Multi-degree-of-freedom loading and moving device

Abstract

The present invention discloses a multi-degree-of-freedom loading and moving device, including a frame, a vibration plate loading mechanism, a secondary positioning mechanism, a product storage box and a six-axis manipulator, wherein a table is provided in the middle of the frame in a horizontal direction, the vibration plate loading mechanism is arranged on the left front part of the table, the vibration plate loading mechanism is used for loading, the secondary positioning is arranged on the right rear part of the table, the secondary positioning mechanism is used for secondary positioning of the material on the vibration plate loading mechanism, the product storage is arranged on the left rear part of the table, one end of the six-axis manipulator is arranged on the right front part of the table, the other end of the six-axis manipulator is a free end, and a material taking mechanism is installed on the free end of the six-axis manipulator. The present invention has the advantages of replacing manual loading, reducing the labor intensity of workers, and accurate positioning.

Description

Technical Field

[0001] The invention belongs to the technical field of automation equipment, and in particular relates to a multi-degree-of-freedom material loading and moving device. Background Art

[0002] During the production process, the metal brackets inside mobile phones, computers, etc. need to be injection molded for subsequent installation and use. In the existing technology, during production, these metal brackets are mainly fed into the injection molding machine manually to complete the injection molding. This method is used for large-scale production, which is prone to the following problems: 1. Manual feeding positioning is prone to deviations, affecting the yield rate of injection molding production of the injection molding machine; 2. Manual feeding is labor-intensive. Summary of the invention

[0003] In order to solve the deficiencies in the prior art, the present invention provides a multi-degree-of-freedom loading and moving device which can replace manual loading and has accurate positioning.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] Multi-degree-of-freedom loading and moving device, including:

[0006] A frame, wherein a platform is provided in the middle of the frame in a horizontal direction;

[0007] A vibrating plate feeding mechanism, the vibrating plate feeding mechanism is arranged on the left front part of the table plate, and the vibrating plate feeding mechanism is used for feeding;

[0008] A secondary positioning mechanism, which is arranged at the right rear part of the table, and is used to perform secondary positioning on the material on the vibrating plate feeding mechanism;

[0009] A product storage box, the product storage is arranged at the left rear of the table top; and

[0010] A six-axis manipulator, one end of which is mounted on the right front portion of the table, the other end of which is a free end, and a material-retrieving mechanism is mounted on the free end of the six-axis manipulator.

[0011] The vibration plate feeding mechanism comprises a first vibration plate, a second vibration plate and a product positioning and separation assembly, wherein the first vibration plate and the second vibration plate are located at the left front part of the table and the first vibration plate is located at the left side of the second vibration plate, a first straight vibration track is arranged backwards at the right rear part of the first vibration plate, and a second straight vibration track is arranged backwards at the left rear part of the second vibration plate, and the product positioning and separation assembly is installed on the table and is located between the rear end of the first straight vibration track and the rear end of the second straight vibration track;

[0012] The product positioning and separation assembly includes a first support plate and a second support plate, the first support plate is installed on the table plate in the front-to-back direction and the first support plate is located between the first vibration plate and the second vibration plate, a first slide rail is provided in the middle and rear part of the top surface of the first support plate in the front-to-back direction, a first cylinder is provided in the front part of the top surface of the first support plate, a product transfer fixture is slidably installed on the first slide rail, a plurality of first product placement grooves are respectively provided on the left and right parts of the top surface of the product transfer fixture, a plurality of first positioning holes are provided in the middle of the product transfer fixture, the first cylinder drives the product transfer fixture to slide forward and backward along the first slide rail, and the second support plate is installed in the first support in the left-right direction. The cam is provided with a second guide rail on the left side of the front side of the second support plate, and the first guide rail is slidably mounted on the second guide rail. A second cylinder is provided on the left side of the lower front side of the second support plate, and the second cylinder drives the first guide plate to slide left and right along the second guide rail. A third guide rail is provided on the right side of the front side of the first guide plate along the up and down directions, and the second guide plate is slidably mounted on the third guide rail. A third cylinder is provided on the left side of the front side of the first guide plate, and the third cylinder drives the second guide plate to slide up and down along the third guide rail. A first suction nozzle is installed on the right side of the second sliding plate, and the lower end of the first suction nozzle is arranged toward the rear end portion of the first straight vibration rail.

[0013] A fourth slide rail is provided on the upper right side of the front side surface of the second supporting plate along the left-right direction, and a third slide plate is slidably installed on the fourth slide rail, a fourth cylinder is provided on the right side of the lower front side surface of the second supporting plate, and the fourth cylinder drives the third slide plate to slide left and right along the fourth slide rail, a fifth slide rail is provided on the left side of the front side surface of the third sliding plate along the up and down directions, and a fourth slide plate is slidably installed on the fifth slide rail, a fifth cylinder is provided on the right side of the front side surface of the third sliding plate, and the fifth cylinder drives the fourth slide plate to slide up and down along the fifth slide rail, and a second suction nozzle is installed on the left side of the fourth sliding plate, and the lower end of the second suction nozzle is arranged toward the rear end portion of the second straight vibration rail.

[0014] The secondary positioning mechanism includes a positioning seat, the positioning seat is installed at the right rear part of the top surface of the table, a positioning plate is provided in the middle of the top surface of the positioning seat along the left and right directions, a plurality of second positioning holes are provided on the positioning plate, a first positioning fixture and a second positioning fixture are provided on the front left and right parts of the positioning seat respectively, a third positioning fixture and a fourth positioning fixture are provided on the rear left and right parts of the positioning seat respectively, the first positioning fixture and the second positioning fixture are located on the front side of the positioning plate, the third positioning fixture and the fourth positioning fixture are located on the rear side of the positioning plate, and the first positioning fixture is provided on the rear right part of the first positioning fixture. A first reference block is provided, a first positioning groove is provided on the left side of the first reference block on the first positioning fixture, a first slider is slidably installed on the left side of the first reference block on the first positioning fixture, a second slider is slidably installed on the front side of the first reference block on the first positioning fixture, the first slider is located on the left side of the first positioning groove, the second slider is located on the front side of the first positioning groove, a sixth cylinder is provided on the left side of the first slider, a seventh cylinder is provided on the front side of the second slider, the sixth cylinder drives the first slider to slide left and right, the seventh cylinder drives the second slider to slide forward and backward, and the sixth cylinder and the seventh cylinder are both installed on the positioning seat;

[0015] A second reference block is provided on the left rear side of the second positioning fixture, a second positioning groove is provided on the right side of the second reference block on the second positioning fixture, a third slider is slidably installed on the right side of the second reference block on the second positioning fixture, a fourth slider is slidably installed on the front side of the second reference block on the second positioning fixture, the third slider is located on the right side of the second positioning groove, the fourth slider is located on the front side of the second positioning groove, an eighth cylinder is provided on the right side of the third slider, a ninth cylinder is provided on the front side of the fourth slider, the eighth cylinder drives the third slider to slide left and right, the ninth cylinder drives the fourth slider to slide forward and backward, and both the eighth cylinder and the ninth cylinder are installed on the positioning seat;

[0016] A third reference block is provided on the right front side of the third positioning fixture, a third positioning groove is provided on the left side of the third reference block on the third positioning fixture, a fifth slider is slidably installed on the left side of the third reference block on the third positioning fixture, a sixth slider is slidably installed on the rear side of the third reference block on the third positioning fixture, the fifth slider is located on the left side of the third positioning groove, the sixth slider is located on the rear side of the third positioning groove, a tenth cylinder is provided on the left side of the fifth slider, an eleventh cylinder is provided on the rear side of the sixth slider, the tenth cylinder drives the fifth slider to slide left and right, the eleventh cylinder drives the sixth slider to slide forward and backward, and the tenth cylinder and the eleventh cylinder are both installed on the positioning seat;

[0017] A fourth reference block is provided on the left front side of the fourth positioning fixture, a fourth positioning groove is provided on the right side of the fourth reference block on the fourth positioning fixture, a seventh slider is slidably installed on the right side of the fourth reference block on the fourth positioning fixture, an eighth slider is slidably installed on the rear side of the fourth reference block on the fourth positioning fixture, the seventh slider is located on the right side of the fourth positioning groove, the eighth slider is located on the rear side of the fourth positioning groove, a twelfth cylinder is provided on the right side of the seventh slider, and a thirteenth cylinder is provided on the rear side of the eighth slider, the twelfth cylinder drives the seventh slider to slide left and right, and the thirteenth cylinder drives the eighth slider to slide forward and backward, and both the twelfth cylinder and the thirteenth cylinder are installed on the positioning seat.

[0018] The material picking mechanism includes a material picking mounting seat, which is mounted on the free end of the six-axis manipulator, a plurality of first positioning pins are provided in the middle of the front side of the material picking mounting seat, a first clamping jaw cylinder and a second clamping jaw cylinder are respectively provided on the front left and front right sides of the material picking mounting seat, a first clamping jaw is provided at the output end of the first clamping jaw cylinder, a second clamping jaw is provided at the output end of the second clamping jaw cylinder, the first clamping jaw and the second clamping jaw are both arranged toward the plurality of first positioning pins, a fourteenth cylinder is provided on the upper middle side of the front side of the material picking mounting seat, the fourteenth cylinder is located above the plurality of first positioning pins, a plurality of second positioning pins are provided on the right side surface of the material picking mounting seat, the plurality of second positioning pins are equidistantly arranged in the front-to-back direction, and a plurality of third suction nozzles are respectively provided on the upper and lower sides of the plurality of second positioning pins on the right side surface of the material picking mounting seat.

[0019] A limit block is vertically arranged on the rear side of the top surface of the first support plate, and the limit block is located on the rear side of the first slide rail.

[0020] A six-axis manipulator controller is provided on the lower right side of the front side of the frame, and a first power button and an emergency stop button are provided on the left side of the six-axis manipulator controller on the front side of the frame. The first power button, the emergency stop button and the six-axis manipulator controller are all electrically connected.

[0021] A three-color light is provided at the left portion of the front side of the top face of the frame, and a second power button and a touch screen are provided at the lower left portion of the front side face of the frame, respectively. The second power button is located at the left side of the touch screen.

[0022] By adopting the above technical solution, the present invention has the following beneficial effects:

[0023] (1) The present application is provided with components such as a first positioning hole, a second positioning hole, a product transfer fixture and a secondary positioning mechanism, which cooperate with each other when used, and can send the material sucked by the material taking mechanism into the secondary positioning mechanism to complete the positioning before subsequent production and processing, replacing manual positioning, with a small probability of deviation and accurate positioning;

[0024] (2) The present application is provided with a vibrating plate feeding mechanism, which can automatically feed materials instead of manual feeding, thus reducing the labor intensity of workers;

[0025] (3) The present invention is equipped with a six-axis manipulator, which can replace manual feeding and can change the direction of feeding at multiple angles, and the design is reasonable;

[0026] In summary, the present invention has the advantages of replacing manual loading, reducing the labor intensity of workers, and accurate positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the structure of the present invention;

[0028] Figure 2 yes Figure 1 The structural diagram when the rack is removed;

[0029] Figure 3 It is a structural schematic diagram of the vibrating plate feeding mechanism of the present invention in one direction;

[0030] Figure 4 is a structural schematic diagram of the product positioning and separation assembly of the present invention in another direction;

[0031] Figure 5 It is a structural schematic diagram of the six-axis manipulator and the material taking mechanism of the present invention;

[0032] Figure 6 It is a structural schematic diagram of the secondary positioning mechanism of the present invention;

[0033] Figure 7 It is a structural schematic diagram of the material taking mechanism of the present invention. DETAILED DESCRIPTION

[0034] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0035] The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention.

[0036] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

[0037] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0038] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] This application is based on Figure 1 The direction to the left is left direction.

[0040] like Figure 1-7 As shown, in one embodiment of the present invention, the multi-degree-of-freedom loading and moving device of the present invention comprises:

[0041] A frame 1, wherein a platform 2 is provided in the middle of the frame 1 along a horizontal direction;

[0042] A vibrating plate feeding mechanism, which is arranged on the left front part of the table 2, and is used for feeding (the vibrating plate feeding mechanism can position the material once), and the material on the plate is the metal bracket to be injected;

[0043] A secondary positioning mechanism, which is arranged at the right rear part of the table 2, and is used to perform secondary positioning on the material on the vibrating plate feeding mechanism (after the secondary positioning, it is convenient to feed the material into the injection molding machine connected to the present application for injection molding of the material);

[0044] A product storage box 3 is provided on the left rear part of the table 2 for storing products (the product storage box 3 is used to store materials that have been molded by the injection molding machine used in connection with the present application, that is, after the materials are fed into the injection molding machine and the injection molding is completed, they are taken out from the injection molding machine and placed in the product storage box 3. The product storage box 3 is provided with a plurality of material discharge slots for placing materials); and

[0045] A six-axis manipulator 4, one end of which is mounted on the right front portion of the table 2, and the other end of the six-axis manipulator 4 is a free end. A material picking mechanism is mounted on the free end of the six-axis manipulator 4. The six-axis manipulator 4 is an existing mature technology, that is, it is used to pick up materials from a vibration plate feeding mechanism and then send them into a secondary positioning mechanism to complete secondary positioning, and then send them into an injection molding machine to complete injection molding, and then the material that has been injected is taken out of the injection molding machine through the material picking mechanism, the waste material on the material is removed, and then sent into a product storage box 3.

[0046] The vibrating plate feeding mechanism includes a first vibrating plate 5, a second vibrating plate 6 and a product positioning and separation component, wherein the first vibrating plate 5 and the second vibrating plate 6 are located on the left front part of the table 2 and the first vibrating plate 5 is located on the left side of the second vibrating plate 6, a first straight vibration track 7 is provided backwards on the right rear side of the first vibrating plate 5, and a second straight vibration track 8 is provided backwards on the left rear side of the second vibrating plate 6, the product positioning and separation component is installed on the table 2 and the product positioning and separation component is located between the rear end of the first straight vibration track 7 and the rear end of the second straight vibration track 8 (the product positioning and separation component is used to separate the materials transported by the first straight vibration track 7 and the second straight vibration track 8 and perform a positioning once, the left side of the first vibrating plate 5 on the table 2 A first controller and a second controller are respectively provided, and the first controller and the second controller control the first vibration plate 5 and the second vibration plate 6 respectively. A third controller and a fourth controller are respectively provided on the front side of the first vibration plate 5 on the table 2, and the third controller and the fourth controller control the first straight vibration track 7 and the second straight vibration track 8 respectively). Specifically, the first vibration plate 5 and the second vibration plate 6 start vibrating and feeding materials to the first straight vibration track 7 and the second straight vibration track 8 respectively, and then the materials are vibrated to the rear ends of the first straight vibration track 7 and the second straight vibration track 8 under the action of the first straight vibration track 7 and the second straight vibration track 8. At this time, the materials on the first straight vibration track 7 and the second straight vibration track 8 are aligned with the product positioning and separation components;

[0047] The product positioning and separation assembly includes a first support plate 9 and a second support plate 10, the first support plate 9 is installed on the table 2 along the front-to-back direction and the first support plate 9 is located between the first vibration plate 5 and the second vibration plate 6, a first slide rail 11 is provided in the middle and rear part of the top surface of the first support plate 9 along the front-to-back direction, a first cylinder 12 is provided in the front part of the top surface of the first support plate 9, a product transfer fixture 13 is slidably installed on the first slide rail 11, a plurality of first product placement grooves 14 are respectively provided on the left and right parts of the top surface of the product transfer fixture 13, a plurality of first positioning holes 15 are provided in the middle part of the product transfer fixture 13, the first cylinder 12 drives the product transfer fixture 13 to slide forward and backward along the first slide rail 11, and the second support plate 10 is provided along The left and right directions are arranged on the upper rear side of the first support plate 9, the second support plate 10 is fixed on the first support plate 9, a second slide rail 16 is arranged on the upper left side of the front side surface of the second support plate 10 along the left and right directions, a first slide plate 17 is slidably mounted on the second slide rail 16, a second cylinder (blocked, not shown) is arranged on the left side of the lower front side surface of the second support plate 10, the second cylinder drives the first slide plate 17 to slide left and right along the second slide rail 16, a third slide rail 18 is arranged on the right side of the front side surface of the first slide plate 17 along the up and down directions, a second slide plate 19 is slidably mounted on the third slide rail 18, a third cylinder 20 is arranged on the left side of the front side surface of the first slide plate 17, the third cylinder 20 drives the second slide plate 19 to slide along the third slide rail 18 Sliding up and down, a first suction nozzle 21 is installed on the right part of the second sliding plate 19, and the lower end of the first suction nozzle 21 is arranged toward the rear end of the first straight vibration track 7. The first suction nozzle 21 is located above the product transfer fixture 13. Specifically, when the first straight vibration track 7 feeds the material to the rear end of the first straight vibration track 7, the first suction nozzle 21 is aligned with the material at the rear end of the first straight vibration track 7, and then the third cylinder 20 is started, and the third cylinder 20 drives the second sliding plate 19 to slide downward along the third slide rail 18, and then the first suction nozzle 21 continues to descend until it is aligned with the material on the track of the first straight vibration track 7, and then the first suction nozzle 21 absorbs the material, and then the third cylinder 20 is started again, and the third cylinder 20 drives the second sliding plate 19 to slide along the third slide rail 18. The first suction nozzle 21 is driven by the second cylinder 12 to move forward or backward along the first slide rail 11 to make a new first product placement slot 14 without material placed therein align with the first suction nozzle 21.The first suction nozzle 21 is started again to re-convey a new material on the first straight vibration track 7 to the first product placement slot 14, and a plurality of first positioning holes 15 are arranged corresponding to the material taking mechanism;

[0048] A fourth slide rail 22 is provided on the upper right side of the front side surface of the second supporting plate 10 along the left-right direction, and a third slide plate 23 is slidably mounted on the fourth slide rail 22. A fourth cylinder (blocked, not shown) is provided on the right side of the lower front side surface of the second supporting plate 10, and the fourth cylinder drives the third slide plate 23 to slide left and right along the fourth slide rail 22. A fifth slide rail 24 is provided on the left side of the front side surface of the third slide plate 23 along the up-down direction, and a fourth slide plate 25 is slidably mounted on the fifth slide rail 24. A fifth cylinder 26 is provided on the right side of the front side surface of the third slide plate 23, and the fifth cylinder 26 drives the fourth slide plate 25 to slide up and down along the fifth slide rail 24. A second suction nozzle 27 is installed on the left part of the fourth sliding plate 25, and the lower end of the second suction nozzle 27 is arranged toward the rear end of the second straight vibration track 8. The second suction nozzle 27 is located above the product transfer fixture 13. Specifically, when the second straight vibration track 8 feeds the material to the rear end on the second straight vibration track 8, the second suction nozzle 27 is aligned with the material at the rear end on the second straight vibration track 8, and then the fifth cylinder 26 is started, and the fifth cylinder 26 drives the fourth sliding plate 25 to slide downward along the fifth slide rail 24, and then the second suction nozzle 27 continues to descend until it is aligned with the material on the track of the second straight vibration track 8, and then the second suction nozzle 27 sucks the material, and then the fifth cylinder 26 starts again The fifth cylinder 26 is started, the fourth sliding plate 25 is driven to slide upward along the fifth slide rail 24, and then the second suction nozzle 27 is continuously raised, and then the fourth cylinder is started, the fourth cylinder drives the third sliding plate 23 to slide left and right along the fourth slide rail 22, thereby indirectly driving the second suction nozzle 27 to adjust the position so that the second suction nozzle 27 is aligned with a first product placement slot 14 on the right side of the top surface of the product transfer fixture 13, and then the fifth cylinder 26 is started, the fifth cylinder 26 drives the fourth sliding plate 25 to slide downward along the fifth slide rail 24, and then the second suction nozzle 27 is continuously lowered to place the material into the first product placement slot 14, and then the first cylinder 12 is started, the first cylinder 12 ... of the second suction nozzle 27 The movable product transfer fixture 13 moves forward or backward along the first slide rail 11 for a certain distance so that a new first product placement slot 14 without material is aligned with the second suction nozzle 27, and the second suction nozzle 27 is started again to re-convey the material on a new second straight vibration track 8 to the first product placement slot 14. A plurality of first positioning holes 15 are arranged corresponding to the material picking mechanism. When the application is started and used, the first suction nozzle 21 and the second suction nozzle 27 on the second support plate 10 of the product separation component are started and work at the same time, and the materials sent on the first straight vibration track 7 and the second straight vibration track 8 are respectively sent into the plurality of first product placement slots 14 on the product transfer fixture 13.

[0049] The secondary positioning mechanism includes a positioning seat 28, which is installed on the right rear part of the top surface of the table 2, and a positioning plate 29 is provided in the middle of the top surface of the positioning seat 28 along the left and right directions. The positioning plate 29 is provided with a plurality of second positioning holes 30, and the first positioning fixture 31 and the second positioning fixture 32 are respectively provided on the front left and right parts of the positioning seat 28, and the third positioning fixture 33 and the fourth positioning fixture 34 are respectively provided on the rear left and right parts of the positioning seat 28. The first positioning fixture 31 and the second positioning fixture 32 are located on the front side of the positioning plate 29, and the third positioning fixture 33 and the fourth positioning fixture 34 are located on the rear side of the positioning plate 29. The first positioning fixture 31 is provided with a first reference fixture on the rear right part Block 35, a first positioning groove 71 is provided on the left side of the first reference block 35 on the first positioning fixture 31, a first slider 36 is slidably installed on the left side of the first reference block 35 on the first positioning fixture 31, a second slider 37 is slidably installed on the front side of the first reference block 35 on the first positioning fixture 31, the first slider 36 is located on the left side of the first positioning groove 71, the second slider 37 is located on the front side of the first positioning groove 71, a sixth cylinder 38 is provided on the left side of the first slider 36, and a seventh cylinder 39 is provided on the front side of the second slider 37, the sixth cylinder 38 drives the first slider 36 to slide left and right, the seventh cylinder 39 drives the second slider 37 to slide forward and backward, and the sixth cylinder 38 and the seventh cylinder 39 are both installed on the positioning seat 28;

[0050] A second reference block 40 is provided on the left rear side of the second positioning fixture 32, a second positioning groove 72 is provided on the right side of the second reference block 40 on the second positioning fixture 32, a third slider 41 is slidably installed on the right side of the second reference block 40 on the second positioning fixture 32, a fourth slider 42 is slidably installed on the front side of the second reference block 40 on the second positioning fixture 32, the third slider 41 is located on the right side of the second positioning groove 72, the fourth slider 42 is located on the front side of the second positioning groove 72, an eighth cylinder 43 is provided on the right side of the third slider 41, and a ninth cylinder 44 is provided on the front side of the fourth slider 42, the eighth cylinder 43 drives the third slider 41 to slide left and right, the ninth cylinder 44 drives the fourth slider 42 to slide forward and backward, and the eighth cylinder 43 and the ninth cylinder 44 are both installed on the positioning seat 28;

[0051] A third reference block 45 is provided on the front right part of the third positioning fixture 33, a third positioning groove 73 is provided on the left side of the third reference block 45 on the third positioning fixture 33, a fifth slider 46 is slidably installed on the left side of the third reference block 45 on the third positioning fixture 33, a sixth slider 47 is slidably installed on the rear side of the third reference block 45 on the third positioning fixture 33, the fifth slider 46 is located on the left side of the third positioning groove 73, the sixth slider 47 is located on the rear side of the third positioning groove 73, a tenth cylinder 48 is provided on the left side of the fifth slider 46, an eleventh cylinder 49 is provided on the rear side of the sixth slider 47, the tenth cylinder 48 drives the fifth slider 46 to slide left and right, the eleventh cylinder 49 drives the sixth slider 47 to slide forward and backward, and the tenth cylinder 48 and the eleventh cylinder 49 are both installed on the positioning seat 28;

[0052] A fourth reference block 50 is provided on the left front side of the fourth positioning fixture 34, a fourth positioning groove 74 is provided on the right side of the fourth reference block 50 on the fourth positioning fixture 34, a seventh slider 51 is slidably installed on the right side of the fourth reference block 50 on the fourth positioning fixture 34, an eighth slider 52 is slidably installed on the rear side of the fourth reference block 50 on the fourth positioning fixture 34, the seventh slider 51 is located on the right side of the fourth positioning groove 74, the eighth slider 52 is located on the rear side of the fourth positioning groove 74, a twelfth cylinder 53 is provided on the right side of the seventh slider 51, and a thirteenth cylinder 54 is provided on the rear side of the eighth slider 52, the twelfth cylinder 53 drives the seventh slider 51 to slide left and right, the thirteenth cylinder 54 drives the eighth slider 52 to slide back and forth, the twelfth cylinder 53 and the thirteenth cylinder 54 are both installed on the positioning seat 28, and the specific plurality of second positioning holes 30 are also arranged corresponding to the material picking mechanism. When in use, the six-axis manipulator 4 inserts the plurality of second positioning pins of the material picking mechanism into the plurality of second positioning holes 30, and then the plurality of third suction nozzles 63 respectively puts the material sucked from the product transfer jig 13 into the first positioning jig 31, the second positioning jig 32, the third positioning jig 33 and the fourth positioning jig 34, that is, after the plurality of second positioning pins are inserted into the plurality of second positioning holes 30, the number of the third suction nozzles 63 can be four, and the sucked materials are four and are respectively aligned with the first positioning groove 71, the second positioning groove 72, the third positioning groove 73 and the fourth positioning groove 74 on the first positioning jig 31, the second positioning jig 32, the third positioning jig 33 and the fourth positioning jig 34, then the third suction nozzle 63 is released, and the material sucked by the third suction nozzle 63 is respectively put into the first positioning groove 71, the second positioning groove 72, the third positioning groove 73 and the fourth positioning groove 74, and then the first positioning jig 31, the second positioning jig 32, the third positioning jig 33 and the fourth positioning jig 34 respectively position the material, after the positioning is completed, the third suction nozzle 63 again sucks the positioned material out of the secondary positioning jig and sends it into the injection molding machine matched with the present application;

[0053] After the third suction nozzle 63 places the material into the first positioning groove 71, the second positioning groove 72, the third positioning groove 73 and the fourth positioning groove 74 respectively, the sixth cylinder 38 drives the first slider 36 to slide left and right, and the seventh cylinder 39 drives the second slider 37 to slide forward and backward. The first slider 36 and the second slider 37 can push the material and accurately position the material with the first reference block 35 as a reference.

[0054] The eighth cylinder 43 drives the third slider 41 to slide left and right, and the ninth cylinder 44 drives the fourth slider 42 to slide forward and backward. The third slider 41 and the fourth slider 42 can push the material to accurately position the material with the second reference block 40 as a reference.

[0055] The tenth cylinder 48 drives the fifth slider 46 to slide left and right, and the eleventh cylinder 49 drives the sixth slider 47 to slide forward and backward. The fifth slider 46 and the sixth slider 47 can push the material to accurately position the material with the third reference block 45 as a reference.

[0056] The twelfth cylinder 53 drives the seventh slider 51 to slide left and right, and the thirteenth cylinder 54 drives the eighth slider 52 to slide forward and backward. The seventh slider 51 and the eighth slider 52 can push the material to accurately position the material with the fourth reference block 50 as the reference.

[0057] The material picking mechanism includes a material picking mounting seat 55, which is mounted on the free end of the six-axis manipulator 4. A plurality of first locating pins 56 are provided in the middle of the front side of the material picking mounting seat 55. A first clamping jaw cylinder 57 and a second clamping jaw cylinder 58 are respectively provided on the left and right front sides of the material picking mounting seat 55. A first clamping jaw 59 is provided at the output end of the first clamping jaw cylinder 57, and a second clamping jaw 60 is provided at the output end of the second clamping jaw cylinder 58. The first clamping jaw 59 and the second clamping jaw 60 are both arranged toward the plurality of first locating pins 56. A fourteenth cylinder 61 is provided on the upper middle side of the front side of the material picking mounting seat 55. The fourteenth cylinder 61 is located above the plurality of first locating pins 56. A plurality of second locating pins 62 are provided on the right side surface of the material picking mounting seat 55. The plurality of second locating pins 62 are arranged equidistantly along the front and rear directions. A plurality of third suction nozzles 63 are respectively provided on the upper side and the lower side. Specifically, a plurality of first positioning holes 15 are correspondingly arranged with a plurality of positioning pins, so that when in use, the six-axis manipulator 4 inserts a plurality of second positioning pins 62 of the material picking mechanism into a plurality of first positioning holes 15, and then a plurality of third suction nozzles 63 respectively suck the materials in a plurality of first product placement slots 14, and then the six-axis manipulator 4 sends these materials into the secondary positioning mechanism for positioning. After the six-axis manipulator 4 drives the material picking mechanism to send the materials to be injected into the injection molding machine, the six-axis manipulator 4 sends the material picking mechanism into the injection molding machine through a plurality of first positioning pins 56, and then uses the first clamp 59 cylinder 57 and the second clamp 60 cylinder 58 to clamp the product molded by the injection molding machine, and the fourteenth cylinder 61 is started at the same time to push and break the waste material on the injection molded product, and then the six-axis manipulator 4 sends the grabbed material into the product storage box 3.

[0058] A limit block 64 is vertically disposed on the rear side of the top surface of the first support plate 9 , and the limit block 64 is located on the rear side of the first slide rail 11 .

[0059] A six-axis manipulator controller 65 is provided on the lower right side of the front side of the frame 1, and a first power button 66 and an emergency stop button 67 are provided on the left side of the six-axis manipulator controller 65 on the front side of the frame 1. The first power button 66, the emergency stop button 67 and the six-axis manipulator controller 65 are all electrically connected, and the first power button 66 and the emergency stop button 67 are both used to control the six-axis manipulator 4. After the first power button 66 is turned on, the six-axis manipulator 4 is powered on, and the emergency stop button 67 can be used in an emergency to cut off the operation of the six-axis manipulator 4. The six-axis manipulator controller 65 is used to control the specific operation of the six-axis manipulator 4, and the emergency stop button 67 is located above the first power button 66.

[0060] A three-color light 68 is provided on the left front side of the top face of the rack 1, and a second power button 69 and a touch screen 70 are respectively provided on the lower left front side of the rack 1. The second power button 69 is located on the left side of the touch screen 70. A controller and other components are provided at the bottom inner of the rack 1 of the present application. The three-color light 68, the touch screen 70 and the second power button 69 are all connected to the internal controller of the present application. The three-color light 68 is used to issue an alarm, the second power button 69 is used to control the opening and closing of the present application, and the touch screen 70 is used to set the operating parameters of the present application.

[0061] The specific use process of the present invention is as follows:

[0062] The present application is used in conjunction with an injection molding machine, etc., and specifically, when the present application is used, the first vibration plate 5 and the second vibration plate 6 are now put into the material, and then the first vibration plate 5 and the second vibration plate 6 are started to vibrate and feed the material to the first straight vibration track 7 and the second straight vibration track 8, and then the material is vibrated to the rear end of the first straight vibration track 7 and the second straight vibration track 8 under the action of the first straight vibration track 7 and the second straight vibration track 8, and at this time, the material on the first straight vibration track 7 and the second straight vibration track 8 is aligned with the product positioning and separation component;

[0063] When the first straight vibration track 7 feeds the material to the rear end portion of the first straight vibration track 7, the first suction nozzle 21 is aligned with the material at the rear end portion of the first straight vibration track 7, and then the third cylinder 20 is started, and the third cylinder 20 drives the second sliding plate 19 to slide downward along the third slide rail 18, and then the first suction nozzle 21 continues to descend until it is aligned with the material on the first straight vibration track 7, and then the first suction nozzle 21 absorbs the material, and then the third cylinder 20 is started again, and the third cylinder 20 drives the second sliding plate 19 to slide upward along the third slide rail 18, and then the first suction nozzle 21 continues to rise, and then the second cylinder is started, and the second cylinder drives the first sliding plate 17 to slide left and right along the second slide rail 16, thereby indirectly driving the adjustment The position of the first suction nozzle 21 is adjusted so that the first suction nozzle 21 is aligned with a first product placement slot 14 on the left side of the top surface of the product transfer fixture 13, and then the third cylinder 20 is started, and the third cylinder 20 drives the second sliding plate 19 to slide downward along the third slide rail 18, and then the first suction nozzle 21 continues to descend to place the material into the first product placement slot 14, and then the first cylinder 12 is started, and the first cylinder 12 drives the product transfer fixture 13 to move forward or backward along the first slide rail 11 for a certain distance so that a new first product placement slot 14 without material placed therein is aligned with the first suction nozzle 21, and the first suction nozzle 21 is started again to re-convey a new material on the first straight vibration track 7 to the first product placement slot 14;

[0064] When the second straight vibration track 8 feeds the material to the rear end portion on the second straight vibration track 8, the second suction nozzle 27 is aligned with the material at the rear end portion of the second straight vibration track 8, and then the fifth cylinder 26 is started, and the fifth cylinder 26 drives the fourth sliding plate 25 to slide downward along the fifth slide rail 24, and then the second suction nozzle 27 continues to descend until it is aligned with the material on the second straight vibration track 8, and then the second suction nozzle 27 absorbs the material, and then the fifth cylinder 26 is started again, and the fifth cylinder 26 drives the fourth sliding plate 25 to slide upward along the fifth slide rail 24, and then the second suction nozzle 27 continues to rise, and then the fourth cylinder is started, and the fourth cylinder drives the third sliding plate 23 to slide left and right along the fourth slide rail 22, thereby indirectly driving the adjustment of the position of the second suction nozzle 27 so that the second suction nozzle 27 is aligned with a first product placement slot 14 on the right part of the top surface of the product transfer fixture 13, and then the fifth cylinder 26 is started, and the fifth The cylinder 26 drives the fourth sliding plate 25 to slide downward along the fifth slide rail 24, and then the second suction nozzle 27 continues to descend to put the material into the first product placement slot 14, and then the first cylinder 12 is started, and the first cylinder 12 drives the product transfer fixture 13 to move forward or backward along the first slide rail 11 for a certain distance so that a new first product placement slot 14 without material is aligned with the second suction nozzle 27, and the second suction nozzle 27 is started again to re-convey a new material on the second straight vibration track 8 to the first product placement slot 14, and a plurality of first positioning holes 15 are arranged corresponding to the material picking mechanism. When the application is started and used, the first suction nozzle 21 and the second suction nozzle 27 on the second support plate 10 of the product separation component are started and work at the same time, and the materials sent on the first straight vibration track 7 and the second straight vibration track 8 are respectively sent into a plurality of first product placement slots 14 on the product transfer fixture 13;

[0065] Then the six-axis manipulator 4 starts to drive the material taking mechanism to take materials from the first product placement slots 14 and then send them into the secondary positioning mechanism. The six-axis manipulator 4 inserts the second positioning pins 62 of the material taking mechanism into the second positioning holes 30. Then the third suction nozzles 63 respectively put the materials sucked from the product transfer fixture 13 into the first positioning fixture 31, the second positioning fixture 32, the third positioning fixture 33 and the fourth positioning fixture 34. That is, after the second positioning pins 62 are inserted into the second positioning holes 30, the number of the third suction nozzles 63 is four, and the materials sucked are four and are respectively aligned with the first positioning fixture 31. , the first positioning groove 71, the second positioning groove 72, the third positioning groove 73 and the fourth positioning groove 74 on the second positioning jig 32, the third positioning jig 33 and the fourth positioning jig 34, then the third suction nozzle 63 is released, and the material sucked by the third suction nozzle 63 is respectively placed in the first positioning groove 71, the second positioning groove 72, the third positioning groove 73 and the fourth positioning groove 74, and then the first positioning jig 31, the second positioning jig 32, the third positioning jig 33 and the fourth positioning jig 34 respectively position the material, and after the positioning is completed, the third suction nozzle 63 sucks the positioned material again to leave the secondary positioning jig and send it into the injection molding machine matched with the present application;

[0066] After the injection molding machine is started, the six-axis manipulator 4 sends the material picking mechanism into the injection molding machine through a plurality of first positioning pins 56, and then uses the first clamp 59 cylinder 57 and the second clamp 60 cylinder 58 to clamp the product molded by the injection molding machine. The fourteenth cylinder 61 is started at the same time to push and break the waste material on the injection molded product, and then the six-axis manipulator 4 sends the grabbed material into the product storage box 3

[0067] This embodiment does not impose any formal limitation on the shape, material, structure, etc. of the present invention. Any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. Multi-degree-of-freedom loading and moving device, characterized by ,include: A frame, wherein a platform is provided in the middle of the frame in a horizontal direction; A vibrating plate feeding mechanism, the vibrating plate feeding mechanism is arranged on the left front part of the table plate, and the vibrating plate feeding mechanism is used for feeding; A secondary positioning mechanism, which is arranged at the right rear part of the table and is used for secondary positioning of the material on the vibrating plate feeding mechanism; A product storage box disposed at the left rear portion of the table top; and A six-axis manipulator, one end of which is mounted on the right front portion of the table, the other end of which is a free end, and a material-retrieving mechanism is mounted on the free end of the six-axis manipulator; The secondary positioning mechanism includes a positioning seat, the positioning seat is installed at the right rear part of the top surface of the table, a positioning plate is provided in the middle of the top surface of the positioning seat along the left and right directions, a plurality of second positioning holes are provided on the positioning plate, a first positioning fixture and a second positioning fixture are provided on the front left and right parts of the positioning seat respectively, a third positioning fixture and a fourth positioning fixture are provided on the rear left and right parts of the positioning seat respectively, the first positioning fixture and the second positioning fixture are located on the front side of the positioning plate, the third positioning fixture and the fourth positioning fixture are located on the rear side of the positioning plate, and the first positioning fixture is provided on the rear right part of the first positioning fixture. A first reference block is provided, a first positioning groove is provided on the left side of the first reference block on the first positioning fixture, a first slider is slidably installed on the left side of the first reference block on the first positioning fixture, a second slider is slidably installed on the front side of the first reference block on the first positioning fixture, the first slider is located on the left side of the first positioning groove, the second slider is located on the front side of the first positioning groove, a sixth cylinder is provided on the left side of the first slider, a seventh cylinder is provided on the front side of the second slider, the sixth cylinder drives the first slider to slide left and right, the seventh cylinder drives the second slider to slide forward and backward, and the sixth cylinder and the seventh cylinder are both installed on the positioning seat; A second reference block is provided on the left rear side of the second positioning fixture, a second positioning groove is provided on the right side of the second reference block on the second positioning fixture, a third slider is slidably installed on the right side of the second reference block on the second positioning fixture, a fourth slider is slidably installed on the front side of the second reference block on the second positioning fixture, the third slider is located on the right side of the second positioning groove, the fourth slider is located on the front side of the second positioning groove, an eighth cylinder is provided on the right side of the third slider, a ninth cylinder is provided on the front side of the fourth slider, the eighth cylinder drives the third slider to slide left and right, the ninth cylinder drives the fourth slider to slide forward and backward, and both the eighth cylinder and the ninth cylinder are installed on the positioning seat; A third reference block is provided on the right front side of the third positioning fixture, a third positioning groove is provided on the left side of the third reference block on the third positioning fixture, a fifth slider is slidably installed on the left side of the third reference block on the third positioning fixture, a sixth slider is slidably installed on the rear side of the third reference block on the third positioning fixture, the fifth slider is located on the left side of the third positioning groove, the sixth slider is located on the rear side of the third positioning groove, a tenth cylinder is provided on the left side of the fifth slider, an eleventh cylinder is provided on the rear side of the sixth slider, the tenth cylinder drives the fifth slider to slide left and right, the eleventh cylinder drives the sixth slider to slide forward and backward, and the tenth cylinder and the eleventh cylinder are both installed on the positioning seat; A fourth reference block is provided on the left front side of the fourth positioning fixture, a fourth positioning groove is provided on the right side of the fourth reference block on the fourth positioning fixture, a seventh slider is slidably installed on the right side of the fourth reference block on the fourth positioning fixture, an eighth slider is slidably installed on the rear side of the fourth reference block on the fourth positioning fixture, the seventh slider is located on the right side of the fourth positioning groove, the eighth slider is located on the rear side of the fourth positioning groove, a twelfth cylinder is provided on the right side of the seventh slider, a thirteenth cylinder is provided on the rear side of the eighth slider, the twelfth cylinder drives the seventh slider to slide left and right, the thirteenth cylinder drives the eighth slider to slide forward and backward, and both the twelfth cylinder and the thirteenth cylinder are installed on the positioning seat; A six-axis manipulator controller is provided on the lower right side of the front side of the frame, and a first power button and an emergency stop button are provided on the left side of the six-axis manipulator controller on the front side of the frame. The first power button, the emergency stop button and the six-axis manipulator controller are all electrically connected.

2. The multi-degree-of-freedom loading and moving device according to claim 1 is characterized in that: The vibration plate feeding mechanism comprises a first vibration plate, a second vibration plate and a product positioning and separation assembly, wherein the first vibration plate and the second vibration plate are located at the left front part of the table and the first vibration plate is located at the left side of the second vibration plate, a first straight vibration track is arranged backwards at the right rear part of the first vibration plate, and a second straight vibration track is arranged backwards at the left rear part of the second vibration plate, and the product positioning and separation assembly is installed on the table and is located between the rear end of the first straight vibration track and the rear end of the second straight vibration track; The product positioning and separation assembly includes a first support plate and a second support plate, the first support plate is installed on the table plate in the front-to-back direction and the first support plate is located between the first vibration plate and the second vibration plate, a first slide rail is provided in the middle and rear part of the top surface of the first support plate in the front-to-back direction, a first cylinder is provided in the front part of the top surface of the first support plate, a product transfer fixture is slidably installed on the first slide rail, a plurality of first product placement grooves are respectively provided on the left and right parts of the top surface of the product transfer fixture, a plurality of first positioning holes are provided in the middle of the product transfer fixture, the first cylinder drives the product transfer fixture to slide forward and backward along the first slide rail, and the second support plate is installed on the first support in the left and right directions. The cam is provided with a second guide rail on the left side of the front side of the second support plate, and the first guide rail is slidably mounted on the second guide rail. A second cylinder is provided on the left side of the lower front side of the second support plate, and the second cylinder drives the first guide plate to slide left and right along the second guide rail. A third guide rail is provided on the right side of the front side of the first guide plate along the up and down directions, and the second guide plate is slidably mounted on the third guide rail. A third cylinder is provided on the left side of the front side of the first guide plate, and the third cylinder drives the second guide plate to slide up and down along the third guide rail. A first suction nozzle is installed on the right side of the second slide plate, and the lower end of the first suction nozzle is arranged toward the rear end portion of the first straight vibration rail. A fourth slide rail is provided on the upper right side of the front side surface of the second supporting plate along the left-right direction, and a third slide plate is slidably installed on the fourth slide rail, a fourth cylinder is provided on the right side of the lower front side surface of the second supporting plate, and the fourth cylinder drives the third slide plate to slide left and right along the fourth slide rail, a fifth slide rail is provided on the left side of the front side surface of the third sliding plate along the up and down directions, and a fourth slide plate is slidably installed on the fifth slide rail, a fifth cylinder is provided on the right side of the front side surface of the third sliding plate, and the fifth cylinder drives the fourth slide plate to slide up and down along the fifth slide rail, and a second suction nozzle is installed on the left side of the fourth sliding plate, and the lower end of the second suction nozzle is arranged toward the rear end portion of the second straight vibration rail.

3. The multi-degree-of-freedom loading and moving device according to claim 2 is characterized in that: The material picking mechanism includes a material picking mounting seat, which is mounted on the free end of the six-axis manipulator, a plurality of first positioning pins are provided in the middle of the front side of the material picking mounting seat, a first clamping jaw cylinder and a second clamping jaw cylinder are respectively provided on the front left and front right sides of the material picking mounting seat, a first clamping jaw is provided at the output end of the first clamping jaw cylinder, a second clamping jaw is provided at the output end of the second clamping jaw cylinder, the first clamping jaw and the second clamping jaw are both arranged toward the plurality of first positioning pins, a fourteenth cylinder is provided on the upper middle side of the front side of the material picking mounting seat, the fourteenth cylinder is located above the plurality of first positioning pins, a plurality of second positioning pins are provided on the right side surface of the material picking mounting seat, the plurality of second positioning pins are equidistantly arranged in the front-to-back direction, and a plurality of third suction nozzles are respectively provided on the upper and lower sides of the plurality of second positioning pins on the right side surface of the material picking mounting seat.

4. The multi-degree-of-freedom loading and moving device according to claim 2, characterized in that: A limit block is vertically arranged on the rear side of the top surface of the first support plate, and the limit block is located on the rear side of the first slide rail.

5. The multi-degree-of-freedom loading and moving device according to claim 1, characterized in that: A three-color light is provided at the left portion of the front side of the top face of the frame, and a second power button and a touch screen are provided at the lower left portion of the front side face of the frame, respectively. The second power button is located at the left side of the touch screen.

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