Servo cam feeding mechanism and feeding method

Abstract

The present invention relates to the field of material transportation, and more particularly to a servo cam loading mechanism and loading method. The mechanism comprises a gripping device, a drive device, a process control device, and a frame. A single drive source of the drive device independently processes the horizontal and vertical movements of a workpiece, thereby vertically transporting the workpiece from a first position to a position vertically above the first position, then horizontally transporting the workpiece from a position vertically above the first position to a position vertically above the second position, and then vertically moving the workpiece from a position above the second position to a position above the second position, whereupon the workpiece is unloaded.

Description

Technical Field

[0001] The present application relates to the field of material transportation, and in particular to a servo cam feeding mechanism and a feeding method. Background Art

[0002] Currently, with the development of industrial technology, the manufacturing industry is increasingly focusing on automated production to improve production efficiency. The automated production process involves loading and unloading workpieces, and these loading and unloading processes are generally cyclical and reciprocating.

[0003] In the related art, the first position and the second position for loading and unloading are two points on the same horizontal line. In order to reduce the wear of the workpiece during transportation, it is usually necessary to grab the workpiece at the first position and move it to the top of the first position and then move it toward the second position to place the workpiece on the second position. After unloading, it needs to return to its original position, so it needs to move from the second position to the first position, so it needs to move from the second position to the top of the second position and then move to the top of the first position, and then move to the first position. During the entire workpiece transportation process, the movement of the device can be regarded as requiring vertical displacement and horizontal linear displacement. Therefore, in the related art, two driving devices are used to control the horizontal displacement and the vertical displacement respectively, and two groups of grippers are used, one group of grippers is used to control the vertical displacement, and the other group of grippers is used to control the horizontal displacement. During the entire process, it is more difficult to achieve to stably place the workpiece on the first group of grippers on the second group of grippers.

[0004] The above-mentioned related technologies have the problem that the workpiece is difficult to be transported smoothly during the transportation process. Summary of the Invention

[0005] In order to improve the transportation stability of workpieces during transportation, the present application provides a servo cam loading mechanism and a loading method.

[0006] A servo cam feeding mechanism includes a gripping device for gripping a workpiece; a driving device for driving the gripping device to move; a process control device for controlling the process of the gripping device gripping the workpiece; and a frame for placing the gripping device, the driving device, and the process control device.

[0007] The gripping device, driving device and process control device are all arranged on the frame, the process control device includes a linkage component and a process control part, the driving device is connected to the linkage component, the linkage component slides horizontally relative to the driving device, and the linkage component is connected to the gripping device; a process control channel is provided on the process control part, the linkage component includes a pulley, and the pulley slides along the inner wall of the process control channel; the process control channel includes a first process point, a second process point and a third process point, and the pulley can slide smoothly between the first process point and the second process point, and the pulley can slide smoothly between the second process point and the third process point; the first process point and the third process point are located on the same horizontal straight line, and the distance between the third process point and the first process point in the horizontal direction is the horizontal distance from the first position to the second position; the second process point and the first process point have a distance in the vertical direction; during the loading process, the linkage component passes through the first process point, the second process point and the third process point in sequence under the drive of the driving device.

[0008] By adopting the above technical solution, a drive source in a drive device drives the linkage assembly along the control channel. The linkage assembly is also connected to the gripping device, enabling the gripping device to move in accordance with the shape of the control channel. When the linkage assembly moves from the second process point to the first process point, the gripping device descends to grasp the workpiece at the first position. When the linkage assembly moves from the second process point to the first process point, the gripping device ascends and moves horizontally, positioning the workpiece above the second position. When the linkage assembly moves from the second process point to the third process point, the gripping device descends and moves horizontally, positioning the workpiece at the second position. When the linkage assembly moves from the third process point to the second process point, the gripping device ascends and moves horizontally toward the first position, transporting the workpiece from the second position to above the first position. When the linkage assembly moves from the second process point to the first process point, the workpiece is placed on the first workpiece. This achieves horizontal and vertical freedom with a single drive source, and enables reciprocating motion, meaning that loading and unloading processes can be performed with a single gripping device, improving the stability of the workpiece during transport.

[0009] Preferably, the linkage assembly includes a first linkage member and a second linkage member, a horizontal guide rail is provided on the frame, the first linkage member slides along the length direction of the horizontal guide rail, and the first linkage member is connected to the process control member, the other end of the first linkage member is connected to the output end of the driving device, the process control member is connected to the second linkage member, a vertical guide rail is provided on the frame, and the second linkage member is slidably connected to the vertical guide rail.

[0010] By adopting the above technical solution, the horizontal guide rail and the vertical guide rail have a guiding function, so that the first linkage member and the second linkage member are more stable during the process of transporting the workpiece.

[0011] Preferably, it further comprises an elastic component, and the elastic component is used to reset the first linkage member.

[0012] By adopting the above technical solution, since the workpiece is transported from the first position to the second position and then from the second position to the first position, the transport of the workpiece is a reciprocating motion. In order to further maintain the accuracy of transporting the workpiece, it is reset through the elastic component to reduce the error of transportation.

[0013] Preferably, it also includes a limit assembly, which is used to control the second linkage to slide on the vertical guide rail; the linkage assembly also includes a linkage mounting frame, which is slidably connected to the horizontal guide rail, and the limit assembly includes a control limit member, a first limit member and a second limit member, and the control limit member is arranged on the linkage mounting frame, and the first limit member and the second limit member are both passed through the frame, and the passing length of the first limit member and the second limit member is used to control the horizontal movement range of the grasping device, and the first limit member and the second limit member are both located on the movement path of the control limit member, and when the control limit member presses against the first limit member or the second limit member, the grasping device stops moving horizontally.

[0014] By adopting the above technical solution, the setting of the limit assembly allows the oblique reciprocating motion to be decomposed into vertical motion and horizontal motion; that is, the workpiece transportation process is to grab the workpiece from the first position, the grabbing device moves vertically to the highest point, then moves along the horizontal straight line to the vertical upper side of the second position, and finally moves vertically downward to the second position, reducing the jitter of the oblique motion and maintaining the stability of the workpiece transportation. When the control limiter is pressed against the first limiter or the second limiter, the grabbing device is horizontally limited, and the first linkage drives the process control channel to move vertically, thereby causing the grabbing device to slide vertically, thereby achieving vertical linear motion with only one horizontal power source. Moreover, the first limiter and the second limiter can be adjusted, so that when grabbing different workpieces, even if the grabbing distance is different, the grabbing can be adjusted. Improve the adjustment ability of the overall feeding mechanism.

[0015] Preferably, the elastic component includes a first elastic member and a second elastic member, the length of the first elastic member is equal to the horizontal distance between the first process point and the second process point, the length of the second elastic member is equal to the horizontal distance between the second process point and the third process point, and the first elastic member and the second elastic member are respectively arranged on both sides of the first linkage member.

[0016] By adopting the above technical solution, when the linkage mounting frame is not restrained, it will prioritize horizontal sliding until it is restrained. In other words, the vertical and horizontal movement processes can be controlled by the restraining assembly and elastic assembly to facilitate the workpiece transportation process. In actual production, vertical displacement is required after the workpiece is initially grasped, so the linkage mounting frame is initially restrained to prioritize vertical displacement of the workpiece. After the vertical displacement is completed, the drive device drives the drive mounting frame to move horizontally until the drive mounting frame is restrained at the other end, at which point vertical displacement is performed.

[0017] Preferably, it also includes an auxiliary guide assembly, which includes a first guide member and a second guide member. The first guide member is passed through the first linkage member, and the length direction of the first guide member is consistent with the horizontal movement direction of the workpiece. The first guide member is connected to the second guide member, and the second guide member is fixedly connected to the linkage mounting frame.

[0018] By adopting the above technical solution, since the second guide member is fixedly connected to the linkage mounting frame, the first linkage member can move together with the linkage mounting frame. When the linkage mounting frame is limited, the first linkage member can squeeze the first elastic member or the second elastic member. The provision of the first guide member facilitates the movement of the first linkage member. Since one side of the first linkage member is disposed within the elastic assembly, the first guide member and the second guide member are provided to better drive the movement of the first linkage member.

[0019] Preferably, a smooth transition is set up inside the process control channel.

[0020] By adopting the above technical solution, the friction force of the first linkage member when sliding along the side wall of the control channel is reduced, which can reduce the wear of the first linkage member on the one hand and maintain the stability of workpiece transportation on the other hand.

[0021] Preferably, the grasping device includes a grasping component, which is inserted into the linkage device. A suction head is provided at one end of the grasping component close to the workpiece, and the suction head is used to adsorb the workpiece. The grasping component includes a pushing member, and the pushing member is used to push the suction head. An elastic reset member is provided inside the grasping member, and the reset member is used to reset the suction head.

[0022] By adopting the above technical solution, the workpiece is adsorbed by the suction head, and after the workpiece is transported to the first position and the second position, it is removed by the pushing member, and finally the resetting member is used to realize the cyclic movement of loading and removing the material.

[0023] Preferably, the frame is provided with an assisting stripping piece, the assisting stripping piece is arranged on a side of the frame close to the grabbing assembly, the assisting stripping piece is provided with a clamping groove, the grabbing assembly includes a grabbing piece and a stripping shell, the grabbing piece is passed through the stripping shell, the suction head is arranged at one end of the stripping shell away from the grabbing piece, the clamping groove is used to clamp the grabbing piece, when the grabbing piece is clamped, the stripping shell moves downward under the action of the driving device, the stripping shell presses the workpiece, so that the workpiece is separated from the suction head piece.

[0024] By adopting the above technical solution, the workpiece is automatically removed by clamping the clamping groove and the grabbing member and then sliding against the workpiece by separating from the shell.

[0025] In summary, this application includes at least one of the following beneficial technical effects:

[0026] 1. A drive source in a drive device drives a linkage assembly along a control channel. The linkage assembly is connected to a gripping device, enabling the gripping device to move in accordance with the shape of the control channel. When the linkage assembly moves from the second process point to the first process point, the gripping device descends to grasp a workpiece at the first position. When the linkage assembly moves from the second process point to the first process point, the gripping device ascends and moves horizontally, positioning the workpiece above the second position. When the linkage assembly moves from the second process point to the third process point, the gripping device descends and moves horizontally, positioning the workpiece at the second position. When the linkage assembly moves from the third process point to the second process point, the gripping device ascends and moves horizontally toward the first position, transporting the workpiece from the second position to above the first position. When the linkage assembly moves from the second process point to the first process point, the workpiece is placed on the first workpiece. This allows a single drive source to achieve both horizontal and vertical freedom, and enables reciprocating motion. This allows loading and unloading operations to be performed with a single gripping device, improving workpiece stability during transport.

[0027] 2. The setting of the limit assembly decomposes the oblique reciprocating motion into vertical motion and horizontal motion; that is, the workpiece transportation process is to grab the workpiece from the first position, the grabbing device moves vertically to the highest point, then moves along the horizontal straight line to the vertical upper side of the second position, and finally moves vertically downward to the second position, which reduces the jitter of the oblique motion and maintains the stability of the workpiece transportation. When the control limiter is pressed against the first limiter or the second limiter, the grabbing device is horizontally limited, and the first linkage drives the process control channel to move vertically, so that the grabbing device slides vertically, thereby realizing vertical linear motion with only one horizontal power source. Moreover, the first limiter and the second limiter can be adjusted, so that when grabbing different workpieces, even if the grabbing distance is different, the grabbing can be adjusted. Improve the adjustment ability of the overall feeding mechanism.

[0028] 3. When the linkage mounting frame is not restrained, it prioritizes horizontal sliding until it is restrained. This means that both vertical and horizontal movement can be controlled through the restraining and elastic components to facilitate workpiece transport. In actual production, vertical movement is required after grasping a workpiece, so the linkage mounting frame is initially restrained to prioritize vertical movement. After vertical movement is complete, the drive device then drives the drive mounting frame to shift horizontally until it is restrained at the other end, at which point vertical movement is performed. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application.

[0030] Figure 2 It is a schematic diagram of the overall structure of an embodiment of the present application.

[0031] Figure 3 It is a structural diagram of an embodiment of the present application from another angle.

[0032] Figure 4 It is a structural diagram of the process control component of an embodiment of the present application.

[0033] Figure 5 It is an enlarged schematic diagram of the structure of the process control component of an embodiment of the present application.

[0034] Figure 6 It is a schematic structural diagram of the limit assembly of an embodiment of the present application.

[0035] Figure 7 It is a schematic diagram of the connection structure between the elastic component and the first linkage member in an embodiment of the present application.

[0036] Figure 8 It is a structural schematic diagram of the gripping device of an embodiment of the present application.

[0037] Figure 9 It is an enlarged schematic diagram of the structure of the gripping device of an embodiment of the present application.

[0038] Figure 10 It is a structural schematic diagram of the pushing member of an embodiment of the present application.

[0039] Explanation of the accompanying symbols: 1. Grabbing device; 11. Grabbing assembly; 111. Pushing member; 1111. Clamping portion; 1112. First penetrating portion; 1113. Second penetrating portion; 1114. Connecting portion; 112. Gasket; 113. Stripping housing; 114. Resetting member; 115. Suction head; 2. Driving device; 21. Driving motor; 22. Driving output rod; 23. Driving connecting block; 3. Process control device; 31. Linkage assembly; 311. Linkage mounting bracket; 3111. Penetrating groove; 312. First linkage member; 313. Second linkage member; 3131. Mounting portion; 31311. Mounting hole; 3132. Penetrating Set hole; 314, third linkage member; 315, pulley; 32, process control member; 321, process control channel; 3211, first channel; 3212, second channel; 32111, first process point; 32112, second process point; 32113, third process point; 4, frame; 41, horizontal guide rail; 42, vertical guide rail; 5, limit assembly; 51, control limit member; 52, first limit member; 53, second limit member; 6, elastic assembly; 61, first elastic member; 62, second elastic member; 7, guide assembly; 71, first guide member; 72, second guide member; 8, auxiliary stripping member; 81, clamping groove. DETAILED DESCRIPTION

[0040] The following is combined with Figure 1 - Attachment Figure 10 This application is described in further detail.

[0041] The present application discloses a servo cam feeding mechanism and a feeding method for improving the transportation stability of workpieces during transportation.

[0042] Reference Figure 1 and Figure 2A servo cam feeding mechanism and feeding method include a gripping device 1 for gripping a workpiece; a driving device 2 for driving the gripping device 1; a process control device 3 for controlling the process of the gripping device 1 in gripping the workpiece; and a frame 4 for placing the gripping device 1, the driving device 2, and the process control device 3. The driving device 2 is connected to the process control device 3, and the process control device 3 is connected to the gripping device 1. Specifically, the driving device 2 includes a driving motor 21, a driving output rod 22, and a driving connecting block 23. The driving motor 21 is arranged on the frame 4, the output end of the driving motor 21 is connected to the driving output rod 22, the driving output rod 22 is connected to the driving connecting block 23, and the driving connecting block 23 is connected to the process control device 3.

[0043] Reference Figure 2 and Figure 3 The process control device 3 includes a linkage component 31 and a process control component 32. The linkage component 31 is connected to the process control component 32. Specifically, the linkage component 31 includes a linkage mounting frame 311, a first linkage component 312 and a third linkage component 314. The side wall of the frame 4 is provided with a horizontal guide rail 41. The third linkage component 314 is slidably connected to the horizontal guide rail 41. The linkage mounting frame 311 is fixedly connected to the third linkage component 314 by bolts.

[0044] Reference Figure 4 and Figure 5 A penetration groove 3111 is provided on the linkage mounting frame 311, the first linkage member 312 is penetrated through the penetration groove 3111, the driving connection block 23 is fixedly connected to the first linkage member 312 by bolts, and the first linkage member 312 is connected to the linkage mounting frame 311 through the guide assembly 7.

[0045] Referring to 2, in order to further improve the stability of the first linkage member 312 during its movement, a guide assembly 7 is further included, wherein the guide assembly 7 is used to guide the first linkage member 312. Specifically, the guide assembly 7 includes a first guide member 71 and a second guide member 72. The first guide member 71 is passed through the first linkage member 312. The length direction of the first guide member 71 is horizontally arranged in a straight line, and the length of the first guide member 71 is arranged in a direction close to the drive motor 21. The first guide member 71 is fixedly connected to the second guide member 72 by bolts, and the second guide member 72 is fixedly connected to the linkage mounting frame 311 by bolts. Therefore, the first linkage member 312 can slide along the length direction of the horizontal guide rail 41 together with the linkage mounting frame 311. As a result, the drive motor 21 can drive the first linkage member 312, the linkage mounting frame 311 and the third linkage member 314 to move along the horizontal guide rail 41.

[0046] Reference Figure 5The frame 4 is also provided with a vertical guide rail 42, which is provided on the side of the linkage mounting frame 311 away from the drive motor 21. The linkage assembly 31 also includes a second linkage 313, which is slidably connected to the vertical guide rail 42. The grasping device 1 includes a grasping assembly 11, which is connected to the second linkage 313, thereby achieving the grasping of the workpiece and enabling vertical and horizontal movement. The process control member 32 is fixedly connected to the top of the second linkage 313 by bolts. The process control member 32 is provided with a process control channel 321. One end of the first linkage 312 is slidably connected to the process control channel 321 via a pulley 315. Moreover, the side wall of the process control channel 321 is smoothly transitioned, thereby maintaining the excellent movement performance of the pulley 315 in the process control channel 321, reducing jamming, and maintaining stability during the transportation of workpieces.

[0047] Reference Figure 5 and Figure 6 The process control channel 321 includes a first channel 3211 and a second channel 3212, wherein one end of the first channel 3211 is connected to the second channel 3212. In this embodiment, since the workpiece progresses in a cyclical reciprocating motion from a first position to a second position and then from the second position to the first position, the first channel 3211 and the second channel 3212 are symmetrically arranged along the midline of the horizontal length of the process control channel 321. Furthermore, the first channel 3211 is arranged vertically downward, gradually moving away from the second linkage member 313. A first process point 32111 is provided on the first channel 3211, located on a side of the first channel 3211 away from the second channel 3212. A third process point 32113 is provided on the second channel 3212, and the location where the first channel 3211 connects to the second channel 3212 is set as the second process point 32112. When the pulley 315 moves from the first process point 32111 to the second process point 32112, the workpiece will be displaced horizontally toward the drive motor 21 and vertically along with the gripping assembly 11. When the pulley 315 moves from the second process point 32112 to the third process point 32113, the workpiece will be displaced vertically and horizontally toward the drive motor 21 along with the gripping assembly 11. When the pulley 315 moves from the third process point 32113 to the second process point 32112, the workpiece will be displaced horizontally away from the drive motor 21 and vertically along with the gripping assembly 11. When the pulley 315 moves from the second process point 32112 to the third process point 32113, the workpiece will be displaced horizontally away from the drive motor 21 and vertically along with the gripping assembly 11. However, the vertical and horizontal displacements occur almost simultaneously, resulting in an inaccurate motion trajectory and poor transportation efficiency.

[0048] Reference Figure 1 and Figure 7 In order to improve the transport stability of the workpiece during transportation, this embodiment further includes a limit assembly 5 and an elastic assembly 6. The limit assembly 5 and the elastic assembly 6 are used together to control the movement trajectory of the workpiece, so that the vertical movement and horizontal movement of the workpiece are separated. Specifically, the limit assembly 5 includes a control limit member 51, a first limit member 52, and a second limit member 53. The control limit member 51 is fixedly connected to the linkage mounting frame 311 by bolts, and the first limit member 52 and the second limit member 53 are installed on the frame 4. The first limit member 52 and the second limit member 53 are located on the same horizontal line. Moreover, the control limit member 51 can move with the linkage mounting frame 311, and the first limit member 52 and the second limit member 53 are both located on the movement path of the control limit member 51. When the control limit member 51 is pressed against the first limit member 52 or the second limit member 53, the linkage mounting frame 311 is difficult to continue moving along the direction of the first limit member 52 or the second limit member 53; at this time, the second linkage member 313 can still move vertically, so that the workpiece is vertically displaced at this time, maintaining good transportation stability.

[0049] Reference Figure 4 , in order to separate the horizontal and vertical movements of the workpiece, and to achieve the reciprocating feeding effect of the workpiece with only one driving source. In this embodiment, an elastic component 6 is also included, wherein the elastic component 6 includes a first elastic member 61 and a second elastic member 62. The first elastic member 61 and the second elastic member 62 are both arranged in the penetration groove 3111, and the first elastic member 61 and the second elastic member 62 have the same specifications. Moreover, the first elastic member 61 and the second elastic member 62 are respectively located on both sides of the first linkage member 312, and the length of the first elastic member 61 is equal to the horizontal distance between the first process point 32111 and the second process point 32112. Moreover, in this embodiment, the initial position of the first linkage member 312 is located at the second process point 32112.

[0050] The purpose of this setting is that when the drive motor 21 drives the first linkage 312 to move, the first linkage 312 will preferentially realize horizontal movement, that is, the drive motor 21 drives the third linkage 314 to slide, and when the grabbing assembly 11 reaches the first position or the second position, after the control limit member 51 is pressed against the first limit member 52 or the second limit member 53, the third linkage 314 is difficult to move horizontally; when the drive motor 21 continues to drive the first linkage 312 to move, the first elastic member 61 or the second elastic member 62 will be compressed by the first linkage 312, and the pulley 315 begins to slide along the process control channel 321, so that the second linkage 313 slides along the vertical guide rail 42, so that the grabbing assembly 11 can be displaced vertically. Therefore, the horizontal and vertical movements of the grabbing component 11 can be controlled by one driving source, and the horizontal and vertical directions can operate independently of each other, so that the movement trajectory of the workpiece is vertically moving from the first position to above the first position, and then horizontally moving to vertically above the second position, and then vertically moving from above the second position to the second position, and the movement can be implemented in reverse, so that one grabbing component can perform the entire process, and the movement trajectory is all vertical or horizontal linear movement, which is not prone to shaking, thereby improving the stability of the workpiece transportation process.

[0051] Reference Figure 3 and Figure 4 In this embodiment, the deformation force of the first elastic member 61 is greater than the static friction force when the linkage mounting frame 311 is ready to slide. The purpose of this setting is to give priority to achieving horizontal linear motion when the driving motor 21 drives the first linkage member 312 to move; even during the reset process of the first elastic member 61, since the first elastic member 61 is set in the linkage mounting frame 311, the energy generated by the reset of the first elastic member 61 belongs to the internal energy of the linkage mounting frame 311 and cannot do work on the horizontal guide rail 41. Therefore, during the reset process of the first elastic member 61, the linkage mounting frame 311 is difficult to be affected by the first elastic member 61 and move, thereby maintaining the transportation stability of the entire loading structure.

[0052] Reference Figure 8 and Figure 9The grabbing assembly 11 includes a pushing member 111, a gasket 112, a stripping shell 113, a reset member 114 and a suction head member 115. Specifically, the second linkage member 313 includes a mounting portion 3131. The length direction of the mounting portion 3131 is arranged along a direction away from the vertical guide rail 42. A mounting hole is provided on the mounting portion 3131. Two groups of gaskets 112 are provided, and the two groups of gaskets 112 are respectively arranged on the upper and lower sides of the mounting portion 3131. Moreover, a mounting hole is provided on the gasket 112, and the gasket 112 is fixedly connected to the mounting portion 3131 by bolts. The pushing member 111 includes a clamping portion 1111, a first penetrating portion 1112, a second penetrating portion 1113 and a connecting portion 1114, wherein the clamping portion 1111, the first penetrating portion 1112, the second penetrating portion 1113 and the connecting portion 1114 are arranged in sequence along the vertical direction, and the horizontal cross-sectional area of ​​the clamping portion 1111 is larger than that of the first penetrating portion 1112. The first penetrating portion 1112 is penetrated in the mounting hole 31311, so that the pushing member 111 can slide along the mounting hole 31311. When the clamping portion 1111 is pressed against the gasket 112, the pushing member 111 reaches the lowest position. In addition, the stripping shell 113 is fixedly connected to the gasket 112 located below the mounting portion 3131, the reset member 114 adopts a steel spring, the second penetration portion 1113 is penetrated through the stripping shell 113, the reset member 114 is arranged in the stripping shell 113, and the second penetration portion 1113 is also penetrated through the reset member 114, the connecting portion 1114 is connected to the suction head 115, and the suction head 115 adopts an industrial suction nozzle to adsorb the workpiece when taking the material.

[0053] Reference Figure 9 and Figure 10 In order to realize the stripping function of the workpiece, in this embodiment, an auxiliary stripping part 8 is provided on the frame 4, wherein the auxiliary stripping part 8 is arranged on the side of the frame 4 close to the second linkage part 313, one end of the auxiliary stripping part 8 protrudes from the frame 4, and a clamping groove 81 is provided on the auxiliary stripping part 8, and the clamping part 1111 can be clamped by the clamping groove 81. Moreover, a penetration hole 3132 is provided on the second linkage member 313. When the second linkage member 313 is driven by the driving motor 21 and moves toward the driving motor 21, it assists the stripping member 8 to penetrate the penetration hole 3132, and the clamping groove 81 clamps the clamping part 1111. When the second linkage member 313 is driven by the driving motor 21 and moves vertically downward, the position of the pushing member 111 is fixed by the clamping groove 81, and the stripping shell 113 moves vertically downward with the second linkage member 313. The stripping shell 113 presses against the workpiece to make the workpiece detach, thereby realizing stripping. Due to the action of the reset member 114, when the second linkage member 313 rises, the stripping shell 113 resets, thereby performing a cycle of taking and discharging materials.

[0054] The implementation principle of this embodiment is as follows: when the driving motor 21 drives the first linkage member 312 to move, the first linkage member 312 will preferentially realize the horizontal movement along the horizontal guide rail 41 with the linkage mounting frame 311, that is, the driving motor 21 drives the third linkage member 314 to slide, and when the grabbing assembly 11 reaches the first position, after the control limit member 51 is pressed against the first limit member 52, the third linkage member 314 is difficult to move in the horizontal direction; when the driving motor 21 continues to drive the first linkage member 312 to move, the first elastic member 61 will be compressed by the first linkage member 312, and the pulley 315 begins to slide along the process control channel 321, so that the second linkage member 313 slides along the vertical guide rail 42, so that the grabbing assembly 11 can be vertically displaced to pick up materials. Therefore, the horizontal and vertical movements of the grabbing component 11 can be controlled by a driving source, and the horizontal and vertical directions can operate independently of each other, so that the movement trajectory of the workpiece is to move vertically from the first position to above the first position, and then move horizontally to vertically above the second position, and then move vertically from above the second position to the second position for removing the material, so that one pushing member 111 can carry out the entire process, and the movement trajectories are all independent vertical or horizontal linear movements, which are not prone to shaking, thereby improving the stability of the workpiece transportation process.

[0055] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A servo cam feeding mechanism, characterized in that: include: A gripping device (1) for gripping a workpiece; A driving device (2) for driving the grasping device (1) to move; A process control device (3) for controlling the process of the gripping device (1) gripping the workpiece; A frame (4) for placing the gripping device (1), the driving device (2) and the process control device (3); The gripping device (1), the driving device (2) and the process control device (3) are all arranged on the frame (4); the process control device (3) comprises a linkage assembly (31) and a process control member (32); the driving device (2) is connected to the linkage assembly (31); the linkage assembly (31) slides horizontally relative to the driving device (2); and the linkage assembly (31) is connected to the gripping device (1); a process control channel (321) is provided on the process control member (32); the linkage assembly (31) comprises a pulley (315); and the pulley (315) slides along the inner wall of the process control channel (321); The process control channel (321) includes a first process point (32111), a second process point (32112) and a third process point (32113), and the pulley (315) can smoothly slide between the first process point (32111) and the second process point (32112), and the pulley (315) can smoothly slide between the second process point (32112) and the third process point (32113); the first process point (32111) and the third process point (32113) Located on the same horizontal straight line, the third process point (32113) is spaced horizontally from the first process point (32111) by the horizontal distance from the first position to the second position; the second process point (32112) is spaced vertically from the first process point (32111); during the loading process, the linkage assembly (31) passes through the first process point (32111), the second process point (32112), and the third process point (32113) in sequence under the drive of the drive device (2); The linkage assembly (31) includes a first linkage member (312) and a second linkage member (313); a horizontal guide rail (41) is provided on the frame (4); the first linkage member (312) slides along the length direction of the horizontal guide rail (41); the first linkage member (312) is connected to the process control member (32); the other end of the first linkage member (312) is connected to the output end of the drive device (2); the process control member (32) is connected to the second linkage member (313); a vertical guide rail (42) is provided on the frame (4); the second linkage member (313) is slidably connected to the vertical guide rail (42); a servo cam feeding mechanism also includes an elastic component (6); the elastic component (6) is used to reset the first linkage member (312); A servo cam feeding mechanism further comprises a limit assembly (5), wherein the limit assembly (5) is used to control the second linkage member (313) to slide on the vertical guide rail (42); the linkage assembly (31) further comprises a linkage mounting frame (311), wherein the linkage mounting frame (311) is slidably connected to the horizontal guide rail (41), and the limit assembly (5) comprises a control limit member (51), a first limit member (52) and a second limit member (53), wherein the control limit member (51) is arranged on the linkage mounting frame (311). ), the first limiting member (52) and the second limiting member (53) are both passed through the frame (4), the passing lengths of the first limiting member (52) and the second limiting member (53) are used to control the horizontal movement range of the grasping device (1), and the first limiting member (52) and the second limiting member (53) are both located on the movement path of the control limiting member (51), and when the control limiting member (51) presses against the first limiting member (52) or the second limiting member (53), the grasping device (1) stops moving horizontally; The elastic component (6) comprises a first elastic member (61) and a second elastic member (62), wherein the length of the first elastic member (61) is equal to the horizontal distance between the first process point (32111) and the second process point (32112), and the length of the second elastic member (62) is equal to the horizontal distance between the second process point (32112) and the third process point (32113), and the first elastic member (61) and the second elastic member (62) are respectively arranged on both sides of the first linkage member (312).

2. A servo cam feeding mechanism according to claim 1, characterized in that: The invention also includes an auxiliary guide assembly (7), wherein the auxiliary guide assembly (7) includes a first guide member (71) and a second guide member (72), wherein the first guide member (71) is provided through the first linkage member (312), and the length direction of the first guide member (71) is consistent with the horizontal movement direction of the workpiece, the first guide member (71) is connected to the second guide member (72), and the second guide member (72) is fixedly connected to the linkage mounting frame (311).

3. The servo cam feeding mechanism according to claim 1, characterized in that: The process control channel (321) is internally provided with a smooth transition.

4. The servo cam feeding mechanism according to claim 1, characterized in that: The gripping device (1) comprises a gripping assembly (11), the gripping assembly (11) being inserted into the second linkage member (313), a suction head member (115) being provided at one end of the gripping assembly (11) close to the workpiece, the suction head member (115) being used to adsorb the workpiece, the gripping assembly (11) comprising a pushing member (111), the pushing member (111) being used to push the suction head member (115), an elastic reset member (114) being provided inside the pushing member (111), the reset member (114) being used to reset the suction head member (115).

5. The servo cam feeding mechanism according to claim 4, characterized in that: The frame (4) is provided with an assisting stripping member (8), and the assisting stripping member (8) is provided on a side of the frame (4) close to the grabbing assembly (11). The assisting stripping member (8) is provided with a clamping groove (81). The grabbing assembly (11) includes a pushing member (111) and a stripping shell (113). The pushing member (111) is passed through the stripping shell (113). The suction head (115) is provided at one end of the stripping shell (113) away from the pushing member (111). The clamping groove (81) is used to clamp the pushing member (111). When the pushing member (111) is clamped, the stripping shell (113) moves downward under the action of the driving device (2), and the stripping shell (113) presses the workpiece so that the workpiece is separated from the suction head (115).

6. A feeding method, comprising a servo cam feeding mechanism according to any one of claims 1 to 5, characterized in that: include: S1: Preparation stage, one end of the first linkage member (312) is located at the second process point (32112), and the linkage mounting frame (311) is located on a side of the horizontal guide rail (41) away from the driving device (2); S2: descending to take the material, one end of the first linkage member (312) moves to the first process point (32111), at this time, the first linkage member (312) presses the first elastic member (61), so that the first elastic member (61) is compressed, and the second linkage member (313) drives the suction head member (115) to move downward, so that the suction head member (115) adsorbs the workpiece at the first position; S3: After taking the material, the workpiece rises, and the first elastic member (61) is reset under the action of elastic potential energy, driving one end of the first linkage member (312) to move to the second process point (32112), and the second linkage member (313) then slides along the vertical guide rail (42). The second linkage member (313) drives the suction head member (115) to move upward, so that the workpiece is located vertically above the first position; S4: After rising, the first elastic member (61) moves in the horizontal direction. After the first elastic member (61) is reset, the driving device (2) drives the linkage mounting frame (311) to move along the horizontal guide rail (41), so that the control limit member (51) is pressed against the second limit member (53), and the workpiece adsorbed by the suction head member (115) moves along the horizontal straight line direction and reaches the vertical upper side of the second position; S5: descending, after the control limit member (51) presses against the second limit member (53), the driving device (2) continues to drive the first linkage member (312) to move, so that the first linkage member (312) presses against the second elastic member (62), one end of the first linkage member (312) moves from the second process point (32112) to the third process point (32113), the second linkage member (313) slides downward along the vertical guide rail (42), and the suction head member (115) carries the workpiece and moves downward to the second position; S6: stripping; when the suction head (115) is in the process of descending and the pushing member (111) is clamped by the clamping groove (81), the suction head (115) presses against the reset member (114), causing the reset member (114) to be compressed, thereby causing the stripping housing (113) to move downward relatively until the stripping housing (113) presses against the workpiece, causing the workpiece to be separated from the suction head (115), and the stripping is completed; S7: Reset after stripping; the second elastic member (62) resets and pushes the first linkage member (312), so that one end of the first linkage member (312) moves from the third process point (32113) to the second process point (32112).

Images