulator with a suction The suction cup assembly of the object. When the present invention works, the object is placed at the front end of the material conveying system, and the driving mechanism drives the transmission box to work to provide power. The two adjacent transmission boxes are linked by the synchronization mechanism, and each transmission box realizes synchronous transmission. The box drives the corresponding rollers to rotate, and the transmission rollers of the material conveying system realize synchronous rotation. The conveying rollers send the sheet to the back end of the material conveying system, and then move the manipulator to move the suction cup assembly above the sheet, and the suction cup assembly grabs the object. Take and move to the corresponding position; The present invention is suitable for the feeding of plate-shaped materials. A plurality of plates are placed in the front end of the material conveying system one by one, and the moving manipulator can move the plates one by one to the corresponding position. Compared with the prior art, the present invention has the beneficial effects that: it can automatically convey the sheet material to the designated area along a straight line, and then the manipulator will move the sheet material to the corresponding position to realize automatic feeding; the device has a simple structure and can be used in the workshop. The inner line is arranged in a straight line, the structure is compact, and the equipment is easy to install.

As a further improvement of the present invention, a plurality of supporting legs are arranged at equal intervals along the length direction under the base, and the height of the supporting legs can be adjusted. The height of the machine base can be adjusted through the supporting legs, which is suitable for workpieces or sheets of different heights to be loaded.

As a further improvement of the present invention, a rotating shaft is rotatably arranged in the transmission box, the rotating shaft is perpendicular to the roller shaft, the left and right ends of the rotating shaft extend outward from the transmission box, and at least two left and right rotating shafts are provided in the transmission box. Corresponding to bearing one, a bevel gear is sleeved on the rotating shaft, the other end of the roller shaft extends into the transmission box, and at least two bearings two are provided in the transmission box corresponding to the roller shaft, and the other end of the roller shaft is sleeved There are two bevel gears, and the two bevel gears are meshed and connected with the bevel gear one. The rotating shaft of the transmission box drives the bevel gear to rotate, the bevel gear one drives the bevel gear two to rotate, the bevel gear two drives the roller shaft to rotate, and the transmission roller realizes rotation.

As a further improvement of the present invention, the synchronization mechanism includes a connecting shaft arranged between two adjacent transmission boxes, the connecting shaft and the rotating shaft are arranged coaxially, and the left and right ends of the connecting shaft are connected to the corresponding transmission box through a coupling. Drive connection at the end of the shaft. The rotating shafts of two adjacent transmission boxes are linked by the connecting shaft to ensure that the rotating shafts of each transmission box rotate synchronously at the same speed and ensure that the transmission rollers can rotate synchronously.

As a further improvement of the present invention, the drive mechanism includes a drive motor, which is connected to a transmission box at the end of the drive; the end of the machine base is provided with a mounting seat, and the mounting seat rotatably supports a power shaft. One end is sleeved with a pulley one, which is connected to the two pulleys at the output end of the drive motor, and the other end of the power shaft is connected to the end of the rotating shaft of the corresponding transmission box through a coupling. The driving motor drives the second pulley to rotate, the second pulley drives the power shaft to rotate through the timing belt, and the power shaft transmits the power to the transmission box at the end.

As a further improvement of the present invention, the mobile manipulator includes a base, and a rotating base is rotatably connected to the base, and the rotating base is integrally provided with a swing arm base, the swing arm base is U-shaped, and the swing arm base includes a middle base body, and the middle base body The left and right ends are respectively provided with a left side plate and a right side plate, a rotating shaft is arranged between the left side plate and the right side plate, a first swing arm is connected to the rotating shaft, and the end of the first swing arm rotates through the rotating shaft A second swing arm is connected, the end of the second swing arm is rotatably connected with a rotating support, and the suction cup assembly is arranged on the rotating support. The rotation of the rotating base drives the integral rotation of the first swing arm and the second swing arm. The second swing arm can rotate relative to the first swing arm, and the first swing arm can rotate relative to the swing arm base; the rotating support of the mobile manipulator can be driven The suction cup assembly can be moved to any position, and it is convenient and flexible to grab the object.

As a further improvement of the present invention, the rotating support is installed on the second swing arm through a connecting seat, the connecting seat is U-shaped, and the rotating shaft of the rotating support is located between the two edge plates of the connecting seat. The structure of the connecting seat is stable, providing greater support for the rotating seat, and ensuring that the rotating seat and the suction cup assembly are firmly connected to the connecting seat.

As a further improvement of the present invention, the suction cup assembly includes a suction cup seat, and the suction cup seat includes two longitudinal beams parallel to each other. A reinforcement beam is provided, and a number of reinforcement rods are arranged at intervals along the length direction of the beam between the reinforcement beam and the lateral beam; a number of suction cup connecting rods are evenly distributed under the suction cup seat, and suction cups are provided at the lower end of the suction cup connecting rod. The suction cup seat is composed of a cross beam and a longitudinal beam. A plurality of reinforcing rods are arranged in the middle of the frame, which improves the structural stability of the suction cup seat and ensures that the sheet material is firmly sucked and fixed.

As a further improvement of the present invention, the suction cup is a magnetic suction cup, the suction cup is circular, and the diameter of the suction cup is 40-60 mm. The magnetic chuck can hold the metal workpiece firmly.

Description of the drawings

Figure 1 is a front view of the present invention.

Fig. 2 is a partial enlarged view of Fig. 1.

Figure 3 is a top view of the present invention.

Fig. 4 is a partial enlarged view of Fig. 3.

Figure 5 is a schematic diagram of the structure of the rotating roller.

Fig. 6 is an enlarged view of A in Fig. 5.

Fig. 7 is a three-dimensional structure diagram of a mobile manipulator.

Fig. 8 is a three-dimensional structure diagram of a mobile manipulator.

Figure 9 is a schematic diagram of the structure of the suction cup assembly.

Among them, 1 machine base, 2 transmission components, 3 roller shafts, 4 rotating rollers, 4a flat roller section, 4b end positioning section, 5 support base, 6 transmission box, 7 mobile manipulator, 8 suction cup assembly, 9 support leg, 10 Rotating shaft, 11 bearing one, 12 bevel gear one, 13 bearing two, 14 bevel gear two, 15 suction cup, 16 connecting shaft, 17 coupling, 18 drive motor, 19 mounting seat, 20 power shaft, 21 pulley one, 22 pulley Two, 23 bases, 24 rotating seats, 25 swing arm seats, 26 first swing arms, 27 second swing arms, 28 connecting seats, 29 rotating bearings, 30 cross beams, 31 longitudinal beams, 32 reinforcing beams, 33 reinforcing rods.

Detailed ways

As shown in Figures 1-9, it is an automatic feeding device, which includes a material conveying mechanism. The material conveying system includes a horizontally arranged base 1 on which a number of transmission components 2 are arranged at intervals along the length direction. The assembly 2 includes a roller shaft 3, the roller shaft 3 is sleeved with a rotating roller 4, and a support seat 5 and a transmission box 6 are respectively provided on the left and right ends of each rotating roller 4 on the base 1 respectively. One end is rotatably supported on the corresponding support base 5 through a bearing, the other end of the roller shaft 3 is connected to the corresponding transmission box 6 in transmission, and the two adjacent transmission boxes 6 are connected in transmission through a synchronization mechanism, and any one of the transmission boxes 6 is connected to the drive mechanism Transmission connection, the transmission roller includes a flat roller section 4a, the left and right ends of the flat roller section 4a are integrally provided with end positioning sections 4b, the diameter of the end positioning section 4b of the transmission roller is from the end close to the flat roller section 4a to away from the flat roller One end of the section 4a is set incrementally, the left and right end positioning sections 4b are set symmetrically, the ratio of the axial length of the flat roller section 4a of the drive roller to the axial length of the end positioning section 4b is 10-15; the end of the material conveying mechanism The head is correspondingly provided with a mobile manipulator 7, and the mobile manipulator 7 is provided with a suction cup 15 assembly 8 capable of sucking objects. In order to facilitate the adjustment of the height of the machine base 1, a number of supporting legs 9 are provided at equal intervals along the length direction under the machine base 1, and the height of the supporting legs 9 can be adjusted. The transmission box 6 is rotatably provided with a rotating shaft 10, the rotating shaft 10 is perpendicular to the roller shaft 3, the left and right ends of the rotating shaft 10 both extend outward from the transmission box 6, and the inside of the transmission box 6 is provided with at least two left and right corresponding shafts 10 The bearing 11 of the shaft 10 is sleeved with a bevel gear 12, the other end of the roller shaft 3 extends into the inside of the transmission box 6, and the inside of the transmission box 6 is provided with at least two bearings 13 corresponding to the roller shaft 3. The second end of the bevel gear 14 is sleeved with the second bevel gear 14 and the second bevel gear 12 is meshed and connected. In order to ensure that the transmission rollers can rotate synchronously, the synchronization mechanism includes a connecting shaft 16 arranged between two adjacent transmission boxes 6. The connecting shaft 16 is arranged coaxially with the rotating shaft 10, and the left and right ends of the connecting shaft 16 are respectively connected through the connecting shaft. The shaft device 17 is drivingly connected to the end of the rotating shaft 10 corresponding to the transmission box 6. The driving mechanism includes a driving motor 18, which is in transmission connection with the transmission box 6 at the end; the end of the base 1 is provided with a mounting seat 19, the mounting seat 19 rotatably supports a power shaft 20, and the power shaft 20 One end of the power shaft is sleeved with a pulley 21, which is drivingly connected to the second pulley 22 at the output end of the driving motor 18, and the other end of the power shaft 20 is drivingly connected to the end of the rotating shaft 10 of the corresponding transmission box 6 through a coupling 17. The mobile manipulator 7 includes a base 23. The base 23 is rotatably connected with a rotating base 24. The rotating base 24 is integrally provided with a swing arm base 25. The swing arm base 25 is U-shaped. The swing arm base 25 includes an intermediate base body. The left and right ends are respectively provided with a left side plate and a right side plate, a rotating shaft 10 is provided between the left side plate and the right side plate, a first swing arm 26 is rotatably connected to the rotating shaft 10, and the end of the first swing arm 26 passes through The rotating shaft 10 is rotatably connected with a second swing arm 27, the end of the second swing arm 27 is rotatably connected with a rotating support 29, and the suction cup 15 assembly 8 is arranged on the rotating support 29. The rotation of the rotating base 24 drives the first swing arm 26 and the second swing arm 27 to rotate as a whole, the second swing arm 27 can rotate relative to the first swing arm 26, and the first swing arm 26 can rotate relative to the swing arm base 25; The rotating support 29 of the manipulator 7 can drive the suction cup 15 assembly 8 to move to any position, and it is convenient and flexible to grasp the object. The rotating support 29 is mounted on the second swing arm 27 through a connecting seat 28, the connecting seat 28 is U-shaped, and the rotating shaft 10 of the rotating support 29 is located between the two edge plates of the connecting seat 28. In order to improve the strength of the suction cup seat, the suction cup assembly includes a suction cup 15 seat. The suction cup 15 seat includes two parallel longitudinal beams 31. Between the two longitudinal beams 31, two lateral beams 30 are arranged symmetrically. A reinforcing beam 32 is provided between the middle part of the beam, and a number of reinforcement rods 33 are provided at intervals along the length of the beam 30 between the reinforcement beam 32 and the side beam 30; a number of suction cup connecting rods are evenly distributed under the suction cup 15 seat, and the lower end of the suction cup connecting rod A suction cup 15 is provided. The suction cup 15 is a magnetic suction cup, the suction cup 15 is circular, and the diameter of the suction cup 15 is 40-60 mm. The magnetic chuck can hold the metal workpiece firmly.

When the present invention works, the object is placed at the front end of the material conveying system, and the driving mechanism drives the transmission box 6 to work to provide power. Two adjacent transmission boxes 6 are linked by a synchronization mechanism, and each transmission box 6 realizes synchronous transmission. Each transmission box 6 drives the corresponding roller 3 to rotate. The transmission rollers of the material conveying system realize synchronous rotation. The transmission rollers send the sheet to the back end of the material conveying system, and then move the manipulator 7 to move so that the suction cup assembly is located above the sheet. , The suction cup assembly grabs and moves the object to the corresponding position; the present invention is suitable for loading plate-shaped materials, placing multiple plates in turn at the front end of the material conveying system, and moving the manipulator 7 can move the plates one by one to Corresponding location. The advantages of the present invention are: it can automatically convey the sheet material to the designated area along a straight line, and then the manipulator moves the sheet material to the corresponding position to realize automatic feeding; the device has a simple structure, is arranged in a straight line in the workshop, and has a compact structure. The equipment is easy to install.

The present invention is not limited to the above-mentioned embodiments. On the basis of the technical solutions disclosed in the present invention, those skilled in the art can make some substitutions and substitutions to some of the technical features according to the disclosed technical content without creative labor. Variations, these replacements and variations are all within the protection scope of the present invention.

Claims

An automatic feeding device, characterized in that it comprises a material conveying mechanism, the material conveying system includes a horizontally arranged machine base, and a plurality of transmission components are arranged at intervals along the length of the machine base, and the transmission components include a roller shaft. , The roller shaft is sleeved with rotating rollers, the base is respectively provided with a support seat and a transmission box at the left and right ends of each rotating roller, and one end of the roller shaft is rotatably supported by the corresponding support seat Above, the other end of the roller shaft is in transmission connection with the corresponding transmission box, and two adjacent transmission boxes are in transmission connection through a synchronization mechanism, and any one of the transmission boxes is in transmission connection with the driving mechanism, and the transmission roller includes a flat roller section, The left and right ends of the flat roller section are integrally provided with end positioning sections. The diameter of the end positioning section of the transmission roller is set incrementally from the end close to the flat roller section to the end far away from the flat roller section. The left and right end positioning sections are arranged symmetrically The ratio of the axial length of the flat roller section of the drive roller to the axial length of the end positioning section is 10-15; the end of the material conveying mechanism is correspondingly provided with a mobile manipulator, and the mobile manipulator is provided with a suction cup assembly capable of sucking objects.
The automatic feeding device according to claim 1, wherein a plurality of supporting legs are arranged at equal intervals along the length direction under the machine base, and the height of the supporting legs can be adjusted.
The automatic feeding device according to claim 1 or 2, wherein a rotating shaft is rotatably arranged in the transmission box, the rotating shaft is perpendicular to the roller shaft, and the left and right ends of the rotating shaft extend outward from the transmission shaft. The inner part of the transmission box is provided with at least two left and right bearings corresponding to the rotating shaft, the rotating shaft is sleeved with a bevel gear one, the other end of the roller shaft extends into the inside of the transmission box, and at least two corresponding roller shafts are provided in the transmission box. There are two bearings, the other end of the roller shaft is sleeved with two bevel gears, and the two bevel gears are in meshing connection with the bevel gear one.
The automatic feeding device according to claim 3, wherein the synchronization mechanism includes a connecting shaft arranged between two adjacent transmission boxes, the connecting shaft and the rotating shaft are arranged coaxially, and the left and right sides of the connecting shaft are arranged coaxially. The ends are respectively drivingly connected with the ends of the rotating shafts of the corresponding transmission boxes through couplings.
The automatic feeding device according to claim 3, characterized in that the driving mechanism comprises a driving motor, and the driving motor is drivingly connected with the transmission box at the end; the end of the machine base is provided with a mounting seat, and the mounting seat is The power shaft is rotatably supported. One end of the power shaft is sleeved with a belt pulley, which is connected to the belt pulley at the output end of the driving motor. The other end of the power shaft is connected to the end of the rotating shaft of the corresponding transmission box through a coupling.
The automatic feeding device according to claim 1 or 2, characterized in that, the mobile manipulator comprises a base, a rotating base is rotatably connected to the base, and a swing arm base is integrally provided on the rotating base, and the swing arm base is U The swing arm seat includes a middle seat body. The left and right ends of the middle seat body are respectively provided with a left side plate and a right side plate, a rotating shaft is arranged between the left side plate and the right side plate, and a first rotating shaft is connected to the rotating shaft. For the swing arm, the end of the first swing arm is rotatably connected with a second swing arm through a rotating shaft, and the end of the second swing arm is rotatably connected with a rotating support, and the suction cup assembly is arranged on the rotating support.
The automatic feeding device according to claim 6, wherein the rotating support is mounted on the second swing arm through a connecting seat, the connecting seat is U-shaped, and the rotating shafts of the rotating support are located on two sides of the connecting seat. The middle of the edge plate.
The automatic feeding device according to claim 1 or 2, wherein the suction cup assembly includes a suction cup seat, and the suction cup seat includes two parallel longitudinal beams, and two longitudinal beams are arranged between the two longitudinal beams. A horizontally symmetrically distributed crossbeam, a reinforcing beam is arranged between the middle of the two longitudinal beams, and a number of reinforcing rods are arranged at intervals along the length of the crossbeam between the reinforcing beam and the adjacent crossbeam; a number of suction cup connections are evenly distributed under the suction cup seat The rod and the suction cup are provided with a suction cup at the lower end of the connecting rod.
The automatic feeding device according to claim 8, wherein the suction cup is a magnetic suction cup, the suction cup is circular, and the diameter of the suction cup is 40-60 mm.