A rotating side-shift unloading crossbar for a double-arm feeding device and a unloading method

Abstract

The present invention provides a rotating side-shift unloading crossbar and unloading method for a double-arm feeding device, which comprises a crossbar, the left and right ends of the crossbar are both provided with double-arm matching mechanisms, the front and rear ends of the crossbar are respectively provided with a belt transmission mechanism 1 and a belt transmission mechanism 2, the transmission belt of the belt transmission mechanism 1 is a toothed belt 1, the transmission belt of the belt transmission mechanism 2 is a toothed belt 2, and the toothed belt 1 and the toothed belt 2 are arranged in parallel; the middle part of the crossbar is slidably installed with a rotating sliding unit along the length direction of the crossbar through a linear guide mechanism, the rotating sliding unit comprises a rotating disk slidably installed on the crossbar along the length direction of the crossbar, the outer ring of the rotating disk is rotatably installed with a rotating gear through a bearing, the rotating gear is located between the toothed belt 1 and the toothed belt 2, and the rotating gear is simultaneously connected with the toothed belt 1 and the toothed belt 2 gear transmission, and an end picking mechanism is fixedly installed on the lower side of the rotating gear. The present invention can reduce the number of driving devices and simplify the overall structure on the basis of having sufficient degrees of freedom.

Description

Technical Field

[0001] The invention belongs to the technical field of double-arm feeding, and in particular relates to a rotating side-shifting feeding cross bar for a double-arm feeding device and a feeding method. Background Art

[0002] At present, the existing automotive exterior cover automatic stamping production line is usually composed of multiple presses and automatic handling equipment. Each press needs to be selected according to the production process requirements, and is used for multiple production processes such as stretching, punching, flanging, and shaping. Each handling device needs to accurately transport parts from the previous process to the next process and ensure that the workpiece remains stable during the handling process.

[0003] Moreover, since the formed workpieces produced by the same automobile exterior cover automated stamping production line include various specifications and the conveyor belt is set up in various ways, the existing handling devices often need to have multiple degrees of freedom to meet the needs of changing the position of the workpiece, such as: 1. Horizontal movement in the same or opposite direction of the conveying direction; 2. Movement across the conveying direction; 3. Rotation in the same or opposite direction of the conveying direction; 4. Rotation across the conveying direction; 5. Movement in the vertical height; 6. Tilting in the conveying direction, etc.

[0004] Therefore, the handling devices used in the existing automated stamping production lines for automobile exterior covers, especially the unloading devices used by the double-arm feeding devices, often need to have multiple driving mechanisms and multiple transmission structures in order to meet the needs of handling formed workpieces, which results in the entire unloading device not only having a large height but also a very heavy weight, thereby further increasing the weight of the driving device used in the double-arm feeding device, and increasing the production and manufacturing cost of the entire double-arm feeding device. At the same time, it also conflicts with the requirement that the workpiece must have good freedom of movement when loading and removing it. Summary of the invention

[0005] The technical problem solved by the present invention is to provide a rotating side-shifting unloading cross bar and a unloading method for a double-arm feeding device, and to enable the rotating side-shifting unloading cross bar for the double-arm feeding device to reduce the number of driving devices and simplify the overall structure on the basis of having the functions of laterally moving the formed workpiece and rotating the formed workpiece, so as to have the characteristics of a compact structure, thereby ensuring that the double-arm feeding device can obtain good freedom of movement and flexibility.

[0006] In order to solve the above technical problems, on the one hand, the present invention provides a rotating side-shifting unloading cross bar for a double-arm feeding device, which includes a cross bar, and double-arm matching mechanisms are provided at both ends of the cross bar, and belt transmission mechanism 1 and belt transmission mechanism 2 are respectively provided at the front and rear ends of the cross bar, and the driving wheel 1 of the belt transmission mechanism 1 is connected to the driving motor 1, and the driving wheel 2 of the belt transmission mechanism 2 is connected to the driving motor 2. The transmission belt of the belt transmission mechanism 1 is a toothed belt 1, and the transmission belt of the belt transmission mechanism 2 is a toothed belt 2, and the toothed belt 1 is arranged parallel to the toothed belt 2; a rotating sliding unit is slidably installed on the middle part of the cross bar along the length direction of the cross bar through a linear guide mechanism, and the rotating sliding unit includes a turntable slidably installed on the cross bar along the length direction of the cross bar, and a rotating gear is rotatably installed on the outer ring of the turntable through a bearing, and the rotating gear is located between the toothed belt 1 and the toothed belt 2, and the rotating gear is simultaneously connected to the toothed belt 1 and the toothed belt 2 gear transmission, and an end picking mechanism is fixedly installed on the lower side of the rotating gear.

[0007] At this time, the present invention can drive the corresponding belt transmission mechanism to operate through driving motor 1 and driving motor 2 respectively, and transmit power to the rotating gear through toothed belt 1 in belt transmission mechanism 1 and toothed belt 2 in belt transmission mechanism 2, and when the direction of power transmitted to the rotating gear by toothed belt 1 is the same as the direction of power transmitted to the rotating gear by toothed belt 2, that is, when the power transmitted to the rotating gear by toothed belt 1 and the power transmitted to the rotating gear by toothed belt 2 can both drive the rotating gear to rotate clockwise, it can drive the rotating gear and the end picking mechanism fixed at the rotating gear to rotate clockwise; when the power transmitted to the rotating gear by toothed belt 1 and the power transmitted to the rotating gear by toothed belt 2 can both drive the rotating gear to rotate counterclockwise, it can drive the rotating gear and the end picking mechanism fixed at the rotating gear to rotate counterclockwise; and ensure that the end picking mechanism can pick up the workpiece at the corresponding position, and ensure The end picking mechanism can rotate the picked up formed workpiece to a specified angle; on the contrary, when the direction of power transmitted by toothed belt one to the rotating gear is opposite to the direction of power transmitted by toothed belt two to the rotating gear, that is, when the power transmitted by toothed belt one to the rotating gear can drive the rotating gear to rotate clockwise, and the power transmitted by toothed belt two to the rotating gear can drive the rotating gear to rotate counterclockwise, or the power transmitted by toothed belt one to the rotating gear can drive the rotating gear to rotate counterclockwise, and the power transmitted by toothed belt two to the rotating gear can drive the rotating gear to rotate clockwise, the rotating gear can be in a relatively fixed state with toothed belt one and toothed belt two, and move linearly with toothed belt one and toothed belt two, so as to ensure that the end picking mechanism can pick up the workpiece at the corresponding position, and ensure that the end picking mechanism can move the picked up formed workpiece horizontally to the specified position, thereby meeting the workpiece handling requirements.

[0008] Furthermore, the linear guide mechanism includes a guide rail fixedly mounted on the crossbar, a fixing plate is slidably mounted on the guide rail along the length direction of the crossbar, and the fixing plate is fixed to the turntable. In this way, the turntable, the rotating gear, the end pick-up mechanism and other components provided at the turntable can all move linearly along the length direction of the crossbar through the relative sliding between the fixing plate and the guide rail.

[0009] Furthermore, a retaining plate is fixedly installed on one side of the rotating gear, and at least two front gears and at least two rear gears are rotatably installed on the retaining plate. The front gear is located between the rotating wheel and the toothed belt 1, and all the front gears are meshed with the toothed belt 1 and the rotating gear at the same time; the rear gear is located between the rotating wheel and the toothed belt 2, and all the rear gears are meshed with the toothed belt 2 and the rotating gear at the same time. At this time, the present invention can increase the contact angle between the toothed belt 1 and the rotating gear through the front gear, and increase the contact angle between the toothed belt 2 and the rotating gear through the rear gear, thereby ensuring that the rotating gear can operate reliably under the action of the gear belt 1 and the gear belt 2.

[0010] Further, the front gear meshes with the inner ring of the toothed belt one on the side away from the toothed belt two, and the rear gear meshes with the inner ring of the toothed belt two on the side away from the toothed belt one; or the front gear meshes with the inner ring of the toothed belt one on the side close to the toothed belt two, and the rear gear meshes with the inner ring of the toothed belt two on the side close to the toothed belt one; or the front gear meshes with the outer ring of the toothed belt one on the side away from the toothed belt two, and the rear gear meshes with the outer ring of the toothed belt two on the side away from the toothed belt one; or the front gear meshes with the outer ring of the toothed belt one on the side close to the toothed belt two, and the rear gear meshes with the outer ring of the toothed belt two on the side away from the toothed belt one. The gear is meshed with the outer ring of the toothed belt 2 on the side close to the toothed belt 1, and can control whether the rotating gear can rotate by controlling the running direction of the toothed belt 1 and the toothed belt 2, so as to ensure that the rotary sliding unit can be flexibly adjusted between rotational motion and linear motion; that is, when the running directions and speeds of the toothed belt 1 and the toothed belt 2 are the same, it can drive the rotary sliding unit to perform a rotational motion in the corresponding direction; when the running directions and speeds of the toothed belt 1 and the toothed belt 2 are opposite, it can drive the rotary sliding unit to perform a linear motion in the corresponding direction.

[0011] Further, the front gear meshes with the inner ring of the toothed belt one on the side away from the toothed belt two, and the rear gear meshes with the outer ring of the toothed belt two on the side close to the toothed belt one; or the front gear meshes with the outer ring of the toothed belt one on the side close to the toothed belt two, and the rear gear meshes with the inner ring of the toothed belt two on the side away from the toothed belt one; or the front gear meshes with the outer ring of the toothed belt one on the side away from the toothed belt two, and the rear gear meshes with the inner ring of the toothed belt two on the side close to the toothed belt one; or the front gear meshes with the inner ring of the toothed belt one on the side close to the toothed belt two, and the rear gear meshes with the inner ring of the toothed belt two on the side close to the toothed belt one. The gear is meshed with the outer ring of the toothed belt 2 on the side away from the toothed belt 1, and can control whether the rotating gear can rotate by controlling the running direction of the toothed belt 1 and the toothed belt 2, so as to ensure that the rotary sliding unit can flexibly adjust between rotational motion and linear motion; that is, when the running directions and speeds of the toothed belt 1 and the toothed belt 2 are the same, it can drive the rotary sliding unit to perform linear motion in the corresponding direction; when the running directions and speeds of the toothed belt 1 and the toothed belt 2 are opposite, it can drive the rotary sliding unit to perform rotational motion in the corresponding direction.

[0012] Furthermore, the structure of the belt transmission mechanism 1 is the same as that of the belt transmission mechanism 2, and the structure of the front gear is the same as that of the rear gear, so as to ensure that both can transmit at the same transmission ratio.

[0013] Furthermore, the driving motor 1 and the driving motor 2 are respectively arranged at two ends of the cross bar to shorten the width of the cross bar.

[0014] Furthermore, the end picking mechanism includes an end picking frame fixedly mounted on the holding plate, the end picking frame is provided with a vacuum suction cup, and the formed workpiece is adsorbed by the vacuum suction cup to ensure that the formed workpiece can move with the entire rotating sliding unit.

[0015] On the other hand, the present invention provides a material unloading method for a double-arm feeding device, which uses the above-mentioned rotating side-moving unloading cross bar for the double-arm feeding device, when the front gear is meshed with the inner ring of the toothed belt one on the side away from the toothed belt two, and the rear gear is meshed with the inner ring of the toothed belt two on the side away from the toothed belt one; or the front gear is meshed with the inner ring of the toothed belt one on the side close to the toothed belt two, and the rear gear is meshed with the inner ring of the toothed belt two on the side close to the toothed belt one, when the formed workpiece needs to be rotated horizontally, the toothed belt one and the toothed belt two have the same running direction and speed, and the movement direction of the rotating sliding unit is opposite to the running direction of the toothed belt one; when the formed workpiece needs to be rotated horizontally During linear motion, the toothed belt one and the toothed belt two run in opposite directions and at the same speed, and the movement direction of the rotary sliding unit is the same as the linear motion direction of the position on the toothed belt one used to mesh with the front gear; the front gear meshes with the outer ring of the toothed belt one on the side away from the toothed belt two, and the rear gear meshes with the outer ring of the toothed belt two on the side away from the toothed belt one; or the front gear meshes with the outer ring of the toothed belt one on the side close to the toothed belt two, and the rear gear meshes with the outer ring of the toothed belt two on the side close to the toothed belt one, when the formed workpiece needs to be rotated horizontally, the toothed belt one and the toothed belt two run in the same direction and at the same speed, and the movement direction of the rotary sliding unit is the same as the movement direction of the toothed belt one. The rotation direction is the same; when the formed workpiece needs to perform linear motion, the toothed belt one and the toothed belt two run in opposite directions and at the same speed, and the movement direction of the rotary sliding unit is the same as the linear motion direction of the position on the toothed belt one used to mesh with the front gear; the front gear meshes with the inner ring of the toothed belt one on the side away from the toothed belt two, and the rear gear meshes with the outer ring of the toothed belt two on the side close to the toothed belt one; or the front gear meshes with the outer ring of the toothed belt one on the side close to the toothed belt two, and the rear gear meshes with the inner ring of the toothed belt two on the side away from the toothed belt one; or the front gear meshes with the outer ring of the toothed belt one on the side away from the toothed belt two, and the rear gear meshes with the The inner ring of the toothed belt one side is meshed; or the front gear is meshed with the inner ring of the toothed belt one side close to the toothed belt two, and the rear gear is meshed with the outer ring of the toothed belt two side away from the toothed belt one. When the formed workpiece needs to be rotated horizontally, the toothed belt one and the toothed belt two have opposite running directions and the same speed, and the movement direction of the rotary sliding unit is the same as the running direction of the toothed belts in the toothed belt one and the toothed belt two that are connected to the rotary gear at the outer position. When the formed workpiece needs to perform linear motion, the toothed belt one and the toothed belt two have the same running directions and speeds, and the movement direction of the rotary sliding unit is the same as the linear motion direction of the position on the toothed belt one used to mesh with the front gear.

[0016] It can be seen from the above technical solutions that the present invention has the following advantages:

[0017] 1. The present invention can be applied to a special stamping handling device of a large-scale high-speed fully automatic stamping production line, such as CN108856549A, and the above structure ensures that the overall structure is compact and easy to maintain, which is beneficial to improving the economic benefits of automobile manufacturing enterprises;

[0018] 2. The present invention can reduce the number of driving devices and simplify the overall structure on the basis of having the functions of laterally moving the formed workpiece and rotating the formed workpiece, so as to have the characteristics of compact structure, thereby ensuring that the double-arm feeding device can obtain good freedom of movement and flexibility. At the same time, it can avoid the shuttle device and unloading robot described in CN217912573U, and reduce the production and manufacturing cost of the stamping production line and the floor space of the stamping production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0020] Figure 1 It is a structural schematic diagram of the present invention when being applied to a feeding device of a multi-station press to transfer a small formed workpiece during the forming stage;

[0021] Figure 2 The present invention is applied to the feeding device of a multi-station press to convey a large formed workpiece during the forming stage. Figure 1 ;

[0022] Figure 3 The present invention is applied to the feeding device of a multi-station press to convey a large formed workpiece during the forming stage. Figure 2 ;

[0023] Figure 4 It is a schematic diagram of the conveying process of the multi-station press feeding device after the present invention is applied to the multi-station press feeding device;

[0024] Figure 5 It is a top view when an angle exists between the end pick-up mechanism and the cross bar of the rotary sliding unit in the first embodiment of the present invention;

[0025] Figure 6 It is a top view of the end pick-up mechanism and the cross bar of the rotary sliding unit in the first embodiment of the present invention when they are flat.

[0026] In the figure: 1. press worktable; 2. double-arm feeding device; 3. formed workpiece; 4. conveyor belt; 5. cross bar; 6. rotating sliding unit; 7. end pick-up mechanism; 8. belt transmission mechanism 1; 9. belt transmission mechanism 2; 10. driven wheel 1; 11. bearing; 12. front gear; 13. rotating gear; 14. driving motor 1; 15. driven wheel 2; 16. rear gear; 17. turntable; 18. fixed plate; 19. retaining plate; 20. vacuum suction cup; 21. end pick-up frame; 22. driving motor 2; 23. toothed belt 1; 24. toothed belt 2. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] Embodiment 1

[0029] like Figures 1 to 6 As shown, this embodiment 1 provides a rotating side-shifting unloading cross bar for a double-arm feeding device, which includes a cross bar 5, and the left and right ends of the cross bar 5 are both provided with double-arm matching mechanisms, and are slidably installed on the double-arm feeding device 2 through the double-arm matching mechanisms. However, since the double-arm matching mechanism is a mature conventional technical means in the field, it will not be described in detail here. The front and rear ends of the cross bar 5 are respectively provided with a belt transmission mechanism 1 8 and a belt transmission mechanism 2 9, and the structure of the belt transmission mechanism 1 8 is the same as that of the belt transmission mechanism 2 9. Specifically, the belt transmission mechanism 1 8 includes a driven wheel 10, a driving wheel 1, and a toothed belt 1 mounted on the outside of the driven wheel 10 and the driving wheel 1, and the transmission is installed on a driving motor 14 at one end of the driving wheel. The belt transmission mechanism 2 9 includes a driven wheel 2 15, a driving wheel 2, and a toothed belt 2 mounted on the outside of the driven wheel 2 15 and the driving wheel 2, which transmits the drive motor 2 22 installed at the driving wheel 2, and the drive motor 1 14 and the drive motor 2 22 are respectively arranged at the left and right ends of the cross bar 5 to shorten the width of the cross bar 5; the toothed belt 1 and the toothed belt 2 have the same number of teeth and are arranged in parallel to ensure that they can move synchronously under the action of the drive motor 1 14 and the drive motor 2 22.

[0030] The middle part of the crossbar 5 is slidably mounted with a rotary sliding unit 6 along the length direction of the crossbar 5 through a linear guide mechanism. Specifically, the linear guide mechanism includes a guide rail fixedly mounted on the crossbar 5, and a fixed plate 18 is slidably mounted on the guide rail along the length direction of the crossbar 5, and the fixed plate 18 is fixed together with the rotary sliding unit 6. The rotary sliding unit 6 includes a turntable 17 fixedly mounted on the fixed plate 18, and a rotary gear 13 is rotatably mounted on the outer ring of the turntable 17 through a bearing 11, and the rotary gear 13 is located between the toothed belt 1 and the toothed belt 2, and the rotary gear 13 is simultaneously connected to the toothed belt 1 and the toothed belt 2 gear transmission, and a holding plate 19 is fixedly mounted on the lower side of the rotary gear 13, and an end pick-up mechanism 7 is fixedly mounted on the surface of the holding plate 19. The end pick-up mechanism 7 includes an end pick-up frame 21 mounted on the holding plate 19, and a plurality of vacuum suction cups 20 are arranged on the end pick-up frame 21, and the formed workpiece 3 is adsorbed by the vacuum suction cups 20 to ensure that the formed workpiece 3 can move with the entire rotary sliding unit 6.

[0031] In addition, as a preferred embodiment, at least two front gears 12 and at least two rear gears 16 are rotatably mounted on the retaining plate 19. The structure of the front gear 12 is the same as that of the rear gear 16. At the same time, the front gear 12 is located between the rotating wheel and the toothed belt 1, and all the front gears 12 are simultaneously meshed with the toothed belt 1 and the rotating gear 13; the rear gear 16 is located between the rotating wheel and the toothed belt 2, and all the rear gears 16 are simultaneously meshed with the toothed belt 2 and the rotating gear 13. At this time, the first embodiment can increase the contact angle between the toothed belt 1 and the rotating gear 13 through the front gear 12, and increase the contact angle between the toothed belt 2 and the rotating gear 13 through the rear gear 16, thereby ensuring that the rotating gear 13 can operate reliably under the action of the gear belt 1 and the gear belt 2.

[0032] In the first embodiment, the following structures can be used. The first structure is that the front gear 12 meshes with the inner ring of the toothed belt 1 away from the toothed belt 2, and the rear gear 16 meshes with the inner ring of the toothed belt 2 away from the toothed belt 1; or the front gear 12 meshes with the inner ring of the toothed belt 1 close to the toothed belt 2, and the rear gear 16 meshes with the inner ring of the toothed belt 2 close to the toothed belt 1, and the rotation direction of the toothed belt 1 and the toothed belt 2 can be controlled to control whether the rotating gear 13 can rotate, so as to ensure that the rotating sliding unit 6 can be flexibly adjusted between the rotational motion and the linear motion.

[0033] Specifically, the corresponding belt transmission mechanisms can be driven by the drive motor 14 and the drive motor 22 to operate respectively, and the power is transmitted to the rotating gear 13 through the toothed belt 1 in the belt transmission mechanism 1 8 and the toothed belt 2 in the belt transmission mechanism 2 9, and when the power direction transmitted to the rotating gear 13 by the toothed belt 1 is the same as the power direction transmitted to the rotating gear 13 by the toothed belt 2, and the running speed of the toothed belt 1 is the same as the running speed of the toothed belt 2, that is, when the power transmitted to the rotating gear 13 by the toothed belt 1 and the power transmitted to the rotating gear 13 by the toothed belt 2 are both When it can drive the rotating gear 13 to rotate clockwise, it can drive the rotating gear 13 and the end picking mechanism 7 fixed at the rotating gear 13 to rotate clockwise; when the power transmitted to the rotating gear 13 by the toothed belt 1 and the power transmitted to the rotating gear 13 by the toothed belt 2 can both drive the rotating gear 13 to rotate counterclockwise, it can drive the rotating gear 13 and the end picking mechanism 7 fixed at the rotating gear 13 to rotate counterclockwise; and ensure that the end picking mechanism 7 can pick up the workpiece at the corresponding position, and ensure that the end picking mechanism 7 can rotate the picked up formed workpiece 3 to a specified angle. On the contrary, when the direction of power transmitted by toothed belt 1 to rotating gear 13 is opposite to the direction of power transmitted by toothed belt 2 to rotating gear 13, and the running speed of toothed belt 1 is the same as the running speed of toothed belt 2, that is, when the power transmitted by toothed belt 1 to rotating gear 13 can drive rotating gear 13 to rotate clockwise, and the power transmitted by toothed belt 2 to rotating gear 13 can drive rotating gear 13 to rotate counterclockwise, or the power transmitted by toothed belt 1 to rotating gear 13 can drive rotating gear 13 to rotate counterclockwise, and the power transmitted by toothed belt 2 to rotating gear 13 can drive rotating gear 13 to rotate clockwise, the rotating gear 13 can be in a relatively fixed state with toothed belt 1 and toothed belt 2, and move linearly with toothed belt 1 and toothed belt 2, so as to ensure that the end picking mechanism 7 can pick up the workpiece at the corresponding position, and ensure that the end picking mechanism 7 can move the picked up formed workpiece 3 horizontally to the specified position, thereby meeting the workpiece handling requirements.

[0034] The second type: the front gear 12 is meshed with the outer ring of the toothed belt one on the side away from the toothed belt two, and the rear gear 16 is meshed with the outer ring of the toothed belt two on the side away from the toothed belt one; or the front gear 12 is meshed with the outer ring of the toothed belt one on the side close to the toothed belt two, and the rear gear 16 is meshed with the outer ring of the toothed belt two on the side close to the toothed belt one, and the rotation of the rotating gear 13 can be controlled by controlling the running direction of the toothed belts one and the toothed belts two to ensure that the rotating sliding unit 6 can be flexibly adjusted between rotational motion and linear motion.

[0035] Specifically, the corresponding belt transmission mechanisms can be driven by the drive motor 14 and the drive motor 22 to operate respectively, and the power is transmitted to the rotating gear 13 through the toothed belt 1 in the belt transmission mechanism 1 8 and the toothed belt 2 in the belt transmission mechanism 2 9, and when the power direction transmitted to the rotating gear 13 by the toothed belt 1 is the same as the power direction transmitted to the rotating gear 13 by the toothed belt 2, and the running speed of the toothed belt 1 is the same as the running speed of the toothed belt 2, that is, when the power transmitted to the rotating gear 13 by the toothed belt 1 and the power transmitted to the rotating gear 13 by the toothed belt 2 are both When it can drive the rotating gear 13 to rotate clockwise, it can drive the rotating gear 13 and the end picking mechanism 7 fixed at the rotating gear 13 to rotate clockwise; when the power transmitted to the rotating gear 13 by the toothed belt 1 and the power transmitted to the rotating gear 13 by the toothed belt 2 can both drive the rotating gear 13 to rotate counterclockwise, it can drive the rotating gear 13 and the end picking mechanism 7 fixed at the rotating gear 13 to rotate counterclockwise; and ensure that the end picking mechanism 7 can pick up the workpiece at the corresponding position, and ensure that the end picking mechanism 7 can rotate the picked up formed workpiece 3 to a specified angle. On the contrary, when the direction of power transmitted by toothed belt 1 to rotating gear 13 is opposite to the direction of power transmitted by toothed belt 2 to rotating gear 13, and the running speed of toothed belt 1 is the same as the running speed of toothed belt 2, that is, when the power transmitted by toothed belt 1 to rotating gear 13 can drive rotating gear 13 to rotate clockwise, and the power transmitted by toothed belt 2 to rotating gear 13 can drive rotating gear 13 to rotate counterclockwise, or the power transmitted by toothed belt 1 to rotating gear 13 can drive rotating gear 13 to rotate counterclockwise, and the power transmitted by toothed belt 2 to rotating gear 13 can drive rotating gear 13 to rotate clockwise, the rotating gear 13 can be in a relatively fixed state with toothed belt 1 and toothed belt 2, and move linearly with toothed belt 1 and toothed belt 2, so as to ensure that the end picking mechanism 7 can pick up the workpiece at the corresponding position, and ensure that the end picking mechanism 7 can move the picked up formed workpiece 3 horizontally to the specified position, thereby meeting the workpiece handling requirements.

[0036] The third type: the front gear 12 meshes with the inner ring of the toothed belt one on the side away from the toothed belt two, and the rear gear 16 meshes with the outer ring of the toothed belt two on the side close to the toothed belt one; or the front gear 12 meshes with the outer ring of the toothed belt one on the side close to the toothed belt two, and the rear gear 16 meshes with the inner ring of the toothed belt two on the side away from the toothed belt one; or the front gear 12 meshes with the outer ring of the toothed belt one on the side away from the toothed belt two, and the rear gear 16 meshes with the inner ring of the toothed belt two on the side close to the toothed belt one; or the front gear 12 meshes with the inner ring of the toothed belt one on the side close to the toothed belt two, and the rear gear 16 meshes with the outer ring of the toothed belt two on the side away from the toothed belt one, and the rotation direction of the toothed belt one and the toothed belt two can be controlled to control whether the rotating gear 13 can rotate, so as to ensure that the rotating sliding unit 6 can be flexibly adjusted between rotational motion and linear motion.

[0037] The corresponding belt transmission mechanisms can be driven by the drive motor 14 and the drive motor 22 to operate respectively, and the power is transmitted to the rotating gear 13 through the toothed belt 1 in the belt transmission mechanism 1 8 and the toothed belt 2 in the belt transmission mechanism 2 9. Moreover, when the power direction transmitted to the rotating gear 13 by the toothed belt 1 is the same as the power direction transmitted to the rotating gear 13 by the toothed belt 2, and the running speed of the toothed belt 1 is the same as the running speed of the toothed belt 2, that is, when the power transmitted to the rotating gear 13 by the toothed belt 1 and the power transmitted to the rotating gear 13 by the toothed belt 2 are both able to When the rotating gear 13 is driven to rotate clockwise, it can drive the rotating gear 13 and the end picking mechanism 7 fixed at the rotating gear 13 to rotate clockwise; when the power transmitted to the rotating gear 13 by the toothed belt 1 and the power transmitted to the rotating gear 13 by the toothed belt 2 can both drive the rotating gear 13 to rotate counterclockwise, it can drive the rotating gear 13 and the end picking mechanism 7 fixed at the rotating gear 13 to rotate counterclockwise; and ensure that the end picking mechanism 7 can pick up the workpiece at the corresponding position, and ensure that the end picking mechanism 7 can rotate the picked up formed workpiece 3 to a specified angle. On the contrary, when the direction of power transmitted by toothed belt 1 to rotating gear 13 is opposite to the direction of power transmitted by toothed belt 2 to rotating gear 13, and the running speed of toothed belt 1 is the same as the running speed of toothed belt 2, that is, when the power transmitted by toothed belt 1 to rotating gear 13 can drive rotating gear 13 to rotate clockwise, and the power transmitted by toothed belt 2 to rotating gear 13 can drive rotating gear 13 to rotate counterclockwise, or the power transmitted by toothed belt 1 to rotating gear 13 can drive rotating gear 13 to rotate counterclockwise, and the power transmitted by toothed belt 2 to rotating gear 13 can drive rotating gear 13 to rotate clockwise, the rotating gear 13 can be in a relatively fixed state with toothed belt 1 and toothed belt 2, and move linearly with toothed belt 1 and toothed belt 2, so as to ensure that the end picking mechanism 7 can pick up the workpiece at the corresponding position, and ensure that the end picking mechanism 7 can move the picked up formed workpiece 3 horizontally to the specified position, thereby meeting the workpiece handling requirements.

[0038] Embodiment 2

[0039] The second embodiment of the present invention provides a material unloading method for a double-arm feeding device, which uses the above-mentioned rotating side-shift unloading cross bar for the double-arm feeding device, and the front gear 12 is meshed with the inner ring of the toothed belt one on the side away from the toothed belt two, and the rear gear 16 is meshed with the inner ring of the toothed belt two on the side away from the toothed belt one; or the front gear 12 is meshed with the inner ring of the toothed belt one on the side close to the toothed belt two, and the rear gear 16 is meshed with the inner ring of the toothed belt two on the side close to the toothed belt one, when the formed workpiece 3 needs to be rotated horizontally, the toothed belt one and the toothed belt two have the same running direction and speed, and the movement direction of the rotating sliding unit 6 is opposite to the running direction of the toothed belt one; when the formed workpiece 3 needs to be moved in a straight line When the toothed belt 1 and the toothed belt 2 are moving, the running directions are opposite and the speeds are the same, and the moving direction of the rotary sliding unit 6 is the same as the linear moving direction of the position on the toothed belt 1 for meshing with the front gear 12; when the front gear 12 is meshed with the outer ring of the toothed belt 1 on the side away from the toothed belt 2, and the rear gear 16 is meshed with the outer ring of the toothed belt 2 on the side away from the toothed belt 1; or when the front gear 12 is meshed with the outer ring of the toothed belt 1 on the side close to the toothed belt 2, and the rear gear 16 is meshed with the outer ring of the toothed belt 2 on the side close to the toothed belt 1, when the formed workpiece 3 needs to be rotated horizontally, the toothed belt 1 and the toothed belt 2 have the same running directions and speeds, and the moving direction of the rotary sliding unit 6 is the same as the running direction of the toothed belt 1 The same; when the formed workpiece 3 needs to perform linear motion, the running directions of the toothed belt one and the toothed belt two are opposite and the speeds are the same, and the movement direction of the rotary sliding unit 6 is the same as the linear motion direction of the position on the toothed belt one for meshing with the front gear 12; when the front gear 12 meshes with the inner ring of the toothed belt one on the side away from the toothed belt two, the rear gear 16 meshes with the outer ring of the toothed belt two on the side close to the toothed belt one; or the front gear 12 meshes with the outer ring of the toothed belt one on the side close to the toothed belt two, and the rear gear 16 meshes with the inner ring of the toothed belt two on the side away from the toothed belt one; or the front gear 12 meshes with the outer ring of the toothed belt one on the side away from the toothed belt two, and the rear gear 16 meshes with the outer ring of the toothed belt two on the side close to the toothed belt The inner ring of the toothed belt one is meshed with the inner ring of the toothed belt two on the side thereof; or the front gear 12 is meshed with the inner ring of the toothed belt one on the side thereof close to the toothed belt two, and the rear gear 16 is meshed with the outer ring of the toothed belt two on the side thereof away from the toothed belt one, when the formed workpiece 3 needs to be rotated horizontally, the toothed belt one and the toothed belt two have opposite running directions and the same speed, and the movement direction of the rotary sliding unit 6 is the same as the running direction of the toothed belts in the toothed belt one and the toothed belt two that are connected to the rotating gear 13 at the outer position; when the formed workpiece 3 needs to perform linear motion, the toothed belt one and the toothed belt two have the same running directions and the same speed, and the movement direction of the rotary sliding unit 6 is the same as the linear motion direction of the position on the toothed belt one used to mesh with the front gear 12.

[0040] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0041] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rotating side-shift feeding crossbar for a double-arm feeding device, comprising a crossbar (5), both left and right ends of the crossbar (5) being provided with double-arm matching mechanisms; characterized in that: A belt drive mechanism 1 (8) and a belt drive mechanism 2 (9) are respectively arranged at the front and rear ends of the cross bar (5); the driving wheel 1 of the belt drive mechanism 1 (8) is connected to a driving motor 1 (14); the driving wheel 2 of the belt drive mechanism 2 (9) is connected to a driving motor 2 (22); the transmission belt of the belt drive mechanism 1 (8) is a toothed belt 1; the transmission belt of the belt drive mechanism 2 (9) is a toothed belt 2; the toothed belt 1 is arranged in parallel with the toothed belt 2; a rotating sliding unit (6) is slidably mounted in the middle of the cross bar (5) through a linear guide mechanism along the length direction of the cross bar (5); The rotary sliding unit (6) comprises a rotating disk (17) which is slidably mounted on the cross bar (5) along the length direction of the cross bar (5); a rotating gear (13) is rotatably mounted on the outer ring of the rotating disk (17) via a bearing (11); the rotating gear (13) is located between the toothed belt 1 and the toothed belt 2; the axis of the rotating gear (13) is parallel to the axis of the driving wheel 1 and the axis of the driving wheel 2; and the rotating gear (13) is simultaneously connected to the toothed belt 1 and the toothed belt 2 through gear transmission; an end pick-up mechanism (7) is fixedly mounted on the lower side of the rotating gear (13); when the toothed belt 1 transmits power to the rotating gear When the power transmitted by the toothed belt 1 to the rotating gear (13) and the power transmitted by the toothed belt 2 to the rotating gear (13) can both drive the rotating gear (13) to rotate clockwise, the rotating gear (13) and the end picking mechanism (7) fixed at the rotating gear (13) rotate clockwise; when the power transmitted by the toothed belt 1 to the rotating gear (13) and the power transmitted by the toothed belt 2 to the rotating gear (13) can both drive the rotating gear (13) to rotate counterclockwise, the rotating gear (13) and the end picking mechanism (7) fixed at the rotating gear (13) rotate counterclockwise; when the power transmitted by the toothed belt 1 to the rotating gear (13) and the power transmitted by the toothed belt 2 to the rotating gear (13) can both drive the rotating gear (13) to rotate counterclockwise. When the power of the gear (13) can drive the rotating gear (13) to rotate clockwise, and the power transmitted to the rotating gear (13) by the toothed belt 2 can drive the rotating gear (13) to rotate counterclockwise, or when the power transmitted to the rotating gear (13) by the toothed belt 1 can drive the rotating gear (13) to rotate counterclockwise, and the power transmitted to the rotating gear (13) by the toothed belt 2 can drive the rotating gear (13) to rotate clockwise, the rotating gear (13) is in a relatively fixed state with the toothed belt 1 and the toothed belt 2, and performs linear motion together with the toothed belt 1 and the toothed belt 2.

2. The rotating side-shifting unloading crossbar for a double-arm feeding device according to claim 1 is characterized in that: The linear guide mechanism comprises a guide rail fixedly mounted on the crossbar (5), a fixing plate (18) being slidably mounted on the guide rail along the length direction of the crossbar (5), and the fixing plate (18) is fixed together with the turntable (17).

3. The rotating side-shifting unloading crossbar for a double-arm feeding device according to claim 1 is characterized in that: A retaining plate (19) is fixedly mounted on one side of the rotating gear (13), and at least two front gears (12) and at least two rear gears (16) are rotatably mounted on the retaining plate (19); the front gears (12) are located between the rotating wheel and the toothed belt one, and all the front gears (12) are simultaneously meshed with the toothed belt one and the rotating gear (13); the rear gears (16) are located between the rotating wheel and the toothed belt two, and all the rear gears (16) are simultaneously meshed with the toothed belt two and the rotating gear (13).

4. The rotating side-shifting feeding cross bar for a double-arm feeding device according to claim 3 is characterized in that: The front gear (12) meshes with the inner ring of the toothed belt one on the side away from the toothed belt two, and the rear gear (16) meshes with the inner ring of the toothed belt two on the side away from the toothed belt one; or the front gear (12) meshes with the inner ring of the toothed belt one on the side close to the toothed belt two, and the rear gear (16) meshes with the inner ring of the toothed belt two on the side close to the toothed belt one; or the front gear (12) meshes with the outer ring of the toothed belt one on the side away from the toothed belt two, and the rear gear (16) meshes with the outer ring of the toothed belt two on the side away from the toothed belt one; or the front gear (12) meshes with the outer ring of the toothed belt one on the side close to the toothed belt two, and the rear gear (16) meshes with the outer ring of the toothed belt two on the side close to the toothed belt one.

5. The rotating side-shifting unloading crossbar for a double-arm feeding device according to claim 3 is characterized in that: The front gear (12) meshes with the inner ring of the toothed belt one on the side away from the toothed belt two, and the rear gear (16) meshes with the outer ring of the toothed belt two on the side close to the toothed belt one; or the front gear (12) meshes with the outer ring of the toothed belt one on the side close to the toothed belt two, and the rear gear (16) meshes with the inner ring of the toothed belt two on the side away from the toothed belt one; or the front gear (12) meshes with the outer ring of the toothed belt one on the side away from the toothed belt two, and the rear gear (16) meshes with the inner ring of the toothed belt two on the side close to the toothed belt one; or the front gear (12) meshes with the inner ring of the toothed belt one on the side close to the toothed belt two, and the rear gear (16) meshes with the outer ring of the toothed belt two on the side away from the toothed belt one.

6. The rotating side-shifting unloading crossbar for a double-arm feeding device according to any one of claims 3 to 5, characterized in that: The structure of the belt transmission mechanism 1 (8) is the same as that of the belt transmission mechanism 2 (9), and the structure of the front gear (12) is the same as that of the rear gear (16).

7. The rotating side-shifting unloading crossbar for a double-arm feeding device according to claim 6 is characterized in that: Drive motor 1 (14) and drive motor 2 (22) are respectively arranged at two ends of the cross bar (5).

8. The rotating side-shifting unloading crossbar for a double-arm feeding device according to claim 6 is characterized in that: The end picking mechanism (7) comprises an end picking frame (21) fixedly mounted on a retaining plate (19), and a vacuum suction cup (20) is arranged on the end picking frame (21).

9. A material unloading method for a double-arm feeding device, characterized in that: According to claim 3, the rotating side-shifting unloading cross bar for a double-arm feeding device is used, when the front gear (12) is meshed with the inner ring of the toothed belt one on the side away from the toothed belt two, and the rear gear (16) is meshed with the inner ring of the toothed belt two on the side away from the toothed belt one; or the front gear (12) is meshed with the inner ring of the toothed belt one on the side close to the toothed belt two, and the rear gear (16) is meshed with the inner ring of the toothed belt two on the side close to the toothed belt one, when the formed workpiece (3) needs to be rotated horizontally, the toothed belt one and the toothed belt two have the same running direction and speed, and the movement direction of the rotating sliding unit (6) is opposite to the running direction of the toothed belt one; when the formed workpiece (3) needs to be moved linearly, the running directions of the toothed belt one and the toothed belt two are opposite. The rotation direction of the rotary sliding unit (6) is the same as the linear motion direction of the position on the toothed belt 1 for meshing with the front gear (12); when the front gear (12) meshes with the outer ring on the toothed belt 1 on the side away from the toothed belt 2, and the rear gear (16) meshes with the outer ring on the toothed belt 2 on the side away from the toothed belt 1; or when the front gear (12) meshes with the outer ring on the toothed belt 1 on the side close to the toothed belt 2, and the rear gear (16) meshes with the outer ring on the toothed belt 2 on the side close to the toothed belt 1, when the formed workpiece (3) needs to be rotated horizontally, the toothed belt 1 and the toothed belt 2 have the same running direction and speed, and the rotation direction of the rotary sliding unit (6) is the same as the running direction of the toothed belt 1; when the formed workpiece (3) When linear motion is required, the toothed belt 1 and the toothed belt 2 run in opposite directions and at the same speed, and the movement direction of the rotary sliding unit (6) is the same as the linear motion direction of the position on the toothed belt 1 for meshing with the front gear (12); the front gear (12) meshes with the inner ring of the toothed belt 1 on the side away from the toothed belt 2, and the rear gear (16) meshes with the outer ring of the toothed belt 2 on the side close to the toothed belt 1; or the front gear (12) meshes with the outer ring of the toothed belt 1 on the side close to the toothed belt 2, and the rear gear (16) meshes with the inner ring of the toothed belt 2 on the side away from the toothed belt 1; or the front gear (12) meshes with the outer ring of the toothed belt 1 on the side away from the toothed belt 2, and the rear gear (16) meshes with the outer ring of the toothed belt 2 on the side close to the toothed belt 1. The inner ring is meshed; or the front gear (12) is meshed with the inner ring of the toothed belt one on the side close to the toothed belt two, and the rear gear (16) is meshed with the outer ring of the toothed belt two on the side away from the toothed belt one, when the formed workpiece (3) needs to be rotated horizontally, the toothed belt one and the toothed belt two run in opposite directions and at the same speed, and the movement direction of the rotary sliding unit (6) is the same as the running direction of the toothed belts in the toothed belt one and the toothed belt two that are connected to the rotating gear (13) at the outer position; when the formed workpiece (3) needs to be moved linearly, the toothed belt one and the toothed belt two run in the same direction and at the same speed, and the movement direction of the rotary sliding unit (6) is the same as the linear movement direction of the position on the toothed belt one used to mesh with the front gear (12).

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