Mechanical hand feeding device

Abstract

The application discloses a mechanical hand feeding device, relates to the technical field of feeding machines, and comprises a feeding frame and a mechanical hand. A plurality of groups of material conveyors are arranged in the feeding frame. A transfer seat is arranged on the side of the feeding frame close to the mechanical hand. The end of the material conveyor close to the mechanical hand is provided with a docking port. The transfer seat is movably arranged on the side of the feeding frame through a plane driving mechanism. The transfer seat is switched in position between the docking ports through the driving of the plane driving mechanism. The transfer seat is connected with the plane driving mechanism through a telescopic air cylinder. A feeding positioning area corresponding to the mechanical hand is arranged on the feeding frame. The relay selection of a plurality of materials is realized through the movement of the transfer seat. The required material for the next step is transferred to the feeding positioning area in advance to wait during the execution of the task of the mechanical hand. The operation track is always the same, and the track operation is not required, so that the operation procedure is the simplest, the operation time is the shortest, and the working efficiency of the mechanical hand is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of feeding machinery, in particular to a mechanical hand feeding device. BACKGROUND

[0002] The pneumatic mechanical hand is an automatic operating device which can imitate the function of some actions of human hands and arms, and is used to grab, carry objects or operate tools according to fixed programs. It can replace the heavy labor of human beings to realize the mechanization and automation of production, reduce the labor intensity of human beings, and save the production cost. It can operate in a harmful environment to protect the safety of human beings. Meanwhile, as a kind of mechanical hand, the pneumatic mechanical hand has the advantages of simple structure, light weight, rapid and stable action, reliability, energy saving and no pollution to the environment, and is widely used in various industries.

[0003] In many production lines, the mechanical hand is used to perform the material taking and placing operation. However, when facing many different kinds of materials for sequential feeding, the positions of the materials are different, and the positions of the mechanical hand required to reach the materials are also different. Therefore, the motion trajectory of the mechanical hand is complex and variable, it is difficult to work with the simplest motion stroke, and the running time of the mechanical hand is increased, and the production efficiency is reduced. SUMMARY

[0004] The purpose of the present application is to provide a mechanical hand feeding device to solve the above-mentioned deficiencies in the prior art.

[0005] In order to achieve the above-mentioned purpose, the present application provides the following technical scheme: a mechanical hand feeding device, comprising a feeding frame and a mechanical hand, a plurality of material conveyors are installed in the feeding frame, a transfer seat is arranged on the side of the feeding frame close to the mechanical hand, a docking port is arranged at one end of the material conveyor close to the mechanical hand, the transfer seat is movably installed on the side of the feeding frame through a plane driving mechanism, the transfer seat is switched in position between the docking ports through the driving of the plane driving mechanism, the transfer seat is connected with the plane driving mechanism through a telescopic cylinder, and a feeding positioning area corresponding to the mechanical hand is arranged on the feeding frame, the feeding positioning area is composed of a clamping structure for clamping and limiting the transfer seat. In actual use, different materials can be conveyed by using a plurality of material conveyors, the transfer seat is driven to the docking port corresponding to the selected material by using the plane driving mechanism, the material at the docking port is taken to the transfer seat by controlling the transfer seat to move forward and dock with the docking port, the mechanical hand is waited for taking the material when the transfer seat reaches the feeding positioning area, the relay selection of a plurality of materials is realized by moving the transfer seat, the material required for the next step is transferred to the feeding positioning area in advance during the execution of the task by the mechanical hand, the operation stroke of the mechanical hand is shortened to the shortest, the operation trajectory is always the same, and the trajectory operation is not required, so that the operation program is the simplest, the operation time is the shortest, and the working efficiency of the mechanical hand is greatly improved.

[0006] Preferably, the planar driving mechanism comprises a vertical guide rail, the mechanical arm is arranged on one side of the feeding frame close to the mechanical arm, a lifting frame is slidably arranged on the vertical guide rail, a horizontal moving seat is slidably arranged on the lifting frame, the transfer seat is arranged on the horizontal moving seat through a telescopic cylinder, and the telescopic cylinder is fixedly connected with the horizontal moving seat, so that the transfer seat can be moved in the plane.

[0007] Preferably, the inside of the lifting frame is provided with a horizontal guide rail, the horizontal moving seat is slidably connected with the horizontal guide rail, and linear drives are arranged between the lifting frame and the vertical guide rail and between the horizontal moving seat and the lifting frame, the linear drives can be selected from a screw structure or a cylinder structure, so as to effectively drive the transfer seat.

[0008] Preferably, the material conveyor is composed of a conveying belt and a guide groove structure arranged outside the conveying belt, a slope section is arranged between the material conveyor and the docking interface, the material is conveyed forward by the conveying belt and slides downward when passing through the slope section, so as to form extrusion and pushing of the material stored at the docking interface, and when the transfer seat is docked with the docking interface, the material can automatically slide onto the transfer seat for feeding.

[0009] Preferably, a positioning hole is formed in the end face of the docking interface, a positioning pin is fixedly connected to one side of the transfer seat corresponding to the docking interface, and the positioning pin is inserted into the positioning hole for positioning when the transfer seat is docked with the docking interface, so as to ensure stable docking of the transfer seat and the docking interface.

[0010] Preferably, material blocking clamps are rotatably connected to the two sides of the end face of the docking interface, torsion springs are arranged between the material blocking clamps and the docking interface, the material blocking clamps extend to the inside of the guide groove in the docking interface to block the material, the positioning hole is provided in two groups and is arranged on the inside of the bottom end of the material blocking clamp, the positioning pin is in a wedge structure, and the outside wall of the positioning pin is provided with an inclined surface, that is, when the transfer seat is not docked with the docking interface, the material blocking clamps limit the port of the docking interface under the action of the torsion springs to block the material, when the transfer seat is docked with the docking interface, the positioning pin is inserted into the positioning hole, and the inclined surface of the positioning pin pushes the material blocking clamps outward, so that the blocking of the material is released, then the material slides into the transfer seat, and is limited by the transfer seat itself, so that only one material can slide in each time, and when the transfer seat leaves the docking interface, the material blocking clamps gradually shrink inward to block the subsequent material, so that the material does not fall out automatically after the transfer seat leaves, thereby ensuring the stability and safety of the device.

[0011] Preferably, a vacuum suction port is arranged on the inner wall of the transfer seat, and a hollow generator is connected to the vacuum suction port through an air pipe, so that when the material falls into the transfer seat, the vacuum generator is started to form negative pressure in the inner wall of the transfer seat, so as to effectively adsorb the material and ensure that the material does not fall off during the transfer of the transfer seat.

[0012] In the above technical solution, the present application provides technical effects and advantages:

[0013] The present application uses multiple material conveyors to convey different materials, uses the movement of the transfer seat to relay and select multiple materials, and transfers the required materials for the next step to the feeding positioning area in advance during the operation of the manipulator, so as to shorten the operation stroke of the manipulator and keep the operation track unchanged, thereby simplifying the operation program and shortening the operation time, and greatly improving the work efficiency of the manipulator. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings used in the embodiments will be briefly introduced as follows.

[0015] Figure 1 It is a schematic diagram of the overall structure of the present application.

[0016] Figure 2 It is a schematic diagram of the structure of the feeding rack in the present application.

[0017] Figure 3 It is a side view of the feeding rack of the present application.

[0018] Figure 4 It is a schematic diagram of the material taking state of the transfer seat in the present application.

[0019] Figure 5 It is a schematic diagram of the structure of the transfer seat in the present application.

[0020] Figure 6 It is an end view of the docking interface of the material conveyor in the present application.

[0021] Figure 7 It is an end view of the docking interface when the transfer seat and the docking interface are docked.

[0022] Explanation of reference signs:

[0023] 1, feeding rack; 11, feeding positioning area; 2, manipulator; 3, material conveyor; 31, docking interface; 32, slope section; 33, material blocking plate; 34, positioning hole; 4, transfer seat; 41, positioning pin; 42, vacuum suction port; 5, vertical guide rail; 6, lifting frame; 61, horizontal guide rail; 7, horizontal moving seat; 8, telescopic cylinder. DETAILED DESCRIPTION

[0024] Example 1

[0025] The present application provides a method for conveying materials, which comprises the following steps: Figure 1The illustrated mechanical hand feeding device comprises a feeding frame 1 and a mechanical hand 2, a plurality of material conveyors 3 are installed in the feeding frame 1, a transfer seat 4 is arranged on the side of the feeding frame 1 close to the mechanical hand 2, the material conveyors 3 are provided with butt joint interfaces 31 at the end close to the mechanical hand 2, the transfer seat 4 is movably installed on the side of the feeding frame 1 by a plane driving mechanism, the transfer seat 4 is switched in position between the butt joint interfaces 31 by the driving of the plane driving mechanism, the transfer seat 4 is connected with the plane driving mechanism by a telescopic cylinder 8, and the feeding frame 1 is provided with a feeding positioning area 11 corresponding to the mechanical hand 2, the feeding positioning area 11 is composed of clamping structures clamping and limiting the transfer seat 4, in actual use, different materials can be conveyed by the plurality of material conveyors 3, the transfer seat 4 is driven to the butt joint interface 31 corresponding to the selected material by the plane driving mechanism, then the transfer seat 4 is controlled to move forward and butt joint with the butt joint interface 31 by the telescopic cylinder 8, the material at this position is taken to the transfer seat 4, when the transfer seat 4 reaches the feeding positioning area 11, the mechanical hand 2 waits for taking the material at this position, that is, the relay selection of a plurality of materials is realized by the movement of the transfer seat 4, during the execution of the task of the mechanical hand 2, the next required material is transferred to the feeding positioning area 11 in advance, so that the operation stroke of the mechanical hand 2 is shortened to the shortest, the operation track is always the same, and the track operation is not required, so that the operation program is the simplest and the operation time is the shortest, and the working efficiency of the mechanical hand is greatly improved.

[0026] Further, in the above technical solution, the plane driving mechanism comprises a vertical guide rail 5, the mechanical hand 2 is arranged on the side of the feeding frame 1 close to the mechanical hand 2, a lifting frame 6 is slidably installed on the vertical guide rail 5, a horizontal moving seat 7 is slidably installed on the lifting frame 6, the transfer seat 4 is installed on the horizontal moving seat 7 by the telescopic cylinder 8, and the telescopic cylinder 8 is fixedly connected with the horizontal moving seat 7, so that the transfer seat 4 can be moved in the plane.

[0027] Further, in the above technical solution, the inside of the lifting frame 6 is provided with a horizontal guide rail 61, the horizontal moving seat 7 is slidably connected with the horizontal guide rail 61, and a linear driver is arranged between the lifting frame 6 and the vertical guide rail 5 and between the horizontal moving seat 7 and the lifting frame 6, the linear driver can be a screw structure or a cylinder structure, so as to effectively drive the transfer seat 4.

[0028] Further, in the above technical solution, a vacuum suction port 42 is arranged on the inner wall of the transfer seat 4, and the vacuum suction port 42 is connected with a hollow generator through an air pipe, when the material falls into the transfer seat 4, the vacuum generator is started to form a negative pressure in the inner wall of the transfer seat 4, so as to effectively adsorb the material and ensure that the material will not fall during the transfer of the transfer seat 4.

[0029] Embodiment 2

[0030] Based on the mechanical hand feeding device of example 1, the material conveyor 3 is composed of a conveying belt and a guide groove structure arranged outside the conveying belt, and a slope section 32 is arranged between the material conveyor 3 and the docking interface 31. The material is conveyed forward by the conveying belt and slides downward when passing through the slope section 32, thereby forming extrusion pushing to the material stored at the docking interface 31. When the transfer seat 4 is docked with the docking interface 31, the material can automatically slide onto the transfer seat 4 for feeding.

[0031] Further, in the above technical solution, a positioning hole 34 is arranged on the docking interface 31, and a positioning pin 41 is fixedly connected to one side of the transfer seat 4 corresponding to the docking interface 31. When the transfer seat 4 is docked with the docking interface 31, the positioning pin 41 is inserted into the positioning hole 34 for positioning, thereby ensuring the stable docking of the transfer seat 4 and the docking interface 31.

[0032] Further, in the above technical solution, a material blocking baffle 33 is rotatably connected to both sides of the end surface of the docking interface 31, and a torsion spring is arranged between the material blocking baffle 33 and the docking interface 31. The material blocking baffle 33 extends to the inside of the guide groove of the docking interface 31 to block the material. The positioning hole 34 is arranged in two groups, and each group of the positioning hole 34 is arranged on the inside of the bottom end of the material blocking baffle 33. The positioning pin 41 is in a wedge-shaped block structure, and the outer side wall of the positioning pin 41 is arranged as an inclined surface. That is, when the transfer seat 4 is not docked with the docking interface 31, the material blocking baffle 33 limits the port of the docking interface 31 under the action of the torsion spring to block the material. When the transfer seat 4 approaches the docking interface 31 for docking, the positioning pin 41 is inserted into the positioning hole 34, and the inclined surface of the positioning pin 41 pushes the material blocking baffle 33 outward, thereby removing the blockage of the material. Then, the material slides into the transfer seat 4, and is limited by the transfer seat 4 itself, so that only one material can slide in each time. When the transfer seat 4 leaves the docking interface 31, the material blocking baffle 33 gradually shrinks to block the subsequent material. Therefore, the material does not actively fall out after the transfer seat 4 leaves the docking interface 31, thereby ensuring the stability and safety of the device operation.

[0033] Working principle: In actual use, different materials can be conveyed by using multiple material conveyors 3. The transfer seat 4 is driven by the planar driving mechanism to reach the docking interface 31 corresponding to the material to be selected. Then, the material at the docking interface 31 is taken into the transfer seat 4 by controlling the extension and retraction of the pneumatic cylinder 8 to control the transfer seat 4 to dock with the docking interface 31. When the transfer seat 4 reaches the feeding positioning area 11, the manipulator 2 waits for the material to be taken at this position. That is, the movement of the transfer seat 4 realizes the relay selection of multiple materials. During the operation of the manipulator 2, the next required material is transferred to the feeding positioning area 11 in advance to wait. Therefore, the operation stroke of the manipulator 2 can be shortened to the shortest, and the operation trajectory is always the same, without the need for trajectory changing operation, thereby simplifying the operation program and shortening the operation time, and greatly improving the working efficiency of the manipulator.

Claims

1. A mechanical hand feeding device comprising a feeding rack (1) and a mechanical hand (2), characterized in that: The feeding frame (1) is provided with a plurality of groups of material conveyors (3), a transfer seat (4) is arranged on the side of the feeding frame (1) close to the manipulator (2), the material conveyor (3) is provided with a docking port (31) at one end close to the manipulator (2), the transfer seat (4) is movably arranged on the side of the feeding frame (1) by a plane driving mechanism, the transfer seat (4) is switched in position between the docking ports (31) by the driving of the plane driving mechanism, the transfer seat (4) is connected with the plane driving mechanism by a telescopic air cylinder (8), and the feeding frame (1) is provided with a feeding positioning area (11) corresponding to the manipulator (2); The material conveyor (3) is composed of a conveying belt and a guide groove structure arranged outside the conveying belt, and a slope section (32) is arranged between the material conveyor (3) and the docking port (31); A positioning hole (34) is arranged on the docking port (31), and a positioning pin (41) is fixedly connected to the side of the transfer seat (4) corresponding to the docking port (31); A material blocking clamping plate (33) is rotatably connected to the two sides of the end face of the docking port (31), a torsion spring is arranged between the material blocking clamping plate (33) and the docking port (31), the material blocking clamping plate (33) extends to the inside of the guide groove of the docking port (31), the positioning hole (34) is arranged in two groups, and the two groups of positioning holes (34) are arranged on the inside of the bottom end of the material blocking clamping plate (33), the positioning pin (41) is in the form of a wedge-shaped block, and the outer side wall of the positioning pin (41) is arranged in the form of an inclined surface.

2. The robot feeding device according to claim 1, characterized in that The plane driving mechanism comprises a vertical guide rail (5), the manipulator (2) is arranged on the side of the feeding frame (1) close to the manipulator (2), a lifting frame (6) is slidably arranged on the vertical guide rail (5), a horizontal moving seat (7) is slidably arranged on the lifting frame (6), the transfer seat (4) is arranged on the horizontal moving seat (7) by a telescopic air cylinder (8), and the telescopic air cylinder (8) is fixedly connected with the horizontal moving seat (7).

3. A mechanical hand feeding device according to claim 2, wherein: A horizontal guide rail (61) is arranged in the lifting frame (6), the horizontal moving seat (7) is slidably connected with the horizontal guide rail (61), and a linear driver is arranged between the lifting frame (6) and the vertical guide rail (5) and between the horizontal moving seat (7) and the lifting frame (6), and the linear driver is in the form of a screw rod structure.

4. The robot feed apparatus according to claim 1, wherein: A vacuum suction port (42) is arranged on the inner wall of the transfer seat (4), and the vacuum suction port (42) is connected with a hollow generator by a gas pipe.

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