Robot-based automated feeding device

Abstract

This invention discloses a robot-based automatic feeding device, solving the problem of poor automatic feeding performance in existing technologies. The invention includes a material handling device and an automatic clamping device, which correspond to each other. The automatic clamping device includes a guide rail mechanism with a bottom rotating mechanism mounted on it. A robotic arm is mounted on the bottom rotating mechanism, and a gripper mechanism is located at the free end of the robotic arm. The segmented support of the material handling device uses a front and rear support of equal length and height, allowing for both long-distance and short-distance material transport, offering flexibility. The front moving gripper assembly of the automatic clamping device can move back and forth relative to the rear flip-top cover assembly, which can flip up and down relative to the sliding support. The rear flip-top cover assembly works in conjunction with the front moving gripper assembly to grip different materials, ensuring stable material handling and transport, and improving material transport efficiency.

Description

Technical Field

[0001] This invention relates to the field of material handling equipment technology, and in particular to an automatic feeding device based on a robot. Background Technology

[0002] With the continuous development of industries such as logistics, food, and petrochemicals, the volume of goods is increasing. To save transportation space, goods need to be stacked neatly before transport. Since the quantity of goods is often large, manual stacking is too inefficient and cannot meet the stacking requirements in production. Therefore, automated feeding devices (such as palletizers and feeding robots) are playing an increasingly important role due to their high level of modernization.

[0003] Existing palletizing devices mainly include automatic palletizers for tow boxes and automatic palletizers for cartons. However, during the material conveying process, tilting and collisions are inevitable, which affects the material's movement characteristics, resulting in poor continuity between material handling and clamping. Furthermore, the fixed form of the gripper mechanism can only handle goods of specific sizes, and the clamping method is not secure, making it easy for goods to fall. Therefore, it is necessary to design an efficient and safe automatic feeding device. Summary of the Invention

[0004] In view of the shortcomings in the above-mentioned background technology, the present invention proposes a robot-based automatic feeding device, which solves the problem of poor automatic feeding effect in the prior art.

[0005] The technical solution of the present invention is implemented as follows: an automatic feeding device based on a robot includes a material handling device and an automatic clamping device, the material handling device and the automatic clamping device being corresponding; the automatic clamping device includes a guide rail mechanism, a bottom rotating mechanism is provided on the guide rail mechanism, a robotic arm is provided on the bottom rotating mechanism, and a gripper mechanism is provided at the free end of the robotic arm.

[0006] The gripper mechanism includes a rotating frame, on which a sliding support seat is provided. The sliding support seat is provided with a front moving gripper assembly and a rear flip cover assembly. The rear flip cover assembly corresponds to the front moving gripper assembly, and an upper pressure plate is provided between the rear flip cover assembly and the front moving gripper assembly.

[0007] The forward-moving gripper assembly includes a connecting frame, which is slidably connected to a slide rail mounted on a sliding support base. The sliding support base is equipped with a telescopic cylinder, the telescopic end of which is connected to the connecting frame. The lower part of the connecting frame is equipped with claw teeth. The upper pressure plate is connected to the connecting frame via a vertical cylinder and is located between the claw teeth and the connecting frame.

[0008] The rear flip-up cover assembly includes a vertical plate mounted on a sliding support base, a driving component on the vertical plate, a swing shaft rotatably mounted on the sliding support base, the driving component being connected to the swing shaft, and a rear cover plate mounted on the swing shaft; the driving component is a small swing cylinder, which is connected to the swing shaft via a connecting crank arm.

[0009] The rotating frame includes a rotary motor connected to the robotic arm, and the output end of the rotary motor is provided with a turntable. A sliding support base is connected to the turntable.

[0010] The guide rail mechanism includes a support rail, on which a position switch is provided, and a bottom rotating mechanism is mounted on the support rail via a traveling mechanism.

[0011] The bottom rotating mechanism includes a support base frame with wheels on it. The wheels cooperate with the support rails. A large turntable and a main drive are connected to the support base frame. The robotic arm is mounted on the large turntable.

[0012] The material handling device includes a segmented support frame with a roller conveyor belt connected to a drive device mounted on a transmission support frame. The segmented support frame also includes a straightening mechanism and a guiding mechanism, and a buffer mechanism at each end of the segmented support frame. The segmented support frame includes a front support frame and a rear support frame of equal length and height, which are hinged together. The buffer mechanism includes an independent frame with a groove seat containing several rollers.

[0013] The correction mechanism includes a first bracket fixed on a segmented bracket, a wheel seat on the first bracket, the wheel seat being connected to the first bracket by an adjusting bolt, and a correction wheel rotatably mounted on the wheel seat, the rotation direction of the correction wheel corresponding to the movement direction of the roller conveyor belt.

[0014] The guiding mechanism includes several second supports fixed on a segmented bracket. Guide plates are hinged to the second supports, and adjacent guide plates are hinged together by a hinge mechanism. The hinge mechanism includes a slide rod slidably disposed at one end of the guide plate, and a buckle that cooperates with the slide rod on the adjacent guide plate at the other end of the guide plate.

[0015] The segmented support structure of this invention's material handling device employs front and rear supports of equal length and height, allowing for flexible use in both long and short-distance material transport. A straightening and guiding mechanism ensures the material on the roller conveyor belt is transported forward in the correct posture. A buffer mechanism can exist independently of the segmented support structure, temporarily storing material when the transport volume is excessive, preventing material accumulation. The flexible design of the straightening and guiding mechanisms minimizes friction and provides flexible guidance, preventing tilting during transport and ensuring accuracy. The automatic clamping device's front moving gripper assembly can move back and forth relative to the rear tilting cover assembly, which in turn can tilt up and down relative to the sliding support. The rear tilting cover assembly works in conjunction with the front moving gripper assembly to clamp different materials, ensuring stable material handling and transport, and improving transport efficiency. This invention features an ingenious structural design, achieving efficient, safe, and automated material handling and feeding, improving overall feeding efficiency, and possessing significant market and promotional value. Attached Figure Description

[0016] To more clearly illustrate the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 This is a schematic diagram of the automatic clamping device of the present invention.

[0019] Figure 3 This is a schematic diagram of the gripper mechanism of the present invention.

[0020] Figure 4 This is a schematic diagram of the material handling device of the present invention from the side.

[0021] Figure 5 This is a top view schematic diagram of the material handling device of the present invention.

[0022] Figure 6 This is a top view of the straightening mechanism of the material handling device.

[0023] Figure 7 This is a top view of the guiding mechanism of the material handling device. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] like Figure 1 As shown in Embodiment 1, an automatic feeding device based on a robot includes a material handling device 1 and an automatic clamping device 2. The material handling device 1 corresponds to the automatic clamping device 2. The material handling device transports the material to the clamping range of the automatic clamping device, and then the automatic clamping device clamps the material. The automatic clamping device 2 includes a guide rail mechanism 21, through which the automatic clamping device changes position. A bottom rotating mechanism 22 is provided on the guide rail mechanism 21, and a robotic arm 23 is provided on the bottom rotating mechanism 22. The robotic arm rotates under the action of the bottom rotating mechanism, realizing flexible steering of the robotic arm. A gripper mechanism 24 is provided at the free end of the robotic arm 23, which is used to clamp the material from the material handling device.

[0026] Furthermore, such as Figure 3 As shown, the gripper mechanism 24 includes a rotating frame 24-1, which includes a rotary motor 24-1-1 connected to the robotic arm. The output end of the rotary motor 24-1-1 is provided with a turntable 24-1-2. The sliding support seat 24-2 is connected to the turntable 24-1-2. Under the action of the rotary motor, the turntable rotates, which drives the sliding support seat to rotate, thereby realizing the adjustment of the direction of gripping or lowering the material. A sliding support seat 24-2 is provided on the rotating frame 24-1, which is connected to the turntable 24-1-2. The sliding support seat 24-2 is equipped with a front moving gripper assembly 24-3 and a rear tilting cover assembly 24-4. The rear tilting cover assembly 24-4 corresponds to the front moving gripper assembly 24-3; that is, the front moving gripper assembly can move back and forth relative to the rear tilting cover assembly, and the rear tilting cover assembly can tilt up and down relative to the sliding support seat. The rear tilting cover assembly 24-4 and the front moving gripper assembly 24-3 work together to grip materials. An upper pressure plate 24-5 is provided between the rear tilting cover assembly 24-4 and the front moving gripper assembly 24-3. The upper pressure plate presses down and clamps the material between the rear tilting cover assembly 24-4 and the front moving gripper assembly 24-3, ensuring the stability of material gripping and transportation.

[0027] Furthermore, the front moving gripper assembly 24-3 includes a connecting frame 24-3-1, which is slidably connected to a slide rail 24-6 mounted on a sliding support 24-2. A telescopic cylinder 24-7 is mounted on the sliding support 24-2, with its telescopic end connected to the connecting frame 24-3-1. Under the telescopic action of the cylinder, the connecting frame 24-3-1 moves along the slide rail 24-6, thereby realizing the movement of the front moving gripper assembly relative to the rear flip-up cover assembly, and determining whether the front moving gripper assembly is gripping. The lower part of the connecting frame 24-3-1 is provided with claw teeth 24-3-2, which are L-shaped teeth arranged in a row. The upper pressure plate is located above the row of L-shaped teeth, and the L-shaped teeth provide a pressing fulcrum for the upper pressure plate, keeping the material between them stable. Preferably, the upper pressure plate 24-5 is connected to the connecting frame 24-3-1 via a vertical cylinder 24-8, and the upper pressure plate 24-5 is located between the claw teeth 24-3-2 and the connecting frame 24-3-1. Under the action of the vertical cylinder, the upper pressure plate moves up and down, thereby controlling whether the material on the claw teeth is pressed, which facilitates operation.

[0028] Furthermore, the rear flip-top cover assembly 24-4 includes a vertical plate 24-4-1 fixedly mounted on the sliding support 24-2. The vertical plate 24-4-1 is provided with a driving component 24-4-2. The sliding support 24-2 is rotatably mounted with a swing shaft 24-4-3. The axis of the swing shaft is perpendicular to the direction of the slide rail. The driving component 24-4-2 is connected to the swing shaft 24-4-3, driving the swing shaft to rotate. The swing shaft 24-4-3 is provided with a rear cover plate 24-4-4. The rear cover plate is fixedly connected to the swing shaft and swings with the swing shaft, thereby realizing the back-and-forth swinging relative to the forward moving gripper assembly, blocking the material and effectively preventing the material from falling.

[0029] Preferably, the driving component 24-4-2 is a small swing cylinder, which is connected to the swing shaft 24-4-3 via a connecting crank arm 24-4-5. The small swing cylinder is fixed to the upright plate, and its extension and retraction drive the swing shaft to rotate via the connecting crank arm. When gripping materials, the piston of the small swing cylinder retracts, flipping up the rear cover plate to facilitate material gripping; when gripping materials, the piston of the small swing cylinder extends, lowering the rear cover plate to secure the materials and ensure stable and safe transportation.

[0030] like Figure 2As shown in Embodiment 2, an automatic feeding device based on a robot is described. The guide rail mechanism 21 includes a support rail 21-1, which can be set on the ground or other workbench. A bottom rotating mechanism 22 is mounted on the support rail 21-1 via a walking mechanism. A position switch is provided on the support rail 21-1, and the position switch is connected to a backend controller. When the bottom rotating mechanism moves to a specific position, the position switch transmits a signal to the backend controller, which then controls the walking mechanism of the bottom rotating mechanism to stop moving, thus achieving automatic adjustment. The bottom rotating mechanism 22 includes a support base 22-1, on which walking wheels are provided. The walking wheels cooperate with the support rail 21-1, and under the action of a drive device, the walking wheels drive the support base to move along the support rail. A large turntable 22-2 and a main drive 22-3 are connected to the support base 22-1. The robotic arm 23 is mounted on the large turntable 22-2. Under the action of the main drive, the large turntable drives the robotic arm to rotate, thereby enabling the robotic arm to drive the gripper mechanism to rotate, facilitating the picking and placing of materials.

[0031] Furthermore, such as Figure 4 , 5 As shown, the material handling device 1 includes a segmented support 101, on which a roller conveyor belt 102 is mounted. The roller conveyor belt 102 is connected to a drive device 103 mounted on the transmission support 101. The drive device can be an electric motor or a hydraulic motor. The drive device drives the roller conveyor belt to rotate, transporting the material forward. The segmented support 101 includes a front support 101-1 and a rear support 101-2 of equal length and height, which are hinged together by a pin. When the transport path is long, the front support 101-1 and the rear support 101-2 are connected in series to ensure the longest possible transport path. When the transport path is short and the transport volume is large, the front support 101-1 and the rear support 101-2 are connected in parallel to form two conveyor belts, improving transport efficiency. The segmented support 101 is equipped with a correction mechanism 104 and a guiding mechanism 105, and a buffer mechanism 106 is provided at the end of the segmented support 101. The straightening mechanism 104 and the guiding mechanism 105 are used to transport the material on the roller conveyor belt 102 forward in the correct posture. The buffer mechanism and the segmented support can exist independently and are used to temporarily store materials when the material transport volume is too large.

[0032] Furthermore, such as Figure 6As shown, the straightening mechanism 104 includes a first bracket 104-1 fixed on a segmented bracket 101. The first bracket can be arranged on both sides of the segmented bracket. A wheel seat 104-2 is provided on the first bracket 104-1. The wheel seat 104-2 is connected to the first bracket 104-1 by an adjusting bolt 104-3. The distance of the wheel seat extending out of the first bracket is adjusted by the adjusting bolt, which is used to adjust the position of the material on the roller conveyor belt laterally. A straightening wheel 104-4 is rotatably provided on the wheel seat 104-2. The rotation direction of the straightening wheel 104-4 corresponds to the movement direction of the roller conveyor belt 102. That is, the straightening wheel 104-4 makes rolling contact with the material during the contact process, reducing the friction between the straightening mechanism and the material during the straightening process, so as not to affect the material transportation.

[0033] The other structures are the same as in Example 1.

[0034] Implementation 3, such as Figure 7 As shown, a material handling device for food production includes a guiding mechanism 105 comprising a plurality of second supports 105-1 fixed on a segmented support 101. The second supports can be arranged on either side or one side of the segmented support, and the number can be 1 to 4. Guide plates 105-2 are hinged to the second supports 105-1. The guide plates can be connected to the second supports via studs, and their extension length is adjustable. Adjacent guide plates 105-2 are hinged together via a hinge mechanism to achieve flexible guiding.

[0035] Furthermore, the hinge mechanism includes a slide rod 105-3 slidably disposed at one end of the guide plate 105-2, that is, the guide plate is provided with a slide rail, and the slide rod can slide in the slide rail. The other end of the guide plate 105-2 is provided with a buckle 105-4 that cooperates with the slide rod 105-3 on the adjacent guide plate 105-2. The buckle can be locked onto the slide rod and can rotate around the slide rod, so as to realize the overall guiding flexibility of the guide mechanism.

[0036] Furthermore, the buffer mechanism 106 includes an independent frame 106-1, with wheels at the bottom for free movement. The independent frame 106-1 has slots 106-2, the number of which can be set as needed and are arranged in parallel. Each slot 106-2 contains several rollers 106-3, which roll in contact with the material to reduce friction. When too much material is transported, it is temporarily stored on the buffer mechanism to prevent material accumulation.

[0037] The other structures are the same as in Example 2.

[0038] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robot-based automatic feeding device, characterized in that: It includes a material handling device (1) and an automatic clamping device (2), with the material handling device (1) corresponding to the automatic clamping device (2); the automatic clamping device (2) includes a guide rail mechanism (21), a bottom rotating mechanism (22) is provided on the guide rail mechanism (21), a mechanical arm (23) is provided on the bottom rotating mechanism (22), and a gripper mechanism (24) is provided at the free end of the mechanical arm (23). The gripper mechanism (24) includes a rotating frame (24-1), a sliding support seat (24-2) on the rotating frame (24-1), a front moving gripper assembly (24-3) and a rear flip cover assembly (24-4) on the sliding support seat (24-2), the rear flip cover assembly (24-4) corresponding to the front moving gripper assembly (24-3), and an upper pressure plate (24-5) between the rear flip cover assembly (24-4) and the front moving gripper assembly (24-3). The front moving gripper assembly (24-3) includes a connecting frame (24-3-1), which is slidably connected to a slide rail (24-6) provided on a sliding support (24-2). The lower part of the connecting frame (24-3-1) is provided with claw teeth (24-3-2); the upper pressure plate (24-5) is located between the claw teeth (24-3-2) and the connecting frame (24-3-1). The rear flip-up cover assembly (24-4) includes a vertical plate (24-4-1) disposed on a sliding support (24-2), a driving member (24-4-2) disposed on the vertical plate (24-4-1), a swing shaft (24-4-3) rotatably disposed on the sliding support (24-2), the driving member (24-4-2) being connected to the swing shaft (24-4-3), and a rear cover plate (24-4-4) disposed on the swing shaft (24-4-3). The material handling device (1) includes a segmented support (101), a roller conveyor belt (102) is provided on the segmented support (101), the roller conveyor belt (102) is connected to a drive device (103) provided on a transmission support, a correction mechanism (104) and a guide mechanism (105) are provided on the segmented support (101), and a buffer mechanism (106) is provided at the end of the segmented support (101). The correction mechanism (104) includes a first bracket (104-1) fixed on a segmented bracket (101), a wheel seat (104-2) on the first bracket (104-1), the wheel seat (104-2) being connected to the first bracket (104-1) by an adjusting bolt (104-3), and a correction wheel (104-4) rotatably mounted on the wheel seat (104-2), the rotation direction of the correction wheel (104-4) being opposite to the movement direction of the roller conveyor belt (102); The guiding mechanism (105) includes several second supports (105-1) fixed on a segmented bracket (101). A guide plate (105-2) is hinged on the second support (105-1). Two adjacent guide plates (105-2) are hinged together by a hinge mechanism. The hinge mechanism includes a slide rod (105-3) slidably disposed at one end of the guide plate (105-2). The other end of the guide plate (105-2) is provided with a buckle (105-4) that cooperates with the slide rod (105-3) on the adjacent guide plate (105-2).

2. The robot-based automatic feeding device according to claim 1, characterized in that: The sliding support base (24-2) is equipped with a telescopic cylinder (24-7). The telescopic end of the telescopic cylinder (24-7) is connected to the connecting frame (24-3-1). The upper pressure plate (24-5) is connected to the connecting frame (24-3-1) through a vertical cylinder (24-8).

3. The robot-based automatic feeding device according to claim 1 or 2, characterized in that: The driving component (24-4-2) is a small swing cylinder, which is connected to the swing shaft (24-4-3) via a connecting crank arm (24-4-5).

4. The robot-based automatic feeding device according to claim 3, characterized in that: The rotating frame (24-1) includes a rotary motor (24-1-1) connected to the robotic arm (23). The output end of the rotary motor (24-1-1) is provided with a turntable (24-1-2), and the sliding support (24-2) is connected to the turntable (24-1-2).

5. The robot-based automatic feeding device according to any one of claims 1 to 2 and 4, characterized in that: The guide rail mechanism (21) includes a support rail (21-1), a position switch is provided on the support rail (21-1), and the bottom rotating mechanism (22) is set on the support rail (21-1) through the walking mechanism.

6. The robot-based automatic feeding device according to claim 5, characterized in that: The bottom rotating mechanism (22) includes a support base (22-1), on which a traveling wheel is provided. The traveling wheel cooperates with the support rail (21-1). A large turntable (22-2) and a main drive (22-3) are provided on the support base (22-1). The robotic arm (23) is set on the large turntable (22-2).

7. The robot-based automatic feeding device according to any one of claims 1 to 2, 4, and 6, characterized in that: The segmented support (101) includes a front support (101-1) and a rear support (101-2) of equal length and height, which are hinged together; the buffer mechanism (106) includes an independent frame (106-1), on which a slot (106-2) is provided, and a number of rollers (106-3) are provided in the slot (106-2).

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