Feeding bin mechanism with taking and placing cooperation of mechanical arm

Abstract

The invention discloses a feeding bin mechanism with manipulator taking and placing collaboration, and relates to the technical field of automobile ball cage part machining, the feeding bin mechanism comprises a base table, the base table is provided with a material distributing area overlapped with a manipulator taking area, the base table is further provided with a material changing mechanism, and the material changing mechanism comprises a bin assembly and a pushing assembly; the base table overlapped with the material taking area of the manipulator is arranged, the supporting plates containing the bell-shaped shells are vertically stacked on the base table through the stock bin assembly, and the supporting plates in the stock bin assembly are sequentially pushed to the material taking area of the manipulator under the action of the pushing assembly according to the material taking period of the manipulator; therefore, manual switching of one supporting plate each time is replaced, on one hand, manpower is saved, on the other hand, the overall material changing intermittent period is prolonged, the mechanical arm does not need to be shut down for material changing, meanwhile, the good continuous machining rhythm of material taking machining of the mechanical arm is kept, efficiency is improved, and meanwhile operation safety is improved.

Description

Technical Field

[0001] The invention relates to the technical field of automobile ball cage processing, in particular to a feeding bin mechanism coordinated with a manipulator for picking up and placing. Background Art

[0002] The automotive ball cage is a mechanical component in the automotive transmission system. Its main function is to smoothly transmit the power generated by the engine from the transmission to the two front wheels. The automotive ball cage includes a bell-shaped housing unit. In the CNC machining of the bell-shaped housing, the CNC machine tool cooperates with the manipulator to complete the loading and unloading of the bell-shaped housing, which is also one of the common ways. Usually, the bell-shaped shells need to be neatly arranged in a specific form in the corresponding material-retrieving area of ​​the manipulator (for example, the opening of each bell-shaped shell is vertically upward) to facilitate grasping. The common method is to neatly arrange multiple bell-shaped shells on a groove pallet and then place them in the corresponding material-retrieving area of ​​the manipulator. When all the bell-shaped shells on the previous groove pallet are processed, the manipulator is paused, and the worker places another groove pallet full of bell-shaped shells to be processed in the corresponding material-retrieving area of ​​the manipulator; Although the above scheme improves the processing collaboration efficiency to a certain extent, each time a bell-shaped shell on the groove pallet is completed, it needs to be manually switched and replenished once, the interval time is short, and the bell-shaped shell is a metal part, so the groove pallet covered with bell-shaped shells is relatively heavy, and each manual replenishment will also consume a lot of manpower. In order to solve the above problems, we propose a feeding bin mechanism with coordinated robot pick-up and placement. Summary of the invention

[0003] The purpose of the present invention is to provide a feeding bin mechanism with coordinated pick-up and placement by a robot, so as to solve the deficiencies in the above-mentioned prior art.

[0004] In order to achieve the above object, the present invention provides the following technical solutions: A feeding bin mechanism for manipulator picking and placing, comprising a base platform, the base platform having a material distribution area overlapping with the manipulator picking area, and a material changing mechanism is also provided on the base platform, the material changing mechanism comprising: The silo assembly comprises a silo unit installed vertically at one end of the base platform, wherein a plurality of support plates for holding bell-shaped shells are stacked and arranged in the silo unit, and a notch channel for a single support plate to pass through is provided on the side of the bottom end of the silo unit; The pushing component includes a linear driving unit, on the output shaft of which is fixed a squeezing and pushing unit capable of penetrating the notch channel, and when the squeezing and pushing unit extends, the support plate on the material distribution area can be switched.

[0005] Preferably, a slideway slidably matched with the support plate is provided on the top of the base platform, and the slideway has a section area overlapping with the material distribution area of ​​the base platform.

[0006] Preferably, the warehouse channel unit includes a limit box vertically fixed above the slide, the top and the bottom of the limit box are both open, a loading port is opened on the side of the limit box, and a switch door is movably installed on the loading port.

[0007] Preferably, the linear drive unit is a telescopic cylinder fixed in the slideway, and the axis of the output shaft of the linear drive unit is parallel to the length direction line of the slideway.

[0008] Preferably, the pushing unit comprises a pushing block slidably arranged in a slideway, a top surface of the pushing block is parallel to a top surface of a support plate, and one end of the pushing block is connected to a driving end of the linear driving unit.

[0009] Preferably, a discharge port is provided on the slideway, and a receiving conveyor belt facing the discharge port is provided under the base platform.

[0010] Preferably, a slow-release component is provided in the discharge port, and the slow-release component is connected to the pushing block via a transmission component. When the pushing unit is in an extending movement, the slow-release component is in a supporting state in the discharge port.

[0011] Preferably, the transmission assembly includes a worm with two ends movably penetrating the side surface of the base platform, and gears are fixed at both ends of the worm, and each of the gears is meshed with a rack rod fixed to the pushing block.

[0012] Preferably, the slow-release assembly includes shaft rotating rods arranged on both sides of the discharge port, and the shaft rotating rods are fixed with worm wheels that mesh with the worm gear, and each of the shaft rotating rods is fixed with a support plate that extends into the discharge port.

[0013] Preferably, a temporary support assembly is provided in the discharge port, a first roller group is installed at one end of the support plate, a second roller group is installed at the other end of the support plate, and a reversing unit is installed on the support plate so that the wheel bodies of the first roller group and the second roller group always turn in opposite directions.

[0014] In the above technical scheme, the present invention provides a feeding bin mechanism for robot picking and placing, which is provided with a base platform overlapping with the material picking area of ​​the robot, and the pallet containing the bell-shaped shell is stacked vertically on the base platform through the silo assembly. According to the material picking cycle of the robot, the pallets in the silo assembly are pushed to the material picking area of ​​the robot in sequence under the action of the pushing assembly, thereby replacing manual switching of one pallet each time. On the one hand, it saves manpower, and on the other hand, it improves the overall material changing interval cycle. The robot does not need to stop to change materials, and at the same time, the robot's material picking processing maintains a good continuous processing rhythm, which improves efficiency and is also conducive to improving the safety of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0016] Figure 1 It is an overall schematic diagram of a feeding bin mechanism for robot picking and placing coordination of the present invention; Figure 2 It is a schematic diagram of a slideway of a feeding bin mechanism for robot pick-up and placement coordination on a base platform of the present invention; Figure 3 It is a schematic diagram of a bin channel unit of a feeding bin mechanism for manipulator pick-up and placement coordination on a slideway of the present invention; Figure 4 It is a schematic diagram of the bottom of a support plate of a feeding bin mechanism with robot picking and placing coordination according to the present invention; Figure 5 For the present invention Figure 4 Enlarged view of point A in the middle; Figure 6 It is a schematic diagram of placing a bell-shaped shell of a feeding bin mechanism coordinated with a manipulator for picking up and placing on a pallet according to the present invention; Figure 7 It is a schematic structural diagram of a slow-release component of a feeding bin mechanism coordinated with a manipulator for picking up and placing according to the present invention; Figure 8 For the present invention Figure 1 Schematic diagram of the cross section at the base platform BB.

[0017] Description of reference numerals: 1. Base platform; 1.1. Slideway; 1.2. Discharge port; 1.3. Receive conveyor belt; 1.4. Long strip port; 1.5. Side extension rod; 2. Bin assembly; 2.1. Bin channel unit; 2.11. Limit box; 2.12. Loading port; 2.13. Opening and closing door; 2.2. Support plate; 2.21. First roller group; 2.22. Second roller group; 2.23. Reciprocal unit; 2.231. Axis rod; 2.232. First bevel gear; 2.233. Second bevel gear; 2.24. Rectangular frame; 2.25. Lining plate; 2.26. Placement port; 2 .3, notched channel; 3, pushing assembly; 3.1, linear drive unit; 3.2, squeezing unit; 3.21, squeezing block; 3.22, inclined portion; 4, slow-release assembly; 4.1, shaft rod; 4.2, worm gear; 4.3, support plate; 4.4, notched opening; 5, transmission assembly; 5.1, worm; 5.2, gear; 5.3, rack rod; 6, upper probe port; 7, side opening; 8, gear block; 9, side extension block; 10, elastic rubber block; 11, first channel; 12, wheel axle rod; 13, rolling wheel; 14, auxiliary roller; 15, second channel; 16, notch. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0019] See also Figure 1-8 The embodiment of the present invention provides a feeding bin mechanism for manipulator pick-up and placement, comprising a base platform 1, the base platform 1 having a material distribution area overlapping with the manipulator material picking area, and a material changing mechanism is also provided on the base platform 1, the material changing mechanism comprising; The silo assembly 2 comprises a silo unit 2.1 vertically installed at one end of the base platform 1, wherein a plurality of support plates 2.2 for holding bell-shaped shells are stacked and arranged in the silo unit 2.1, and a notch channel 2.3 for a single support plate 2.2 to pass through is provided on the side of the bottom end of the silo unit 2.1; The pushing component 3 includes a linear driving unit 3.1, on the output shaft of which is fixed a squeezing unit 3.2 capable of penetrating the notched channel 2.3, and when the squeezing unit 3.2 is extended, the support plate 2.2 on the material distribution area can be switched; Specifically, the table top of the base platform 1 is parallel to the horizontal plane, the base platform 1 is a long strip-shaped table body, the material distribution area is close to the middle position of the base platform 1, the warehouse channel unit 2.1 can form a vertical slideway space on the base platform 1, and the cross-sectional contour line of the slideway space is adapted to the outer contour line of the pallet 2.2. The pallet 2.2 is a material tray, and the number of the pallets 2.2 can be selected to be multiple; The linear drive unit 3.1 can provide driving force for the lateral reciprocating movement of the squeezing and pushing unit 3.2 in the horizontal direction. The linear drive unit 3.1 can be a telescopic drive mechanism such as a telescopic cylinder and a straight rod motor. The bottom side surface of the notch channel 2.3 is parallel to the bottom end surface of the warehouse channel unit 2.1; In actual use, the support plate 2.2 equipped with the bell-shaped housing is stacked vertically in the warehouse channel unit 2.1, wherein the support plate 2.2 at the bottom of the warehouse channel unit 2.1 is aligned with the notched channel 2.3 on the same horizontal plane, and the support plate 2.2 at the bottom of the warehouse channel unit 2.1 is in contact with the base platform 1; When the linear drive unit 3.1 extends, the squeezing and pushing unit 3.2 pushes the bottommost pallet 2.2 in the warehouse channel unit 2.1 toward the material distribution area of ​​the base platform 1, so that the bottommost pallet 2.2 in the warehouse channel unit 2.1 passes through the notch channel 2.3 and moves toward the material distribution area of ​​the base platform 1. In this process, the second bottom pallet 2.2 in the warehouse channel unit 2.1 contacts the top surface of the squeezing and pushing unit 3.2. At the same time, when the pallet 2.2 reaches the material distribution area, the pallet 2.2 can squeeze and push the pallet 2.2 originally in the material distribution area to the unloading position; When the linear drive unit 3.1 undergoes a contraction movement, the squeezing and pushing unit 3.2 is retracted from the warehouse channel unit 2.1 to the outside of the warehouse channel unit 2.1, and under the action of gravity, the second bottom pallet 2.2 that was originally in contact with the top surface of the squeezing and pushing unit 3.2 reaches the bottommost position in the warehouse channel unit 2.1, and the second bottom pallet 2.2 becomes the bottommost pallet 2.2, so that when the linear drive unit 3.1 undergoes an extension movement here, the squeezing and pushing unit 3.2 contacts and pushes the side surface of the pallet 2.2, so that the pallet 2.2 moves toward the material distribution area of ​​the base platform 1; During the whole process, a base platform 1 is provided which overlaps with the material picking area of ​​the robot, and the pallet 2.2 containing the bell-shaped shell is stacked vertically on the base platform 1 through the silo assembly 2. According to the material picking cycle of the robot, the pallets 2.2 in the silo assembly are pushed to the material picking area of ​​the robot in sequence under the action of the pushing assembly 3, thereby replacing manual switching of one pallet 2.2 each time. On the one hand, manpower is saved, and on the other hand, the overall material changing interval cycle is improved. The robot does not need to stop for material changing, and at the same time, the robot's material picking processing maintains a good continuous processing rhythm, which improves efficiency and is also conducive to improving the safety of operation.

[0020] In another embodiment provided by the present invention, a slideway 1.1 slidably matched with the support plate 2.2 is provided on the top of the base platform 1, the length direction line of the slideway 1.1 is parallel to the horizontal plane, and the slideway 1.1 has a section area overlapping with the material distribution area of ​​the base platform 1; The warehouse channel unit 2.1 includes a limit box 2.11 vertically fixed above the slideway 1.1, the top and bottom of the limit box 2.11 are both in an open state, a loading port 2.12 is provided on the side of the limit box 2.11, and a switch door 2.13 is movably installed on the loading port 2.12. In actual use, the switch door 2.13 can be opened to stack the pallets 2.2 in the limit box 2.11 through the loading port 2.12. When the pallets 2.2 are stacked and placed in the limit box 2.11, the switch door 2.13 can be closed; It should be further explained that the notch channel 2.3 is located in the slide 1.1, the penetration direction of the notch channel 2.3 is parallel to the length direction line of the slide 1.1, the side surface of the notch channel 2.3 is flush with the inner wall surface of the limit box 2.11, the support plate 2.2 can pass through the notch channel 2.3 from the limit box 2.11, and the squeezing and pushing unit 3.2 can also extend in and out of the limit box 2.11 through the notch channel 2.3.

[0021] In another embodiment provided by the present invention, the linear drive unit 3.1 is a telescopic cylinder fixed in the slideway 1.1, and the axis of the output shaft of the linear drive unit 3.1 is parallel to the length direction line of the slideway 1.1. A discharge port 1.2 is provided on the slide 1.1, and the discharge port 1.2 is located at the discharge position. A receiving conveyor belt 1.3 is provided under the base platform 1 and is opposite to the discharge port 1.2. The pallet 2.2 can fall onto the receiving conveyor belt 1.3 through the discharge port 1.2, and the receiving conveyor belt 1.3 can transport the pallet 2.2 to the next process position. That is to say, when the pallet 2.2 reaches the discharge position, the pallet 2.2 falls onto the receiving conveyor belt 1.3 through the discharge port 1.2.

[0022] In another embodiment provided by the present invention, the squeezing unit 3.2 comprises a squeezing block 3.21 slidably arranged in the slideway 1.1, the top surface of the squeezing block 3.21 is parallel to the top surface of the support plate 2.2, one end of the squeezing block 3.21 is connected to the driving end of the linear driving unit 3.1, and an inclined portion 3.22 is provided at the upper edge of one end of the squeezing block 3.21 capable of squeezing and pushing the support plate 2.2; Among them, a slow-release component 4 is provided in the discharge port 1.2, and the slow-release component 4 is connected to the pushing block 3.21 through a transmission component 5. When the pushing unit 3.2 is in an extended motion, the slow-release component 4 is in a supporting state in the discharge port 1.2, and when the pushing unit 3.2 is in a retracted motion, the slow-release component 4 is in a released state in the discharge port 1.2; Specifically, the transmission assembly 5 includes a worm 5.1 with both ends movably penetrating the side of the base 1. The worm 5.1 is rotatably installed on the base 1. The axis of the worm 5.1 is perpendicular to the length direction line of the slideway 1.1. Both ends of the worm 5.1 extend out of the side of the base 1. Gears 5.2 are fixed to both ends of the worm 5.1. Each gear 5.2 is meshed with a rack rod 5.3 fixed to the pushing block 3.21. The gears of the rack rod 5.3 are The groove is meshed with the top surface of the gear 5.2, and the length direction line of the rack rod 5.3 is parallel to the length direction line of the slide 1.1. It should be further explained that long openings 1.4 are opened on both sides of the slide 1.1, and each long opening 1.4 is provided with a side extension rod 1.5 fixed to the pushing block 3.21, and the other end of the side extension rod 1.5 is fixed to the rack rod 5.3, thereby achieving the effect of fixing the rack rod 5.3 and the pushing block 3.21.

[0023] Furthermore, the slow-release assembly 4 includes an axial rotating rod 4.1 arranged on both sides of the discharge port 1.2, and the axial rotating rod 4.1 is rotatably installed on the base platform 1. For example, a first channel 11 for accommodating the rotatable installation of the worm 5.1 is opened on the side of the base platform 1, and two second channels 15 for accommodating the axial rotating rod 4.1 are opened on the end surface of the base platform 1. Each second channel 15 is connected to the first channel 11. In addition, the axis of the axial rotating rod 4.1 is parallel to the length direction line of the slideway 1.1. A worm wheel 4.2 meshing with the worm 5.1 is fixed on the shaft rotating rod 4.1, and a support plate 4.3 extending into the discharge port 1.2 is fixed on each shaft rotating rod 4.1, and the surface of the support plate 4.3 is parallel to the axis of the shaft rotating rod 4.1, wherein both sides of the discharge port 1.2 are provided with a notch 16 connected to the adjacent second channel 15, and the support plate 4.3 can deflect in the notch 16 as the shaft rotating rod 4.1 rotates, wherein the wheel body of the worm wheel 4.2 has a notch 4.4; In actual use, when the squeezing and pushing unit 3.2 is in the extending movement, the squeezing block 3.21 is pushed by the linear driving unit 3.1 and moves along the length direction line of the slideway 1.1 toward the material distribution area. At the same time, the pallet 2.2 located at the bottom of the warehouse channel unit 2.1 is pushed by the squeezing block 3.21, so that the pallet 2.2 passes through the notch channel 2.3 and moves toward the material distribution area of ​​the base platform 1. Then, the moving pallet 2.2 squeezes the pallet 2.2 in the material distribution area into the discharge port 1.2. At the same time, when the squeezing unit 3.2 is in the process of extending, the rack rod 5.3 also moves forward synchronously under the drive of the squeezing block 3.21. Since the worm 5.1 is in meshing state with the rack rod 5.3 through the gear 5.2, the forward movement of the rack rod 5.3 also drives the worm 5.1 to rotate forward, and the shaft rotating rod 4.1 is meshed with the worm 5.1 through the worm wheel 4.2, so that the shaft rotating rod 4.1 also rotates forward with the worm 5.1. At this time, the support plate 4. Under the positive rotation of the shaft rotating rod 4.1, the two support plates 4.3 are assembled into a V-shaped structure in the discharge port 1.2. At this time, the slow-release assembly 4 is in a supporting state, and the worm 5.1 also reaches the position of the notch 4.4 of the wheel body of the worm wheel 4.2. At this time, the shaft rotating rod 4.1 no longer receives the driving force of the positive rotation of the worm 5.1, and then the slow-release assembly 4 in the supporting state in the discharge port 1.2 supports the support plate 2.2, so that the support plate 2.2 is in the same horizontal position as the inner side of the slideway 1.1.

[0024] When the squeezing unit 3.2 is in the retracting motion, similarly, the rack rod 5.3 also moves in the opposite direction under the drive of the squeezing block 3.21. Since the worm 5.1 is in meshing state with the rack rod 5.3 through the gear 5.2, the positive movement of the rack rod 5.3 also drives the worm 5.1 to rotate in the opposite direction. The worm 5.1 is disengaged from the notch 4.4 of the wheel body of the worm wheel 4.2, and then the shaft rotating rod 4.1 receives the drive of the worm 5.1 to rotate in the opposite direction, and the shaft rotating rod 4.1 is driven by the worm 5.1 to rotate in the opposite direction. The wheel 4.2 is meshed with the worm 5.1, so that the shaft rotating rod 4.1 also rotates in the opposite direction with the worm 5.1. At this time, the support plates 4.3 are separated in the discharge port 1.2 under the positive rotation of the shaft rotating rod 4.1. At this time, the slow-release component 4 is in a released state in the discharge port 1.2. As the separation angle of the two support plates 4.3 increases, the support plate 2.2 slides down in the discharge port 1.2 until the support plate 2.2 falls on the receiving conveyor belt 1.3. That is to say, the slide 1.1 forms a straight track on the base platform 1, the discharge port 1.2, the material distribution area and the warehouse channel unit 2.1 are linearly distributed on the slide 1.1, and the pallet 2.2 on the warehouse channel unit 2.1 is pushed by the pushing block 3.21, and the pallet 2.2 on the warehouse channel unit 2.1 moves to the material distribution area position, and the pallet 2.2 is loaded with the bell-shaped shell parts that have not been processed. At the same time, the pallet 2.2 originally in the material distribution area position is pushed into the discharge port 1.2, and the pallet 2.2 is loaded with the bell-shaped shell parts that have been processed, and is supported by the slow-release component 4 in the supporting state, and then the slow-release component 4 switches from the supporting state to During the release state, the pallet 2.2 in the discharge port 1.2 is released until the pallet 2.2 falls onto the receiving conveyor belt 1.3. According to the material picking cycle of the manipulator, the pallets in the silo assembly are pushed to the material picking area of ​​the manipulator in sequence under the action of the pushing assembly, thereby replacing manual switching of one pallet each time. On the one hand, it saves manpower, and on the other hand, it improves the overall material changing interval cycle. The manipulator does not need to stop for material changing, and at the same time, the manipulator material picking processing maintains a good continuous processing rhythm, which improves efficiency and is also conducive to improving the safety of operation.

[0025] In another embodiment of the present invention, a first roller group 2.21 is installed at one end of the support plate 2.2, a second roller group 2.22 is installed at the other end of the support plate 2.2, and a reciprocating unit 2.23 is installed on the support plate 2.2 so that the wheel bodies of the first roller group 2.21 and the second roller group 2.22 always rotate in opposite directions; The first roller group 2.21 and the second roller group 2.22 are of the same specifications and structure. Both the first roller group 2.21 and the second roller group 2.22 include a wheel axle rod 12 rotatably mounted with the support plate 2.2, a plurality of rolling wheels 13 are evenly fixed on the rod body of the wheel axle rod 12, a plurality of auxiliary rollers 14 are rotatably mounted on the edge contour of the wheel body of each rolling wheel 13, and the wheel body surface of each auxiliary roller 14 is perpendicular to the wheel body surface of the rolling wheel 13 where it is located; The reciprocating unit 2.23 includes an axle rod 2.231 rotatably mounted at the bottom of the support plate 2.2, and first bevel gears 2.232 are fixed at both ends of the axle rod 2.231, and each first bevel gear 2.232 is meshed with a second bevel gear 2.233 fixed to the wheel axle rod 12; Furthermore, the support plate 2.2 includes a rectangular frame 2.24, in which an inner lining plate 2.25 parallel to the opening surface of the rectangular frame is fixed, and a plurality of evenly distributed placement openings 2.26 are opened on the inner lining plate 2.25, and the bell-shaped shells are placed in the placement openings 2.26 one by one, and the bell mouth of the bell-shaped shell is upward, and the upper and lower ends of the bell-shaped shell are both located in the rectangular space surrounded by the rectangular frame; In actual use, when the support plate 2.2 moves in the slideway 1.1, the auxiliary roller 14 contacts and rolls with the slideway 1.1, and the rolling wheel 13 does not rotate under the meshing action of the reciprocal unit 2.23, which helps to keep the movement of the support plate 2.2 in the slideway 1.1 in a linear movement state; On the other hand, when the pallet 2.2 slides down in the discharge port 1.2, under the meshing action of the reciprocal units 2.23, the rolling wheels 13 roll along the support plate 4.3, and the rolling wheels 13 on the first roller group 2.21 and the rolling wheels 13 on the second roller group 2.22 rotate in opposite directions, so that the pallet 2.2 always maintains a horizontal sliding state, which helps to prevent the pallet 2.2 from tilting and tipping, and helps to improve the stability of the pallet 2.2 falling onto the receiving conveyor belt 1.3.

[0026] In another embodiment provided by the present invention, an upper probe port 6 is provided on the top of the first channel 11, a side opening 7 connected to the slideway 1.1 is provided on the side of the upper probe port 6, the side opening 7 corresponds to the material distribution area, a tooth block 8 meshing with the worm 5.1 is provided in the upper probe port 6, a side extension block 9 connected to the tooth block 8 is provided in the side opening 7, and an elastic rubber block 10 is fixed to the side extension block 9 toward one end of the slideway 1.1; During actual use, when the worm 5.1 rotates forward, the tooth block 8 meshing with the worm 5.1 drives the elastic rubber block 10 to retract into the side opening 7 through the spring 11, thereby canceling the lateral squeezing force on the pallet 2.2 in the material distributing area, so that the pallet 2.2 in the material distributing area is in an unlocked state. Similarly, when the worm 5.1 rotates reversely, the tooth block 8 meshing with the worm 5.1 drives the elastic rubber block 10 to extend out of the side opening 7 through the spring 11, thereby applying lateral squeezing force on the pallet 2.2 in the material distributing area, so that the pallet 2.2 in the material distributing area is in a clamped state, keeping the pallet 2.2 in the material distributing area from shaking, and having good stability.

[0027] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A feeding bin mechanism for robot pick-up and placement coordination, comprising a base platform (1), characterized in that: The base platform (1) has a material dispensing area overlapping with a material picking area of ​​the robot, and the base platform (1) is also provided with a material changing mechanism, the material changing mechanism comprising: A silo assembly (2), comprising a silo unit (2.1) vertically installed at one end of a base platform (1), wherein a plurality of support plates (2.2) for containing bell-shaped shells are stacked and arranged in the silo unit (2.1), and a notch channel (2.3) for a single support plate (2.2) to pass through is provided on a side surface at the bottom end of the silo unit (2.1); A pushing assembly (3) comprising a linear drive unit (3.1), wherein an extrusion unit (3.2) capable of penetrating the notched channel (2.3) is fixed to an output shaft of the linear drive unit (3.1), wherein the extrusion unit (3.2) is capable of switching and replacing a support plate (2.2) on a material distribution area when the extrusion unit (3.2) is extended; The top of the base platform (1) is provided with a slideway (1.1) slidably matched with the support plate (2.2), the slideway (1.1) is provided with a discharge port (1.2), and a slow-release component (4) is provided in the discharge port (1.2); A first roller group (2.21) is mounted on one end of the support plate (2.2), a second roller group (2.22) is mounted on the other end of the support plate (2.2), and a reciprocating unit (2.23) is mounted on the support plate (2.2) so that the wheel bodies of the first roller group (2.21) and the second roller group (2.22) always rotate in opposite directions.

2. A feeding bin mechanism with robot picking and placing coordination according to claim 1, characterized in that: The slideway (1.1) has a section area that overlaps with a material distribution area of ​​the base platform (1).

3. A feeding bin mechanism with robot picking and placing coordination according to claim 2, characterized in that: The warehouse channel unit (2.1) comprises a limit box (2.11) vertically fixed above the slideway (1.1); the top and bottom of the limit box (2.11) are both in an open state; a loading port (2.12) is provided on the side of the limit box (2.11); and a switch door (2.13) is movably installed on the loading port (2.12).

4. A feeding bin mechanism with robot picking and placing coordination according to claim 3, characterized in that: The linear drive unit (3.1) is a telescopic cylinder fixed in the slideway (1.1), and the axis of the output shaft of the linear drive unit (3.1) is parallel to the length direction line of the slideway (1.1).

5. A feeding bin mechanism with robot picking and placing coordination according to claim 4, characterized in that: The pushing unit (3.2) comprises a pushing block (3.21) slidably arranged in the slideway (1.1), the top surface of the pushing block (3.21) is parallel to the top surface of the support plate (2.2), and one end of the pushing block (3.21) is connected to the driving end of the linear driving unit (3.1).

6. A feeding bin mechanism with robot picking and placing coordination according to claim 5, characterized in that: A receiving conveyor belt (1.3) facing the discharge port (1.2) is provided below the base platform (1).

7. A feeding bin mechanism with robot pick-up and place coordination according to claim 6, characterized in that: The slow-release component (4) is in transmission connection with the pushing block (3.21) via a transmission component (5); when the pushing unit (3.2) is in an extending movement, the slow-release component (4) is in a supporting state in the discharge port (1.2).

8. A feeding bin mechanism with robot picking and placing coordination according to claim 7, characterized in that: The transmission assembly (5) comprises a worm (5.1) with two ends movably penetrating the side surface of the base platform (1), gears (5.2) are fixed to both ends of the worm (5.1), and each gear (5.2) is meshed with a rack rod (5.3) fixed to a pushing block (3.21).

9. A feeding bin mechanism with robot picking and placing coordination according to claim 8, characterized in that: The slow-release assembly (4) comprises shaft rotating rods (4.1) arranged on both sides of the discharge port (1.2), a worm wheel (4.2) meshing with the worm (5.1) being fixed on the shaft rotating rods (4.1), and each shaft rotating rod (4.1) is fixed with a support plate (4.3) extending into the discharge port (1.2).

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