Automatic feeding device with replaceable clamp

Abstract

The utility model discloses an automatic feeding device with replaceable clamps. The automatic feeding device comprises a driving mechanism, at least two clamp positioning mechanisms and at least two sets of clamps. The clamp positioning mechanisms are in one-to-one correspondence with the clamps and are used for positioning the clamps, and the driving mechanism is used for placing the clamps on the clamp positioning mechanisms or taking away the clamps from the clamp positioning mechanisms; the driving mechanism comprises a first linear module, a second linear module, a third linear module and a rotating mechanism which are connected in sequence, and the rotating mechanism is detachably connected with the clamp through a pneumatic quick-change disc and used for driving the clamp to rotate around a vertical axis; the technical problem of how to quickly achieve efficient feeding of multiple types of materials is mainly solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of automation especially relates to a replaceable clamp's automatic feeding device. BACKGROUND

[0002] The current feeding device cannot quickly replace the required clamp, when the material of another specification needs to be fed, the current usually adopts the mode that manual dismantling and replacing the clamp on the feeding device, manual dismantling and replacing the clamp have the disadvantages of low efficiency, high requirement to the operator, etc, cannot quickly satisfy the application requirement of efficient feeding of multiple materials, and if the clamp is mistakenly started under the drive of the driving mechanism, also easy to cause harm to the operator, so there will be certain security risks, therefore, the prior art needs to be improved. UTILITARY MODEL CONTENT

[0003] The utility model provides a replaceable clamp's automatic feeding device, mainly solves how to quickly realize the technical problem that multiple materials can be efficiently fed.

[0004] In order to realize the above-mentioned purpose, the utility model provides the following technical scheme:

[0005] A replaceable clamp's automatic feeding device, including driving mechanism, at least two clamp positioning mechanisms and at least two sets of clamps,

[0006] The clamp positioning mechanism is one-to-one corresponding with the clamp and is used for positioning the clamp, and the driving mechanism is used for placing the clamp on the clamp positioning mechanism or taking away the clamp from the clamp positioning mechanism;

[0007] The driving mechanism includes first linear module, second linear module, third linear module and rotating mechanism connected in sequence, the first linear module is used for driving the second linear module, the third linear module and the rotating mechanism to move linearly along the first direction together, the second linear module is used for driving the third linear module and the rotating mechanism to move linearly along the second direction together, the third linear module is used for driving the rotating mechanism to move linearly along the third direction, the rotating mechanism is detachably connected with the clamp through pneumatic quick change disc, and the rotating mechanism is used for driving the clamp to rotate with vertical axis, wherein, the first direction, the second direction and the third direction are not collinear.

[0008] In one of the technical solutions, the automatic feeding device further comprises a visual detection module, the visual detection module is connected to the rotating mechanism, and the visual detection module performs synchronous rotating movement with the clamp connected to the driving mechanism under the driving of the rotating mechanism, the visual detection module is signal-connected to the driving mechanism, and the visual detection module is used at least for detecting the position of the clamp positioned on the clamp positioning mechanism.

[0009] In one of the technical solutions, the visual detection module is further used for detecting the position of the material to be fed and the position of the material feeding area.

[0010] In one of the technical solutions, the rotating mechanism comprises a mounting seat, a driver and a rotating seat.

[0011] The mounting seat is connected to the third linear module, the driver is connected to the mounting seat, the rotating seat is rotationally connected to the mounting seat with a vertical axis as a rotating axis, the driver is connected to the rotating seat and is used for driving the rotating seat to rotate relative to the mounting seat, the rotating seat is detachably connected to the clamp through the pneumatic quick-change disc, and the visual detection module is fixed to the mounting seat.

[0012] In one of the technical solutions, the driver comprises a motor, a driving gear and a driven gear, the motor is fixed to the mounting seat, the driving gear is connected to the output shaft of the motor, the driven gear is rotationally connected to the mounting seat with a vertical axis as a rotating axis, and the rotating seat is fixedly connected to the driven gear.

[0013] In one of the technical solutions, the pneumatic quick-change disc comprises a main connecting disc and a secondary connecting disc, the main connecting disc clamps or loosens the secondary connecting disc by using air pressure, the main connecting disc is fixed to the rotating seat, and the secondary connecting disc is fixed to each clamp.

[0014] In one of the technical solutions, the clamp comprises a base plate and a pneumatic clamping jaw arranged below the base plate, an electromagnetic valve is fixed to the rotating seat, and the electromagnetic valve is connected to the pneumatic clamping jaw and the main connecting disc through an air pipe.

[0015] In one of the technical solutions, the clamp positioning mechanism comprises a base and a plurality of positioning columns fixed to the base, the clamp is provided with a positioning hole corresponding to each positioning column for insertion, and the base is fixed with a sensor for detecting whether the clamp is positioned on the positioning column.

[0016] In one of the technical solutions, the automatic feeding device further comprises a feeding trolley, and the driving mechanism is used for driving the clamp to pick up the material on the feeding trolley.

[0017] In one of the technical solutions, the automatic feeding device further comprises a jacking machine configured to receive an empty tray, the driving mechanism is configured to drive the clamp to place the picked material on the tray of the jacking machine, and the jacking machine is configured to drive the tray to move in the vertical direction.

[0018] Compared with the prior art, the automatic feeding device with replaceable clamps provided by the utility model has at least the following beneficial effects:

[0019] The present application sets up a plurality of clamp positioning mechanisms and a plurality of sets of clamps, each clamp positioning mechanism is used for positioning a corresponding set of clamps, in use, the driving mechanism can take away a corresponding set of clamps from any one clamp positioning mechanism by using the pneumatic quick-change disc, or the driving mechanism can release the clamps by using the pneumatic quick-change disc so that the clamps can be repositioned on a corresponding clamp positioning mechanism, thereby achieving the purpose of quick replacement of the clamps through the pneumatic quick-change disc, so as to quickly meet the application requirement that a plurality of materials can be efficiently fed, in addition, the driving mechanism with the three-axis movement and rotation function can drive the clamps to pick up the materials in an accurate posture and can place the materials held by the clamps on the required feeding position in an accurate posture, so as to meet the use requirement that the materials need to be fed and discharged in a specific posture. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0021] Figure 1 A structure schematic view of an automatic feeding device with replaceable clamps provided by the present application embodiment;

[0022] Figure 2 A structure schematic view of a clamp positioning mechanism provided by the present application embodiment;

[0023] Figure 3 A structure schematic view of a rotating mechanism, a pneumatic quick-change disc and a clamp provided by the present application embodiment.

[0024] REFERENCE SIGNS:

[0025] 1, driving mechanism; 11, first linear module; 12, second linear module; 13, third linear module; 14, rotating mechanism; 141, mounting seat; 142, driver; 1421, motor; 1422, driving gear; 1423, driven gear; 143, rotating seat; 144, electromagnetic valve;

[0026] 2, clamp positioning mechanism; 21, base; 22, positioning column; 23, sensor;

[0027] 3, clamp; 31, positioning hole; 32, base plate; 33, pneumatic clamping jaw;

[0028] 4, pneumatic quick-change disc; 41, main connecting disc; 42, auxiliary connecting disc; 5, feeding trolley; 6, jacking machine; 7, visual inspection module. DETAILED DESCRIPTION

[0029] In order to make the technical problems, technical schemes and beneficial effects to be solved in the present application more clear and obvious, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and not to limit the present application.

[0030] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0031] It should be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0032] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0033] In order to make the purpose, technical scheme and advantages of the present application more clear and obvious, the present application will be further described in detail below in combination with the drawings and examples.

[0034] Please see Figures 1 to 3The utility model embodiment provides a kind of automatic feeding device of replaceable clamp, it mainly includes drive mechanism 1, at least two clamp positioning mechanisms 2 and at least two sets of clamp 3, wherein, clamp positioning mechanism 2 and clamp 3 one to one and for positioning clamp 3, this embodiment preferably only two clamp positioning mechanisms 2 and two sets of clamp 3, wherein, drive mechanism 1 is used to put back clamp 3 on corresponding clamp positioning mechanism 2, alternatively, drive mechanism 1 is used to take away the clamp 3 required to be used from clamp positioning mechanism 2.Specifically, the present scheme is provided with multiple clamp positioning mechanisms 2 and multiple sets of clamp 3, each clamp positioning mechanism 2 is used to position corresponding one set of clamp 3, when using, drive mechanism 1 can take away corresponding one set of clamp 3 from any one clamp positioning mechanism 2 using pneumatic quick-change disc 4, when needing to replace clamp 3 and use, drive mechanism 1 releases clamp 3 using pneumatic quick-change disc 4 and makes clamp 3 reposition in corresponding one clamp positioning mechanism 2, then take away the clamp 3 required to be used from specified clamp positioning mechanism 2 using pneumatic quick-change disc 4, to achieve the purpose of the replacement of clamp 3 by pneumatic quick-change disc 4 fast, to satisfy the application demand that multiple materials can be efficiently fed fast. Wherein, pneumatic quick-change disc 4 is prior art, pneumatic quick-change disc 4 includes main connecting disc 41 and auxiliary connecting disc 42, main connecting disc 41 is clamped or released auxiliary connecting disc 42 using gas power, wherein, main connecting disc 41 is fixed on drive mechanism 1, each clamp 3 described above is fixed with auxiliary connecting disc 42, to achieve that drive mechanism 1 takes away or releases specified clamp 3 fast.

[0035] Please see Figure 1 and Figure 3The driving mechanism 1 specifically comprises a first linear module 11, a second linear module 12, a third linear module 13 and a rotating mechanism 14 connected in sequence, the first linear module 11 is used to drive the second linear module 12, the third linear module 13 and the rotating mechanism 14 to move linearly along a first direction Y, the second linear module 12 is used to drive the third linear module 13 and the rotating mechanism 14 to move linearly along a second direction X, the third linear module 13 is used to drive the rotating mechanism 14 to move linearly along a third direction Z, the rotating mechanism 14 is detachably connected with the clamp 3 through the pneumatic quick-change disc 4, and the rotating mechanism 14 is used to drive the clamp 3 to rotate around a vertical axis as a rotating shaft, wherein the first direction Y, the second direction X and the third direction Z are not collinear, and preferably, the first direction Y, the second direction X and the third direction Z are perpendicular to each other in pairs. Through the above design of the driving mechanism 1, the driving mechanism 1 has three-axis movement and rotation functions. Under the driving of three-axis linkage and rotation, the material can be taken by the clamp 3 in a precise posture, and the material can be clamped by the clamp 3 and placed on the required unloading position in a precise posture, so as to meet the use requirement that the material needs to be loaded and unloaded in a specific posture. The first linear module 11 is preferably a gear and rack structure with a long stroke, and the second linear module 12 and the third linear module 13 are preferably linear modules of lead screws.

[0036] Please refer to Figure 2 The clamp positioning mechanism 2 comprises a base 21 and a plurality of positioning columns 22, the plurality of positioning columns 22 are fixed on the base 21, the clamp 3 is provided with a plurality of positioning holes 31 corresponding to the positioning columns 22 for insertion, so that the clamp 3 can be positioned on the corresponding clamp positioning mechanism 2, and the base 21 is further fixed with a sensor 23 for detecting whether the clamp 3 is positioned on the positioning column 22. Through the sensor 23, it can be accurately determined whether the clamp 3 is taken away by the driving mechanism 1, or it can be accurately determined that the clamp 3 has been placed back on the corresponding clamp positioning mechanism 2, so as to improve the accuracy of replacing the clamp 3.

[0037] Please refer to Figure 1 and Figure 3The automatic feeding device of the embodiment preferably further comprises a feeding trolley 5. The operator can prepare the materials to be fed in advance on the feeding trolley 5. When feeding, the feeding trolley 5 only needs to be pushed to the designated position, and then the corresponding clamp 3 can be driven by the driving mechanism 1 to pick up the materials on the feeding trolley 5. The automatic feeding device of the embodiment further comprises a jacking machine 6. The jacking machine 6 is used to receive the empty tray. The driving mechanism 1 is used to drive the clamp 3 to place the materials picked up from the feeding trolley 5 on the tray of the jacking machine 6. The jacking machine 6 is used to drive the tray to move in the vertical direction. Specifically, when the jacking machine 6 receives the empty tray at a higher position, the jacking machine 6 is lowered so that the tray full of materials can be sent out along the lower conveying line. When the jacking machine 6 receives the empty tray at a lower position, the jacking machine 6 is raised so that the tray full of materials can be sent out along the upper conveying line.

[0038] Please refer to Figure 1 and Figure 3 The automatic feeding device of the embodiment further comprises a visual detection module 7. The visual detection module 7 is connected to the rotating mechanism 14 described above. Moreover, the visual detection module 7 performs synchronous rotating movement with the clamp 3 connected to the driving mechanism 1 under the driving of the rotating mechanism 14. The visual detection module 7 is signal connected to the driving mechanism 1. The visual detection module 7 is at least used to detect the position of the clamp 3 on the clamp positioning mechanism 2. In other words, by arranging the visual detection module 7, the position of the clamp 3 on the clamp positioning mechanism 2 can be accurately obtained, so that the main connecting disc 41 and the auxiliary connecting disc 42 can be accurately connected to each other under the three-axis linkage and rotation of the driving mechanism 1, thereby improving the accuracy of automatically replacing the clamp 3. In addition, the visual detection module 7 of the embodiment is also used to detect the position of the materials to be fed and the position of the material feeding area. That is, the visual detection module 7 is also used to detect the position of the materials on the feeding trolley 5 and the position of the tray on the jacking machine 6, so as to improve the material picking accuracy and the material feeding accuracy of the clamp 3.

[0039] Please refer to Figure 3The rotating mechanism 14 specifically comprises a mounting base 141, a driver 142 and a rotating base 143, wherein the mounting base 141 is connected with the third linear module 13, the driver 142 is fixed on the mounting base 141, the rotating base 143 is rotationally connected with the mounting base 141 with a vertical axis as a rotating shaft, the driver 142 is connected with the rotating base 143 and is used to drive the rotating base 143 to rotate relative to the mounting base 141, and the rotating base 143 is detachably connected with the clamp 3 through the pneumatic quick-change disc 4, that is, the main connecting disc 41 is fixed on the rotating base 143, and the visual detection module 7 is fixed on the mounting base 141. Through the above design of the rotating mechanism 14, the function of driving the clamp 3 to rotate can be realized, and the connection with the main connecting disc 41 and the visual detection module 7 can be facilitated. The driver 142 specifically comprises a motor 1421, a driving gear 1422 and a driven gear 1423, wherein the motor 1421 is fixed on the mounting base 141, the driving gear 1422 is fixedly connected with an output shaft of the motor 1421, the driven gear 1423 is rotationally connected with the mounting base 141 with a vertical axis as a rotating shaft, and the rotating base 143 is fixedly connected with the driven gear 1423. When the motor 1421 rotates, the rotating base 143 can be driven to rotate through gear transmission, so that the pneumatic quick-change disc 4 and the clamp 3 are driven to rotate together, so as to adjust the angle of the clamp 3 for picking up the material, or adjust the angle of the main connecting disc 41, or adjust the angle of the clamp 3 for discharging. Preferably, the clamp 3 specifically comprises a base plate 32 and a pneumatic clamp jaw 33 arranged below the base plate 32, an electromagnetic valve 144 is fixed on the rotating base 143, and the electromagnetic valve 144 is connected with the pneumatic clamp jaw 33 and the main connecting disc 41 through air pipes, so as to distribute the gas to the pneumatic clamp jaw 33 and the main connecting disc 41, thereby facilitating the functions of pneumatically replacing the clamp 3 and pneumatically clamping or releasing the material.

[0040] The above is only a preferred embodiment of the present application, and only the technical principle of the present application is specifically described. These descriptions are only for explaining the principle of the present application, and cannot be interpreted as a limitation on the protection scope of the present application in any way. Based on the above explanation, any modification, equivalent replacement and improvement within the spirit and principle of the present application, and other specific embodiments of the present application that can be conceived by those skilled in the art without creative labor, should be included in the protection scope of the present application.

Claims

1. A replaceable clamp type automatic feeding device characterized by comprising: The device comprises a driving mechanism, at least two clamp positioning mechanisms and at least two sets of clamps. The clamp positioning mechanisms correspond to the clamps and are used for positioning the clamps, and the driving mechanism is used for placing or taking away the clamps on or from the clamp positioning mechanisms. The driving mechanism comprises a first linear module, a second linear module, a third linear module and a rotating mechanism connected in sequence, the first linear module is used for driving the second linear module, the third linear module and the rotating mechanism to move linearly in a first direction, the second linear module is used for driving the third linear module and the rotating mechanism to move linearly in a second direction, the third linear module is used for driving the rotating mechanism to move linearly in a third direction, the rotating mechanism is detachably connected with the clamps through a pneumatic quick-change disc, and the rotating mechanism is used for driving the clamps to rotate around a vertical axis as a rotating shaft, wherein the first direction, the second direction and the third direction are not collinear.

2. The changeable clamp automatic feeding device according to claim 1, wherein, The automatic feeding device further comprises a visual detection module connected to the rotating mechanism, and the visual detection module rotates synchronously with the clamps connected to the driving mechanism under the driving of the rotating mechanism, the visual detection module is signal connected with the driving mechanism, and the visual detection module is used for detecting at least the position of the clamps on the clamp positioning mechanisms.

3. The changeable gripper automatic feeding device according to claim 2, wherein, The visual detection module is further used for detecting the position of the material to be fed and the position of the material unloading area.

4. The changeable gripper automatic feeding device according to claim 2, wherein, The rotating mechanism comprises a mounting seat, a driver and a rotating seat; The mounting seat is connected with the third linear module, the driver is connected with the mounting seat, the rotating seat is rotationally connected with the mounting seat around a vertical axis as a rotating shaft, the driver is connected with the rotating seat and is used for driving the rotating seat to rotate relative to the mounting seat, the rotating seat is detachably connected with the clamps through the pneumatic quick-change disc, and the visual detection module is fixed on the mounting seat.

5. The changeable gripper automatic feeding device according to claim 4, wherein, The driver comprises a motor, a driving gear and a driven gear, the motor is fixed on the mounting seat, the driving gear is connected with the output shaft of the motor, the driven gear is rotationally connected with the mounting seat around a vertical axis as a rotating shaft, and the rotating seat is fixedly connected with the driven gear.

6. The changeable gripper automatic feeding device according to claim 4, wherein The pneumatic quick-change disc comprises a main connecting disc and a secondary connecting disc, the main connecting disc clamps or releases the secondary connecting disc by using air pressure, the main connecting disc is fixed on the rotating seat, and the secondary connecting disc is fixed on each clamp.

7. The changeable gripper automatic feeding device according to claim 6, wherein The clamp comprises a base plate and a pneumatic clamp jaw arranged below the base plate, an electromagnetic valve is fixed on the rotating seat, and the electromagnetic valve is connected with the pneumatic clamp jaw and the main connecting disc through air pipes respectively.

8. The changeable gripper automatic feeding device according to claim 1, wherein, The clamp positioning mechanism comprises a base and a plurality of positioning columns fixed on the base, the clamp is provided with a positioning hole corresponding to each positioning column for insertion, and a sensor for detecting whether the clamp is positioned on the positioning column is fixed on the base.

9. The changeable gripper automatic feeding device according to claim 1, wherein The automatic feeding device further comprises a feeding trolley, and the driving mechanism is configured to drive the clamp to pick up the material on the feeding trolley.

10. The changeable gripper automatic feeding device according to claim 1, wherein, The automatic feeding device further comprises a jacking machine, the jacking machine is configured to receive an empty tray, the driving mechanism is configured to drive the clamp to place the picked-up material on the tray of the jacking machine, and the jacking machine is configured to drive the tray to move in a vertical direction.

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