Feeding manipulator and feeding method

Abstract

The invention discloses a feeding manipulator and a feeding method, and belongs to the technical field of manipulators, the feeding manipulator comprises a rack and a controller, the rack is provided with a synchronous driving mechanism connected with a punching machine, and the synchronous driving mechanism is connected with a feeding mechanism through a one-way rotation switching mechanism; the synchronous driving mechanism is connected with the material delivering mechanism through the bidirectional rotation switching mechanism, the material sucking mechanism is arranged on the material delivering mechanism, and the material sucking mechanism and the punching machine are both electrically connected with the controller. Meanwhile, the invention discloses a feeding method based on the feeding manipulator, by adopting the feeding manipulator and the feeding method, synchronous action of the punching machine, the feeding mechanism and the material delivering mechanism is achieved, the feeding mechanism and the material delivering mechanism do not need additional driving parts and complex program setting, and safety is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a feeding manipulator and a feeding method. Background Art

[0002] In the existing mechanical processing, stamping is one of the commonly used forming methods. The existing technology generally uses a suction cup manipulator to suck the sheet material to the preparation area, and then pushes the sheet material to the stamping position through the feeding mechanism. For example, the patent with the announcement number CN212168782U discloses a stamping equipment for industrial production, including a stamping machine, one side of the stamping machine is provided with an automatic feeding table, one side of the automatic feeding table is provided with a bracket, and the top surface of the bracket is fixedly installed with a receiving plate. The servo motor, the screw rod, the bearing seat, and the screw sleeve form a screw rod transmission mechanism, which then drives the magnetic adsorption clamping structure formed by the six connections of the adjustment frame, the electric telescopic rod, the tooling plate, the buffer spring, the connecting rod and the electromagnetic sucker to automatically transfer the material on the top surface of the material table to the top surface of the automatic feeding table for subsequent stamping operations, thereby replacing the manual operation mode of lifting the material to the top surface of the automatic feeding table, further improving the automation degree of the stamping operation of the overall equipment, meeting the requirements of industrial production stamping operations, reducing the labor intensity of the staff, and improving work efficiency. Although the existing technology reduces the labor intensity, the automatic feeding table, the magnetic adsorption clamping structure and the punching machine move independently of each other, and it is easy for the various parts to be out of sync and cause safety accidents. Summary of the invention

[0003] The purpose of the present invention is to provide a feeding robot and a feeding method to solve the above technical problems.

[0004] To achieve the above-mentioned purpose, the present invention provides a feeding robot, including a frame and a controller, a synchronous drive mechanism connected to a punching machine is arranged on the frame, the synchronous drive mechanism is connected to the feeding mechanism through a one-way rotation conversion mechanism, the synchronous drive mechanism is connected to the delivery mechanism through a two-way rotation conversion mechanism, a suction mechanism is arranged on the delivery mechanism, and the suction mechanism and the punching machine are both electrically connected to the controller.

[0005] Preferably, the synchronous drive mechanism includes a synchronous frame, a synchronous drive rack is arranged on one side of the synchronous frame, a driving guide plate is arranged at the bottom of the synchronous frame, a first guide plate is slidably arranged on the frame on one side of the driving guide plate, and a driving groove is opened on the other side of the driving guide plate, the middle part of the driving groove is inclined, and the two ends of the driving groove are vertically arranged.

[0006] Preferably, the one-way rotation conversion mechanism includes a first rotating shaft rotatably mounted on the first guide plate, a mounting ring is provided at one end of the first rotating shaft, a rotating arm is provided on the outer side of the mounting ring, a driving column is fixed to the outer end of the rotating arm, the driving column is provided in the driving groove, and a first reversing bevel gear is provided at the other end of the first rotating shaft.

[0007] Preferably, the feeding mechanism comprises a feeding plate connected to the frame through a feeding connecting rod structure, the feeding plate is provided with an adjustment through hole, a vertical limit plate is fixed to one side of the feeding plate, an adjustment cylinder is installed at the bottom of the feeding plate, the telescopic end of the adjustment cylinder is connected to a limit push plate, the limit push plate is arranged in the adjustment through hole, the limit push plate is provided with a strip mounting hole for mounting the fitting, and the adjustment cylinder is electrically connected to the controller; The first reversing bevel gear is meshed with the first driving bevel gear on the feeding connecting rod structure.

[0008] Preferably, the bidirectional rotation conversion mechanism includes a second rotating shaft, which is mounted on a second guide plate on the frame, the meshing gear at one end of the second rotating shaft is meshed with the synchronous drive rack, and a second reversing bevel gear is provided at the other end of the second rotating shaft, the second reversing bevel gear is meshed with the second drive bevel gear on the transmission shaft, and the transmission shaft is mounted on the second guide plate.

[0009] Preferably, the material delivery mechanism comprises a material delivery rack slidably arranged on the second guide plate, and the material delivery rack is meshed with a driving gear on the transmission shaft via a reversing gear.

[0010] Preferably, the material suction mechanism comprises a lifting cylinder mounted on the material delivery rack, the lifting end of the lifting cylinder is connected to a mounting plate, a suction cup is mounted on the mounting plate, and the suction cup is connected to an air pump on the frame; The lifting cylinder and the air pump are both electrically connected to the controller.

[0011] Preferably, the material delivery mechanism is correspondingly provided with a material storage mechanism, and the material storage mechanism comprises a plurality of limit rods arranged on a base, and a material supporting plate is sleeved on the limit rods, and the bottom of the material supporting plate is connected to the lifting module.

[0012] Based on the feeding method of the feeding robot mentioned above, the specific steps are as follows: Step S1: adjusting the material storage mechanism; The position of the limit rod on the base is set according to the sheet material, and the sheet material is placed on the support plate; Step S2: Install the fitting and adjust the position of the limit push plate; According to the shape of the sheet material, a fitting piece that fits the edge of the sheet material is installed on the limit push plate, and the extension and contraction amount of the cylinder is adjusted according to the size of the sheet material; Step S3: starting the punching machine, driving the material delivery mechanism and the feeding mechanism to operate synchronously through the synchronous driving mechanism, and intermittently starting the lifting cylinder and the air pump to realize the suction and release of the sheet material; When the punching machine descends, the synchronous frame descends with the punching machine, so that the driving guide plate moves downward along the first guide plate, and the driving column drives the rotating arm to rotate clockwise under the action of the driving groove, thereby driving the first rotating shaft to rotate, driving the feeding connecting rod structure to move, so that the feeding plate moves toward the punching position as a whole, so that the sheet material at the front end enters the punching position; at the same time, the driving rack moves downward, so that the meshing gear drives the second rotating shaft to rotate, drives the transmission shaft to rotate, drives the driving gear to rotate, drives the reversing gear to rotate, and the reversing gear rotates clockwise to drive the feeding rack to move toward the feeding position. After reaching the feeding position, the lifting end of the lifting cylinder descends into place and then starts the suction cup to release the sheet material, and the lifting end of the lifting cylinder rises to the initial position; When the punching machine rises, the synchronous frame rises with the punching machine, so that the driving guide plate moves upward along the first guide plate, and the driving column drives the rotating arm to rotate clockwise under the action of the driving groove, thereby driving the first rotating shaft to rotate, and driving the feeding connecting rod structure to continue to move, so that the feeding plate as a whole descends and returns to the initial position, so that the laminating part and the limit push plate descend and bypass the sheet material and then rise, and the laminating part and the limit push plate move from one side of the sheet material to the other side to wait for pushing the material; at the same time, the driving rack moves upward to drive the second rotating shaft and the transmission shaft to rotate, and the reversing gear rotates counterclockwise to drive the feeding rack back to the material picking position. After reaching the material picking position, the lifting end of the lifting cylinder descends into place and starts the suction cup to absorb the sheet material, and the lifting end of the lifting cylinder rises to the initial position.

[0013] Therefore, the present invention adopts the above-mentioned feeding robot and feeding method, which has the beneficial effects that the synchronous drive mechanism is connected to the feeding mechanism through a one-way rotation conversion mechanism, and the synchronous drive mechanism is connected to the delivery mechanism through a two-way rotation conversion mechanism, thereby realizing the synchronous action of the punching machine, the feeding mechanism and the delivery mechanism, and the feeding mechanism and the delivery mechanism do not require additional driving components and complicated program settings, thereby improving safety.

[0014] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the three-dimensional structure of a feeding robot of the present invention; Figure 2 This is a side view of a feeding robot of the present invention; Figure 3 It is a schematic diagram of the structure of the one-way rotation conversion mechanism of the present invention; Figure 4 It is a schematic diagram of the structure of the bidirectional rotation conversion mechanism of the present invention; Figure 5 It is a schematic diagram of the structure of the material storage mechanism of the present invention.

[0016] Reference numerals 1. Frame; 11. First guide plate; 12. Second guide plate; 2. Synchronous drive mechanism; 21. Synchronous frame; 22. Synchronous drive rack; 23. Drive guide plate; 231. Drive slot; 3. One-way rotation conversion mechanism; 31. First rotating shaft; 32. Mounting ring; 33. Rotating arm; 34. Drive column; 35. First reversing bevel gear; 4. Feeding mechanism; 41. Feeding connecting rod structure; 42. Feeding plate; 421. Adjusting through hole; 43. Vertical limit plate; 44. Adjusting cylinder; 45. Limit push Plate; 451, strip mounting hole; 46, first driving bevel gear; 5, bidirectional rotation conversion mechanism; 51, second rotating shaft; 52, meshing gear; 53, second reversing bevel gear; 54, second driving bevel gear; 55, transmission shaft; 56, driving gear; 6, material delivery mechanism; 61, material delivery rack; 62, reversing gear; 7, material suction mechanism; 71, lifting cylinder; 72, mounting plate; 73, suction cup; 8, sheet material; 9, material storage mechanism; 91, limit rod; 92, material support plate; 93, lifting module. DETAILED DESCRIPTION

[0017] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the invented product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "setting", "installation", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0018] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0019] like Figure 1-Figure 2 As shown, a feeding robot comprises a frame 1 and a controller (an existing controller is used and shown in the figure).

[0020] The frame 1 is provided with a synchronous drive mechanism 2 connected to the punching machine. The synchronous drive mechanism 2 is connected to the feeding mechanism 4 through a one-way rotation conversion mechanism 3, and is used to realize the conversion of the lifting action of the punching machine into a continuous single-direction rotation action, and drive the feeding mechanism 4 to intermittently feed. The synchronous drive mechanism 2 includes a synchronous frame 21, and a driving guide plate 23 is provided at the bottom of the synchronous frame 21. One side of the driving guide plate 23 is slidably provided with the first guide plate 11 on the frame 1, and the other side of the driving guide plate 23 is provided with a driving groove 231. The middle part of the driving groove 231 is inclined, and the two ends of the driving groove 231 are vertically provided. Figure 3 As shown, the one-way rotation conversion mechanism 3 includes a first rotating shaft 31 rotatably mounted on the first guide plate 11, a mounting ring 32 is provided at one end of the first rotating shaft 31, a rotating arm 33 is provided outside the mounting ring 32, a driving column 34 is fixed to the outer end of the rotating arm 33, the driving column 34 is arranged in the driving groove 231, and a first reversing bevel gear 35 is arranged at the other end of the first rotating shaft 31. As the punching machine rises and falls, the driving column 34 moves in the driving groove 231, and the rotating arm 33 rotates due to the inclined setting of the middle section, and continues to drive the rotating arm 33 to rotate in the same direction after sliding in the vertical sections at both ends.

[0021] The feeding mechanism 4 includes a feeding plate 42 connected to the frame 1 through a feeding connecting rod structure 41, and the first reversing bevel gear 35 is meshed with the first driving bevel gear 46 on the feeding connecting rod structure 41. The rotation of the first driving bevel gear 46 in the same direction enables the feeding connecting rod structure 41 to drive the feeding plate 42 to move forward and gradually rise, move backward and gradually descend in a cyclical motion, thereby realizing intermittent pushing. The feeding plate 42 is provided with an adjusting through hole 421, and a vertical limit plate 43 is fixed on one side of the feeding plate 42 to prevent the feeding plate 42 from shaking left and right. An adjusting cylinder 44 is installed at the bottom of the feeding plate 42, and the telescopic end of the adjusting cylinder 44 is connected to a limiting push plate 45, and the limiting push plate 45 is arranged in the adjusting through hole 421. The limiting push plate 45 is provided with a strip mounting hole 451 for installing a fitting part. The adjusting cylinder 44 is electrically connected to the controller, and the position of the limiting push plate 45 is adjusted by adjusting the telescopic amount of the adjusting cylinder 44. At the same time, the circular sheet material 8 in this embodiment adopts a fitting part with an arc or no fitting part to realize the advancement of the sheet material 8. For special-shaped materials, in order to ensure the relative position of the sheet material 8 after advancement, a fitting part that matches the edge of the sheet material 8 can be set on the limiting push plate 45.

[0022] The synchronous drive mechanism 2 is connected to the material delivery mechanism 6 through the bidirectional rotation conversion mechanism 5, which converts the up and down movement of the punching machine into left and right linear movement to realize material delivery. A synchronous drive rack 22 is provided on one side of the synchronous frame 21. Figure 4As shown, the bidirectional rotation conversion mechanism 5 includes a second rotating shaft 51, which is mounted on the second guide plate 12 on the frame 1, and a meshing gear 52 at one end of the second rotating shaft 51 meshes with the synchronous driving rack 22, and a second reversing bevel gear 53 is provided at the other end of the second rotating shaft 51, and the second reversing bevel gear 53 meshes with the second driving bevel gear 54 on the transmission shaft 55, and the transmission shaft 55 is mounted on the second guide plate 12. The material delivery mechanism 6 includes a material delivery rack 61 slidably arranged on the second guide plate 12, and the material delivery rack 61 meshes with the driving gear 56 on the transmission shaft 55 through the reversing gear 62.

[0023] The material delivery mechanism 6 is provided with a suction mechanism 7, which includes a lifting cylinder 71 installed on the material delivery rack 61, and the lifting end of the lifting cylinder 71 is connected to a mounting plate 72, and a suction cup 73 is installed on the mounting plate 72. The suction cup 73 is connected to the air pump on the frame 1, and the lifting cylinder 71 and the air pump are both electrically connected to the controller to realize the suction and release of the sheet material 8.

[0024] The material delivery mechanism 6 is correspondingly provided with a material storage mechanism 9, such as Figure 5 As shown, the material storage mechanism 9 includes a plurality of limit rods 91 arranged on the base, and a supporting plate 92 is sleeved on the limit rods 91. The bottom of the supporting plate 92 is connected to the lifting module 93. During the continuous feeding process, the lifting module 93 is electrically connected to the controller to realize intermittent stepping, so that the distance between the sheet material 8 on the top and the suction mechanism 7 is kept consistent.

[0025] Based on the feeding method of the feeding robot mentioned above, the specific steps are as follows: Step S1: Adjust the material storage mechanism 9.

[0026] The position of the limiting rod 91 on the base is set according to the sheet material 8 , and the sheet material 8 is placed on the supporting plate 92 .

[0027] Step S2: Install the fitting and adjust the position of the limiting push plate 45 .

[0028] According to the shape of the sheet material 8 , a fitting piece that fits the edge of the sheet material 8 is installed on the limit push plate 45 , and according to the size of the sheet material 8 , the extension and contraction amount of the regulating cylinder 44 is adjusted.

[0029] Step S3: Start the punching machine, drive the material delivery mechanism 6 and the feeding mechanism 4 to operate synchronously through the synchronous driving mechanism 2, and intermittently start the lifting cylinder 71 and the air pump to realize the suction and release of the sheet material 8.

[0030] When the punching machine descends, the synchronous frame 21 descends with the punching machine, so that the driving guide plate 23 moves downward along the first guide plate 11, and the driving column 34 drives the rotating arm 33 to rotate clockwise under the action of the driving groove 231, thereby driving the first rotating shaft 31 to rotate, driving the feeding connecting rod structure 41 to move, so that the feeding plate 42 moves toward the punching position as a whole, so that the sheet material 8 located at the front end enters the punching position; at the same time, the driving rack moves downward, so that the meshing gear 52 drives the second rotating shaft 51 to rotate, drives the transmission shaft 55 to rotate, drives the driving gear 56 to rotate, and drives the reversing gear 62 to rotate. The reversing gear 62 rotates clockwise to drive the feeding rack 61 to move toward the feeding position. After reaching the feeding position, the lifting end of the lifting cylinder 71 descends into place and then starts the suction cup 73 to release the sheet material 8, and the lifting end of the lifting cylinder 71 rises to the initial position.

[0031] When the punching machine rises, the synchronous frame 21 rises with the punching machine, so that the driving guide plate 23 moves upward along the first guide plate 11, and the driving column 34 drives the rotating arm 33 to rotate clockwise under the action of the driving groove 231, thereby driving the first rotating shaft 31 to rotate, and driving the feeding connecting rod structure 41 to continue to move, so that the feeding plate 42 drops as a whole and returns to the initial position, so that the laminating part and the limiting push plate 45 drop around the sheet material 8 and then rise, and the laminating part and the limiting push plate 45 move from one side of the sheet material 8 to the other side to wait for pushing the material; at the same time, the driving rack moves upward to drive the second rotating shaft 51 and the transmission shaft 55 to rotate, and the reversing gear 62 rotates counterclockwise to drive the feeding rack 61 back to the material picking position. After reaching the material picking position, the lifting end of the lifting cylinder 71 drops into place and then starts the suction cup 73 to suck the sheet material 8, and the lifting end of the lifting cylinder 71 rises to the initial position.

[0032] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A feeding robot, comprising a frame and a controller, characterized in that: The frame is provided with a synchronous drive mechanism connected to the punching machine. The synchronous drive mechanism is connected to the feeding mechanism through a one-way rotation conversion mechanism. The synchronous drive mechanism is connected to the material delivery mechanism through a two-way rotation conversion mechanism. The material delivery mechanism is provided with a suction mechanism. The suction mechanism and the punching machine are both electrically connected to the controller.

2. A feeding robot according to claim 1, characterized in that: The synchronous drive mechanism includes a synchronous frame, a synchronous drive rack is arranged on one side of the synchronous frame, a driving guide plate is arranged at the bottom of the synchronous frame, a first guide plate is slidably arranged on the frame on one side of the driving guide plate, and a driving groove is opened on the other side of the driving guide plate. The middle part of the driving groove is inclined, and the two ends of the driving groove are vertically arranged.

3. A feeding robot according to claim 2, characterized in that: The one-way rotation conversion mechanism includes a first rotating shaft rotatably mounted on the first guide plate, a mounting ring is provided at one end of the first rotating shaft, a rotating arm is provided on the outside of the mounting ring, a driving column is fixed to the outer end of the rotating arm, the driving column is provided in the driving groove, and a first reversing bevel gear is provided at the other end of the first rotating shaft.

4. A feeding robot according to claim 3, characterized in that: The feeding mechanism includes a feeding plate connected to the frame through a feeding connecting rod structure, the feeding plate is provided with an adjustment through hole, a vertical limit plate is fixed on one side of the feeding plate, an adjustment cylinder is installed at the bottom of the feeding plate, the telescopic end of the adjustment cylinder is connected to a limit push plate, the limit push plate is arranged in the adjustment through hole, the limit push plate is provided with a strip installation hole for installing the fitting, and the adjustment cylinder is electrically connected to the controller; The first reversing bevel gear is meshed with the first driving bevel gear on the feeding connecting rod structure.

5. A feeding robot according to claim 4, characterized in that: The bidirectional rotation conversion mechanism includes a second rotating shaft, which is mounted on a second guide plate on the frame. The meshing gear at one end of the second rotating shaft is meshed with a synchronous drive rack. A second reversing bevel gear is provided at the other end of the second rotating shaft. The second reversing bevel gear is meshed with a second drive bevel gear on the transmission shaft, and the transmission shaft is mounted on the second guide plate.

6. A feeding robot according to claim 5, characterized in that: The material delivery mechanism comprises a material delivery rack which is slidably arranged on the second guide plate, and the material delivery rack is meshed with a driving gear on the transmission shaft through a reversing gear.

7. A feeding robot according to claim 6, characterized in that: The material suction mechanism includes a lifting cylinder installed on the material delivery rack, the lifting end of the lifting cylinder is connected to a mounting plate, a suction cup is installed on the mounting plate, and the suction cup is connected to an air pump on the frame; The lifting cylinder and the air pump are both electrically connected to the controller.

8. A feeding robot according to claim 7, characterized in that: The material delivery mechanism is correspondingly provided with a material storage mechanism, which comprises a plurality of limit rods arranged on a base, a material supporting plate is sleeved on the limit rods, and the bottom of the material supporting plate is connected to the lifting module.

9. A feeding method for a feeding robot according to claim 8, characterized in that: The specific steps are as follows: Step S1: adjusting the material storage mechanism; The position of the limit rod on the base is set according to the sheet material, and the sheet material is placed on the support plate; Step S2: Install the fitting and adjust the position of the limit push plate; According to the shape of the sheet material, a fitting piece that fits the edge of the sheet material is installed on the limit push plate, and the extension and contraction amount of the cylinder is adjusted according to the size of the sheet material; Step S3: starting the punching machine, driving the material delivery mechanism and the feeding mechanism to operate synchronously through the synchronous driving mechanism, and intermittently starting the lifting cylinder and the air pump to realize the suction and release of the sheet material; When the punching machine descends, the synchronous frame descends with the punching machine, so that the driving guide plate moves downward along the first guide plate, and the driving column drives the rotating arm to rotate clockwise under the action of the driving groove, thereby driving the first rotating shaft to rotate, driving the feeding connecting rod structure to move, so that the feeding plate moves toward the punching position as a whole, so that the sheet material at the front end enters the punching position; at the same time, the driving rack moves downward, so that the meshing gear drives the second rotating shaft to rotate, drives the transmission shaft to rotate, drives the driving gear to rotate, drives the reversing gear to rotate, and the reversing gear rotates clockwise to drive the feeding rack to move toward the feeding position. After reaching the feeding position, the lifting end of the lifting cylinder descends into place and then starts the suction cup to release the sheet material, and the lifting end of the lifting cylinder rises to the initial position; When the punching machine rises, the synchronous frame rises with the punching machine, so that the driving guide plate moves upward along the first guide plate, and the driving column drives the rotating arm to rotate clockwise under the action of the driving groove, thereby driving the first rotating shaft to rotate, and driving the feeding connecting rod structure to continue to move, so that the feeding plate as a whole descends and returns to the initial position, so that the laminating part and the limit push plate descend and bypass the sheet material and then rise, and the laminating part and the limit push plate move from one side of the sheet material to the other side to wait for pushing the material; at the same time, the driving rack moves upward to drive the second rotating shaft and the transmission shaft to rotate, and the reversing gear rotates counterclockwise to drive the feeding rack back to the material picking position. After reaching the material picking position, the lifting end of the lifting cylinder descends into place and starts the suction cup to absorb the sheet material, and the lifting end of the lifting cylinder rises to the initial position.

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