Three-shaft and rotating-shaft high-precision delivery device for molding

Abstract

The invention provides a three-axis and rotating-axis high-precision delivery device for molding, which comprises a lifting subsystem, a transfer subsystem and a follow-up subsystem which are sequentially stacked from bottom to top, and the transfer subsystem is fixed on a moving seat of the lifting subsystem; the follow-up subsystem is fixed on a moving platform of the transfer subsystem, the rotary butt joint and input subsystem is fixed on a carrying platform of the follow-up subsystem, the rotary butt joint and input subsystem adopts a horizontal eccentric rotary structure, and a horizontal eccentric distance exists between the rotary center of the rotary butt joint and input subsystem and a material contact line of a conveying belt. Through geometric matching of multi-axis composite motion and butt joint, the butt joint impact and the mistaken entry risk are reduced, the beat is shortened, and the stable basket entry delivery device is suitable for stable basket entry delivery of continuous production lines such as paper pulp molding.

Description

Technical Field

[0001] This invention belongs to the technical field of automated pulp molding systems, and particularly relates to a high-precision three-axis plus rotary axis feeding device for molding. Background Technology

[0002] Pulp molded products in the wet / semi-dry stage have characteristics such as being porous, containing water, thin-walled, and having low stiffness. Traditional clamping and placement (claws / vacuum adsorption) is prone to the following problems under such conditions: adsorption leakage and unstable gripping, pressure marks or deformation, and secondary collisions and scratches caused by the difficulty in matching the gripping and placement phases when the basket is in continuous motion. The end load and extension will also amplify the swing and convergence time, limiting the improvement of the cycle time. To reduce structural complexity and maintenance costs, production lines generally use a single conveyor belt to directly feed products into a continuously moving basket. However, existing solutions are mostly based on time / distance triggering or simple master-slave following (such as electronic gears + segmented commands), which have the following common problems: the basket speed / phase is not used as a unified motion reference, making it difficult to stably constrain the speed difference between the belt speed and the basket speed in the transfer zone, and the basket entry window is prone to instability in the short term; typical multi-axis cascaded systems, when using horizontal eccentric rotating shaft docking, usually do not model the equivalent inertia and radial load changes caused by the eccentric geometry and the changes in the product's position on the belt surface, resulting in increased torque and speed ripple, drive temperature rise and noise, thus affecting the stability of the parallel transfer at the same speed; in typical working conditions, the products after demolding in the pulp molding machine fall directly onto the receiving conveyor belt, with the goal of feeding them into the continuously moving basket in the working area and maintaining an uninterrupted cycle; however, existing solutions still have shortcomings in speed matching, window interlocking and eccentric docking.

[0003] Therefore, developing a device suitable for pulp molding production lines that can continuously transfer products output from the molding machine from the receiving position into a continuously moving basket in the working area without stopping the machine, and achieve parallel transfer at the same speed, is a problem that those skilled in the art need to continue to solve. Summary of the Invention

[0004] The present invention aims to overcome the shortcomings of the prior art and provide a device suitable for pulp molding production lines, which can send the products output from the molding machine from the receiving position into a continuously moving basket in the working area without stopping the machine, so as to achieve parallel handover at the same speed.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A high-precision three-axis plus rotary axis feeding device for molding includes a lifting subsystem, a transfer subsystem, and a follow-up subsystem stacked sequentially from bottom to top. The transfer subsystem is fixed to the movable seat of the lifting subsystem; the follow-up subsystem is fixed to the movable platform of the transfer subsystem; and a rotary docking and input subsystem is also included, fixed to the platform of the follow-up subsystem. The rotary docking and input subsystem is used to feed goods into a basket via a conveyor belt, and adopts a horizontally eccentric rotating structure, with a horizontal eccentricity between its rotation center and the material contact line of the conveyor belt. Further, the rotary docking and input subsystem includes a hollow turntable connecting plate, a rotary axis servo motor, a connecting plate, a conveyor belt fixing side plate, a conveyor belt, and a conveyor belt servo motor; the hollow turntable connecting plate is fixed to the connecting plate and connected to the drive shaft of the rotary axis servo motor; the conveyor belt fixing side plate is fixed to the connecting plate and mounts the conveyor belt; the conveyor belt is installed in conjunction with the conveyor belt servo motor; and the drive axis of the rotary axis servo motor does not coincide with the geometric center of the conveyor belt. Furthermore, the lifting subsystem includes a lifting guide rail, a lifting stroke base plate, a lifting guide rail slider, a lifting servo motor, and a lifting rack; the lifting guide rail is vertically fixed to the lifting stroke base plate and is fitted with the lifting guide rail slider; the lifting servo motor is installed on one side of the lifting guide rail, its drive shaft is mounted with a molded gear facing the lifting guide rail, and the lifting rack is fitted with the molded gear; the lifting guide rail slider is connected to the lifting rack and moves up and down along the lifting guide rail as the lifting rack rotates. Furthermore, the transfer subsystem includes a synchronous lifting sliding panel, a transfer stroke base plate, a transfer guide rail, a transfer guide rail slider, a transfer servo motor, and a transfer rack; the synchronous lifting sliding panel is fixedly mounted to the lifting guide rail slider; the transfer stroke base plate is horizontally fixed to the synchronous lifting sliding panel via a connecting plate; the transfer guide rail is mounted on the transfer stroke base plate and is fitted with the transfer guide rail slider; the transfer servo motor is located on one side of the transfer guide rail, its drive shaft is mounted with a mold gear facing the transfer guide rail, and a transfer rack is fitted with the mold gear; the transfer guide rail slider is connected to the transfer rack and moves linearly along the transfer guide rail as the transfer rack rotates. Furthermore, the follow-up subsystem includes a synchronously moving sliding panel, a follow-up stroke base plate, a follow-up slider, and a follow-up servo motor; the synchronously moving sliding panel is fixedly mounted to the transfer guide slider; the follow-up stroke base plate is horizontally fixed to the synchronously moving sliding panel; the follow-up slider is slidably mounted on the follow-up stroke base plate; the follow-up servo motor is located at the front end of the follow-up stroke base plate, and its drive shaft is mounted to the follow-up slider, driving the follow-up slider to move along the follow-up stroke base plate; the hollow turntable connecting plate is mounted on the follow-up slider.Furthermore, the lifting subsystem also includes a lifting cable chain, a lifting cable chain groove bracket, and a lifting cable chain groove; the lifting cable chain groove is vertically installed on one side of the lifting guide rail via the lifting cable chain groove bracket; the lifting cable chain is fitted into the lifting cable chain groove; lifting photoelectric switches are installed at the upper and lower safety height positions of the lifting guide rail, respectively. Furthermore, the transfer subsystem also includes a front baffle, a rear baffle, a transfer cable chain bracket, and a transfer cable chain; the front baffle and rear baffle are respectively installed at both ends of the transfer stroke base plate, and each is fitted with a set of corresponding transfer photoelectric switches and sensing plates; and a transfer cable chain bracket is installed along the transfer stroke base plate, with the transfer cable chain fitted onto the transfer cable chain bracket. Furthermore, the follow-up subsystem also includes a photoelectric sensor baffle, a follow-up photoelectric switch, a follow-up drag chain bracket, and a follow-up drag chain; the photoelectric sensor baffle is disposed downwards at the bottom of the follow-up slider; the follow-up photoelectric switch is disposed at both the front and rear ends of the follow-up stroke base plate; the follow-up drag chain bracket is installed on one side of the follow-up stroke base plate, and the follow-up drag chain is installed in the follow-up drag chain bracket. Furthermore, steel ruler strips and oil felt are provided at both the lifting rack and the transfer rack. Furthermore, reinforcing ribs are also provided at the connection between the lifting guide rail and the lifting stroke base plate.

[0007] Based on the above structure, the present invention also provides a control method for the operation of the device, as follows: S1, acceptance and unification of benchmarks.

[0008] After the product is demolded from the molding machine, it falls into the receiving position; each subsystem reads the encoder feedback (speed / displacement) of the basket in the work area in real time, and generates a unified system motion reference after filtering. The lifting subsystem drives the device to lift up until it reaches the preset safe height; this height signal serves as a necessary release condition for entering the subsequent horizontal docking process (to avoid collisions caused by lateral movement when not lifted).

[0009] S2, Parallel Transfer and Prealignment

[0010] Under the premise of meeting safety interlock requirements, the transfer subsystem performs coarse feeding to the work area along the docking normal; the follow-up subsystem follows in parallel according to the basket speed; the rotation docking and input subsystem rotates to the pre-dock angle in advance and rises to the preset belt speed. When the sensor of the control subsystem is triggered, it enters the docking preparation state, and the other axes run continuously without interruption, without introducing additional waiting time;

[0011] S3, Simultaneous input within the window

[0012] When all preconditions are met, the system switches to feed control: constraining the relative velocity of the contact point in both the basket travel direction (X) and the feed direction (Y).

[0013] ;

[0014] in, Preferably ≤0.10m / s With a tiny feeding speed of 0 to 0.05 m / s, the rotary docking and input subsystem continuously completes the "approach-feed-gradual separation" process along a set horizontal eccentric trajectory.

[0015] S4. Parallel withdrawal and preparation for the next step:

[0016] After the exit photoelectric or time criterion confirms entry into the basket, the rotating docking and input subsystems begin to gradually separate, the transfer moves along the normal to a safe distance, the follower exits according to the return trajectory, the conveyor returns to the process idle run, the lifting maintains a safe height, and the entire process is carried out in parallel to shorten the cycle time; when an abnormality is triggered, a rapid evacuation sequence is executed.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] 1. Through the coordinated design of multi-axis composite kinematic chain and horizontal eccentric rotation structure, precise control of the product's motion trajectory is achieved, forming a continuous and smooth trajectory of "approaching - feeding - gradually separating". Combined with multi-level photoelectric sensor windows and safety height interlock, the impact, collision and accidental entry risks during docking are effectively reduced. It is especially suitable for the stable delivery of fragile workpieces such as pulp molded products.

[0019] 2. The system adopts a bottom-up stacked assembly, with each subsystem independently configured with drag chain routing along the direction of movement, resulting in a clear layout and convenient maintenance; the rotating docking mechanism adopts an eccentric design, which ensures that the front end penetrates deep into the basket while the rear end has a small turning radius, avoiding interference with the lower mechanism and enabling a large-range flexible docking action to be completed in a limited space.

[0020] 3. It is not only applicable to pulp molded wet preforms, but can also be extended to scenarios in industries such as injection molding and packaging where lightweight and fragile products need to be delivered to moving containers; its modular subsystem design and standardized interfaces facilitate integration with various molding machines, conveyor lines and basket systems, and have good engineering adaptability and promotional value. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a schematic diagram and supplementary detailed diagram of the lifting subsystem in this invention;

[0023] Figure 3 This is a supplementary detailed drawing of the rack in the lifting subsystem of the present invention; Figure 4 Supplementary detailed drawing of the mold gear in the lifting subsystem of this invention;

[0024] Figure 5 This is a schematic diagram and supplementary detailed diagram of the transfer subsystem in this invention;

[0025] Figure 6 This is a schematic diagram of the servo subsystem in this invention; Figure 7 This is a cross-sectional view of the servo subsystem of the present invention;

[0026] Figure 8 This is a schematic diagram of the rotating docking and input subsystem in this invention;

[0027] Figure 9 This is a schematic diagram of the bottom side of the rotary docking and input subsystem in this invention;

[0028] List of reference numerals: 200, Lifting subsystem; 211, Lifting stroke base plate; 212, Lifting guide rail; 213, Lifting rack; 214, Reinforcing rib; 215, Lifting guide rail slider; 220, Lifting servo motor; 221, Die gear; 222, Steel ruler strip, oil felt; 230, Lifting cable chain; 240, Lifting cable chain groove bracket; 250, Lifting cable chain groove; 260, Lifting photoelectric switch; 300, Transfer subsystem; 310, Synchronous lifting sliding panel; 331, Front baffle; 332, Rear baffle; 333, Transfer stroke base plate; 334, Transfer guide rail; 335, Transfer guide rail slider; 336, Transfer rack; 340, Transfer photoelectric switch. Switch; 341, Induction plate; 350, Transfer cable chain bracket; 360, Transfer cable chain; 370, Transfer servo motor; 372, Oil distributor; 400, Follow-up subsystem; 410, Synchronous moving sliding panel; 421, Follow-up stroke base plate; 422, Follow-up slider; 430, Follow-up cable chain bracket; 440, Follow-up cable chain; 450, Follow-up photoelectric switch; 470, Photoelectric induction baffle; 480, Follow-up servo motor; 500, Rotary docking and input subsystem; 510, Hollow turntable connecting plate; 520, Rotary shaft servo motor; 530, Connecting plate; 540, Conveyor belt fixed side plate; 550, Conveyor belt; 560, Conveyor belt servo motor. Detailed Implementation

[0029] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. The specific implementation methods of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] For ease of description, the coordinate and axial correspondences are defined as follows in this embodiment: the X-axis is the direction of basket travel, the Y-axis is the direction of transfer and delivery, and the Z-axis is the vertical direction.

[0031] Example 1:

[0032] like Figure 1This embodiment provides a three-axis plus rotary axis high-precision delivery device for molding, including a lifting subsystem 200, a transfer subsystem 300, a follow-up subsystem 400 and a rotary docking and input subsystem 500 stacked from bottom to top.

[0033] like Figure 2 , Figure 3 as well as Figure 4 As shown, the lifting subsystem 200 includes a lifting guide rail 212, a lifting stroke base plate 211, a lifting guide rail slider 215, a lifting servo motor 220, and a lifting rack 213. The lifting guide rail 212 is vertically fixed on the lifting stroke base plate 211 and is fitted with the lifting guide rail slider 215. A reinforcing rib 214 is also provided at the connection between the lifting guide rail 212 and the lifting stroke base plate 211. Lifting photoelectric switches 260 are installed at the upper and lower safety height positions of the lifting guide rail 212, respectively. The lifting servo motor 220 is installed on one side of the lifting guide rail 212, and its drive shaft is mounted with a mold gear 221 facing the lifting guide rail 212. The lifting rack 213 is fitted with the mold gear 221. The lifting guide rail slider 215 is connected to the lifting rack 213 and moves up and down along the lifting guide rail 212 as the lifting rack 213 rotates.

[0034] Furthermore, the lifting subsystem 200 also includes a lifting cable chain 230, a lifting cable chain groove bracket 240, and a lifting cable chain groove 250; the lifting cable chain groove 250 is vertically installed on one side of the lifting guide rail 212 via the lifting cable chain groove bracket 240; the lifting cable chain 230 is installed in the lifting cable chain groove 250.

[0035] like Figure 5 As shown, the transfer subsystem 300 includes a synchronous lifting sliding panel 310, a transfer stroke base plate 333, a transfer guide rail 334, a transfer guide rail slider 335, a transfer servo motor 370, and a transfer rack 336. The synchronous lifting sliding panel 310 is fixedly mounted to the lifting guide rail slider 215. The transfer stroke base plate 333 is horizontally fixed to the synchronous lifting sliding panel 310 via a connecting plate 530. A front baffle 331 and a rear baffle 332 are respectively installed at both ends of the transfer stroke base plate 333, and a set of corresponding positions are installed in each of them. The photoelectric switch 340 and the sensing plate 341 serve as the reference for entering / returning to the zero position; the transfer guide rail 334 is mounted on the transfer stroke base plate 333 and is fitted with a transfer guide rail slider 335; the transfer servo motor 370 is located on one side of the transfer guide rail 334, and its drive shaft faces the transfer guide rail 334 to mount a mold gear 221, and a transfer rack 336 is mounted through the mold gear 221; the transfer guide rail slider 335 is connected to the transfer rack 336 and moves linearly along the transfer guide rail 334 as the transfer rack 336 rotates.

[0036] The transfer subsystem 300 also includes a transfer cable chain bracket 350 and a transfer cable chain 360. The transfer cable chain bracket 350 is installed along the transfer stroke base plate 333 and is used in conjunction with the transfer cable chain 360.

[0037] like Figure 6 , Figure 7 As shown, the follower subsystem 400 includes a synchronously moving sliding panel 410, a follower stroke base plate 421, a follower slider 422, and a follower servo motor 480. The synchronously moving sliding panel 410 is fixedly mounted to the transfer guide slider 335. The follower stroke base plate 421 is horizontally fixed to the synchronously moving sliding panel 410. The follower slider 422 is slidably mounted on the follower stroke base plate 421. The follower servo motor 480 is located at the front end of the follower stroke base plate 421, and its drive shaft is mounted to the follower slider 422, driving the follower slider 422 to move along the follower stroke base plate 421. The hollow turntable connecting plate 510 is mounted on the follower slider.

[0038] The follow-up subsystem 400 also includes a photoelectric sensor baffle 470, a follow-up photoelectric switch 450, a follow-up cable chain bracket 430, and a follow-up cable chain 440. The photoelectric sensor baffle 470 is disposed downward at the bottom of the follow-up slider 422. The follow-up photoelectric switches 450 are respectively disposed at the front and rear ends of the follow-up stroke base plate 421, so that the photoelectric sensor baffle 470 is sequentially blocked within the front and rear movement range, forming a three-state window of "entry / center / departure". The follow-up cable chain bracket 430 is installed on one side of the follow-up stroke base plate 421, and the follow-up cable chain 440 is installed in the follow-up cable chain bracket 430. Figure 8 , Figure 9 As shown, the rotary docking and input subsystem 500 is used to feed goods into a basket via a conveyor belt 550. It adopts a horizontally eccentric rotary structure, with a horizontal eccentricity between its rotation center and the material contact line of the conveyor belt 550. The rotary docking and input subsystem 500 includes a hollow turntable connecting plate 510, a rotary axis servo motor 520, a connecting plate 530, a conveyor belt fixing side plate 540, a conveyor belt 550, and a conveyor belt servo motor 560. The hollow turntable connecting plate 510 is fixed to the connecting plate 530 and connected to the drive shaft of the rotary axis servo motor 560. The conveyor belt fixing side plate 540 is fixed to the connecting plate 530 and mounts the conveyor belt 550. The conveyor belt 550 is installed in conjunction with the conveyor belt servo motor 560. The drive axis of the rotary axis servo motor 520 does not coincide with the geometric center of the conveyor belt 550. Steel ruler strip oil felt 222 is provided at both the lifting rack 213 and the transfer rack 336, and an oil separator 372 is also provided at the steel ruler strip oil felt 222.

[0039] When the lifting subsystem 200 is working, the lifting servo motor 220 drives the mold gear 221 to mesh with the lifting rack 213, realizing the linear movement of the lifting guide rail slider 215 along the Z-axis of the lifting guide rail 212. The lifting guide rail slider 215 drives the synchronous lifting sliding panel 310 to move smoothly up and down, thereby enabling the transfer subsystem 300 mounted on the synchronous lifting sliding panel 310 to move synchronously. Throughout the lifting process, the lifting stroke base plate 211 remains fixed, serving only as a mounting base and reference component for guidance and transmission. When the transfer subsystem 300 is working, the transfer servo motor 370 drives the mold gear 221 to mesh with the transfer rack 336, realizing linear movement along the Y-axis of the transfer guide rail 334. The transfer guide rail slider 335 drives the synchronous moving sliding panel 410 to move smoothly horizontally, thereby enabling the follower subsystem 400 mounted on the synchronous moving sliding panel 410 to move synchronously. When the follower subsystem 400 is working, the follower servo motor 480 drives the follower slider 422 to move back and forth in the X direction on the follower stroke base plate 421, and at the same time drives the hollow turntable connecting plate 510 to move, thereby enabling the rotary docking mounted on the hollow turntable connecting plate 510 to move synchronously with the input subsystem 500.

[0040] In this embodiment, when the rotary docking and input subsystem 500 is working, the rotary axis servo motor 520 drives the hollow turntable connecting plate 510 to rotate, thereby causing the entire transmission belt 550 to rotate to a suitable position. The conveyor belt servo motor 560 drives the conveyor belt 550 to deliver the part from the molding machine into the moving basket in the working area. Simultaneously, the rotary docking and input subsystem 500 adopts an asymmetrical eccentric layout design. The drive axis (i.e., the rotation center) of the rotary axis servo motor 520 is not located at the geometric center of the conveyor belt assembly, but is significantly offset towards the rear end of the conveyor belt 550 (the side away from the basket). This structural eccentricity creates extremely unequal rotation radii at the front and rear ends of the conveyor belt 550. Its design purpose and technical effect are:

[0041] The deep-cavity conveyor utilizes a larger front-end rotation radius, allowing the 550° leading edge ("long head") of the conveyor belt to extend deep into the basket during rotation. This effectively solves the problem that existing pulp molding baskets have a certain depth, and ordinary short cantilever arms cannot accurately deliver the products to the bottom, ensuring that the products are completely within the safe range of the basket when they are removed from the hand.

[0042] Rear-end rotation avoidance: By utilizing a small rear-end rotation radius, the sweep envelope of the conveyor belt 550 tail ("short tail") is minimized when performing oscillating motion. This ensures that the device, even with large-angle rotations within a compact stacked assembly space, will not mechanically interfere with the rear follower subsystem 400 or lifting subsystem 200, thus allowing the device to flexibly adjust its angle without stopping the machine.

[0043] Trajectory composite effect: This "long cantilever" front end structure naturally amplifies the tangential linear velocity and displacement at the end during the rotation docking process, so that a small rotation angle can produce significant lateral "approach" and "withdrawal" displacement, thereby achieving rapid entry and graceful avoidance.

[0044] Example 2:

[0045] Based on the device mentioned in the above embodiments, this embodiment provides a control method for the device, as follows: S1, Adherence and unification of benchmarks

[0046] After the product is demolded from the molding machine, it falls into the receiving position; each subsystem reads the encoder feedback (speed / displacement) of the basket in the work area in real time, and generates a unified system motion reference after filtering. The lifting subsystem 200 drive device lifts up until it reaches the preset safe height; this height signal serves as a necessary release condition for entering the subsequent horizontal docking process (to avoid collisions caused by lateral movement when not lifted).

[0047] S2, Parallel Transfer and Prealignment

[0048] Under the premise of meeting safety interlock requirements, the transfer subsystem 300 performs coarse feeding along the docking normal to the work area; the follow-up subsystem 400 follows in parallel according to the basket speed; the rotary docking and input subsystem 500 rotates to the pre-dock angle in advance and rises to the preset belt speed. When the sensor of the control subsystem is triggered, it enters the docking preparation state, and the other axes run continuously without interruption, without introducing additional waiting time;

[0049] S3, Simultaneous input within the window

[0050] When all preconditions are met, the system switches to feed control: constraining the relative velocity of the contact point in both the basket travel direction (X) and the feed direction (Y).

[0051] ;

[0052] in, Preferably ≤0.10m / s With a tiny feeding speed of 0 to 0.05 m / s, the rotary docking and input subsystem 500 continuously completes the "approaching-feeding-gradual separation" process along a set horizontal eccentric trajectory.

[0053] S4. Parallel withdrawal and preparation for the next step:

[0054] After the exit photoelectric or time criterion confirms entry into the basket, the rotating docking and input subsystem 500 begin to gradually separate, transfer along the normal to a safe distance, follow the return trajectory to exit, transport back to the process idle run, lift and lower maintain a safe height, and run in parallel throughout to shorten the cycle time; when an abnormality is triggered, a rapid evacuation sequence is executed.

[0055] The device mainly includes a lifting subsystem 200, a transfer subsystem 300, a follow-up subsystem 400, a rotation docking and input subsystem 500, and is equipped with a control subsystem for basket speed detection and phase generation, on-site sensing and safety interlocking, and master-slave phase mapping and belt speed constraint.

[0056] The lifting subsystem 200 is mainly responsible for vertical Z-axis height alignment and safe evacuation, ensuring that the leading edge of the conveyor belt 550 and the basket entrance are at the appropriate height; the docking process is only allowed after reaching the "safe height", and the lifting evacuation is prioritized when the parameters are abnormal; the parameters are mainly stable, and the extreme speed is not pursued.

[0057] The transfer subsystem 300 is responsible for quickly and directly delivering the goods from the receiving point to the work area near the basket, completing the coarse positioning / coarse approach; after arriving at the position, it hands over the "can dock" signal to the follow-up and rotation, and maintains speed / limitation outside the window to avoid collision.

[0058] The follow-up subsystem 400 is used to make fine adjustments based on the speed of the basket within the work area, so that the platform and the basket are almost relatively stationary along the direction of travel; after confirming that it has entered the fine docking area, the rotary docking and input subsystem 500 is opened to perform the feeding action.

[0059] The rotary docking and input subsystem 500 is mounted on the follow-up platform. Through horizontal eccentric rotation, it executes a "fitting-feeding-gradual separation" sequence of actions, smoothly conveying goods into the basket via the conveyor belt. This action is constrained by the safety height of the lifting subsystem and the interlocking constraints of the fine docking zone signal of the follow-up subsystem. The rotary docking and input subsystem 500 can be further subdivided into a rotary docking subsystem and an input subsystem. The rotation center of the rotary docking subsystem does not coincide with the geometric center of the conveyor belt 550, and a preset horizontal eccentricity e is set. This eccentric structure alters the end-effector trajectory and sweep envelope of the conveyor belt 550 during rotation. By utilizing the displacement components generated by this eccentricity at different phases of rotation, rapid fitting and cutting during docking and safe avoidance and withdrawal during separation are achieved, thereby significantly improving sweeping efficiency and safety within the same work cycle.

[0060] The input subsystem is responsible for receiving and pushing; during the docking phase, it cooperates with the 400-speed follower subsystem to meet the relative velocity constraints at the contact point. and The difference is controlled within a threshold range, and the delivery subsystem provides a small positive overspeed within the window (optional). (m / s) to achieve smooth "decoupling" and delivery into the work area.

[0061] The rotary docking subsystem is mounted on the follower subsystem 400 platform, the follower subsystem 400 is mounted on the transfer subsystem 300, and the transfer subsystem 300 is mounted on the lifting subsystem 500, forming a composite motion chain installation relationship that is stacked from bottom to top.

[0062] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A high-precision three-axis plus rotary axis delivery device for molding, comprising a lifting subsystem, a transfer subsystem, and a follower subsystem stacked sequentially from bottom to top, wherein the transfer subsystem is fixed to a movable seat of the lifting subsystem; and the follower subsystem is fixed to a movable platform of the transfer subsystem, characterized in that, It also includes a rotary docking and input subsystem fixed on the follow-up subsystem platform; the rotary docking and input subsystem is used to feed goods into baskets via conveyor belt, and adopts a horizontal eccentric rotary structure, with a horizontal eccentricity between its rotation center and the material contact line of the conveyor belt.

2. The high-precision three-axis plus rotary axis feeding device for molding as described in claim 1, characterized in that, The rotary docking and input subsystem includes a hollow turntable connecting plate, a rotary axis servo motor, a connecting plate, a conveyor belt fixing side plate, a conveyor belt, and a conveyor belt servo motor. The hollow turntable connecting plate is fixed to the connecting plate and connected to the drive shaft of the rotary axis servo motor. The conveyor belt fixing side plate is fixed to the connecting plate and the conveyor belt is installed thereon. The conveyor belt is installed in conjunction with the conveyor belt servo motor. The drive axis of the rotary axis servo motor does not coincide with the geometric center of the conveyor belt.

3. A high-precision three-axis plus rotary axis feeding device for molding according to claim 2, characterized in that, The lifting subsystem includes a lifting guide rail, a lifting stroke base plate, a lifting guide rail slider, a lifting servo motor, and a lifting rack. The lifting guide rail is vertically fixed to the lifting stroke base plate and is fitted with the lifting guide rail slider. The lifting servo motor is installed on one side of the lifting guide rail, with its drive shaft facing the lifting guide rail and a molded gear installed thereon. The lifting rack is fitted with the molded gear. The lifting guide rail slider is connected to the lifting rack and moves up and down along the lifting guide rail as the lifting rack rotates.

4. A high-precision three-axis plus rotary axis feeding device for molding as described in claim 3, characterized in that, The transfer subsystem includes a synchronous lifting sliding panel, a transfer stroke base plate, a transfer guide rail, a transfer guide rail slider, a transfer servo motor, and a transfer rack. The synchronous lifting sliding panel is fixedly mounted to the lifting guide rail slider. The transfer stroke base plate is horizontally fixed to the synchronous lifting sliding panel via a connecting plate. The transfer guide rail is mounted on the transfer stroke base plate and is fitted with the transfer guide rail slider. The transfer servo motor is located on one side of the transfer guide rail, with its drive shaft facing the transfer guide rail and a molded gear mounted thereon. The transfer rack is fitted with the molded gear. The transfer guide rail slider is connected to the transfer rack and moves linearly along the transfer guide rail as the transfer rack rotates.

5. A high-precision three-axis plus rotary axis feeding device for molding as described in claim 4, characterized in that, The follow-up subsystem includes a synchronously moving sliding panel, a follow-up stroke base plate, a follow-up slider, and a follow-up servo motor; the synchronously moving sliding panel is fixedly mounted to the transfer guide slider; the follow-up stroke base plate is horizontally fixed to the synchronously moving sliding panel; the follow-up slider is slidably mounted on the follow-up stroke base plate; the follow-up servo motor is located at the front end of the follow-up stroke base plate, and its drive shaft is mounted to the follow-up slider, driving the follow-up slider to move along the follow-up stroke base plate; the hollow turntable connecting plate is mounted on the follow-up slider.

6. A high-precision three-axis plus rotary axis feeding device for molding according to claim 3, characterized in that, The lifting subsystem also includes a lifting cable chain, a lifting cable chain groove bracket, and a lifting cable chain groove; the lifting cable chain groove is vertically installed on one side of the lifting guide rail via the lifting cable chain groove bracket; the lifting cable chain is installed in the lifting cable chain groove; lifting photoelectric switches are installed at the upper and lower safety height positions of the lifting guide rail respectively.

7. A high-precision three-axis plus rotary axis feeding device for molding according to claim 4, characterized in that, The transfer subsystem also includes a front baffle, a rear baffle, a transfer cable chain bracket, and a transfer cable chain; the front baffle and the rear baffle are respectively installed at both ends of the transfer stroke base plate, and each is fitted with a set of transfer photoelectric switches and induction plates with corresponding positions; and a transfer cable chain bracket is installed along the transfer stroke base plate, and a transfer cable chain is fitted on the transfer cable chain bracket.

8. A high-precision three-axis plus rotary axis feeding device for molding according to claim 5, characterized in that, The follow-up subsystem also includes a photoelectric sensing baffle, a follow-up photoelectric switch, a follow-up drag chain bracket, and a follow-up drag chain; the photoelectric sensing baffle is disposed downward at the bottom of the follow-up slider; the follow-up photoelectric switch is disposed at the front and rear ends of the follow-up stroke base plate respectively; the follow-up drag chain bracket is installed on one side of the follow-up stroke base plate, and the follow-up drag chain is installed in the follow-up drag chain bracket.

9. A high-precision three-axis plus rotary axis feeding device for molding according to claim 4, characterized in that, Steel ruler strips and oil felt are provided at both the lifting rack and the transfer rack.

10. A high-precision three-axis plus rotary axis feeding device for molding according to claim 3, characterized in that, The connection between the lifting guide rail and the lifting stroke base plate is also provided with reinforcing ribs.

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