Multifunctional feeding device
By designing a multi-functional feeding device, the problem of poor adaptability of existing robotic arms in ring processing was solved, achieving efficient and precise transfer and processing, and reducing labor intensity and costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- CHOW SANG SANG JEWELLERY(FOSHAN) CO LTD
- Filing Date
- 2025-04-30
- Publication Date
- 2026-04-17
AI Technical Summary
Existing robotic arms are difficult to fully adapt to each stage of the ring processing, resulting in high labor intensity, low production efficiency, and insufficient processing precision.
Design a multifunctional feeding device, including a robotic arm and a clamping assembly. The clamping assembly consists of a first picking clamp and a second picking clamp. The clamping and releasing are independently controlled by a drive structure, which can adapt to the transfer of bar stock, bar stock trays and rings.
It enables efficient and precise transfer and processing, reduces labor intensity, improves production efficiency, and lowers costs.
Smart Images
Figure CN224132192U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of ring processing, and in particular to a multifunctional feeding device. Background Technology
[0002] Currently, CNC machine tools are used in the jewelry industry for ring making. It is an efficient and precise processing method, and the raw materials for ring making are generally tubular rods, which can improve processing efficiency.
[0003] During ring manufacturing, the bar stock is weighed and CNC machined. The rings cut from the bar stock then need to be cleaned, weighed, and stored. In other words, the ring manufacturing process requires the transfer or feeding of bar stock, rings, or trays. During this process, manual handling and feeding are labor-intensive and inefficient. Moreover, the robotic arms currently used in the market have obvious limitations and are difficult to fully adapt to the operational needs of each stage of ring manufacturing, which is not conducive to achieving precise, efficient, and stable processing operations. Utility Model Content
[0004] To address the aforementioned shortcomings, the purpose of this invention is to propose a multifunctional feeding device that solves the problem that existing robotic arms cannot fully adapt to all stages of ring processing.
[0005] To achieve this objective, the present invention adopts the following technical solution:
[0006] A multifunctional feeding device includes a robotic arm and a clamping assembly;
[0007] The gripper assembly is rotatably mounted on the robotic arm, which is used to move the gripper assembly.
[0008] The clamping assembly includes a connecting bracket, a first material-picking clamp, and a second material-picking clamp. The top of the connecting bracket is connected to the robot arm, and the bottom of the connecting bracket is provided with a driving structure. One end of the driving structure is connected to the first material-picking clamp, and one side of the driving structure is connected to the second material-picking clamp. The clamping and releasing of the first material-picking clamp and the second material-picking clamp are driven independently by the driving structure.
[0009] The first material handling fixture includes two symmetrically arranged first clamp bodies. The clamping and releasing of the first material handling fixture are achieved by the two symmetrically arranged first clamp bodies moving closer to each other and moving further apart from each other.
[0010] The first clamp body includes a connecting block, a first clamping jaw is provided at one end of the connecting block away from the driving structure, a second clamping jaw and a third clamping jaw are provided at the bottom of the connecting block, the second clamping jaw is close to the first clamping jaw, and both the first clamping jaw and the second clamping jaw are used to clamp the bar stock; the third clamping jaw is close to the driving structure, and the third clamping jaw acts on the side of the bar stock tray.
[0011] The second material handling fixture includes symmetrically arranged second clamp bodies. The mutual approach and mutual distance of the symmetrically arranged second clamp bodies realize the clamping and releasing of the second material handling fixture. The second clamp bodies are used to clamp the bar material or ring.
[0012] Preferably, the first gripper is parallel to the connecting bracket, and each of the two first grippers has a vertically arranged bar stock limiting groove and a vertically arranged pallet limiting part on its opposite surface. The projection of the bar stock limiting groove and the pallet limiting part in the vertical direction is located outside the connecting bracket. The bar stock limiting groove is close to the connecting block. When the first material picking fixture is in the clamping state, the bar stock limiting grooves of the symmetrical first fixture bodies are close to each other.
[0013] Furthermore, the pallet limiting part is located at the end of the first gripper, and the pallet limiting part is "L" shaped. A limiting area is formed between the pallet limiting part of the symmetrical first clamp body and the bar material limiting groove. The limiting area can fit into the side plate of the end of the bar material pallet. When the first material picking clamp is released, the distance W between the ends of the symmetrical pallet limiting parts is less than the width D of the side plate of the bar material pallet.
[0014] Preferably, the second gripper is perpendicular to the connecting bracket, and the opposite surfaces of the two second grippers are respectively provided with "C"-shaped gripping grooves. When the first material handling fixture is in a clamping state, the gripping grooves of the symmetrically arranged second grippers form a first horizontal gripping area for the bar material.
[0015] Preferably, the first material handling fixture further includes a first fixture connecting plate, one side of which is connected to the driving structure, and the other side of which is connected to the first fixture body. A first limiting groove is provided on the side of the first fixture connecting plate near the first fixture body, and two symmetrically arranged connecting blocks move within the first limiting groove.
[0016] Preferably, the third gripper consists of a support rod and a limiting rod. One end of the support rod is connected to the connecting block, and the other end of the support rod is connected to the middle of the limiting rod. The support rod and the limiting rod are perpendicular to each other. The shape of the limiting rod matches the recess on the side of the bar tray. When the first material handling fixture is in the clamping state, the limiting rods of the symmetrical first fixture bodies move closer to each other to clamp the bar tray.
[0017] Preferably, the second material handling fixture further includes a second fixture connecting plate, one side of which is connected to the drive structure, and the other side of which is connected to the second fixture body. A second limiting groove is provided on the side of the second fixture connecting plate near the second fixture body, and two symmetrically arranged second fixture bodies move within the second limiting groove.
[0018] Furthermore, the second clamp body consists of a clamp slider and a chuck. The clamp slider is slidably disposed on the second limiting groove. The clamp slider is fixedly connected to the chuck. The chuck has an arc-shaped recess. The proximity of the arc-shaped recesses of the symmetrically arranged second clamp body forms the second horizontal clamping area for the bar stock.
[0019] Preferably, the top of the connecting bracket is provided with two limiting blocks, the limiting blocks are conical, the two limiting blocks are diagonally distributed, and the two limiting blocks are used to limit the ring tray.
[0020] Preferably, it further includes a position detection device, which is located at the bottom of the connecting bracket and directly below the connection position between the robot and the connecting bracket.
[0021] The technical solution provided by this utility model can include the following beneficial effects:
[0022] The multi-functional feeding device is equipped with a first gripper, a second gripper, a third gripper, and a second clamping body. Driven by the drive structure, it can act on the bar stock, the bar stock tray, and the ring respectively and move them through the robotic arm. At the same time, the connecting bracket is equipped with a conical limiting block that can be locked at the bottom of the ring tray. The above structure is fully adaptable to all stages of ring processing. Attached Figure Description
[0023] Figure 1 This is a structural schematic diagram of one embodiment of the present invention.
[0024] Figure 2 This is a top view of one embodiment of the present invention.
[0025] Figure 3This is a schematic diagram of the structure of a pull bar tray according to an embodiment of the present invention.
[0026] Figure 4 This is a structural schematic diagram of one embodiment of the present invention.
[0027] Figure 5 This is a schematic diagram of the structure of the second gripper clamping the bar stock according to one embodiment of the present invention.
[0028] Figure 6 This is a schematic diagram of the structure of the third gripper clamping the bar tray according to an embodiment of the present invention.
[0029] Figure 7 This is a schematic diagram of the structure of the second material-grabbing clamp holding the ring according to an embodiment of the present invention.
[0030] Figure 8 This is a schematic diagram of the structure of the connecting bracket engaging the ring tray according to one embodiment of the present invention.
[0031] The components include: a connecting bracket 1, a limiting block 11, a first material handling fixture 2, a first fixture body 21, a first fixture connecting plate 22, a first limiting groove 221, a connecting block 211, a first gripper 212, a bar material limiting groove 2121, a pallet limiting part 2122, a bar material vertical gripping area 2123, a limiting area 2124, a second gripper 213, a bar material first horizontal gripping area 2131, a third gripper 214, a support rod 2141, a limiting rod 2142, a second material handling fixture 3, a second fixture body 31, a fixture slider 311, a chuck 312, an arc-shaped recess 3121, a bar material second horizontal gripping area 3122, a second fixture connecting plate 32, a second limiting groove 321, a driving structure 4, a recess 51, and a position detection device 6. Detailed Implementation
[0032] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.
[0033] In the description of this utility model, it should be understood that the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this utility model. Furthermore, features defined with "first" and "second" may explicitly or implicitly include one or more of these features, used to distinguish and describe features, without any order or emphasis.
[0034] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.
[0035] A multifunctional feeding device includes a robotic arm and a clamping assembly;
[0036] The gripper assembly is rotatably mounted on the robotic arm, which is used to move the gripper assembly.
[0037] The clamping assembly includes a connecting bracket 1, a first material-picking clamp 2, and a second material-picking clamp 3. The top of the connecting bracket 1 is connected to the robot arm, and the bottom of the connecting bracket 1 is provided with a driving structure 4. The end of the driving structure 4 is connected to the first material-picking clamp 2, and one side of the driving structure 4 is connected to the second material-picking clamp 3. The clamping and releasing of the first material-picking clamp 2 and the second material-picking clamp 3 are driven independently by the driving structure 4.
[0038] The first material handling fixture 2 includes two symmetrically arranged first fixture bodies 21. The clamping and releasing of the first material handling fixture 2 are achieved by the two symmetrically arranged first fixture bodies 21 moving closer to each other and moving further apart from each other.
[0039] The first clamp body 21 includes a connecting block 211. A first gripper 212 is provided at one end of the connecting block 211 away from the driving structure 4. A second gripper 213 and a third gripper 214 are provided at the bottom of the connecting block 211. The second gripper 213 is close to the first gripper 212. Both the first gripper 212 and the second gripper 213 are used to clamp the bar stock. The third gripper 214 is close to the driving structure 4 and acts on the side of the bar stock tray.
[0040] The second material handling clamp 3 includes symmetrically arranged second clamp bodies 31. The symmetrical arrangement of the second clamp bodies 31, which move closer to each other and further away from each other, enables the clamping and releasing of the second material handling clamp 3. The second clamp bodies 31 are used to clamp rods or rings.
[0041] The entire ring manufacturing process involves a feeding device to remove the bar stock tray, then sending the bar stock for weighing and processing. The processed rings are then cleaned, dried, and weighed again before being stored. Throughout this process, the feeding device needs to operate on the bar stock tray, ring tray, bar stock, and rings. However, currently available robotic arms are not fully suitable for all these components, either lacking precision and easily damaging them, affecting the accuracy and stability of ring manufacturing, or only capable of operating on one type of component, failing to achieve high efficiency. Therefore, this technical solution proposes a multi-functional feeding device, including a robotic arm (not shown) and a clamping assembly. The robotic arm is used to adjust the position of the clamping assembly, such as... Figure 1 As shown, the clamping assembly includes a first material-picking clamp 2 and a second material-picking clamp 3. The first material-picking clamp 2 and the second material-picking clamp 3 are respectively clamped and released under the drive of the drive structure 4, thereby clamping or releasing the bar stock tray, bar stock, or ring. The robotic arm cooperates with the clamping assembly to move the above three types of objects. That is, this multi-functional feeding device can act on the bar stock tray, bar stock, or ring to achieve high-precision and efficient transportation. It can be applied to the entire ring processing process without the need for multiple robotic arms, reducing costs and solving the problem that the current robotic arms in the ring processing process are difficult to fully adapt to all aspects of ring processing.
[0042] Specifically, the clamping and releasing of the first material handling fixture 2 and the second material handling fixture 3 are driven independently by the drive structure 4, and their movement states do not affect each other, ensuring that the movement states of the first material handling fixture 2 and the second material handling fixture 3 can be precisely controlled.
[0043] Preferably, the first gripper 212 is parallel to the connecting bracket 1. The opposing surfaces of the two first grippers 212 are provided with vertically arranged bar material limiting grooves 2121 and vertically arranged pallet limiting parts 2122. The projections of the bar material limiting grooves 2121 and the pallet limiting parts 2122 in the vertical direction are located outside the connecting bracket 1. The bar material limiting grooves 2121 are close to the connecting block 211. When the first material picking clamp 2 is in the clamping state, the bar material limiting grooves 2121 of the symmetrical first clamp body 21 are close to each other.
[0044] Specifically, the first gripper 212 is parallel to the connecting bracket 1. When the first material handling fixture 2 is in the clamping state, the bar stock limiting grooves 2121 of the symmetrical first fixture bodies 21 approach each other, forming a bar stock vertical clamping area 2123 between the symmetrical first fixture bodies 21. This allows for the rapid clamping of vertically positioned bars, confining them within the vertical clamping area 2123. At this time, the clamped bar stock is perpendicular to the connecting bracket 1 and also perpendicular to the first gripper 212. During this process, the first gripper 212 effectively reduces the rotation of the robotic arm. For vertically positioned bars, the first gripper 212 can be used to quickly clamp and move them, improving efficiency.
[0045] And, as Figure 2 As shown, the projection of the bar stock limiting groove 2121 and the pallet limiting part 2122 in the vertical direction is located outside the connecting bracket 1. When acting on the bar stock or bar stock pallet, it is not necessary to consider the size of the connecting bracket 1 and the driving structure 4, thus reducing the complexity of the movement path.
[0046] Furthermore, the pallet limiting part 2122 is located at the end of the first gripper 212. The pallet limiting part 2122 is "L" shaped. A limiting area 2124 is formed between the pallet limiting part 2122 of the symmetrical first clamp body 21 and the bar stock limiting groove 2121. The limiting area 2124 can fit into the side plate of the end of the bar stock pallet. When the first material picking clamp 2 is released, the distance W between the ends of the symmetrical pallet limiting parts 2122 is less than the width D of the side plate of the bar stock pallet.
[0047] In the ring manufacturing process, the raw material is initially placed on a raw material tray. The tray needs to be removed from the raw material silo. When most of the tray is in the raw material silo, and only the ends of the tray are on the outside, the tray needs to be pulled out to facilitate the subsequent movement of the raw material.
[0048] Driven by the robotic arm, such as Figure 3As shown, at this time, the first material handling clamp 2 is in the released state, and the limiting area 2124 is fitted onto the side plate of the end of the bar pallet from top to bottom. Then the bar pallet is pulled outward. At this time, the distance W between the ends of the symmetrical pallet limiting parts 2122 is less than the width D of the side plate of the bar pallet, which plays a role in limiting the side plate of the bar pallet. At this time, the end of the pallet limiting part 2122 acts on the inner side of the side plate of the bar pallet, thereby pulling most of the entire bar pallet out of the raw material hopper until the side of the bar pallet and the working area of the third gripper 214 are exposed.
[0049] In summary, the first gripper 212 can act on the bar tray during the bar removal process to pull out the bar tray, and at the same time, it can quickly grip and move the bar in a vertical position in the subsequent process.
[0050] Preferably, such as Figure 4 As shown, the second gripper 213 is perpendicular to the connecting bracket 1, and the opposite surfaces of the two second grippers 213 are respectively provided with "C"-shaped gripping grooves. When the first material handling fixture 2 is in the clamping state, the gripping grooves of the symmetrically arranged second grippers 213 form a first horizontal gripping area 2131 for the bar material.
[0051] Specifically, the opposing surfaces of the two second grippers 213 are each provided with a "C"-shaped gripping groove, and the symmetrically arranged second grippers 213 are close to each other, such as... Figure 5 As shown, the bar stock is confined within the first horizontal gripping area 2131. At this time, the bar stock is parallel to the connecting bracket 1, that is, the bar stock is in a horizontal state. The second gripper 213 is designed to quickly grip the bar stock in the horizontal state, reduce the rotation and movement of the robot arm, and improve efficiency.
[0052] Preferably, the first material handling fixture 2 further includes a first fixture connecting plate 22. One side of the first fixture connecting plate 22 is connected to the driving structure 4, and the other side of the first fixture connecting plate 22 is connected to the first fixture body 21. A first limiting groove 221 is provided on the side of the first fixture connecting plate 22 near the first fixture body 21, and two symmetrically arranged connecting blocks 211 move within the first limiting groove 221.
[0053] Specifically, the first clamp body 21 is pneumatically connected to the drive structure 4, and there is an air passage between them that passes through the first clamp connecting plate 22. The first clamp body 21 moves within the first limiting slide groove 221 to realize the clamping and releasing of the first material handling clamp 2.
[0054] Preferably, the connecting block 211 is embedded in the first limiting slide groove 221. While the first limiting slide groove 221 plays a guiding role, the opening width of the first limiting slide groove 221 is smaller than the internal width, which helps to restrict the first clamp body 21 within the first limiting slide groove 221 and reduce the possibility of the first clamp body 21 falling off.
[0055] Preferably, the third gripper 214 is composed of a support rod 2141 and a limiting rod 2142. One end of the support rod 2141 is connected to the connecting block 211, and the other end of the support rod 2141 is connected to the middle of the limiting rod 2142. The support rod 2141 and the limiting rod 2142 are perpendicular to each other. The shape of the limiting rod 2142 matches the recess 51 on the side of the bar tray. When the first material handling clamp 2 is in the clamping state, the limiting rods 2142 of the symmetrical first clamp body 21 approach each other to clamp the bar tray.
[0056] The support rod 2141 and the limiting rod 2142 are perpendicular to each other. When the first gripper 212 pulls the bar stock tray partially out of the raw material bin, the recessed portion 51 on the side of the bar stock tray is no longer blocked by the raw material bin. At this time, driven by the robot arm, the limiting rod 2142 moves to the recessed portion 51 of the bar stock tray. Driven by the drive structure 4, the limiting rods 2142 of the symmetrically arranged first clamp body 21 approach each other. Figure 6 As shown, this clamps the bar stock tray, thereby moving the bar stock tray.
[0057] The third gripper 214 clamps the bar stock tray, facilitating the subsequent transfer of the bar stock.
[0058] Preferably, the second material handling fixture 3 further includes a second fixture connecting plate 32. One side of the second fixture connecting plate 32 is connected to the driving structure 4, and the other side of the second fixture connecting plate 32 is connected to the second fixture body 31. A second limiting groove 321 is provided on the side of the second fixture connecting plate 32 near the second fixture body 31, and the two symmetrically arranged second fixture bodies 31 move within the second limiting groove 321.
[0059] Specifically, the second clamp body 31 is pneumatically connected to the drive structure 4, and there is also an air passage through the second clamp connecting plate 32 between them, ensuring that the second clamp body 31 moves on the second limiting slide groove 321 under the drive of the drive structure 4, realizing the clamping and releasing of the second material handling clamp 3. Similarly, the second limiting slide groove 321 helps to limit the second clamp body 31, prevent the second clamp body 31 from falling off, and ensure the smooth sliding of the second clamp body 31.
[0060] Furthermore, the second clamp body 31 is composed of a clamp slider 311 and a chuck 312. The clamp slider 311 is slidably disposed on the second limiting groove 321. The clamp slider 311 is fixedly connected to the chuck 312. The chuck 312 is provided with an arc-shaped recess 3121. The proximity of the arc-shaped recesses 3121 of the symmetrically arranged second clamp body 31 forms the second horizontal clamping area 3122 of the bar stock.
[0061] Specifically, the chuck 312 is provided with an arc-shaped recess 3121. The arc-shaped recess 3121 of the symmetrically arranged second clamp body 31 is close to the bar stock and cooperates with it, enabling it to clamp the bar stock in a horizontal state. At the same time, the first picking clamp 2 and the second picking clamp 3 are located on both sides of the drive structure 4, that is, the second picking clamp 3 and the first picking clamp 2 are perpendicular to each other on the horizontal plane. Correspondingly, the bar stock clamped by the second clamp body 31 and the second gripper 213 is perpendicular to each other on the horizontal plane. The second clamp body 31 and the second gripper 213 cooperate. For the bar stock in a horizontal state, the second picking clamp 3 or the second gripper 213 of the first picking clamp 2 can be selected, further reducing the movement and rotation of the robot arm and effectively improving efficiency.
[0062] Furthermore, the chuck 312 is provided with an arc-shaped recess 3121, such as Figure 7 As shown, the arc-shaped recess 3121 can also grip a ring in a horizontal position. At this time, the ring is located in the middle of the arc-shaped recess 3121, that is, at the maximum horizontal distance of the second horizontal gripping area 3122 of the bar, to prevent the ring from falling off.
[0063] Preferably, the top of the connecting bracket 1 is provided with two limiting blocks 11, the limiting blocks 11 are conical, the two limiting blocks 11 are diagonally distributed, and the two limiting blocks 11 are used to limit the ring tray.
[0064] Specifically, the top of the connecting bracket 1 is provided with two diagonally arranged limiting blocks 11. Under the drive of the robotic arm, the connecting bracket 1 can move to the bottom of the ring tray, such as... Figure 8 As shown, the limiting block 11 engages with the bottom of the ring tray from bottom to top, thus fixing and transferring the ring tray. This is mainly used after the rings are processed from the bar stock and placed on the ring tray, where the tray needs to be moved to send both the tray and the rings on it for cleaning and drying.
[0065] Preferably, it further includes a position detection device 6, which is located at the bottom of the connecting bracket 1 and directly below the connection position between the robot and the connecting bracket 1.
[0066] The position detection device 6 ensures that the clamping assembly moves to the required position, ensuring that the first material handling clamp 2 and the second material handling clamp 3 can quickly pull or clamp the required object.
[0067] The technical principles of this utility model have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of this utility model and should not be construed as limiting the scope of protection of this utility model in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of this utility model without any inventive effort, and these embodiments will all fall within the scope of protection of this utility model.
Claims
1. A multi-functional loading device, characterized by: Includes robotic arms and gripper assemblies; The gripper assembly is rotatably mounted on the robotic arm, which is used to move the gripper assembly. The clamping assembly includes a connecting bracket, a first material-picking clamp, and a second material-picking clamp. The top of the connecting bracket is connected to the robot arm, and the bottom of the connecting bracket is provided with a driving structure. One end of the driving structure is connected to the first material-picking clamp, and one side of the driving structure is connected to the second material-picking clamp. The clamping and releasing of the first material-picking clamp and the second material-picking clamp are driven independently by the driving structure. The first material handling fixture includes two symmetrically arranged first clamp bodies. The clamping and releasing of the first material handling fixture are achieved by the two symmetrically arranged first clamp bodies moving closer to each other and moving further apart from each other. The first clamp body includes a connecting block, a first clamping jaw is provided at one end of the connecting block away from the driving structure, a second clamping jaw and a third clamping jaw are provided at the bottom of the connecting block, the second clamping jaw is close to the first clamping jaw, and both the first clamping jaw and the second clamping jaw are used to clamp the bar stock; the third clamping jaw is close to the driving structure, and the third clamping jaw acts on the side of the bar stock tray. The second material handling fixture includes symmetrically arranged second clamp bodies. The mutual approach and mutual distance of the symmetrically arranged second clamp bodies realize the clamping and releasing of the second material handling fixture. The second clamp bodies are used to clamp the bar material or ring.
2. The multifunctional feeding device according to claim 1, characterized in that: The first gripper is parallel to the connecting bracket. The opposite surfaces of the two first grippers are provided with vertically arranged bar material limiting grooves and vertically arranged pallet limiting parts. The projections of the bar material limiting grooves and the pallet limiting parts in the vertical direction are located outside the connecting bracket. The bar material limiting grooves are close to the connecting block. When the first material picking fixture is in the clamping state, the bar material limiting grooves of the symmetrical first fixture bodies are close to each other.
3. The multifunctional feeding device according to claim 2, characterized in that: The pallet limiting part is located at the end of the first gripper. The pallet limiting part is "L" shaped. A limiting area is formed between the pallet limiting part of the symmetrical first clamp body and the bar material limiting groove. The limiting area can fit into the side plate of the end of the bar material pallet. When the first material picking clamp is released, the distance W between the ends of the symmetrical pallet limiting parts is less than the width D of the side plate of the bar material pallet.
4. The multifunctional feeding device according to claim 1, characterized in that: The second gripper is perpendicular to the connecting bracket, and the opposite surfaces of the two second grippers are respectively provided with "C"-shaped gripping grooves. When the first material handling fixture is in the clamping state, the gripping grooves of the symmetrically arranged second grippers form a first horizontal gripping area for the bar material.
5. The multifunctional feeding device according to claim 1, characterized in that: The first material handling fixture also includes a first fixture connecting plate. One side of the first fixture connecting plate is connected to the driving structure, and the other side of the first fixture connecting plate is connected to the first fixture body. A first limiting groove is provided on the side of the first fixture connecting plate near the first fixture body, and two symmetrically arranged connecting blocks move within the first limiting groove.
6. The multifunctional feeding device according to claim 1, characterized in that: The third gripper consists of a support rod and a limiting rod. One end of the support rod is connected to the connecting block, and the other end of the support rod is connected to the middle of the limiting rod. The support rod and the limiting rod are perpendicular to each other. The shape of the limiting rod matches the recess on the side of the bar tray. When the first material handling fixture is in the clamping state, the limiting rods of the symmetrical first fixture bodies move closer to each other to clamp the bar tray.
7. The multifunctional feeding device according to claim 1, characterized in that: The second material handling fixture also includes a second fixture connecting plate. One side of the second fixture connecting plate is connected to the drive structure, and the other side of the second fixture connecting plate is connected to the second fixture body. A second limiting groove is provided on the side of the second fixture connecting plate near the second fixture body, and two symmetrically arranged second fixture bodies move within the second limiting groove.
8. The multifunctional feeding device according to claim 7, characterized in that: The second clamp body consists of a clamp slider and a chuck. The clamp slider is slidably disposed on the second limiting groove. The clamp slider is fixedly connected to the chuck. The chuck has an arc-shaped recess. The symmetrically arranged arc-shaped recesses of the second clamp body form a second horizontal clamping area for the bar stock.
9. The multifunctional feeding device according to claim 1, characterized in that: The top of the connecting bracket is provided with two limiting blocks, which are conical in shape and diagonally distributed. The two limiting blocks are used to limit the ring tray.
10. The multifunctional feeding device according to claim 1, characterized in that: It also includes a position detection device, which is located at the bottom of the connecting bracket and directly below the connection point between the robot and the connecting bracket.