Tap conveyer

Abstract

The present application relates to tap transport technical field, it is a kind of tap conveying device, including AGV dolly, mechanical arm, tap tray and gripper assembly, AGV dolly upper side is equipped with support seat.The present application is reasonable and compact in structure, front grab slot and rear grab slot can realize gripper assembly quickly grab tap tray, prevent gripper assembly grab tap tray from sliding and falling after moving with mechanical arm or AGV dolly in process, can improve the stability of tap tray in moving process after being grabbed, meanwhile, front grab slot and rear grab slot can also realize gripper assembly grab tap tray in tap tray positioning, so that tap tray can be placed in target position according to the same direction, realize the standardization of tap tray transfer process, facilitate subsequent tap processing technology equipment to the accurate grab of tap bar on tap tray, can improve the smoothness of tap bar processing technology between link, shorten the waiting time between process, improve the processing efficiency of tap bar.

Description

Technical Field

[0001] This invention relates to the field of tap transfer technology and is a tap conveying device. Background Technology

[0002] The current machining industry faces problems such as high equipment investment costs, low equipment utilization rates, and low production efficiency. Furthermore, the machining process is highly dependent on skilled technicians, resulting in significant labor input. To increase production capacity, companies continuously purchase new high-precision machining equipment and hire specialized technicians, leading to persistently high processing costs. Achieving rational allocation and automated flow of each process step through automation and specialization technologies, thereby reducing repetitive manual labor, is a crucial approach to solving this problem.

[0003] In automated production, workpiece transfer requires securing the workpiece with fixtures before placing it, along with the fixtures, onto a pallet for transport. Existing pallet transport methods mostly utilize AGVs (Automated Guided Vehicles) or forklifts. However, AGVs are not ideal for lifting and placing pallets onto racks at designated heights, while forklifts are inefficient.

[0004] In existing automated manufacturing technologies, companies generally use automated equipment to transport workpieces to the processing area, then position the workpieces before starting the processing operation. This process consumes a lot of time, causing machine tools to be in a waiting state and wasting the utilization rate of processing equipment.

[0005] Chinese patent document CN111451843A discloses an intelligent manufacturing production line for taps, comprising the following parts: A working system: including several machine tools arranged in sequence, each machine tool having a connecting platform and a robotic arm at its front end, the machine tools corresponding sequentially to various tap processing steps; A storage system: including several shelves and logistics carts, the shelves storing workpieces corresponding to each machine tool, the logistics carts running along tracks, and the logistics carts equipped with a material tray transfer device; A transfer system: including an intelligent trolley equipped with an automatic guide device, the intelligent trolley having a conveying device docking with the connecting platform; An oil mist treatment system: each machine tool is equipped with an oil mist sub-processor connected to the machine tool's interior, the output of the oil mist sub-processor is connected to a main oil mist processor via oil mist delivery branch pipes and a main oil mist delivery pipe, the output of the main oil mist processor is connected to a treatment water tank, and an exhaust pipe is provided at the end of the treatment water tank, the treatment water tank and exhaust pipe being located outside the production line workshop. The oil mist separator and the main oil mist processor use centrifugal oil mist processors, electrostatic oil mist processors, or condensing oil mist processors, preferably electrostatic oil mist processors; Waste oil recovery system: A waste oil conveying trough is set at the rear of the working system. The oil drain pipes on the machine tool are all connected to the waste oil conveying trough. An oil tank is set at the end of the waste oil conveying trough. A waste oil filtration and recovery device is set in the oil tank. A cooling device is also set on one side of the oil tank. The waste oil filtration and recovery device uses a filtration system to filter and recover waste oil. The cooling device is a large-scale refrigeration unit. The oil tank, waste oil filtration and recovery device, and cooling device are isolated from other systems; Transfer system: Includes a transfer platform with a conveyor belt for transferring material trays. A truss is fixed above the transfer platform, and a detection device is set on the truss. The transfer platform docks with the intelligent vehicle and the logistics vehicle respectively. The logistics vehicle is equipped with a power unit to drive the lifting and extension handles.

[0006] In this technical solution, the intelligent trolley transports pallets to transfer pallets at the same height, but it cannot transfer pallets at different heights within storage racks or between multiple processing devices. Furthermore, the transfer process between the intelligent trolley and the transfer station on the feeding platform is complex. The intelligent trolley transports the pallet of workpieces to be processed or the pallet of processed workpieces to the transfer station. The transfer station then moves the pallet forward. After reaching the end of the transfer station, the logistics vehicle adjusts the handle to the appropriate height, extends the handle to insert under the pallet, lifts the pallet for transfer, and then moves it along the track to the corresponding shelf. After adjusting the height, the pallet is placed back in. The pallet needs to be adjusted in height during each transfer, requiring multiple transfers from the workstation to the front of the machine tool. High positioning accuracy is required during the transfer process, and the complex structure of the transfer station increases the probability of malfunctions during operation.

[0007] Chinese patent document CN220431544U discloses an automatic positioning assembly equipment material transport device, including a worktable, a combined gripper, and a tray. A material conveying guide rail is placed on the worktable, and a placement platform is provided on the material conveying guide rail. The combined gripper is mounted on a robotic arm and includes an electric three-jaw chuck and a micro-suction cup. The tray is placed to the right of the combined gripper and contains materials. Although the tray in this technical solution can be transferred by a robotic arm of the same specifications, the worktable in this technical solution lacks mobility, making it unable to transport materials to multiple processing stations. Furthermore, it cannot grasp a tray with multiple tap bars inserted using the electric three-jaw chuck and micro-suction cup.

[0008] Chinese patent document CN113844848A discloses an AGV-based conveying and processing system, including: an AGV circulation route, an AGV body, multiple process stations, and tooling. Specifically: the AGV circulation route is located on the ground of the processing area; the AGV body is located on the AGV circulation route and can perform programmed intermittent displacement along the AGV circulation route; multiple process stations are arranged along the AGV circulation route; the tooling is located above the AGV body, and the tooling can hold the parts to be processed and moves with the AGV body to each process station for processing, after which the AGV body drives the tooling into the next processing cycle; a workshop storage position is located at the end of the process stations to realize the switching of tooling on the AGV body. Although this conveying and processing system can meet the conveying of parts at multiple process stations, it cannot transport the entire tap tray to the corresponding machining center.

[0009] Chinese patent document CN211890020U discloses an automatic loading and unloading device for tap processing, including a work platform and a loading and unloading robot, as well as two side support plates, a lifting cylinder, a linear module, a positioning and pushing plate, a pushing cylinder, and a unloading conveyor belt. The two side support plates are installed on the work platform, and their tops have a row of V-shaped grooves for supporting and positioning the ends of the taps. One end of each side support plate is the loading end, and the other end is the unloading end. The positioning and pushing plate is installed between the two side support plates and also has V-shaped grooves. The lifting cylinder is installed below the positioning and pushing plate to drive the positioning and pushing plate up and down. The lifting and positioning pushing plate raises a row of taps placed on the two side support plates through an upward movement, and then lowers the plate to place the taps back on the support plates. The linear module is installed on the work platform and connected to the lifting cylinder, which drives the lifting cylinder and the positioning pushing plate to move left and right. The unloading conveyor belt is arranged on one side of the two side support plates. The pushing cylinder is installed above the unloading end of the two side support plates and is connected to a gripper for clamping the taps, pushing the clamped taps onto the unloading conveyor belt. The loading and unloading robot is used to load the taps onto the loading end of the two side support plates and to unload the taps from the unloading conveyor belt.

[0010] The automated loading and unloading device in this solution interfaces with the machine tool. The loading and unloading robot sequentially loads the tap bars inserted into the loading fixture onto the two side support plates. The outermost tap bar at the unloading end of the two side support plates is clamped onto the machine tool by a robotic arm or other loading components and processed into a tap. The processed tap is then placed back into its original position on the two side support plates, gripped by claws, and then placed on a slide rail by a pushing cylinder. The tap rolls down the slide rail onto the unloading conveyor belt, where the loading and unloading robot inserts the taps from the unloading conveyor belt onto the unloading fixture. During the transfer of tap bars, the loading and unloading robot can only move the tap bars from the loading fixture at the inlet of the processing equipment into the processing equipment. It cannot transport tap bars from the raw material storage rack to the processing equipment in batches, and the process of laying the tap bars flat for transfer is also inconvenient for the robotic arm to grasp. Summary of the Invention

[0011] This invention provides a tap feeding device that overcomes the shortcomings of the prior art. It can effectively solve the problem that existing tap processing equipment consumes a lot of time during the transfer of tap materials, leaving the tap processing equipment in a waiting state and wasting the utilization rate of the tap processing equipment.

[0012] The technical solution of the present invention is achieved through the following measures: A tap feeding device includes an AGV trolley, a robotic arm, a tap tray, and a gripper assembly. A support base is installed on the upper side of the AGV trolley. At least two tap trays are spaced apart on the upper front part of the support base. Each tap tray has several mounting holes spaced apart on its upper side for inserting tap rods. A robotic arm is installed on the upper rear part of the support base. A gripper assembly is installed at the end of the robotic arm. The gripper assembly is used to grab and lower the tap tray. The front and rear sides of the middle part of the tap tray are respectively provided with a front gripping groove and a rear gripping groove for the gripper assembly to grab the tap tray. Both the front gripping groove and the rear gripping groove open downwards.

[0013] The following are further optimizations and / or improvements to the above-mentioned technical solution: The aforementioned gripper assembly may include a top plate, a front gripper, a rear gripper, and a drive assembly. The end of the robotic arm is fixedly mounted to the upper part of the top plate. A left mounting plate and a right mounting plate are fixedly mounted on the left and right sides of the top plate, respectively. A front fixed shaft is fixedly mounted between the front parts of the left and right mounting plates. The front gripper is rotatably mounted on the outer side of the middle part of the front fixed shaft. A rear fixed shaft is fixedly mounted between the rear parts of the left and right mounting plates. The rear gripper is rotatably mounted on the outer side of the middle part of the rear fixed shaft. A drive assembly is provided on the upper part of the top plate. The drive assembly enables the lower parts of the front gripper and the lower parts of the rear gripper to approach each other and insert into the front and rear gripper slots or move away from each other.

[0014] The aforementioned front gripper may include a first connecting plate, a second connecting plate, a front connecting rod, a front swing rod, and front fingers. The middle parts of the first and second connecting plates are rotatably mounted on the outside of the front fixed shaft at intervals. L-shaped front fingers are fixedly mounted on the lower sides of both the first and second connecting plates. A front connecting rod is fixedly mounted between the lower parts of the first and second connecting plates at the position below the front fixed shaft. A front swing rod is fixedly mounted between the upper parts of the first and second connecting plates at the position above the front fixed shaft. The rear gripper has the same structure as the front gripper and is symmetrically arranged. The drive assembly includes a first cylinder and a second cylinder that are hinged to the upper part of the top plate at intervals. The front end of the piston rod of the first cylinder is rotatably mounted together with the left part of the front swing rod, and the rear end of the piston rod of the second cylinder is mounted together with the corresponding position on the right side of the rear gripper.

[0015] The aforementioned front gripper may also include a limiting sleeve, a left locking nut, and a right locking nut. A limiting sleeve fitted onto the outside of the front fixed shaft is fixedly installed between the middle of the first connecting plate and the second connecting plate. A left locking nut is screwed onto the outer side of the left part of the front fixed shaft corresponding to the left side of the first connecting plate, and a right locking nut is screwed onto the outer side of the right part of the front fixed shaft corresponding to the right side of the second connecting plate.

[0016] The aforementioned front gripper may also include a fisheye bearing, with a fisheye bearing rotatably mounted on the outer left side of the front swing arm, and the inner rear side of the fisheye bearing screwed to the outer front end of the piston rod of the first cylinder.

[0017] The tap tray has a left clamping groove with an upward opening on the left side of the middle section. A right clamping groove with an upward opening is provided on the right side of the middle section of the tap tray corresponding to the position of the left clamping groove. A first rotary clamping cylinder is provided on the upper part of the support base corresponding to the position of the left clamping groove. After the lower side of the clamping block of the first rotary clamping cylinder moves, it abuts against the lower inner wall of the left clamping groove. A second rotary clamping cylinder is provided on the upper part of the support base corresponding to the position of the rear of the right clamping groove. After the lower side of the clamping block of the second rotary clamping cylinder moves, it abuts against the lower inner wall of the right clamping groove.

[0018] The tap trays located below the left and right clamping grooves can each have a downward-facing positioning groove on their underside.

[0019] The tap trays on the left and right sides of the front gripper groove are provided with through-holes on the lower side, and the tap trays on the left and right sides of the rear gripper groove are provided with through-holes on the lower side. Both the rear and front fixing holes are provided with fixing pins whose lower ends are fixedly installed together with the corresponding positions on the upper side of the support base.

[0020] This invention features a reasonable and compact structure. The front and rear gripping grooves enable the gripper assembly to quickly grasp the tap tray, preventing it from sliding and falling off during the movement of the robotic arm or AGV after being grasped. This improves the stability of the tap tray during movement. Simultaneously, the front and rear gripping grooves also position the tap tray during gripping, ensuring it is placed in the same direction at the target location. This standardizes the tap tray transfer process, facilitating precise gripping of the tap bar material on the tray by subsequent tap processing equipment. This improves the smoothness of transitions between tap bar processing processes, shortens waiting time between processes, and increases the processing efficiency of the tap bar material. Attached Figure Description

[0021] Appendix Figure 1 These are schematic diagrams of the main structure of embodiments one to eight of the present invention.

[0022] Appendix Figure 2 This is a schematic diagram of the right-side structure of embodiments one to eight of the present invention.

[0023] Appendix Figure 3 These are top view structural diagrams of embodiments one through eight of the present invention.

[0024] Appendix Figure 4 This is a schematic diagram of the three-dimensional structure of embodiments one to eight of the present invention. Figure 1 .

[0025] Appendix Figure 5 This is a schematic diagram of the three-dimensional structure of embodiments one to eight of the present invention. Figure 2 .

[0026] Appendix Figure 6 This is a schematic diagram of the three-dimensional structure of embodiments one to eight of the present invention. Figure 3 .

[0027] Appendix Figure 7 The diagram shows the bottom view of the tap tray structure in Embodiments 1 to 8 of the present invention.

[0028] The codes in the attached diagram are as follows: 1 for AGV trolley, 2 for robotic arm, 3 for tap tray, 4 for support base, 5 for mounting hole, 6 for front gripper groove, 7 for rear gripper groove, 8 for top plate, 9 for left mounting plate, 10 for right mounting plate, 11 for front fixed shaft, 12 for rear fixed shaft, 13 for rear gripper, 14 for first connecting plate, 15 for second connecting plate, 16 for front connecting rod, 17 for front swing rod, 18 for front finger, 19 for first rotary clamping cylinder, 20 for second rotary clamping cylinder, 21 for limit sleeve, 22 for left locking nut, 23 for right locking nut, 24 for fisheye bearing, 25 for left clamping groove, 26 for right clamping groove, 27 for positioning groove, 28 for fixing pin, 29 for first cylinder, and 30 for second cylinder. Detailed Implementation

[0029] The present invention is not limited to the following embodiments, and the specific implementation can be determined according to the technical solution of the present invention and the actual situation.

[0030] In this invention, for ease of description, the description of the relative positions of the components is based on the appendix to the specification. Figure 1 The layout is described using a diagrammatic method, such as front, back, top, bottom, left, right, etc. The positional relationships are determined based on the layout direction of the attached diagram in the instruction manual.

[0031] The present invention will be further described below with reference to embodiments and accompanying drawings: Example 1: As shown in the attached document Figures 1 to 7 As shown, the tap feeding device includes an AGV trolley 1, a robotic arm 2, a tap tray 3, and a gripper assembly. A support base 4 is installed on the upper side of the AGV trolley 1. At least two tap trays 3 are spaced apart on the upper front part of the support base 4. Each tap tray 3 has several mounting holes 5 spaced apart on its upper side for inserting tap rods. A robotic arm 2 is installed on the upper rear part of the support base 4. A gripper assembly is installed at the end of the robotic arm 2. The gripper assembly is used to grab and lower the tap trays 3. The tap tray 3 has a front gripping groove 6 and a rear gripping groove 7 on its front and rear sides, respectively, for the gripper assembly to grab the tap tray 3. Both the front gripping groove 6 and the rear gripping groove 7 open downwards.

[0032] According to the requirements, the AGV trolley 1 is a known existing technology, and the robotic arm 2 is a known existing technology, such as a six-axis robotic arm or a seven-axis robotic arm. The upper front side of the support base 4 is provided with two tap trays 3 spaced apart on the left and right. The mounting holes 5 are distributed in a matrix. The mounting holes 5 include circular hole segments and square hole segments connected sequentially from top to bottom. The width of the square hole segment is smaller than the diameter of the circular hole segment. There can be a gap between two adjacent square hole segments in each column, and the two adjacent square hole segments in each column can also be connected. During use, the front gripping groove 6 and the rear gripping groove 7 enable the gripper assembly to quickly grip the tap tray 3, preventing it from sliding and falling off during the movement of the robotic arm 2 or AGV trolley 1 after being gripped. This improves the stability of the tap tray 3 during movement after being gripped. Simultaneously, the front gripping groove 6 and the rear gripping groove 7 also enable the gripper assembly to position the tap tray 3 during gripping, allowing it to be placed in the target position in the same direction. This standardizes the transfer process of the tap tray 3, facilitating precise gripping of the tap bar material on the tap tray 3 by subsequent tap processing equipment. This improves the smoothness of the connection between tap bar processing processes, shortens the waiting time between processes, and increases the processing efficiency of the tap bar material.

[0033] The above-mentioned tap feeding device can be further optimized and / or improved according to actual needs: Example 2: As an optimization of the above examples, as shown in the appendix. Figures 1 to 6 As shown, the gripper assembly includes a top plate 8, a front gripper, a rear gripper 13, and a drive assembly. The end of the robotic arm 2 is fixedly mounted to the upper side of the top plate 8. A left mounting plate 9 and a right mounting plate 10 are fixedly mounted on the left and right sides of the top plate 8, respectively. A front fixed shaft 11 is fixedly mounted between the front part of the left mounting plate 9 and the front part of the right mounting plate 10. The front gripper is rotatably mounted on the outer side of the middle part of the front fixed shaft 11. A rear fixed shaft 12 is fixedly mounted between the rear part of the left mounting plate 9 and the rear part of the right mounting plate 10. The rear gripper 13 is rotatably mounted on the outer side of the middle part of the rear fixed shaft 12. A drive assembly is provided on the upper side of the top plate 8. The drive assembly enables the lower parts of the front gripper and the lower parts of the rear gripper 13 to approach each other and insert into the front gripper groove 6 and the rear gripper groove 7, or to move away from each other from the front gripper groove 6 and the rear gripper groove 7.

[0034] According to requirements, the left mounting plate 9 and the right mounting plate 10 are each provided with several through-holes on the right side to reduce the load on the AGV trolley 1 and extend its range. During use, the front gripping groove 6 and the rear gripping groove 7 facilitate the gripping of the front and rear grippers 13, preventing them from slipping and falling off after gripping the tap tray 3 under the action of the robotic arm 2. Furthermore, after gripping the tap tray 3, the gripper can also position it, facilitating its rapid transfer and placement to the target location. This improves the stability of the tap tray 3 during gripping and transfer, and enhances the accuracy of placing it in the target position or on the support 4, facilitating subsequent processes for fixing the tap tray 3.

[0035] Example 3: As an optimization of the above examples, as shown in the appendix. Figures 1 to 6 As shown, the front gripper includes a first connecting plate 14, a second connecting plate 15, a front connecting rod 16, a front swing rod 17, and a front finger 18. The middle parts of the first connecting plate 14 and the middle parts of the second connecting plate 15 are rotatably mounted on the outside of the front fixed shaft 11 at intervals. L-shaped front fingers 18 are fixedly mounted on the lower sides of the first connecting plate 14 and the second connecting plate 15. The front connecting rod 16 is fixedly mounted between the lower parts of the first connecting plate 14 and the lower parts of the second connecting plate 15, corresponding to the position below the front fixed shaft 11. The front swing rod 17 is fixedly mounted between the upper parts of the first connecting plate 14 and the upper parts of the second connecting plate 15, corresponding to the position above the front fixed shaft 11. The rear gripper 13 has the same structure as the front gripper and is symmetrically arranged. The drive assembly includes a first cylinder 29 and a second cylinder 30, which are hinged to the upper side of the top plate 8 at intervals. The front end of the piston rod of the first cylinder 29 is rotatably mounted together with the left side of the front swing rod 17. The rear end of the piston rod of the second cylinder 30 is mounted together with the corresponding position on the right side of the rear gripper 13.

[0036] According to the requirements, the lower and front sides of the front finger 18 are rounded, and the front side of the front finger 18 is inclined to the lower side of the first connecting plate 14. The first cylinder 29 and the second cylinder 30 are both existing known technologies. The first cylinder 29 and the second cylinder 30 are both hinged to the upper side of the top plate 8 through the hinge seat. Existing known air source equipment for supplying air to the first cylinder 29 and the second cylinder 30 can be installed inside the support base 4. Existing known control modules, such as a host computer and a programmable controller connected together, are fixedly installed at the front of the support base 4. The control module is connected to the robotic arm 2, the AGV trolley 1, the first cylinder 29 and the second cylinder 30 respectively to realize the automatic transfer of the tap tray 3. During use, L-shaped front fingers 18 are fixedly installed on the lower sides of the first connecting plate 14 and the second connecting plate 15. When the front fingers 18 are inserted into the front gripping groove 6 and lifted upwards, their ends can pull up the tap tray 3, thus enabling the gripping operation of the tap tray 3 with the rear gripper 13. The first cylinder 29 and the second cylinder 30 are hinged together on the upper side of the top plate 8 at intervals. When the tap tray 3 needs to be moved, the piston rods of the first cylinder 29 and the second cylinder 30 extend simultaneously, and the lower ends of the front fingers 18 and the rear gripper 13 insert into the front gripping groove 6 and the rear gripper 13, respectively. The material trough 7 clamps the tap tray 3, and then the robotic arm 2 can drive the gripper assembly to grab the tap tray 3 from the upper side of the support base 4 to the target position. Alternatively, the robotic arm 2 can drive the gripper assembly to grab the tap tray 3 from the target position to the upper side of the support base 4. After the tap tray 3 is transferred to the upper side of the support base 4 or the target position, the piston rods of the first cylinder 29 and the second cylinder 30 retract simultaneously, and the lower ends of the front finger 18 and the rear gripper 13 move away from the front gripper trough 6 and the rear gripper trough 7. That is, the gripper assembly releases the tap tray 3 and places the tap tray 3 on the upper side of the support base 4 or the target position.

[0037] Example 4: As an optimization of the above examples, as shown in the appendix. Figures 1 to 6 As shown, the front gripper also includes a limiting sleeve 21, a left locking nut 22, and a right locking nut 23. A limiting sleeve 21 fitted onto the outside of the front fixed shaft 11 is fixedly installed between the middle of the first connecting plate 14 and the second connecting plate 15. A left locking nut 22 is screwed onto the outer left side of the front fixed shaft 11 corresponding to the left side of the first connecting plate 14, and a right locking nut 23 is screwed onto the outer right side of the front fixed shaft 11 corresponding to the right side of the second connecting plate 15.

[0038] During use, by setting the left locking nut 22, the right locking nut 23, and the limiting sleeve 21, the positions of the first connecting plate 14 and the second connecting plate 15 can be adjusted. This also prevents the first connecting plate 14 and the second connecting plate 15 from wobbling left and right during the loading and unloading of the tap tray 3, thus limiting their movement. The limiting sleeve 21 also reduces wear between the gripper and the front fixed shaft 11 during rotation, extending its service life. Depending on requirements, the limiting sleeve 21, the left locking nut 22, and the right locking nut 23 can also be... The front fixed shaft 11 is a circular rod. A sleeve fitted on the outside of the front fixed shaft 11 is fixedly installed between the middle of the first connecting plate 14 and the second connecting plate 15. A left locking sleeve is fitted on the outer side of the left part of the front fixed shaft 11 corresponding to the left side of the first connecting plate 14. A left locking screw with its end abutting against the outer side of the left part of the front fixed shaft 11 is screwed on the outer side of the left locking sleeve. A right locking sleeve is fitted on the outer side of the right part of the front fixed shaft 11 corresponding to the right side of the second connecting plate 15. A right locking screw with its end abutting against the outer side of the right part of the front fixed shaft 11 is screwed on the outer side of the right locking sleeve.

[0039] Example 5: As an optimization of the above examples, as shown in the appendix. Figure 1 , 2 As shown in Figures 4 to 6, the front gripper also includes a fisheye bearing 24. The fisheye bearing 24 is rotatably mounted on the outer left side of the front swing arm 17, and the inner rear side of the fisheye bearing 24 is screwed to the outer front end of the piston rod of the first cylinder 29.

[0040] During use, by setting the fisheye bearing 24, it is not only convenient to connect the fisheye bearing 24 with the cylinder, but also to reduce noise and center the piston rod extension and retraction of the rotary clamping cylinder, and prevent the front gripper and rear gripper 13 from swinging left and right. The inner rear part of the fisheye bearing 24 is screwed to the outer front end of the piston rod of the first cylinder 29. In this way, the rotary clamping cylinder can be adjusted according to the swing amplitude of the front gripper and rear gripper 13, so that the swing amplitude of the front gripper and rear gripper 13 is consistent, which facilitates the gripping operation of the tap tray 3.

[0041] Example 6: As an optimization of the above examples, as shown in the appendix. Figure 1 , 2 As shown in Figures 3, 5, and 6, a left clamping groove 25 with an upward opening is provided on the left side of the middle part of the tap tray 3. A right clamping groove 26 with an upward opening is provided on the right side of the middle part of the tap tray 3 corresponding to the position of the left clamping groove 25. A first rotary clamping cylinder 19 is provided on the upper part of the support base 4 corresponding to the position of the left clamping groove 25. After the lower side of the clamping block of the first rotary clamping cylinder 19 moves, it abuts against the lower inner wall of the left clamping groove 25. A second rotary clamping cylinder 20 is provided on the upper part of the support base 4 corresponding to the rear position of the right clamping groove 26. After the lower side of the clamping block of the second rotary clamping cylinder 20 moves, it abuts against the lower inner wall of the right clamping groove 26.

[0042] According to the requirements, both the first rotary clamping cylinder 19 and the second rotary clamping cylinder 20 are existing known technologies. During use, the first rotary clamping cylinder 19 and the second rotary clamping cylinder 20 are staggered, which can shorten the distance between the two tap trays 3, making the support base 4 more compact. By setting the left clamping groove 25 and the right clamping groove 26, after the pressure blocks of the first rotary clamping cylinder 19 and the second rotary clamping cylinder 20 press down and clamp the lower inner wall of the clamping groove, the tap tray 3 is reliably fixed on the upper side of the support base 4. This setting can also be used after modifying the existing tap tray 3.

[0043] Example 7: As an optimization of the above examples, as shown in the appendix. Figure 7 As shown, the tap tray 3, located below the left clamping groove 25 and the right clamping groove 26, is provided with a downward-facing positioning groove 27 on its lower side.

[0044] During use, by setting the positioning groove 27, pins can be fixed on the forklift fork arm or the robot arm. The tap tray 3 can be transferred by the forklift or the robot arm, which can realize the transfer of the tap tray 3 between different processes in multiple ways, so that multiple processes can be smoothly connected and transferred.

[0045] Example 8: As an optimization of the above examples, as shown in the appendix Figure 1 , 3 As shown in Figures 5 and 6, the tap trays 3 on the left and right sides of the front gripping groove 6 are provided with vertically penetrating front fixing holes, and the tap trays 3 on the left and right sides of the rear gripping groove 7 are provided with vertically penetrating rear fixing holes. Both the rear fixing holes and the front fixing holes are provided with fixing pins 28 whose lower ends are fixedly installed together with the upper side of the support base 4 at the corresponding positions.

[0046] During use, this setting can improve the stability of the tap tray 3 placed on the support base 4, prevent the tap tray 3 from sliding during the transportation of the AGV trolley 1 and causing the taps on the tap tray 3 to fall off, and also improve the stability of the tap tray 3 placed on the raw material preparation process platform and the processing process platform.

[0047] The above technical features constitute the embodiments of the present invention, which have strong adaptability and implementation effect. Unnecessary technical features can be added or removed according to actual needs to meet the needs of different situations.

Claims

1. A tap feeding device, characterized in that... The system includes an AGV trolley, a robotic arm, a tap tray, and a gripper assembly. A support base is mounted on the upper side of the AGV trolley. At least two tap trays are spaced apart on the upper front part of the support base. Each tap tray has several mounting holes spaced apart on its upper side for inserting tap rods. A robotic arm is mounted on the upper rear part of the support base. A gripper assembly is mounted at the end of the robotic arm. The gripper assembly is used to grab and lower the tap tray. The tap tray has a front gripping groove and a rear gripping groove on its front and rear sides, respectively, for the gripper assembly to grab the tap tray. Both the front and rear gripping grooves open downwards. The gripper assembly includes a top plate, a front gripper, a rear gripper, and a drive assembly. The end of the robotic arm is fixedly mounted to the upper part of the top plate. A left mounting plate and a right mounting plate are fixedly mounted on the left and right sides of the top plate, respectively. A front fixed shaft is fixedly mounted between the front parts of the left and right mounting plates. The front gripper is rotatably mounted on the outer side of the middle part of the front fixed shaft. A rear fixed shaft is fixedly mounted between the rear parts of the left and right mounting plates. The rear gripper is rotatably mounted on the outer side of the middle part of the rear fixed shaft. A drive assembly is provided on the upper part of the top plate. The drive assembly enables the lower parts of the front gripper and the lower parts of the rear gripper to approach each other and insert into the front gripper groove and the rear gripper groove, or to move away from each other from the front gripper groove and the rear gripper groove. The front gripper includes a first connecting plate, a second connecting plate, a front connecting rod, a front swing rod, and front fingers. The middle parts of the first and second connecting plates are rotatably mounted on the outside of the front fixed shaft at intervals. L-shaped front fingers are fixedly mounted on the lower sides of the first and second connecting plates. The front connecting rod is fixedly mounted between the lower parts of the first and second connecting plates at the position below the front fixed shaft. The front swing rod is fixedly mounted between the upper parts of the first and second connecting plates at the position above the front fixed shaft. The rear gripper has the same structure as the front gripper and is symmetrically arranged. The drive assembly includes a first cylinder and a second cylinder that are hinged to the upper part of the top plate at intervals. The front end of the piston rod of the first cylinder is rotatably mounted together with the left part of the front swing rod. The rear end of the piston rod of the second cylinder is mounted together with the corresponding position on the right side of the rear gripper. The front gripper also includes a fisheye bearing. A fisheye bearing is rotatably mounted on the outer left side of the front swing arm. The inner rear side of the fisheye bearing is screwed to the outer front end of the piston rod of the first cylinder. A left clamping groove with an upward opening is provided on the left side of the middle part of the tap tray. A right clamping groove with an upward opening is provided on the right side of the middle part of the tap tray corresponding to the position of the left clamping groove. A first rotary clamping cylinder is provided on the upper part of the support base corresponding to the position of the left clamping groove. After the lower side of the clamping block of the first rotary clamping cylinder moves, it abuts against the lower inner wall of the left clamping groove. A second rotary clamping cylinder is provided on the upper part of the support base corresponding to the position of the rear of the right clamping groove. After the lower side of the clamping block of the second rotary clamping cylinder moves, it abuts against the lower inner wall of the right clamping groove. The tap trays located below the left and right clamping grooves are equipped with downward-facing positioning grooves.

2. The tap feeding device according to claim 1, characterized in that... The front gripper also includes a limiting sleeve, a left locking nut, and a right locking nut. A limiting sleeve fitted on the outside of the front fixed shaft is fixedly installed between the middle of the first connecting plate and the second connecting plate. A left locking nut is screwed onto the outer side of the left part of the front fixed shaft corresponding to the left side of the first connecting plate, and a right locking nut is screwed onto the outer side of the right part of the front fixed shaft corresponding to the right side of the second connecting plate.

3. The tap feeding device according to claim 1 or 2, characterized in that... The tap trays on the left and right sides of the front gripper groove are provided with through-hole front fixing holes, and the tap trays on the left and right sides of the rear gripper groove are provided with through-hole rear fixing holes. Both the rear fixing holes and the front fixing holes are provided with fixing pins whose lower ends are fixedly installed together with the corresponding positions on the upper side of the support base.

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