Single-arm feeding device with blanking protection function

Abstract

The invention relates to the technical field of feeding manipulators, and discloses a single-arm feeding device with a blanking protection function, the single-arm feeding device comprises a mechanical arm and a grabbing part, the grabbing part is arranged on the mechanical arm and used for grabbing and feeding materials, and the single-arm feeding device with the blanking protection function is provided with the grabbing part, a driving part and an auxiliary assembly; when the driven gear drives the half gear to rotate clockwise together and the half gear rotates to the state that teeth of the half gear are meshed with the rack, the rack and the connecting rod can be driven to move downwards, the suction cup at the bottom of the connecting rod is extruded on the sheet metal part clamped by the clamping block to suck the sheet metal part, and when the sheet metal part is loosened along with the clamping block, the suction cup is clamped by the clamping block. The connecting rod drives the sheet metal part to move downwards through the suction cup, when the sheet metal part is put down, the distance between the sheet metal part and the table top is close, the situation that after the sheet metal part is put down, the sheet metal part falls off and is damaged due to the fact that the distance between the sheet metal part and the table top is too far is avoided, and the blanking protection effect is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of feeding manipulators, in particular to a single-arm feeding device with a material falling protection function. Background Art

[0002] Sheet metal is a comprehensive cold processing technology for thin metal plates, covering shearing, punching / cutting / combining, folding, welding, riveting, splicing, forming and other processes. Its most notable feature is that the thickness of the same part is always consistent. Products processed by sheet metal technology are called sheet metal parts. Sheet metal parts mentioned in different industries are usually different, and this name is mainly used when assembling.

[0003] In today's era, with the continuous development of industrial automation, the feeding process of sheet metal parts in the processing is basically completed by robots. The robot can accurately grab the sheet metal parts and send them to the specified location. However, in actual operation, due to the certain height between the robot and the table, when the robot puts down the sheet metal part, the sheet metal part will fall from a certain height. In this case, the sheet metal part is likely to hit the table, causing damage to the sheet metal part, which brings certain troubles and loss risks to the production process. For this reason, we propose a single-arm feeding device with falling protection function. Summary of the invention

[0004] The purpose of the present invention is to provide a single-arm feeding device with a material falling protection function to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a single-arm feeding device with a material falling protection function, comprising a mechanical arm and a grabbing part, wherein the grabbing part is arranged on the mechanical arm for grabbing and feeding materials, and the grabbing part comprises a base, a large arm, a supporting arm, a clamping block and a matching gear, and a driving part for driving the grabbing part to work is arranged on the base and the large arm, and an auxiliary component for assisting material feeding is arranged on the base.

[0006] Preferably, the auxiliary component includes a driven gear, which is rotatably mounted on the inner wall of the base, and a half gear is rotatably mounted on the inner wall of the base, the bottom of the base is penetrated by a connecting rod and slidably connected to the connecting rod, the bottom of the connecting rod is connected to and fixed with a suction cup, the surface of the connecting rod is fixed with a return spring, the end of the return spring away from the connecting rod is fixed to the bottom of the base, and a rack is fixed on the side of the connecting rod close to the half gear. When the driven gear drives the half gear to rotate clockwise together, the half gear rotates to a state where its teeth are meshed with the rack, and the rack and the connecting rod can be driven to move downward, and the suction cup at the bottom of the connecting rod is squeezed on the sheet metal clamped by the clamping block to adsorb the sheet metal, and as the clamping block releases the sheet metal, the connecting rod moves downward with the sheet metal through the suction cup, so that when the sheet metal is put down, the distance between the sheet metal and the table surface is close, so as to avoid the sheet metal from falling and being damaged due to being too far away from the table surface after being put down, thereby playing a role in falling protection.

[0007] Preferably, a circular groove is provided on the surface of the driven gear, a ratchet is provided on the inner side of the circular groove, and a pawl is provided on the surface of the half gear. When the driven gear rotates counterclockwise, the ratchet on the inner side of the circular groove cannot be stuck on the pawl on the surface of the half gear, thereby not driving the half gear to rotate counterclockwise. When the driven gear rotates clockwise, the ratchet on the inner side of the circular groove is stuck on the pawl, driving the half gear to rotate clockwise.

[0008] Preferably, the bottom of the base is hinged to one end of the upper arm and the support arm, the other ends of the upper arm and the support arm are hinged to the clamping block, and a matching gear is fixed on the support arm.

[0009] Preferably, the upper arm, the support arm, the clamping block and the mating gear are each provided with two groups, and the two groups of the upper arm, the support arm, the clamping block and the mating gear are symmetrically arranged on the base, and the two groups of the mating gears are meshed with each other. By driving one of the groups of the upper arms, the two groups of the clamping blocks can be controlled to grasp and fix the sheet metal parts.

[0010] Preferably, the driving part includes a driving motor, which is fixed on the surface of the base, and the output shaft of the driving motor passes through the base and is rotatably connected to the base, the output shaft of the driving motor is fixed to the driving gear, the driving gear is meshed with the driven gear, the driving gear is meshed with the linkage gear, the linkage gear is connected to the rotating rod through a belt, the rotating rod passes through the upper arm and is fixedly connected to the upper arm, and starting the driving motor can drive the driven gear and the linkage gear to rotate, and the rotating rod can be controlled to rotate by the belt to control the rotation of the upper arm, so as to control the clamping block to achieve the clamping and releasing posture.

[0011] Preferably, a release assembly is provided on the connecting rod and the inner wall of the base, and the release assembly includes a sliding plate, the sliding plate is connected to the inner wall piston of the connecting rod, a push rod is fixed on the top of the sliding plate, a fixing rod is fixed on the top of the connecting rod, and a moving plate is slidably installed on the top of the fixing rod, and a connecting spring is fixed on the side of the fixing rod away from the push rod, and one end of the connecting spring away from the fixing rod is fixed to the moving plate, thereby releasing the sheet metal part.

[0012] Compared with the prior art, the present invention provides a single-arm feeding device with a falling material protection function, which has the following beneficial effects: 1. The single-arm feeding device with falling material protection function is provided with a grabbing part, a driving part and an auxiliary component. When the driven gear drives the half gear to rotate clockwise, after the half gear rotates to a state where its teeth are meshed with the rack, it can drive the rack and the connecting rod to move downward. The suction cup at the bottom of the connecting rod is pressed on the sheet metal clamped by the clamping block to adsorb the sheet metal. When the clamping block releases the sheet metal, the connecting rod moves downward with the sheet metal through the suction cup, so that when the sheet metal is put down, the distance between the sheet metal and the table surface is close, so as to avoid the sheet metal from falling and being damaged due to being too far away from the table surface after being put down, thereby playing a role of falling material protection.

[0013] 2. The single-arm feeding device with falling material protection function is provided with auxiliary components and release components. When the connecting rod moves downward, the connecting rod moves downward with the sliding plate, the push rod and the moving plate. When the moving plate moves to the position of the resistance block, it is resisted by the resistance block. As it continues to move downward, the moving plate is pushed by the resistance block to move to the side away from the push rod. The moving plate resists the top of the push rod and pushes the push rod to move downward. The push rod moves downward with the sliding plate, and gas is transported into the suction cup, so that the suction cup no longer adsorbs the sheet metal, thereby loosening the sheet metal and releasing it without affecting normal work.

[0014] 3. The single-arm feeding device with falling material protection function is designed with a half gear. When the half gear rotates clockwise, the half gear rotates to a state of meshing with the rack to control the connecting rod to move downward. When the half gear rotates to a state of no longer meshing with the rack, the connecting rod can be controlled to move upward and reset under the action of the reset spring to complete a feeding operation, which is convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a front view structural schematic diagram of the present invention; Figure 2 It is a schematic diagram of the structure of the grabbing part of the present invention; Figure 3 It is a schematic diagram of the cross-sectional structure of the base of the present invention; Figure 4 It is a schematic diagram of the connection structure of the driving part, the auxiliary component and the release component of the present invention; Figure 5 It is a schematic diagram of the connection structure between the auxiliary component and the release component of the present invention; Figure 6 It is a schematic diagram of the cross-sectional structure of the connection between the connecting rod and the release assembly of the present invention; Figure 7 For the present invention Figure 6 A is a schematic diagram of the enlarged structure.

[0016] In the figure: 1. Robotic arm; 2. Grasping part; 21. Base; 22. Upper arm; 23. Support arm; 24. Clamping block; 25. Matching gear; 3. Driving part; 31. Driving motor; 32. Driving gear; 33. Linkage gear; 34. Rotating rod; 4. Auxiliary component; 41. Driven gear; 43. Half gear; 44. Connecting rod; 45. Suction cup; 46. Return spring; 47. Rack; 5. Release component; 51. Sliding plate; 52. Push rod; 53. Fixed rod; 54. Moving plate; 55. Connecting spring; 56. Resistance block; 6. Circular groove; 7. Ratchet; 8. Paw. DETAILED DESCRIPTION

[0017] like Figure 1-Figure 7 As shown, the present invention provides a technical solution: a single-arm feeding device with a falling material protection function, comprising a mechanical arm 1 and a grabbing part 2, the grabbing part 2 is arranged on the mechanical arm 1 for grabbing and feeding materials, the grabbing part 2 comprises a base 21, a large arm 22, a support arm 23, a clamping block 24 and a matching gear 25, a driving part 3 for driving the grabbing part 2 to work is arranged on the base 21 and the large arm 22, and an auxiliary component 4 for assisting material feeding is arranged on the base 21.

[0018] The auxiliary component 4 includes a driven gear 41, which is rotatably mounted on the inner wall of the base 21, and a half gear 43 is rotatably mounted on the inner wall of the base 21. The bottom of the base 21 is penetrated by a connecting rod 44 and is slidably connected to the connecting rod 44. The bottom of the connecting rod 44 is connected and fixed with a suction cup 45. A return spring 46 is fixed on the surface of the connecting rod 44. The end of the return spring 46 away from the connecting rod 44 is fixed to the bottom of the base 21. A rack 47 is fixed on the side of the connecting rod 44 close to the half gear 43. When the driven gear 41 drives the half gear 43 to rotate clockwise, the half gear 43 rotates to a state where its teeth are meshed with the rack 47. To drive the rack 47 and the connecting rod 44 to move downward, the suction cup 45 at the bottom of the connecting rod 44 is pressed on the sheet metal clamped by the clamping block 24 to adsorb the sheet metal, and as the clamping block 24 releases the sheet metal, the connecting rod 44 moves downward with the sheet metal through the suction cup 45, so that when the sheet metal is put down, the distance between the sheet metal and the table surface is close, avoiding the sheet metal from falling and causing damage due to the sheet metal being too far away from the table surface after being put down, thereby playing a role in falling material protection, and when the half gear 43 rotates to a state where it is no longer engaged with the rack 47, the connecting rod 44 can move upward and reset under the action of the reset spring 46 to complete the reset operation.

[0019] A circular groove 6 is provided on the surface of the driven gear 41, a ratchet 7 is provided on the inner side of the circular groove 6, and a pawl 8 is provided on the surface of the half gear 43. When the driven gear 41 rotates counterclockwise, the ratchet 7 on the inner side of the circular groove 6 cannot be stuck on the pawl 8 on the surface of the half gear 43, thereby not driving the half gear 43 to rotate counterclockwise. When the driven gear 41 rotates clockwise, the ratchet 7 on the inner side of the circular groove 6 is stuck on the pawl 8, driving the half gear 43 to rotate clockwise.

[0020] The bottom of the base 21 is hinged to the upper arm 22 and one end of the support arm 23 , and the other ends of the upper arm 22 and the support arm 23 are hinged to the clamping block 24 . A matching gear 25 is fixed on the support arm 23 .

[0021] Specifically, two groups of upper arms 22, support arms 23, clamping blocks 24 and matching gears 25 are provided, and the two groups of upper arms 22, support arms 23, clamping blocks 24 and matching gears 25 are symmetrically arranged on the base 21, and the two groups of matching gears 25 are meshed with each other. By driving one group of upper arms 22, the two groups of clamping blocks 24 can be controlled to grab and fix the sheet metal parts.

[0022] The driving part 3 includes a driving motor 31, which is fixed on the surface of the base 21. The output shaft of the driving motor 31 passes through the base 21 and is rotatably connected to the base 21. The output shaft of the driving motor 31 is fixed to a driving gear 32. The driving gear 32 is meshed with a driven gear 41. The driving gear 32 is meshed with a linkage gear 33. The linkage gear 33 is connected to a rotating rod 34 through a belt. The rotating rod 34 passes through the upper arm 22 and is fixedly connected to the upper arm 22. Starting the driving motor 31 can drive the driven gear 41 and the linkage gear 33 to rotate, and the rotating rod 34 can be controlled to rotate through the belt to control the rotation of the upper arm 22, so as to control the clamping block 24 to achieve the posture of clamping and releasing.

[0023] A release assembly 5 is provided on the connecting rod 44 and on the inner wall of the base 21. The release assembly 5 includes a sliding plate 51. The sliding plate 51 is connected to the inner wall piston of the connecting rod 44. A push rod 52 is fixed to the top of the sliding plate 51. A fixed rod 53 is fixed to the top of the connecting rod 44. A moving plate 54 is slidably installed on the top of the fixed rod 53. A connecting spring 55 is fixed to the side of the fixed rod 53 away from the push rod 52. One end of the connecting spring 55 away from the fixed rod 53 is fixed to the moving plate 54. A resisting block 56 is fixed to the inner wall of the base 21. When the connecting rod 44 moves downward, The connecting rod 44 moves downward with the sliding plate 51, the pushing rod 52 and the moving plate 54. When the moving plate 54 moves to the position of the abutment block 56, it is abutted by the abutment block 56. As it continues to move downward, the moving plate 54 is pushed by the abutment block 56 to move to the side away from the pushing rod 52. The moving plate 54 abuts on the top of the pushing rod 52 and pushes the pushing rod 52 to move downward. The pushing rod 52 moves downward with the sliding plate 51, and gas is delivered to the suction cup 45, so that the suction cup 45 no longer adsorbs the sheet metal, thereby loosening the sheet metal and releasing it.

[0024] Based on the above embodiment, the sheet metal parts are grabbed and fed by the robot arm 1, the grabbing part 2 and the driving part 3. When the sheet metal parts are grabbed, the upper arm 22, the rotating rod 34 and the linkage gear 33 are in a counterclockwise rotating state, and the output shaft of the driving motor 31 and the driving gear 32 are in a clockwise rotating state, that is, the driven gear 41 rotates counterclockwise, and the ratchet 7 on the inner side of the circular groove 6 cannot be stuck on the pawl 8 on the surface of the half gear 43, thereby not driving the half gear 43 to rotate counterclockwise. Under the limiting action of the support arm 23, the upper arm 22 controls the two groups of clamping blocks 24 to fix the sheet metal parts, and feeding is achieved by rotating the robot arm 1.

[0025] When it moves to the specified position, the output shaft of the driving motor 31 drives the driving gear 32 to rotate counterclockwise, and the control rotating rod 34 drives the upper arm 22 to rotate clockwise, so that the two groups of clamping blocks 24 loosen the fixation on the sheet metal. At the same time, the driven gear 41 rotates clockwise, and the ratchet 7 on the inner side of the circular groove 6 is stuck on the pawl 8, driving the half gear 43 to rotate clockwise together. After the half gear 43 rotates to a state where its teeth are engaged with the rack 47, it can drive the rack 47 and the connecting rod 44 to move downward. The suction cup 45 at the bottom of the connecting rod 44 is squeezed on the sheet metal clamped by the clamping block 24 to absorb the sheet metal, and as the clamping block 24 releases the sheet metal, the connecting rod 44 moves downward with the sheet metal through the suction cup 45, so that when the sheet metal is put down, the distance between the sheet metal and the table surface is close, so as to avoid the sheet metal from falling and being damaged due to the sheet metal being too far away from the table surface after being put down, thereby playing a role in falling protection.

[0026] When the movable plate 54 moves to the position of the resistance block 56, it is resisted by the resistance block 56. As it continues to move downward, the movable plate 54 is pushed by the resistance block 56 to move to the side away from the push rod 52. The movable plate 54 resists the top of the push rod 52 and pushes the push rod 52 to move downward. The push rod 52 moves downward with the sliding plate 51, and gas is transported into the suction cup 45, so that the suction cup 45 no longer adsorbs the sheet metal, thereby loosening the sheet metal and releasing it, ensuring that the release position of the sheet metal is not far from the table surface, so as to avoid the sheet metal from falling and being damaged.

[0027] The above generally describes the present invention in detail, but it is obvious to a person skilled in the art that some modifications or improvements can be made to the present invention. Therefore, modifications or improvements that do not depart from the spirit of the present invention are within the scope of protection of the present invention.

Claims

1. A single-arm feeding device with a material falling protection function, comprising a mechanical arm (1) and a gripping portion (2), characterized in that: The grabbing portion (2) is arranged on the mechanical arm (1) for grabbing and feeding materials. The grabbing portion (2) comprises a base (21), a large arm (22), a support arm (23), a clamping block (24) and a matching gear (25). A driving portion (3) for driving the grabbing portion (2) to work is arranged on the base (21) and the large arm (22). An auxiliary component (4) for assisting material feeding is arranged on the base (21).

2. The single-arm feeding device with falling material protection function according to claim 1 is characterized in that: The auxiliary component (4) comprises a driven gear (41) which is rotatably mounted on the inner wall of the base (21); a half gear (43) is rotatably mounted on the inner wall of the base (21); and a connecting rod (44) penetrates the bottom of the base (21) and is slidably connected to the connecting rod (44).

3. The single-arm feeding device with falling material protection function according to claim 2 is characterized in that: The bottom of the connecting rod (44) is connected to and fixed with a suction cup (45), a return spring (46) is fixed on the surface of the connecting rod (44), one end of the return spring (46) away from the connecting rod (44) is fixed to the bottom of the base (21), and a rack (47) is fixed on the side of the connecting rod (44) close to the half gear (43).

4. The single-arm feeding device with falling material protection function according to claim 2 is characterized in that: A circular groove (6) is provided on the surface of the driven gear (41), a ratchet wheel (7) is provided inside the circular groove (6), and a ratchet pawl (8) is provided on the surface of the half gear (43).

5. The single-arm feeding device with material falling protection function according to claim 1 is characterized in that: The bottom of the base (21) is hinged to one end of the upper arm (22) and the support arm (23), the other ends of the upper arm (22) and the support arm (23) are hinged to the clamping block (24), and a matching gear (25) is fixed on the support arm (23).

6. The single-arm feeding device with material falling protection function according to claim 1, characterized in that: The upper arm (22), the support arm (23), the clamping block (24) and the matching gear (25) are each provided in two groups, and the two groups of the upper arm (22), the support arm (23), the clamping block (24) and the matching gear (25) are both symmetrically arranged on the base (21), and the two groups of the matching gears (25) are meshed with each other.

7. The single-arm feeding device with falling material protection function according to claim 2 is characterized in that: The driving part (3) comprises a driving motor (31), the driving motor (31) being fixed on the surface of the base (21), the output shaft of the driving motor (31) passing through the base (21) and being rotationally connected to the base (21), the output shaft of the driving motor (31) being fixed to a driving gear (32), the driving gear (32) being meshed with a driven gear (41), the driving gear (32) being meshed with a linkage gear (33), the linkage gear (33) being transmission-connected to a rotating rod (34) via a belt, and the rotating rod (34) passing through the upper arm (22) and being fixedly connected to the upper arm (22).

8. The single-arm feeding device with falling material protection function according to claim 3 is characterized in that: A release assembly (5) is provided on the connecting rod (44) and on the inner wall of the base (21). The release assembly (5) comprises a sliding plate (51). The sliding plate (51) is connected to the inner wall piston of the connecting rod (44). A push rod (52) is fixed to the top of the sliding plate (51). A fixing rod (53) is fixed to the top of the connecting rod (44).

9. The single-arm feeding device with falling material protection function according to claim 8, characterized in that: A movable plate (54) is slidably mounted on the top of the fixed rod (53); a connecting spring (55) is fixed to a side of the fixed rod (53) away from the push rod (52); an end of the connecting spring (55) away from the fixed rod (53) is fixed to the movable plate (54); and a resisting block (56) is fixed to the inner wall of the base (21).

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