Manipulator feeding mechanism

Abstract

The utility model discloses a mechanical arm feeding mechanism which comprises a portal frame, a three-axis driving module is arranged on the portal frame, a rotating driving air cylinder is arranged at the driving end of the three-axis driving module, a clamping jaw assembly is arranged at the driving end of the rotating driving air cylinder, and a multi-layer feeding machine is arranged at the bottom of the portal frame. The multi-layer feeding machine comprises a mounting frame, a stock bin and a mounting plate located on one side of the stock bin are arranged on the mounting frame, a material taking assembly is arranged on the mounting plate, a material frame and a material frame driving mechanism are arranged in the stock bin, a plurality of sets of supporting assemblies are arranged in the material frame, the material taking assembly comprises a material taking supporting plate, and a positioning column is arranged on the material taking supporting plate; according to the structure, through lifting of the material frame and horizontal movement of the material taking tray, feeding and returning operation of a material disc on the material frame can be achieved, meanwhile, the clamping jaw assembly is arranged in a matched mode, the material disc can be conveniently grabbed from the material frame and conveyed to a designated position, and the automation degree and efficiency of feeding are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to tray feeding field, especially a mechanical hand feeding mechanism. BACKGROUND

[0002] In the existing automatic production line, the feeding process of the tray often needs manual participation, which not only increases the production cost, but also reduces the production efficiency. In order to solve this problem, some automatic feeding equipment appears in the market, but these devices are often complex in structure, high in maintenance cost, and not suitable for all types of trays. Therefore, the utility model provides a new type of mechanical hand feeding mechanism, aiming at providing a simple structure, convenient operation, strong applicability of tray feeding solution. UTILITY MODEL CONTENT

[0003] The utility model solves the technical problem to provide a simple structure, convenient mechanical hand feeding mechanism of feeding.

[0004] The utility model solves the technical problem and adopts the technical scheme: a mechanical hand feeding mechanism, including gantry, be provided with three axis drive module on the gantry, the drive end of three axis drive module is provided with rotary drive cylinder, the drive end of rotary drive cylinder is provided with jaw assembly, the bottom of gantry is provided with multilayer feeding machine;

[0005] The multilayer feeding machine includes a mounting frame, a hopper and a mounting plate located on one side of the hopper are provided on the mounting frame, a material taking assembly is provided on the mounting plate, a material rack that can move up and down along the mounting frame and a material rack drive mechanism that drives the material rack to move up and down are provided in the hopper, a plurality of support assemblies for supporting the tray are provided in the material rack from top to bottom, the material taking assembly includes a material taking tray, a positioning column that cooperates with the bottom positioning hole of the tray is provided on the material taking tray, and a tray drive mechanism for driving the material taking tray to move horizontally is provided on the mounting plate.

[0006] Further, the three-axis drive module includes an X-axis drive module, a Y-axis drive module and a Z-axis drive module.

[0007] The Y-axis drive module is installed on the drive part of the X-axis drive module, and the Z-axis drive module is installed on the drive end of the Y-axis drive module.

[0008] Further, the jaw assembly includes two, and the two jaw assemblies are vertically arranged.

[0009] Further, the two sides of the hopper are slidably connected with the mounting frame through the slide rail and the sliding block.

[0010] Further, the rack driving mechanism comprises a screw rod assembly, a driving nut of the screw rod is connected with the rack, and a screw rod driving mechanism is arranged at the bottom of the screw rod assembly and used for driving the screw rod assembly to rotate.

[0011] Further, the tray driving mechanism comprises a cylinder used for driving the material taking tray to move horizontally, a guide rail is arranged at the bottom of the driving tray, a guide block is arranged on the mounting plate, a guide groove matched with the guide rail is arranged in the guide block, and the guide rail can move horizontally along the guide groove.

[0012] Further, front and rear buffers are arranged on both sides of the mounting plate along the movement direction of the material taking tray, and a buffer block is arranged at the bottom of the material taking tray, the buffer block is in contact with the front and rear buffers respectively when the material taking tray moves to the limit positions at both ends.

[0013] Further, the screw rod driving mechanism comprises a motor connected with the mounting frame, a driving wheel is arranged at the driving end of the motor, a driven wheel is arranged at the bottom end of the screw rod assembly, and the driving wheel and the driven wheel are connected through a synchronous belt.

[0014] The mechanical hand feeding mechanism has the advantages that:

[0015] 1. The feeding and returning operations of the material trays on the rack can be realized through the lifting of the rack and the horizontal movement of the material taking tray, the material trays can be conveniently grabbed from the rack and transported to the specified positions by cooperating with the clamping jaw assembly, and the automation degree and efficiency of feeding are improved.

[0016] 2. The mechanical hand feeding mechanism has the advantages of simple structure and convenient operation, the accurate grabbing and placing of the material trays can be realized through the cooperation of the three-axis driving module, the rotary driving cylinder and the clamping jaw assembly, and the precision and stability of feeding are improved.

[0017] 3. The multi-layer feeding machine is arranged, the simultaneous feeding of multiple material trays can be realized, the feeding efficiency is further improved, and the needs of large-scale production are met. Meanwhile, the lifting of the rack and the horizontal movement of the material taking tray can be automatically controlled through the driving mechanism, and the difficulty and labor intensity of manual operation are reduced. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 FIG. 1 is a structural schematic view of a mechanical hand feeding mechanism according to an embodiment of the present application.

[0019] Figure 2 FIG. 2 is an enlarged schematic view of structure A in FIG. 1. Figure 1

[0020] Figure 3 ​It is a structure schematic view of a multilayer feeding machine in a mechanical hand feeding mechanism of an embodiment of the application.

[0021] Figure 4 It is a structure schematic view of another view of a multilayer feeding machine in a mechanical hand feeding mechanism of an embodiment of the application.

[0022] Figure 5 It is a structure schematic view of a material taking supporting plate of a multilayer feeding machine in a mechanical hand feeding mechanism of an embodiment of the application.

[0023] In the figure, the marks are: mounting frame 1, mounting plate 2, material rack 3, supporting assembly 4, material taking supporting plate 5, positioning column 6, screw rod assembly 7, motor 8, synchronous belt 9, air cylinder 10, guide rail 11, guide block 12, front end buffer 13, rear end buffer 14, buffer block 15, gantry 16, X-axis driving module 17, Y-axis driving module 18, Z-axis driving module 19, rotary driving air cylinder 20, clamping jaw assembly 21. DETAILED DESCRIPTION

[0024] In order to make the above-mentioned purposes, characteristics and advantages of the utility model more obvious and easy to understand, the specific embodiments of the utility model will be described in detail below with reference to the drawings.

[0025] As Figures 1 to 5 shown, the embodiment of the application discloses a mechanical hand feeding mechanism, which comprises a gantry 16, a three-axis driving module is arranged on the gantry 16, a rotary driving air cylinder 20 is arranged at the driving end of the three-axis driving module, a clamping jaw assembly 21 is arranged at the driving end of the rotary driving air cylinder 20, and a multilayer feeding machine is arranged at the bottom of the gantry 16.

[0026] The multilayer feeding machine comprises a mounting frame 1, a material bin and a mounting plate 2 located at one side of the material bin are arranged on the mounting frame 1, a material taking assembly is arranged on the mounting plate 2, a material rack 3 capable of moving up and down along the mounting frame 1 and a material rack 3 driving mechanism for driving the material rack 3 to move up and down are arranged in the material bin, a plurality of supporting assemblies 4 for supporting material trays are arranged in the material rack 3 from top to bottom, the material taking assembly comprises a material taking supporting plate 5, positioning columns 6 matched with positioning holes in the bottom of the material tray are arranged on the material taking supporting plate 5, and a supporting plate driving mechanism for driving the material taking tray to move horizontally is arranged on the mounting plate 2.

[0027] In specific operation, the operator will place the tray on the support assembly 4 of the rack 3 in turn, and then start the rack driving mechanism, which drives the rack 3 to make lifting movement along the mounting frame 1 to send the tray to the appropriate height. Then, the tray driving mechanism is started to drive the tray to make horizontal movement and move to the tray. Then, the rack driving mechanism drives the rack 3 to descend a small height, so that the tray is separated from the support assembly 4, and at the same time, the positioning column 6 on the tray is matched with the positioning hole at the bottom of the tray. Then, the tray is driven to make horizontal movement out of the rack 3 and stably transported to the designated position. Then, under the driving of the three-axis driving module, the jaw assembly 21 moves out of the tray and clamps the product on the tray to the next station until all the materials on the tray are taken. When the tray needs to be returned to the rack, the tray moves reversely to transport the tray from the designated position back to the rack 3.

[0028] In this embodiment, the three-axis driving module includes an X-axis driving module 17, a Y-axis driving module 18, and a Z-axis driving module 19.

[0029] The Y-axis driving module 18 is installed on the driving part of the X-axis driving module 17, and the Z-axis driving module 19 is installed on the driving end of the Y-axis driving module 18.

[0030] It should be explained that the X-axis driving module 17, the Y-axis driving module 18, and the Z-axis driving module 19 can be a servo driving module. It can also be a gear and rack driving module.

[0031] In this structure, the three-axis driving module is provided to realize accurate positioning and movement of the jaw assembly 21 in three-dimensional space. The X-axis driving module 17 is responsible for the movement of the jaw assembly 21 in the horizontal direction, the Y-axis driving module 18 is responsible for the movement of the jaw assembly 21 in the direction perpendicular to the X-axis, and the Z-axis driving module 19 is responsible for the lifting movement of the jaw assembly 21 in the vertical direction. Such three-axis linkage design enables the jaw assembly 21 to flexibly reach above the tray, accurately grasp the material in the tray, and transport it to the designated position, greatly improving the flexibility and accuracy of the feeding. At the same time, the three-axis driving module is also convenient for cooperation with the rotary driving cylinder 20 and the jaw assembly 21, realizing omnidirectional grasping and placing of the tray, and further improving the efficiency and stability of the feeding.

[0032] In this embodiment, the jaw assembly 21 includes two jaw assemblies 21, which are vertically arranged.

[0033] Specifically, the vertical arrangement of the two jaw assemblies 21 makes the mechanism more stable when grabbing the tray, and can also adapt to products of different sizes and shapes, improving the versatility and flexibility of the mechanism. In addition, the vertically arranged jaw assemblies 21 can also reduce the space occupied by the mechanism when grabbing the tray, making the entire mechanical hand feeding mechanism more compact and efficient.

[0034] In this embodiment, the two sides of the hopper are respectively connected with the mounting frame 1 through sliding rails and sliding blocks.

[0035] Specifically, the arrangement of the sliding rails and sliding blocks can also ensure the stability and accuracy of the hopper during lifting, avoiding feeding errors caused by shaking or deviation.

[0036] In this embodiment, the rack driving mechanism includes a lead screw assembly 7, and the drive nut of the lead screw is connected with the rack 3. Through the rotation of the lead screw, the drive nut drives the rack 3 to move up and down. The bottom of the lead screw assembly 7 is provided with a lead screw driving mechanism for providing power for the rotation of the lead screw.

[0037] Specifically, the lead screw driving mechanism includes a motor 8 connected with the mounting frame 1, and the driving end of the motor 8 is provided with a driving wheel. The bottom end of the lead screw assembly 7 is provided with a driven wheel, and the driving wheel and the driven wheel are connected through a synchronous belt 9. When the motor 8 is started, the driving wheel drives the synchronous belt 9, and the synchronous belt 9 drives the driven wheel and the lead screw to rotate, thereby realizing the lifting movement of the rack 3. This design makes the lifting movement of the rack 3 more accurate, and the operation is simple, improving the work efficiency.

[0038] In this embodiment, the tray driving mechanism includes a cylinder 10 for driving the material taking tray to move horizontally. The bottom of the driving tray is provided with a guide rail 11, and the mounting plate 2 is provided with a guide block 12. The guide block 12 is provided with a guide groove matched with the guide rail 11, so that the guide rail 11 can move horizontally along the guide groove.

[0039] Specifically, when the cylinder 10 is started, it pushes the material taking tray to move horizontally along the guide rail 11 and the guide groove. The design of the guide groove ensures that the material taking tray can move stably during horizontal movement, avoiding shaking and further improving the stability and reliability of the equipment. In addition, the cooperation of the guide rail 11 and the guide groove also makes the movement of the material taking tray more smooth, reduces friction and resistance, and prolongs the service life of the equipment. On the movement path of the material taking tray, the front buffer 13 and the rear buffer 14 are arranged to effectively avoid the impact of the material taking tray when it moves to the limit position, protecting the equipment and improving the operation safety of the equipment.

[0040] In the embodiment, the installation plate 2 is provided with a front end buffer 13 and a rear end buffer 14 on both sides along the movement direction of the material taking tray, and the bottom of the material taking tray is provided with a buffer block 15, which is in contact with the front end buffer 13 and the rear end buffer 14 respectively when the material taking tray moves to the limit position of both ends.

[0041] Specifically, the front end buffer 13 and the rear end buffer 14 are made of elastic material and have good buffering effect. When the material taking tray moves to the limit position of the front end, the buffer block 15 is in contact with the front end buffer 13 to produce a certain compression deformation, thereby absorbing impact energy and protecting the equipment from damage. Similarly, when the material taking tray moves to the limit position of the rear end, the buffer block 15 is in contact with the rear end buffer 14 to also have the same buffering effect. This design not only improves the running safety of the equipment, but also prolongs the service life of the equipment.

[0042] The above specific embodiments further specifically describe the purpose, technical scheme and beneficial effects of the utility model, and it should be understood that the above description is only for specific embodiments of the utility model and is not used to limit the utility model. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A robotic arm loading mechanism, characterized in that: Includes a gantry frame (16), on which a three-axis drive module is provided, and a rotary drive cylinder (20) is provided at the drive end of the three-axis drive module. A gripper assembly (21) is provided at the drive end of the rotary drive cylinder (20). A multi-layer feeder is provided at the bottom of the gantry frame (16). The multi-layer feeding machine includes a mounting frame (1), a hopper and a mounting plate (2) located on one side of the hopper are provided on the mounting frame (1), a material picking component is provided on the mounting plate (2), a material rack (3) that can move up and down along the mounting frame (1) and a material rack (3) driving mechanism that drives the material rack (3) to move up and down are provided in the hopper, and multiple sets of support components (4) for supporting the material tray are provided from top to bottom in the material rack (3), the material picking component includes a material picking tray (5), a positioning post (6) that cooperates with the positioning hole at the bottom of the material tray is provided on the material picking tray (5), and a tray driving mechanism for driving the material picking tray to move horizontally is provided on the mounting plate (2).

2. The robotic arm loading mechanism as described in claim 1, characterized in that: The three-axis drive module includes an X-axis drive module (17), a Y-axis drive module (18), and a Z-axis drive module (19). The Y-axis drive module (18) is installed in the drive section of the X-axis drive module (17), and the Z-axis drive module (19) is installed in the drive end of the Y-axis drive module (18).

3. The robotic arm loading mechanism as described in claim 1, characterized in that: The gripper assembly (21) includes two grippers, which are arranged vertically.

4. The robotic arm loading mechanism as described in claim 1, characterized in that: The two sides of the hopper are slidably connected to the mounting frame (1) via slide rails and sliders, respectively.

5. The robotic arm loading mechanism as described in claim 1, characterized in that: The material rack (3) drive mechanism includes a lead screw assembly (7), the drive nut of the lead screw is connected to the material rack (3), and the bottom of the lead screw assembly (7) is provided with a lead screw drive mechanism for driving the lead screw assembly (7) to rotate.

6. The robotic arm loading mechanism as described in claim 1, characterized in that: The pallet drive mechanism includes a cylinder (10) for driving the material picking pallet to move horizontally. The bottom of the material picking pallet is provided with a guide rail (11), and the mounting plate (2) is provided with a guide block (12). The guide block (12) is provided with a guide groove that cooperates with the guide rail (11), so that the guide rail (11) can move horizontally along the guide groove.

7. The robotic arm loading mechanism as described in claim 6, characterized in that: The mounting plate (2) is provided with a front buffer (13) and a rear buffer (14) on both sides along the movement direction of the material picking tray. A buffer block (15) is provided at the bottom of the material picking tray. When the material picking tray moves to the extreme positions at both ends, the buffer block (15) contacts the front buffer (13) and the rear buffer (14) respectively.

8. The robotic arm loading mechanism as described in claim 5, characterized in that: The lead screw drive mechanism includes a motor (8) connected to the mounting bracket (1), the drive end of the motor (8) is provided with a drive wheel, the bottom end of the lead screw assembly (7) is provided with a driven wheel, and the drive wheel and the driven wheel are connected by a synchronous belt (9).

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