Feeding robot and feeding method

Abstract

The present invention discloses a feeding robot and a feeding method, belonging to the field of robot technology. The feeding robot includes a frame and a controller. The frame is provided with a synchronous drive mechanism connected to a punching machine. The synchronous drive mechanism is connected to the feeding mechanism via a one-way rotation conversion mechanism. The synchronous drive mechanism is connected to the delivery mechanism via a two-way rotation conversion mechanism. The delivery mechanism is provided with a suction mechanism. The suction mechanism and the punching machine are both electrically connected to the controller. A feeding method based on the feeding robot is also disclosed. By using the feeding robot and the feeding method, the punching machine, the feeding mechanism, and the delivery mechanism are synchronized. The feeding mechanism and the delivery mechanism do not require additional drive components or complex program settings, thereby improving safety.

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 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 into 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 an industrial production stamping equipment, including a stamping machine, an automatic feeding table is provided on one side of the stamping machine, a bracket is provided on one side of the automatic feeding table, and a receiving plate is fixedly installed on the top surface of the bracket. The servo motor, the screw, the bearing seat, and the screw sleeve form a screw transmission mechanism, which in turn 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 suction cup 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 method of lifting the material to the top surface of the automatic feeding table, further improving the automation level 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 labor intensity, the automatic feeding table, the magnetic adsorption clamping structure and the punching machine move independently of each other, which easily leads to the situation that the various parts are 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 provided 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 provided 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 provided on one side of the synchronous frame, a driving guide plate is provided at the bottom of the synchronous frame, a first guide plate is slidably provided on one side of the driving guide plate and a driving groove is provided 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 provided.

[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 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.

[0007] Preferably, 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 to one side of the feeding plate, an adjusting cylinder is installed at the bottom of the feeding plate, the telescopic end of the adjusting cylinder is connected to the 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 adjusting cylinder is electrically connected to the controller;

[0008] The first reversing bevel gear is meshed with the first driving bevel gear on the feeding connecting rod structure.

[0009] 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.

[0010] Preferably, the material delivery mechanism includes a material delivery rack slidably arranged on the second guide plate, and the material delivery rack is meshed with the driving gear on the transmission shaft through a reversing gear.

[0011] Preferably, the material suction mechanism includes 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;

[0012] The lifting cylinder and the air pump are both electrically connected to the controller.

[0013] Preferably, the material delivery mechanism is provided with a corresponding material storage mechanism, and the material storage mechanism includes a plurality of limiting rods arranged on the base, and a supporting plate is sleeved on the limiting rods, and the bottom of the supporting plate is connected to the lifting module.

[0014] Based on the above-mentioned feeding method of the feeding robot, the specific steps are as follows:

[0015] Step S1: adjusting the storage mechanism;

[0016] Set the position of the limit rod on the base according to the sheet material, and place the sheet material on the support plate;

[0017] Step S2: Install the fitting and adjust the position of the limit push plate;

[0018] 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;

[0019] Step S3: Start the punching machine, drive the material delivery mechanism and the feeding mechanism to operate synchronously through the synchronous driving mechanism, and intermittently start the lifting cylinder and the air pump to realize the suction and release of the sheet material;

[0020] When the punching machine descends, the synchronous frame descends with the punching machine, causing the driving guide plate to move 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 as a whole moves toward the punching position, 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 drops into place and starts the suction cup to release the sheet material, and the lifting end of the lifting cylinder rises to the initial position;

[0021] When the punching machine rises, the synchronous frame rises with the punching machine, causing the driving guide plate to move upward along the first guide plate. 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 drops as a whole and returns to the initial position, so that the fitting part and the limit push plate drop around the sheet material and then rise, and the fitting 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 drops 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.

[0022] Therefore, the present invention adopts the above-mentioned feeding robot and feeding method, which has the following beneficial effects: 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 complex program settings, thereby improving safety.

[0023] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the three-dimensional structure of a feeding robot of the present invention;

[0025] Figure 2 This is a side view of a feeding robot of the present invention;

[0026] Figure 3 It is a structural schematic diagram of the one-way rotation conversion mechanism of the present invention;

[0027] Figure 4 This is a schematic structural diagram of the bidirectional rotation conversion mechanism of the present invention;

[0028] Figure 5 It is a structural schematic diagram of the material storage mechanism of the present invention.

[0029] Reference numerals

[0030] 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 rotation axis; 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. Adjustment hole; 43. Vertical limit plate; 44. Adjustment cylinder; 45. Limit push rod Plate; 451, bar-shaped mounting hole; 46, first drive bevel gear; 5, two-way rotation conversion mechanism; 51, second rotating shaft; 52, meshing gear; 53, second reversing bevel gear; 54, second drive bevel gear; 55, transmission shaft; 56, drive 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, limiting rod; 92, material support plate; 93, lifting module. DETAILED DESCRIPTION

[0031] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the inventive product is usually placed when in use. These are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention. In the description of the present invention, it should also be noted that, unless otherwise expressly 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 an indirect connection through an intermediate medium, or it can be a communication between the internal parts of 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.

[0032] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0033] like Figure 1-Figure 2 As shown, a feeding robot includes a frame 1 and a controller (an existing controller is used and shown in the figure).

[0034] 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, which is used to convert the lifting action of the punching machine into a continuous single-direction rotation action, driving the feeding mechanism 4 to feed intermittently. 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 slidingly 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, and a rotating arm 33 is provided outside the mounting ring 32. A driving post 34 is fixed to the outer end of the rotating arm 33, and the driving post 34 is disposed in the driving slot 231. A first reversing bevel gear 35 is provided at the other end of the first rotating shaft 31. As the punch press rises and falls, the driving post 34 moves in the driving slot 231. Due to the inclined setting of the middle section, the rotating arm 33 rotates, slides in the vertical sections at both ends, and then continues to drive the rotating arm 33 to rotate in the same direction.

[0035] The feeding mechanism 4 includes a feeding plate 42 connected to the frame 1 through a feeding connecting rod structure 41. The first reversing bevel gear 35 is engaged 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 fall 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 the 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, 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.

[0036] 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 4 As 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. The meshing gear 52 at one end of the second rotating shaft 51 meshes with the synchronous drive rack 22. The other end of the second rotating shaft 51 is provided with a second reversing bevel gear 53, which meshes with the second drive bevel gear 54 on the transmission shaft 55, which is mounted on the second guide plate 12. The material delivery mechanism 6 includes a material delivery rack 61 slidably disposed on the second guide plate 12, and the material delivery rack 61 meshes with the drive gear 56 on the transmission shaft 55 via a reversing gear 62.

[0037] The feeding mechanism 6 is provided with a suction mechanism 7, which includes a lifting cylinder 71 installed on the feeding rack 61. 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. 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.

[0038] The material delivery mechanism 6 is provided with a material storage mechanism 9, such as Figure 5 As shown, the storage mechanism 9 includes a number of limit rods 91 arranged on the base, and a supporting plate 92 is provided on the limit rod 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 remains consistent.

[0039] Based on the above-mentioned feeding method of the feeding robot, the specific steps are as follows:

[0040] Step S1: Adjust the storage mechanism 9.

[0041] 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 .

[0042] Step S2: Install the fitting and adjust the position of the limiting push plate 45 .

[0043] 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 limiting 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.

[0044] 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.

[0045] When the punching machine descends, the synchronous frame 21 descends with the punching machine, causing the driving guide plate 23 to move 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 slot 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 as a whole toward the punching position, so that the sheet material 8 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, drives the reversing gear 62 to rotate, and 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 drops into place and 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.

[0046] When the punching machine rises, the synchronous frame 21 rises with the punching machine, causing the driving guide plate 23 to move 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, driving the feeding connecting rod structure 41 to continue to move, causing the feeding plate 42 to drop as a whole and return to the initial position, causing the laminating part and the limiting push plate 45 to 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 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.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. 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 solutions of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions 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 delivery mechanism through a two-way rotation conversion mechanism, the delivery mechanism is provided with a suction mechanism, and the suction mechanism and the punching machine are both electrically connected to the controller; The synchronous drive mechanism includes a synchronous frame, a synchronous drive rack is provided on one side of the synchronous frame, a driving guide plate is provided at the bottom of the synchronous frame, a first guide plate is slidably provided on one side of the driving guide plate, and a driving groove is provided on the other side of the driving guide plate, the middle portion of the driving groove is inclined, and the two ends of the driving groove are vertically provided; The one-way rotation conversion mechanism includes a first rotating shaft rotatably mounted on the first guide plate, a mounting ring being provided at one end of the first rotating shaft, a rotating arm being provided on the outer side of the mounting ring, a driving column being fixed to the outer end of the rotating arm, the driving column being provided in the driving groove, and a first reversing bevel gear being provided at the other end of the first rotating shaft; 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 to one side of the feeding plate, an adjusting cylinder is installed at the bottom of the feeding plate, the telescopic end of the adjusting cylinder is connected to the 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 adjusting 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; The bidirectional rotation conversion mechanism includes a second rotating shaft, which is mounted on a second guide plate on the frame, a meshing gear at one end of the second rotating shaft meshing with a synchronous drive rack, and a second reversing bevel gear provided at the other end of the second rotating shaft, which meshes with a second drive bevel gear on a transmission shaft, which is mounted on the second guide plate; 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.

2. A feeding robot according to claim 1, 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 the air pump on the frame; The lifting cylinder and the air pump are both electrically connected to the controller.

3. A feeding robot according to claim 2, characterized in that: The material delivery mechanism is correspondingly provided with a material storage mechanism, which includes a plurality of limiting rods arranged on the base, the limiting rods are sleeved with a supporting plate, and the bottom of the supporting plate is connected to the lifting module.

4. A feeding method for a feeding robot according to claim 3, characterized in that: The specific steps are as follows: Step S1: adjusting the storage mechanism; Set the position of the limit rod on the base according to the sheet material, and place the sheet material 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: Start the punching machine, drive the material delivery mechanism and the feeding mechanism to operate synchronously through the synchronous driving mechanism, and intermittently start 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, causing the driving guide plate to move 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 as a whole moves toward the punching position, 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 drops into place and 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, causing the driving guide plate to move upward along the first guide plate. 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 drops as a whole and returns to the initial position, so that the fitting part and the limit push plate drop around the sheet material and then rise, and the fitting 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 drops 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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