An automated loading and pre-positioning device

Abstract

The application provides an automatic feeding and pre-positioning device, which comprises a telescopic cylinder, a first connecting plate, a translation clamping assembly, a clamping mechanism and a rotary auxiliary clamping assembly; the first connecting plate is connected to the telescopic end of the telescopic cylinder; the translation clamping assembly is slidingly arranged on the lower surface of the first connecting plate; the rotary auxiliary clamping assembly is rotationally connected to the lower surface of the first connecting plate and is used for rotating and extruding a wrapped workpiece; the clamping mechanism is arranged at the center of the lower surface of the first connecting plate and is used for clamping the workpiece after the workpiece is rotated to be vertical; in a free state, the center line of the clamping mechanism is parallel to the center line of the rotary auxiliary clamping assembly, and the center line of the translation clamping assembly is perpendicular to the center line of the clamping mechanism. The automatic feeding and pre-positioning device improves the verticality of the workpiece in the workpiece feeding process and avoids the inclination of the workpiece during feeding.

Description

Technical Field

[0001] This invention relates to the field of feeding equipment, and more specifically, to an automated feeding pre-positioning device. Background Technology

[0002] Automated production refers to production using automated technology, which greatly improves social labor productivity. Automated production mainly includes material loading, processing, assembly, testing, packaging, and transportation, with material loading being a crucial step. Current automated material loading typically uses pneumatic grippers to pick up and load workpieces. However, during production and observation, it has been found that when the workpiece weight distribution is uneven, the workpiece held by the grippers will tilt during loading due to gravity. This reduces the accuracy of the device in positioning the workpiece, thus affecting subsequent processing.

[0003] The invention patent with authorization announcement number CN107225523B discloses an automated feeding and pre-positioning device for flexible materials. The tooling positioning mechanism includes a servo lifting component and a base. The lifting rod of the servo lifting component is connected to the bottom of the base, and the flexible material placement fixture is connected to the base. The feeding pre-alignment mechanism includes a mounting plate, a lifting mechanism, a translation mounting plate, a translation mechanism, and a pre-alignment positioning rod. The mounting plate is connected to the base, the lifting mechanism is fixed to the mounting plate, and the lifting rod is connected to the translation mounting plate. The translation mechanism is fixed to the translation mounting plate, and the translation rod is fixed to the pre-alignment positioning rod. The pre-alignment positioning rod is provided with a pre-alignment groove. The feeding pre-pressing alignment mechanism includes a transfer mounting plate, a transfer mechanism, a pressing mechanism, and a pre-pressing rod. The bottom of the transfer mounting plate is connected to the base, the transfer mechanism is fixed to the transfer mounting plate, and the transfer rod is connected to the pressing mechanism. The pressing rod of the pressing mechanism is connected to the pre-pressing rod to move it downward. This automated feeding and pre-positioning device for flexible materials can flexibly, accurately, and reliably adjust the height of the flexible material placement fixture and the pre-placement position of the workpiece. By adjusting the feeding pre-compression and straightening mechanism, it pre-compresses and straightens the flexible material, ensuring a precise and reliable connection between the flexible material and the pre-welded product. It features high efficiency, accurate positioning, good straightening effect, and a high degree of automation. However, this device does not improve the verticality of the workpiece during feeding and cannot effectively prevent tilting during workpiece feeding. Summary of the Invention

[0004] In order to improve the verticality of the workpiece during the loading process and avoid the tilting phenomenon of the workpiece during loading, the technical solution adopted by the present invention is: an automated loading pre-positioning device, including a telescopic cylinder, a first connecting plate, a translation clamping assembly, a clamping mechanism and a rotation auxiliary clamping assembly. The first connecting plate is connected to the telescopic end of the telescopic cylinder and is used to install and drive the translation clamping assembly, the clamping mechanism and the rotation auxiliary clamping assembly to approach the workpiece from above; The translation clamping assembly is slidably disposed on the lower surface of the first connecting plate, and is used to slide relative to and squeeze the workpiece to rotate the workpiece to a vertical state, and keep the surface direction of the workpiece parallel to the inner wall of the translation clamping assembly. The rotary auxiliary clamping assembly is rotatably connected to the lower surface of the first connecting plate and is used to rotary squeeze and wrap the workpiece; The clamping mechanism is located at the center of the lower surface of the first connecting plate and is used to clamp the workpiece after it has been rotated to a vertical position. In the free state, the center line of the clamping mechanism is parallel to the center line of the rotary auxiliary clamping assembly, and the rotary auxiliary clamping assembly covers the outside of the clamping mechanism; in the free state, the center line of the translation clamping assembly is perpendicular to the center line of the clamping mechanism.

[0005] Based on the above, the translation clamping assembly includes a pair of servo motors, a set of rack mounting plates and a set of racks. The output end of the servo motor is provided with a gear. The rack is slidably mounted on the rack mounting plate and meshes with the gear for transmission. The inner side of the rack is provided with a first pressure plate for pressing the workpiece vertically.

[0006] Based on the above, a fixing groove is provided in the middle of the first pressure plate, and a second pressure plate is rotatably connected to the middle of the fixing groove through a first torsion spring.

[0007] Based on the above, a plurality of elastic wires are also provided in the middle of the second pressure plate.

[0008] Based on the above, a baffle is provided in the middle of the first pressure plate to limit the rotation range of the second pressure plate.

[0009] Based on the above, the clamping mechanism includes a clamping cylinder, on which a pair of pneumatic grippers are connected. The pneumatic grippers are located between a pair of first pressure plates, and the line connecting the pair of pneumatic grippers is perpendicular to the line connecting the pair of first pressure plates.

[0010] Based on the above, the rotary auxiliary clamping assembly includes a pair of second connecting plates vertically arranged on the lower surface of the first connecting plate. The root of the second connecting plate is rotatably connected to the first connecting plate through a second torsion spring. The pair of second connecting plates are distributed on both sides of the pneumatic gripper. A semi-circular clamping plate is hinged to the second connecting plate. An elastic cloth is provided at the open end of the semi-circular clamping plate. In the suspended clamping working state, the semi-circular clamping plate is located directly below the pneumatic gripper.

[0011] Based on the above, the elastic fabric has multiple circular holes, and multiple spring telescopic rods are horizontally connected to the semi-circular clamping plate and the second connecting plate. The outer end of the spring telescopic rod extends out of the circular hole and the top is connected to a suction cup. The spring telescopic rod slides in conjunction with the circular hole.

[0012] Based on the above, a rotating wheel is rotatably connected to the inner side wall of the opening end of the semi-circular clamp, and multiple flexible pads are wrapped around the middle of the rotating wheel.

[0013] This invention possesses significant substantive features and substantial advancements compared to existing technologies. Specifically, the invention provides an automated feeding pre-positioning device. A first pressure plate, moving towards the workpiece along with a rack and pinion under the meshing action of the rack and pinion, compresses the workpiece surface, achieving pre-positioning of the workpiece. Simultaneously, when the second pressure plate contacts the workpiece, it rotates and, under the action of a first torsion spring, compresses the non-vertical side of the workpiece. Furthermore, the bending deformation of the elastic wire on the second pressure plate applies uniform pressure to the workpiece surface, ensuring the workpiece remains vertical under compression. This enhances the accuracy of the device's pre-positioning of the workpiece. Additionally, the elastic wire reduces direct contact between the workpiece and the second pressure plate, minimizing scratches caused by friction on the workpiece.

[0014] Furthermore, by fixing multiple spring telescopic rods and suction cups in the middle of the semi-circular clamping plate and the second connecting plate, the spring telescopic rods will be compressed and squeeze the surface of the workpiece after being squeezed by the workpiece. Some of the spring telescopic rods will enter the grooves on the surface of the workpiece. At the same time, the workpiece will also come into contact with the suction cup and be attracted by the suction cup, increasing the contact area between the device and the workpiece and enhancing the stability of the device in fixing the workpiece.

[0015] Therefore, this automated feeding pre-positioning device improves the verticality of the workpiece during the feeding process and avoids tilting of the workpiece during feeding. Attached Figure Description

[0016] Figure 1 and Figure 2 This is a schematic diagram of the overall structure of an automated feeding pre-positioning device provided by the present invention.

[0017] Figure 3 This is a schematic diagram of the translation clamping assembly in an automated feeding pre-positioning device provided by the present invention.

[0018] Figure 4 This is a partial structural diagram of the translation clamping assembly in an automated feeding pre-positioning device provided by the present invention.

[0019] Figure 5 This is a schematic diagram of the rotating auxiliary clamping component in an automated feeding pre-positioning device provided by the present invention.

[0020] Figure 6 This is a partial structural diagram of the rotary auxiliary clamping component in an automated feeding pre-positioning device provided by the present invention.

[0021] In the diagram: 1. Telescopic cylinder; 2. Clamping mechanism; 3. Servo motor; 4. First connecting plate; 5. Second connecting plate; 6. Rotation auxiliary clamping assembly; 7. Translation clamping assembly; 8. Rack mounting plate; 9. Rack; 10. Gear; 11. Pneumatic gripper; 12. Second torsion spring; 13. Elastic wire; 14. First pressure plate; 15. Baffle; 16. Second pressure plate; 17. Fixing groove; 18. Spring telescopic rod; 19. Suction cup; 20. Semi-circular clamping plate; 21. Elastic cloth; 22. Round hole; 23. Rotary wheel; 24. Flexible pad. Detailed Implementation

[0022] The technical solution of the present invention will be further described in detail below through specific embodiments.

[0023] Example 1 This embodiment provides an automated feeding and pre-positioning device, such as... Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the device includes a telescopic cylinder 1, the telescopic end of which is equipped with a first connecting plate 4 and a clamping mechanism 2. The clamping mechanism 2 includes a gripping cylinder, on which a pair of pneumatic grippers 11 are connected.

[0024] A translational clamping assembly 7 is provided on the lower surface of the first connecting plate 4. The translational clamping assembly 7 includes a pair of servo motors 3, a set of rack mounting plates 8, and a set of racks 9. A gear 10 is provided at the output end of the servo motor 3, and the rack 9 is slidably mounted on the rack mounting plate 8 and meshes with the gear 10 for transmission. First pressure plates 14 are vertically arranged on the inner side of the rack 9. The pneumatic grippers 11 are located between the pair of first pressure plates 14, and the line connecting the pair of pneumatic grippers 11 is perpendicular to the line connecting the pair of first pressure plates 14.

[0025] That is, during operation, the automated feeding and pre-positioning device moves above the workpiece, and then the telescopic cylinder 1 is activated, pushing the pneumatic gripper 11 closer to the workpiece. When the pneumatic gripper 11 moves directly above the workpiece, the clamping cylinder is also activated, pushing the pneumatic gripper 11 to clamp the workpiece. During this process, a pair of servo motors 3 are also activated, driving the gear 10 to rotate, which in turn drives the rack 9 to slide along the rack mounting plate 8, thereby driving a pair of first pressure plates 14 to move closer to the workpiece.

[0026] When the first pressure plate 14 comes into contact with the workpiece, it presses against the workpiece surface. Under the pressure of the first pressure plate 14, the workpiece deflects, making the workpiece surface parallel to the inner wall of the first pressure plate 14. At this time, the workpiece is in a vertical state, thus achieving pre-positioning of the workpiece, improving the verticality of the workpiece during the loading process, and avoiding tilting of the workpiece during loading.

[0027] In this embodiment, a rotary auxiliary clamping assembly 6 is further provided on the first connecting plate 4. The rotary auxiliary clamping assembly 6 includes a pair of second connecting plates 5 vertically disposed on the lower surface of the first connecting plate 4. The root of the second connecting plate 5 is rotatably connected to the first connecting plate 4 via a second torsion spring 12. The pair of second connecting plates 5 are distributed on both sides of the pneumatic gripper 11, and the tops of the pair of second connecting plates 5 are folded outwards to form a funnel-shaped structure with a larger top and a smaller root. A semi-circular clamping plate 20 is hinged to the folded portion of the second connecting plate 5, and an elastic cloth 21 is provided at the open end of the semi-circular clamping plate 20. The semi-circular clamping plate 20 is located directly below the pneumatic gripper 11.

[0028] This causes the first connecting plate 4 to move along with the second connecting plate 5 as the pneumatic gripper 11 approaches the workpiece. As the second connecting plate 5 moves downwards, it first contacts the working surface of the workpiece and rotates due to friction. Once the pneumatic gripper 11 has finished gripping the workpiece, the telescopic cylinder 1 retracts and moves the first connecting plate 4 and the pneumatic gripper 11 upwards to reset. At this point, the second connecting plate 5 detaches from the working surface and rotates towards the workpiece under its own weight.

[0029] When the second connecting plate 5 rotates, it moves the semi-circular clamping plate 20 and the elastic cloth 21 together, bringing the elastic cloth 21 into contact with the workpiece. The elastic cloth 21 is subjected to the pressure of the workpiece, transmitting the pressure to the semi-circular clamping plate 20, causing the semi-circular clamping plate 20 to rotate along the second connecting plate 5. As the semi-circular clamping plate 20 rotates, it adapts to the shape of the workpiece surface until the second connecting plate 5 stops moving. At this time, the workpiece is subjected to the pressure of the semi-circular clamping plate 20 and the elastic cloth 21, thereby improving the stability of the workpiece during loading. At the same time, because the elastic cloth 21 is a flexible material, it can disperse the stress distribution during the pressure on the workpiece surface, reducing the damage to the workpiece surface during fixation.

[0030] Example 2 This embodiment provides an automated feeding pre-positioning device, the main difference from Embodiment 1 is that in this embodiment: The elastic fabric 21 has multiple circular holes 22, and multiple spring telescopic rods 18 are laterally connected to the semi-circular clamping plate 20 and the second connecting plate 5. The outer ends of the spring telescopic rods 18 extend out of the circular holes 22, and suction cups 19 are connected to their tops. The spring telescopic rods 18 slide in conjunction with the circular holes 22. That is, when the workpiece is pressed against the elastic cloth 21, the elastic cloth 21 will deform and move closer to the spring telescopic rod 18, causing the spring telescopic rod 18 to be compressed and pass through the circular hole 22, thus pressing against the surface of the workpiece. Part of the spring telescopic rod 18 will enter the groove on the surface of the workpiece. At the same time, the workpiece will also come into contact with the suction cup 19 and be attracted by the suction cup, thereby increasing the contact area between the automated feeding pre-positioning device and the workpiece and enhancing the stability of the workpiece feeding.

[0031] Example 3 This embodiment provides an automated feeding pre-positioning device. The main difference from Embodiment 1 is that in this embodiment, a fixing groove 17 is provided in the middle of the first pressure plate 14, and a second pressure plate 16 is rotatably connected to the middle of the fixing groove 17 through a first torsion spring.

[0032] That is, when the workpiece comes into contact with the first pressure plate 14, the non-vertical part of the workpiece will also come into contact with one side of the second pressure plate 16, causing the second pressure plate 16 to rotate under the pressure of the workpiece. Subsequently, the second pressure plate 16 will press the surface of the workpiece under the elastic force of the first torsion spring, so that the workpiece is adjusted to be vertical under the pressure, thereby enhancing the accuracy of the device in pre-positioning the workpiece and ensuring that the workpiece can be in a vertical state during the loading process.

[0033] In this embodiment, the second pressure plate 16 is further provided with a plurality of elastic wires 13 in its middle portion. When the workpiece comes into contact with the second pressure plate 16, the workpiece also comes into contact with the elastic wires 13. Because the elastic wires 13 are made of elastic material, plastic wires or the like can be used. Under the pressure of the workpiece, the elastic wires 13 bend and apply pressure evenly to the surface of the workpiece, thereby ensuring that the workpiece remains vertical under the pressure. At the same time, the elastic wires also reduce the direct contact between the workpiece and the second pressure plate, reducing scratches left on the workpiece due to friction.

[0034] Example 4 This embodiment provides an automated feeding pre-positioning device. The main difference from Embodiment 1 is that in this embodiment, a baffle 15 is fixedly connected to the middle of the first pressure plate 14, and the baffle 15 has an arc-shaped structure.

[0035] That is, when the second pressure plate 16 rotates under the pressure of the workpiece, it will move closer to the baffle. When the rotation amplitude of the second pressure plate 16 is too large, it will be blocked by the baffle 15 to prevent it from rotating further. At this time, the workpiece will be subjected to the frictional force between the second pressure plate 16 and the baffle 15, which further enhances the positioning effect of the device on the workpiece. At the same time, the baffle also reduces the rotation amplitude of the second pressure plate, reducing the damage to the second torsion spring due to excessive rotation amplitude.

[0036] Example 5 This embodiment provides an automated feeding pre-positioning device. The main difference from Embodiment 1 is that, in this embodiment, a rotating wheel 23 is rotatably connected to the inner side wall of the open end of the semi-circular clamping plate 20.

[0037] That is, when the workpiece approaches the semi-circular clamp, it will come into contact with the rotating wheel 23 and rub against it. The rotating wheel 23 will rotate under the action of friction, which will change the sliding friction between the workpiece and the semi-circular clamp 20 into rolling friction, thereby reducing the friction force on the workpiece when it is clamped by the semi-circular clamp and avoiding scratching the workpiece.

[0038] Meanwhile, in this embodiment, the center of the rotating wheel 23 is wrapped with a plurality of flexible pads 24, which are arranged in an array and can be made of sponge material.

[0039] That is, when the rotating wheel 23 contacts the workpiece, the flexible pad 24 also contacts the workpiece. Because the flexible pad is made of flexible material, it disperses the stress distributed on the surface when the workpiece and the semi-circular clamping plate come into contact, further reducing the friction between the workpiece and the semi-circular clamping plate and preventing scratches on the workpiece.

[0040] Working principle: According to Figure 2 In the installation method described above, the automated feeding and pre-positioning device is moved above the workpiece via an assembly line. Then, the telescopic cylinder 1 is activated to extend downwards and push the pneumatic gripper 11 closer to the workpiece. When the pneumatic gripper 11 moves directly above the workpiece, the gripping cylinder on the pneumatic gripper extends laterally, causing the pneumatic gripper to perform a gripping action on the workpiece.

[0041] During the pneumatic gripper's gripping of the workpiece, a pair of servo motors 3 are also activated, driving gear 10 to rotate and causing rack 9 to slide along rack mounting plate 8. This, in turn, moves a pair of first pressure plates 14 closer to the workpiece. When the first pressure plates 14 contact the workpiece, they press against the workpiece surface, causing the workpiece to deflect under force, ultimately keeping the workpiece surface parallel to the inner wall of the first pressure plates 14. At this point, the workpiece is in a vertical position, achieving pre-positioning of the workpiece by the device and reducing tilting that occurs when the device loads the workpiece.

[0042] When the workpiece comes into contact with the first pressure plate 14, the non-vertical part of the workpiece will also come into contact with one side of the second pressure plate 16, causing the second pressure plate 16 to rotate under the pressure of the workpiece. Subsequently, the second pressure plate 16 will press the surface of the workpiece under the elastic force of the first torsion spring, further ensuring that the workpiece can remain vertical under the pressure, thereby enhancing the accuracy of the pre-positioning of the workpiece by the enhancement device and ensuring that the workpiece remains in a vertical state during the loading process.

[0043] Once the workpiece is held vertically, the pneumatic gripper 11 further completes the gripping action. After gripping, the servo motor 3 reverses, causing the rack 9 to retract and reset the first pressure plate 14, returning it to its initial position. Finally, the telescopic cylinder 1 retracts, driving the first connecting plate 4, the pneumatic gripper 11, and the workpiece to rise and reset, moving them along the assembly line to another work area.

[0044] It should also be noted that when the first connecting plate 4 moves closer to the workpiece along with the pneumatic gripper 11, the first connecting plate 4 also moves along with the second connecting plate 5. The workpiece is then subjected to the squeezing action of the semi-circular clamping plate 20 and the elastic cloth 21. When the workpiece squeezes the elastic cloth 21, it deforms and moves closer to the semi-circular clamping plate 20. While the workpiece is squeezing the elastic cloth, it also moves closer to the spring telescopic rod 18 and squeezes it. After being squeezed, the spring telescopic rod 18 is compressed and passes through the circular hole 2 to squeeze the surface of the workpiece. Part of the spring telescopic rod 18 enters the groove on the surface of the workpiece, and the workpiece also comes into contact with the suction cup 19 and is attracted by it, thereby increasing the contact area between the device and the workpiece.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of the present invention or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of the present invention, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in the present invention.

Claims

1. An automated feeding pre-positioning device, characterized in that: Includes a telescopic cylinder, a first connecting plate, a translation clamping assembly, a clamping mechanism, and a rotational auxiliary clamping assembly; The first connecting plate is connected to the telescopic end of the telescopic cylinder and is used to install and drive the translation clamping assembly, the clamping mechanism and the rotation auxiliary clamping assembly to approach the workpiece from above; The translation clamping assembly is slidably disposed on the lower surface of the first connecting plate, and is used to slide relative to and squeeze the workpiece to rotate the workpiece to a vertical state, and keep the surface direction of the workpiece parallel to the inner wall of the translation clamping assembly. The rotary auxiliary clamping assembly is rotatably connected to the lower surface of the first connecting plate and is used to rotary squeeze and wrap the workpiece; The clamping mechanism is located at the center of the lower surface of the first connecting plate and is used to clamp the workpiece after it has been rotated to a vertical position. In the free state, the center line of the clamping mechanism is parallel to the center line of the rotary auxiliary clamping assembly, and the rotary auxiliary clamping assembly is covered outside the clamping mechanism; in the free state, the center line of the translation clamping assembly is perpendicular to the center line of the clamping mechanism. The translation clamping assembly includes a pair of servo motors, a set of rack mounting plates and a set of racks. The output end of the servo motor is provided with a gear. The rack is slidably mounted on the rack mounting plate and meshes with the gear for transmission. The inner side of the rack is provided with a first pressure plate for pressing the workpiece. The clamping mechanism includes a clamping cylinder, on which a pair of pneumatic grippers are connected. The pneumatic grippers are located between a pair of first pressure plates, and the line connecting the pair of pneumatic grippers is perpendicular to the line connecting the pair of first pressure plates. The rotary auxiliary clamping assembly includes a pair of second connecting plates vertically arranged on the lower surface of the first connecting plate. The root of the second connecting plate is rotatably connected to the first connecting plate by a second torsion spring. The pair of second connecting plates are distributed on both sides of the pneumatic gripper. A semi-circular clamping plate is hinged on the second connecting plate. An elastic cloth is provided at the open end of the semi-circular clamping plate. In the suspended clamping working state, the semi-circular clamping plate is located directly below the pneumatic gripper. The elastic fabric has multiple round holes, and multiple spring telescopic rods are horizontally connected to the semi-circular clamping plate and the second connecting plate respectively. The outer end of the spring telescopic rod extends out of the round hole and the top is connected to a suction cup. The spring telescopic rod slides in conjunction with the round hole. A rotating wheel is rotatably connected to the inner side wall of the open end of the semi-circular clamping plate, and multiple flexible pads are wrapped around the middle of the rotating wheel.

2. The automated feeding pre-positioning device according to claim 1, characterized in that: The first pressure plate has a fixing groove in the middle, and the second pressure plate is rotatably connected to the middle of the fixing groove by a first torsion spring.

3. The automated feeding pre-positioning device according to claim 2, characterized in that: The second pressure plate also has multiple elastic wires in the middle.

4. The automated feeding pre-positioning device according to claim 3, characterized in that: A baffle is provided in the middle of the first pressure plate to limit the rotation range of the second pressure plate.

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