Stacking and feeding device with mechanical arm

Abstract

The utility model relates to the technical field of material conveying, in particular to a stacking and feeding device with a mechanical arm. According to the technical scheme, the automatic feeding device is characterized by comprising a rack, a plurality of trays, a manipulator mechanism and a conveying mechanism, the conveying mechanism is installed on the rack, the trays are sequentially stacked on the conveying mechanism, the manipulator mechanism is also installed on the rack and adjacent to the conveying mechanism, and the manipulator mechanism grabs workpieces on the conveying mechanism and places the workpieces on a conveying belt; compared with manual feeding, the manipulator mechanism has the advantages that the material grabbing, moving and discharging actions are coherent, accurate, rapid and efficient, and therefore the overall production efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of material transmission, and in particular to a stacking and loading device with a manipulator. Background Art

[0002] A micro motor is a small motor with a small capacity, and its output power is generally below a few hundred watts. It is also a motor with special applications, performance and environmental conditions. It is widely used in various electrical appliances, instruments, and mechanical fields, such as home appliances, automobiles, power tools, medical equipment, etc.

[0003] The rotor is the rotating component in a micro motor. It is a device used to realize the conversion of electrical energy into mechanical energy and mechanical energy into electrical energy. Currently, the assembly of the rotor requires manual loading and subsequent processing and assembly by machines.

[0004] Regarding the above-mentioned related technologies, since the processing cycle of the machine is relatively fast, manual loading and unloading will greatly slow down production efficiency and affect output. Utility Model Content

[0005] In order to improve production efficiency, the present application provides a stacking and loading device with a robot.

[0006] The stacking and loading device with a manipulator provided in the present application adopts the following technical solution:

[0007] A stacking and loading device with a manipulator comprises a frame; a plurality of material trays, each of which is provided with a plurality of slots for placing workpieces; a manipulator mechanism, arranged on the frame, for clamping the workpieces on the material trays and placing them on a conveyor belt connected downstream, the manipulator mechanism being used to load the workpieces; and a material transfer mechanism, arranged on the frame and adjacent to the manipulator mechanism, a support column being fixedly provided on the material tray, a plurality of the material trays being stacked on the material transfer mechanism in sequence via the support column, the material transfer mechanism being used to transfer the material trays in sequence to the grabbing position of the manipulator mechanism.

[0008] Through the above technical solution, the robot mechanism grabs the workpiece on the feeding mechanism and places it on the conveyor belt, thus completing the loading. Compared with manual loading, the robot mechanism's grabbing, moving and placing actions are continuous, accurate, fast and efficient, which effectively improves the loading speed of the workpiece, thereby improving the overall production efficiency.

[0009] Preferably, the manipulator mechanism includes a movable component, which is arranged on the frame and is used to output reciprocating power; and a clamping part, which is fixedly arranged on the movable component and is used to clamp the workpiece, and the movable component is used to drive the clamping part to reciprocate between the material transmission mechanism and the transmission belt.

[0010] Through the above technical solution, the movable component drives the clamping part to move back and forth, completing the transfer and loading of the workpiece from the material transfer mechanism to the transmission belt. The moving process is fast and efficient, thereby improving the loading efficiency of the workpiece.

[0011] Preferably, the movable component includes a first power element, which is slidably arranged on the frame and is used to output reciprocating power; and a second power element, which is fixedly arranged on the first power element, and the clamping part is fixedly arranged on the second power element, the first power element is used to drive the second power element and the clamping part to reciprocate, and the second power element is used to drive the clamping part to reciprocate.

[0012] Through the above technical solution, after the movement integration of the first power element and the second power element, the clamping part has the freedom of movement in two directions, so that the clamping part can avoid the material transfer mechanism during the process of loading the workpiece, making the loading process smoother.

[0013] Preferably, the material transmission mechanism includes a support assembly, which is fixedly mounted on the frame, and a plurality of material trays are placed on the support assembly, and the support assembly is used to support the material trays; a lifting assembly, which is mounted on the frame and is used to drive the material trays to rise and fall; and a translation assembly, which is adjacent to the lifting assembly, and the lifting assembly is used to place the material trays on the translation assembly, and the translation assembly is used to translate the material trays to the grabbing position of the manipulator mechanism.

[0014] Through the above technical solution, the supporting assembly supports several material trays, and the lifting assembly drives the bottom material tray to descend, so as to realize the sequential transmission of several material trays for continuous grasping by the robot mechanism, and the translation assembly moves to cooperate with the robot mechanism to continuously grasp the workpiece, making the grasping process smoother.

[0015] Preferably, the lifting assembly includes an ejection part, which is arranged on the frame and is used to output power; and a support plate, which is fixedly arranged on the ejection part and is used to support the material tray. The ejection part is used to drive the support plate to move and place the material tray on the translation assembly.

[0016] Through the above technical solution, the ejector drives the supporting plate to move, thereby realizing the transmission of the material tray and improving the degree of automation of the device.

[0017] Preferably, the translation assembly includes a driving element, which is fixedly arranged on the frame and is used to output reciprocating power; and a slide, which is slidably arranged on the frame, the slide is connected to the driving element, the material tray is placed on the slide, and the driving element is used to drive the slide to move closer to or away from the manipulator mechanism.

[0018] Through the above technical solution, the driving element drives the slide table close to the robot mechanism, which makes it easier for the robot mechanism to grab the workpiece on the slide table and improves the overall loading efficiency.

[0019] Preferably, a positioning protrusion is provided on the slide, the position of the positioning protrusion corresponds to the position of the support column, and the positioning protrusion is used to position the material tray.

[0020] Through the above technical solution, the support column is clamped in the positioning protrusion, which reduces the possibility of the material tray shifting on the slide and improves the transmission accuracy of the slide.

[0021] Preferably, the material tray is provided with a plurality of support columns, and the number of the positioning protrusions is consistent with the number of the support columns.

[0022] Through the above technical solution, the possibility of shaking of the material tray during transportation is reduced and the stability of the material tray is improved.

[0023] In summary, the present application includes at least one of the following beneficial technical effects:

[0024] 1. The robot mechanism grabs the workpiece on the feeding mechanism and places it on the conveyor belt, completing the loading. Compared with manual loading, the robot mechanism's grabbing, moving and placing actions are consistent and accurate, fast and efficient, effectively improving the loading speed of the workpiece, thereby improving the overall production efficiency.

[0025] 2. The support assembly supports several material trays, and the lifting assembly drives the bottom material tray to descend, so as to transfer several material trays in sequence for continuous grasping by the robot mechanism. The translation assembly moves to cooperate with the robot mechanism to continuously grasp the workpiece, making the grasping process smoother.

[0026] 3. The driving element drives the slide table close to the robot mechanism, making it easier for the robot mechanism to grab the workpiece on the slide table and improve the overall loading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of a feeding device in a preferred embodiment of the present application.

[0028] Figure 2 It is a schematic diagram of the structure of a material tray in a preferred embodiment of the present application.

[0029] Figure 3 It is a structural schematic diagram of a material transfer mechanism in a preferred embodiment of the present application.

[0030] Figure 4 It is a structural schematic diagram of a manipulator mechanism in a preferred embodiment of the present application.

[0031] Explanation of the reference numerals in the accompanying drawings: 1. frame; 2. material tray; 21. slot; 22. support column; 221. groove; 3. material transfer mechanism; 31. support assembly; 311. telescopic cylinder; 312. step support leg; 32. lifting assembly; 321. ejection part; 3211. first ejection cylinder; 3212. second ejection cylinder; 322. support plate; 33. translation assembly; 331. driving element; 332. slide; 3321. table top; 3322. slide rail; 4. positioning protrusion; 5. manipulator mechanism; 51. movable assembly; 511. first power element; 512. second power element; 52. clamping part; 6. slide seat. DETAILED DESCRIPTION

[0032] The following is combined with Figure 1-4 This application is described in further detail.

[0033] The present application embodiment discloses a stacking and loading device with a manipulator. Figure 1 The feeding device includes a frame 1, a plurality of material trays 2, a feeding mechanism 3 and a manipulator mechanism 5, wherein the feeding mechanism 3 is installed on the frame 1, and the plurality of material trays 2 are stacked and placed on the feeding mechanism 3 in sequence. The manipulator mechanism 5 is also installed on the frame 1, adjacent to the feeding mechanism 3. The feeding mechanism 3 is used to sequentially transfer the plurality of material trays 2 to the clamping position of the manipulator mechanism 5, and the manipulator mechanism 5 clamps the workpiece on the material tray 2 and places it on a conveyor belt connected to a downstream device for feeding.

[0034] refer to Figure 1 and Figure 2 The workpieces are relatively small and in large numbers. If they are not arranged neatly, it is not convenient for the robot mechanism 5 to clamp them. Therefore, a material tray 2 is provided, and a plurality of grooves 21 for placing the workpieces are recessed on the material tray 2. Specifically, the material tray 2 is a rectangular plate-shaped structure, and a plurality of grooves 21 are arranged at intervals and evenly arranged, and the workpieces are neatly placed in the grooves 21; support columns 22 are respectively provided at the four corners of the material tray 2. Specifically, the support column 22 is a cylindrical structure, which is vertically arranged and fixedly installed on the material tray 2 and passes through the material tray 2. One end of the support column 22 is slightly convex on the surface of the material tray 2, and a groove 221 is recessed on the end surface of the other end. The groove 221 on the support column 22 can be sleeved on the protruding end of another support column 22. Several material trays 2 are vertically stacked and fixed in this way. The vertical arrangement of the material trays 2 saves space, and the cooperation between the support columns 22 and the support columns 22 improves the stability of the stacking of the material trays 2.

[0035] refer to Figure 1 and Figure 3The stacked material trays 2 need to be taken down one by one and moved to the grabbing position of the manipulator mechanism 5 before loading, so a conveying mechanism is set up. The conveying mechanism 3 includes a supporting assembly 31, a lifting assembly 32 and a translation assembly 33. The supporting assembly 31 is used to support a number of stacked material trays 2. The lifting assembly 32 cooperates with the supporting assembly 31 to place the material tray 2 at the bottom layer on the lifting assembly 32. The lifting assembly 32 places the material tray 2 on the translation assembly 33, and the translation assembly 33 conveys the material tray 2 to the vicinity of the manipulator mechanism 5.

[0036] Specifically, the supporting assembly 31 includes a telescopic cylinder 311 and a stepped support leg 312. The telescopic cylinder 311 is used to output reciprocating power, and the stepped support leg 312 is used to limit the material tray 2. Specifically, the telescopic cylinder 311 is horizontally arranged and fixedly installed on the frame 1 for outputting reciprocating power; the stepped support leg 312 is a block with a stepped profile, which is fixedly connected to the telescopic rod of the telescopic cylinder 311, and the stepped profile is used to support and limit the material tray 2.

[0037] It should be particularly noted that there are two groups of support assemblies 31, which are fixedly mounted on the frame 1 respectively. The telescopic rods of the two groups of telescopic cylinders 311 are extended relative to each other, and the step profiles of the two groups of step brackets are also relatively arranged. If the telescopic rods of the two groups of telescopic cylinders 311 are extended, the two step legs 312 support the material tray 2. Due to the limiting of the step legs 312, the possibility of displacement of the material tray 2 is reduced, and the safety of stacking the material tray 2 is improved; if the telescopic rods of the two groups of telescopic cylinders 311 are retracted, the material tray 2 will fall.

[0038] The lifting assembly 32 is installed on the frame 1 and is adjacent to the supporting assembly 31. The lifting assembly 32 includes an ejection part 321 and a supporting plate 322. The ejection part 321 is used to output power, and the supporting plate 322 is used to support the material tray 2. Specifically, the ejection part 321 includes a first ejection cylinder 3211 and a second ejection cylinder 3212, wherein the first ejection cylinder 3211 is vertically arranged, and the telescopic rod of the first ejection cylinder 3211 can be ejected vertically upward, and the second ejection cylinder 3212 is horizontally arranged and fixedly installed on the telescopic rod of the first ejection cylinder 3211, and the telescopic rod of the second ejection cylinder 3212 can extend toward the material tray 2 on the supporting assembly 31, and the supporting plate 322 is fixedly installed on the telescopic rod of the second ejection cylinder 3212 to support the material tray 2.

[0039] After the lifting plate 322 is lifted up, the lifting cylinder 3211 is lifted up and the lifting plate 322 is lifted up, and the lifting cylinder 3212 is lifted up and the lifting plate 322 is lifted up.

[0040] The translation assembly 33 is installed on the frame 1 and is used to transfer the material tray 2 to the vicinity of the manipulator mechanism 5. The translation assembly 33 includes a driving element 331 and a slide 332. The driving element 331 is used to output reciprocating power, and the slide 332 can slide on the frame 1. Specifically, in this embodiment, the driving element 331 is a first screw stepper motor, which is horizontally arranged and fixedly installed on the frame 1, located below the lifting assembly 32, and the screw of the first screw stepper motor is toward the manipulator mechanism 5. The slide 332 includes a table 3321 and a slide rail 3322. The slide rail 3322 is arranged parallel to the screw of the screw motor. The slide 332 is slidably mounted on the slide rail 3322. The screw of the first screw stepper motor passes through the table 3321 and meshes with the table 3321. When the first screw stepper motor rotates forward, the table 3321 moves along the slide rail 3322 toward the manipulator mechanism 5. When the first screw stepper motor rotates reversely, the table 3321 moves along the slide rail 3322 back to the bottom of the lifting assembly 32. In other embodiments, the driving element 331 can also be selected from a telescopic cylinder or a piston or other element that outputs linear motion, and its specific structure is not repeated here.

[0041] refer to Figure 3 and Figure 4 It should be noted that the shape of the table top 3321 is consistent with the structure of the material tray 2, both of which are plate-shaped, and positioning protrusions 4 are fixedly installed at the four corners of the table top 3321. Specifically, the contour of the positioning protrusion 4 is arc-shaped, the position of the positioning protrusion 4 is opposite to the position of the support column 22, and the number of the positioning protrusions 4 is consistent with the number of the support columns 22. When the material tray 2 is placed on the table top 3321, the arc-shaped contour of the positioning protrusion 4 guides the groove 221 on the support column 22 to be sleeved on the positioning protrusion 4, which is used to locate the placement position of the material tray 2. At the same time, the positioning protrusion 4 also plays a role in limiting the movement of the material tray 2 in the injection direction.

[0042] refer to Figure 3 and Figure 4The material tray 2 is transferred to the gripping position of the manipulator mechanism 5 by the translation assembly 33, and the manipulator mechanism 5 can grip the workpiece to load the material. The manipulator mechanism 5 includes a movable assembly 51 and a clamping portion 52. The movable assembly 51 is used to output power, and the clamping portion 52 is used to clamp the workpiece. Specifically, the movable assembly 51 includes a first power element 511 and a second power element 512. In this embodiment, the first power element 511 is a second screw stepper motor, which is horizontally arranged and fixedly installed on the frame 1, and a slide seat is also slidably installed on the frame 1. 6, and the slide 6 is meshed with the screw of the second screw stepper motor. When the second screw stepper motor rotates forward, the slide 6 moves toward the conveyor belt along the frame 1. When the second screw stepper motor rotates reversely, the slide 6 moves away from the conveyor belt along the frame 1 and moves toward the tray 2. The second power element 512 is a cylinder, which is vertically arranged and fixedly mounted on the slide 6. The telescopic rod of the cylinder can be extended vertically downward. The second screw stepper motor is used to drive the cylinder to reciprocate between the conveyor belt and the tray 2. The movement direction of the screw of the second screw stepper motor is perpendicular to that of the telescopic rod of the cylinder. In other embodiments, the first power element 511 can also be selected from cylinders, pistons and other components that output linear motion, and its specific scheme is not repeated here.

[0043] The clamping part 52 is fixedly mounted on the telescopic rod of the cylinder. Specifically, the clamping part 52 is a clamping cylinder, which is vertically arranged and fixedly connected to the telescopic rod of the cylinder. The clamping claw of the clamping cylinder faces downward, and the telescopic rod of the cylinder is extended to drive the clamping claw of the clamping cylinder to approach the workpiece, so that the clamping cylinder is used to clamp the workpiece.

[0044] The first power element 511 cooperates with the second power element 512 to move the workpiece grasped by the clamping part 52 from the material tray 2 to the transmission belt. It should be noted that the conveyor belt is a conveyor belt connecting upstream and downstream equipment in the factory and is used to transmit workpieces. Its specific structure is not described here.

[0045] The implementation principle of a stacking and loading device with a manipulator in an embodiment of the present application is as follows: a number of trays 2 filled with workpieces are vertically stacked and placed on a support assembly 31, the support assembly 31 cooperates with the lifting assembly 32 to move the bottom tray 2 to the lifting assembly 32, the lifting assembly 32 places the tray 2 on the translation assembly 33, the translation assembly 33 transports the tray 2 to the vicinity of the manipulator mechanism 5, and the manipulator mechanism 5 clamps the workpiece for loading.

[0046] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A stacking and loading device with a manipulator, characterized in that: include Rack (1); A plurality of material trays (2), each of the material trays (2) being provided with a plurality of slots (21) for placing workpieces; A manipulator mechanism (5) is arranged on the frame (1) and is used to clamp the workpiece on the material tray (2) and place it on a conveyor belt connected downstream. The manipulator mechanism (5) is used to load the workpiece; and a material transfer mechanism (3), which is arranged on the frame (1) and adjacent to the manipulator mechanism (5); a support column (22) is fixedly arranged on the material tray (2); a plurality of the material trays (2) are stacked in sequence on the material transfer mechanism (3) via the support column (22); and the material transfer mechanism (3) is used to transfer the material trays (2) in sequence to the grasping position of the manipulator mechanism (5).

2. A stacking and loading device with a manipulator according to claim 1, characterized in that: The manipulator mechanism (5) comprises A movable component (51) is arranged on the frame (1) and is used to output reciprocating power; and a clamping portion (52) fixedly arranged on the movable component (51) for clamping a workpiece, wherein the movable component (51) is used to drive the clamping portion (52) to move back and forth between the material conveying mechanism (3) and the transmission belt.

3. A stacking and loading device with a manipulator according to claim 2, characterized in that: The movable component (51) comprises A first power element (511) is slidably disposed on the frame (1) and is used to output reciprocating power; and a second power element (512) fixedly arranged on the first power element (511), the clamping portion (52) fixedly arranged on the second power element (512), the first power element (511) being used to drive the second power element (512) and the clamping portion (52) to reciprocate, and the second power element (512) being used to drive the clamping portion (52) to reciprocate.

4. A stacking and loading device with a manipulator according to claim 1, characterized in that: The material transfer mechanism (3) comprises A support assembly (31) is fixedly arranged on the frame (1), a plurality of the material trays (2) are placed on the support assembly (31), and the support assembly (31) is used to support the material trays (2); A lifting component (32) is arranged on the frame (1) and is used to drive the material tray (2) to rise and fall; and a translation component (33) adjacent to the lifting component (32), wherein the lifting component (32) is used to place the material tray (2) on the translation component (33), and the translation component (33) is used to translate the material tray (2) to a grasping position of the manipulator mechanism (5).

5. A stacking and loading device with a manipulator according to claim 4, characterized in that: The lifting assembly (32) comprises An ejection portion (321) is arranged on the frame (1) and is used to output power; and a supporting plate (322) fixedly arranged on the ejection portion (321) and used for supporting the material tray (2); the ejection portion (321) is used for driving the supporting plate (322) to move, so as to place the material tray (2) on the translation assembly (33).

6. A stacking and loading device with a manipulator according to claim 4, characterized in that: The translation assembly (33) comprises A driving element (331) is fixedly arranged on the frame (1) and is used to output reciprocating power; and a slide (332) slidably arranged on the frame (1), the slide (332) being connected to the driving element (331), the material tray (2) being placed on the slide (332), and the driving element (331) being used to drive the slide (332) to approach or move away from the manipulator mechanism (5).

7. A stacking and loading device with a manipulator according to claim 6, characterized in that: A positioning protrusion (4) is provided on the slide (332), the position of the positioning protrusion (4) corresponds to the position of the support column (22), and the positioning protrusion (4) is used to position the material tray (2).

8. A stacking and loading device with a manipulator according to claim 7, characterized in that: The material tray (2) is provided with a plurality of support columns (22), and the number of the positioning protrusions (4) is consistent with the number of the support columns (22).

Images