A feeder device

Abstract

The utility model belongs to the field of feeding technology especially relates to a feeding device. Linear push mechanism sets up on the base, and the output end of linear push mechanism can reciprocate along the first axial direction, and clamping executive mechanism is installed on the output end of linear push mechanism, and it includes first support seat, at least two parallel interval arrangement's segmented screw rod of installing on first support seat, first clamping arm subassembly, second clamping arm subassembly, first guide restraint subassembly and synchronous drive unit, and the utility model discloses a feeding device, which is characterized by the following technical scheme, comprising a base, a linear push mechanism arranged on the base, an output end of the linear push mechanism capable of reciprocating along a first axial direction, a clamping execution mechanism installed on the output end of the linear push mechanism, the clamping execution mechanism comprising a first support seat, at least two segmented screw rods arranged in parallel and spaced apart on the first support seat, a first clamping arm assembly, a second clamping arm assembly, a first guide constraint assembly, and a synchronous drive unit, a holding mechanism, the holding mechanism comprising a plurality of first clamping jaw assemblies distributed in a spaced manner along an extension direction of the first clamping arm assembly, and a plurality of second clamping jaw assemblies distributed in a spaced manner along an extension direction of the second clamping arm assembly, the first clamping jaw assemblies and the second clamping jaw assemblies being arranged oppositely and forming a clamping space. The feeding device is designed in a coordinated manner by using a segmented screw rod drive, multi-point synchronous clamping, and linear pushing, thereby achieving high-precision, high-efficiency, and high-stability material conveying.

Description

Technical Field

[0001] This utility model belongs to the field of feeding technology, and in particular relates to a feeding device. Background Technology

[0002] In modern industrial production, feeding devices, as a key component of automated production lines, are widely used in various fields such as machining, electronics manufacturing, and food packaging. Their performance directly affects production efficiency and product quality. With the continuous improvement of industrial automation, higher requirements are placed on the clamping force, efficiency, stability, and material adaptability of feeding devices.

[0003] For example, in the prior art, a utility model patent for a multi-station gripping and feeding machine, with publication number CN105881520A and application date of May 20, 2016, mentions:

[0004] A multi-station clamping and feeding mechanism includes a mechanism fixing plate. An X-axis guide rail is provided at the upper end of the mechanism fixing plate. An X-axis cylinder fixing plate is provided on one side of the X-axis guide rail. An X-axis pushing cylinder is provided on the X-axis cylinder fixing plate. An X-axis moving support plate is slidably arranged on the X-axis guide rail. The X-axis moving support plate is connected to the cylinder rod of the X-axis pushing cylinder. Multiple linear bearings are provided on the X-axis moving support plate. A guide shaft is fitted inside each linear bearing. A Z-axis moving support plate is connected to the upper end of the guide shaft. A Z-axis pushing cylinder is provided above or below the Z-axis moving support plate. The cylinder rod of the Z-axis pushing cylinder is connected to the Z-axis moving support plate. A Y-axis guide rail is provided at the upper end of the Z-axis moving support plate. A Y-axis pushing cylinder is fixedly connected to the side end of the Z-axis moving support plate via a Y-axis cylinder fixing plate. A Y-axis moving support plate is provided on the Y-axis guide rail. Multiple clamping cylinders are fixedly connected to the upper end of the Y-axis moving support plate. The Y-axis moving support plate is connected to the cylinder rod of the Y-axis pushing cylinder.

[0005] The clamping operation is performed by a clamping cylinder, which, as shown in the attached diagram, is similar to a finger-pinching clamping operation. Generally, the clamping force is relatively small.

[0006] In addition, the conveying part in traditional feeding devices usually adopts an integral drive method, that is, the pushing mechanism directly drives the entire clamping actuator to convey materials. It is necessary to push all the components in the clamping actuator synchronously, which means that the driving force of the pushing mechanism must overcome the inertia and friction of the entire clamping actuator. The driving load is large, which not only consumes a lot of energy, but also accelerates the wear of the driving components and shortens the service life of the equipment.

[0007] Therefore, this utility model provides a novel feeding device to overcome the above-mentioned defects. Utility Model Content

[0008] The purpose of this utility model is to provide a feeding device that achieves high-precision, high-efficiency, and high-stability material conveying through a collaborative design of segmented screw drive, multi-point synchronous clamping, and linear pushing.

[0009] This utility model adopts the following technical solution: a feeding device, comprising:

[0010] Base;

[0011] A linear pushing mechanism is mounted on the base, and the output end of the linear pushing mechanism is capable of reciprocating along a first axis.

[0012] A clamping actuator is installed at the output end of the linear pushing mechanism. The clamping actuator includes a first support base, at least two parallel and spaced segmented lead screws mounted on the first support base, a first clamping arm assembly, a second clamping arm assembly, a first guide constraint assembly, and a synchronous drive unit. The axial direction of each segmented lead screw is perpendicular to the first axial direction, and each segmented lead screw has a first threaded segment and a second threaded segment with opposite helical directions. Both the first and second clamping arm assemblies extend along the first axial direction, and the first clamping arm assembly is threadedly connected to the first threaded segment of each segmented lead screw, while the second clamping arm assembly is threadedly connected to the second threaded segment of each segmented lead screw. The first guide constraint assembly is mounted on the first support base and cooperates with the first and second clamping arm assemblies to restrict their rotation. The synchronous drive unit is connected to all the segmented lead screws and drives them to rotate synchronously.

[0013] The clamping mechanism includes a plurality of first gripper assemblies spaced apart along the extension direction of the first gripping arm assembly, and a plurality of second gripper assemblies spaced apart along the extension direction of the second gripping arm assembly, wherein the first gripper assemblies and the second gripper assemblies are arranged opposite to each other and form a clamping space.

[0014] Furthermore, the linear pushing mechanism includes:

[0015] Push the base;

[0016] A lead screw shaft, which is mounted on the push base along the first axial direction;

[0017] A pusher slide member is threadedly connected to the lead screw shaft;

[0018] A second guide constraint assembly is mounted on the push base and slidably connected to the push slide member to restrict the rotation of the push slide member;

[0019] A drive unit is mounted on the push base and is connected to the lead screw shaft to drive the lead screw shaft to rotate.

[0020] Furthermore, the driving unit is a first servo motor.

[0021] Furthermore, the first clamping arm assembly includes a first lead screw mother piece, a first linear slide rail slide block module, and a first clamping arm body;

[0022] Wherein, the first lead screw female component is threadedly connected to the first threaded section of the segmented lead screw;

[0023] The first linear slide rail slide block module is disposed on the top of the first lead screw mother component; the first linear slide rail slide block module includes a first slide rail disposed along the first axis and a first slide block that slides with the first slide rail, one of the first slide rail and the first slide block being fixedly connected to the first lead screw mother component, and the other being fixedly connected to the first clamping arm body.

[0024] Furthermore, the second clamping arm assembly includes a second lead screw mother piece, a second linear slide rail slide block module, and a second clamping arm body;

[0025] The second lead screw female component is threadedly connected to the second threaded section of the segmented lead screw;

[0026] The second linear slide rail slide block module is disposed on the top of the second lead screw mother piece; the second linear slide rail slide block module includes a second slide rail disposed along the first axis and a second slide block that slides with the second slide rail, one of the second slide rail and the second slide block being fixedly connected to the second lead screw mother piece, and the other being fixedly connected to the second clamping arm body.

[0027] Furthermore, both the first clamping arm body and the second clamping arm body are slidably connected to the push sliding member, and the sliding direction is set along the axial direction of the segmented lead screw.

[0028] Furthermore, the synchronous drive unit includes multiple second servo motors, the number of which corresponds one-to-one with the number of segmented lead screws, and each second servo motor is connected to the corresponding segmented lead screw via a transmission.

[0029] Furthermore, the first gripper assembly includes a first cylinder, a first support base, a first rotating member, and a first gripper; wherein, the first cylinder is fixedly mounted on the first gripping arm assembly, and its telescopic end is fixedly connected to the first support base; one end of the first rotating member is hinged to the first support base via a hinge shaft, and the other end is fixedly mounted with the first gripper; by driving the first cylinder to extend or retract, the first support base is moved, so that the first rotating member rotates around the hinge shaft;

[0030] And / or the second gripper assembly includes a second cylinder, a second support base, a second rotating member, and a second gripper; wherein, the second cylinder is fixedly mounted on the second gripping arm assembly, and its telescopic end is fixedly connected to the second support base; one end of the second rotating member is hinged to the second support base via a hinge shaft, and the other end is fixedly mounted with the second gripper; by driving the second cylinder to extend or retract, the second support base is moved, so that the second rotating member rotates around the hinge shaft.

[0031] Furthermore, the first gripper assembly also includes a first limiting member, one end of which is fixedly connected to the first support base, and the other end of which abuts against the lower surface of the first rotating member.

[0032] And / or the second gripper assembly further includes a second limiting member, one end of which is fixedly connected to the second support base, and the other end of which abuts against the lower surface of the second rotating member.

[0033] Furthermore, both the first gripper and the second gripper have arc-shaped grooves on the side near the clamping space.

[0034] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0035] The general working process of the feeding device in this utility model is as follows:

[0036] 1) Initial stage (i.e., the clamping actuator is open): At this time, the linear push mechanism is in the initial position (i.e., the retracted state): The synchronous drive unit is started to drive all segmented lead screws to rotate. Since the first thread segment and the second thread segment have opposite helical directions, the first clamping arm assembly and the second clamping arm assembly move in opposite directions, so that multiple first jaw assemblies and second jaw assemblies move away from each other, the clamping space is opened, and the material can enter easily.

[0037] 2) Material clamping stage: The material is fed into the clamping space, which can be done manually or by an automatic feeding mechanism; the synchronous drive unit is activated to rotate the segmented lead screw in the opposite direction, causing the first clamping arm assembly and the second clamping arm assembly to move towards each other, driving all the first and second gripper assemblies to move synchronously towards each other, clamping the material. The first guide constraint assembly ensures that the clamping arm assembly moves only in a straight line, avoiding skew caused by the rotation of the lead screw, and improving clamping stability.

[0038] 3) Linear material feeding stage: The linear feeding mechanism is activated, pushing the entire clamping actuator to move along the first axis, causing the clamped material to move synchronously, thus achieving feeding. Since the first gripper assembly and the second gripper assembly are distributed at intervals along the clamping arm assembly, they can provide multi-point clamping, preventing long materials from bending or enabling the simultaneous clamping of multiple materials.

[0039] 4) Material Release & Reset Stage: After the material reaches the target position, the synchronous drive unit rotates the segmented lead screw again, causing the first and second gripper assemblies to move away from each other and release the material. Then, the linear push mechanism retracts, driving the clamping actuator back to its initial position, ready for the next feeding cycle.

[0040] This invention relates to a feeding device that achieves high-precision, high-efficiency, and high-stability material conveying through a collaborative design of segmented screw drive, multi-point synchronous clamping, and linear pushing. The segmented screw and synchronous drive unit work together to ensure that all first and second gripper assemblies move synchronously, eliminating material offset or uneven force caused by unilateral clamping. Furthermore, the spaced-out multi-point gripper design effectively disperses clamping force, preventing bending or vibration of long materials due to excessive overhang. By adjusting the number of grippers, spacing, or gripping arm length, it can quickly adapt to materials of different specifications, offering strong scalability; alternatively, the multi-point gripper design enables multi-point synchronous clamping, increasing material conveying speed. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the feeding device structure according to a specific embodiment of the present utility model;

[0043] Figure 2 for Figure 1 Enlarged view of a section at point B in the middle;

[0044] Figure 3 for Figure 1Enlarged view of a portion of point A in the middle;

[0045] Figure 4 for Figure 1 Schematic diagram of the first gripper assembly;

[0046] Among them: linear pushing mechanism 2, pushing base 20, lead screw shaft 21, pushing sliding component 22, second guide constraint assembly 23, and driving unit 24;

[0047] Clamping actuator 3, support 30, segmented lead screw 31, first threaded section 311, second threaded section 312, first clamping arm assembly 32, first lead screw female part 321, first linear slide rail slide block module 322, first slide rail 322-1, first slide block 322-2, first clamping arm body 323, second clamping arm assembly 33, second lead screw female part 331, second linear slide rail slide block module 332, second slide rail 332-1, second slide block 332-2, second clamping arm body 333, first guide constraint assembly 34, synchronous drive unit 35;

[0048] Clamping mechanism 4, first gripper assembly 40, first cylinder 401, first support base 402, first rotating component 403, first gripper 404, first limiting component 405, second gripper assembly 41, second cylinder 411, second support base 412, second rotating component 413, second gripper 414, second limiting component 415, arc-shaped groove 42. Detailed Implementation

[0049] The technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0050] The following is in conjunction with the appendix Figure 1 To be continued Figure 4 The present invention will be described in detail with reference to specific embodiments:

[0051] like Figures 1 to 4 As shown, this utility model provides a feeding device, which includes:

[0052] Base;

[0053] A linear pushing mechanism 2 is mounted on the base, and the output end of the linear pushing mechanism 2 is capable of reciprocating along a first axis.

[0054] A clamping actuator 3 is installed at the output end of the linear pushing mechanism 2, and is driven by the linear pushing mechanism 2 to perform linear reciprocating motion. The clamping actuator 3 includes a support 30, at least two parallel and spaced segmented lead screws 31 installed on the support 30, a first clamping arm assembly 32, a second clamping arm assembly 33, a first guide constraint assembly 34, and a synchronous drive unit 35. The segmented lead screw 31 has its axial direction perpendicular to the first axial direction, and each segmented lead screw 31 has a first threaded section 311 and a second threaded section 312 with opposite helical directions; the first clamping arm assembly 32 and the second clamping arm assembly 33 both extend along the first axial direction, and the first clamping arm assembly 32 is threadedly connected to the first threaded section 311 of each segmented lead screw 31, and the second clamping arm assembly 33 is threadedly connected to the second threaded section 312 of each segmented lead screw 31; the first guide constraint assembly 34 is mounted on the support 30 and cooperates with the first clamping arm assembly 32 and the second clamping arm assembly 33 to restrict the rotation of the first clamping arm assembly 32 and the second clamping arm assembly 33; the synchronous drive unit 35 is connected to all the segmented lead screws 31 for transmission, driving all the segmented lead screws 31 to rotate synchronously.

[0055] The clamping mechanism 4 includes a plurality of first gripper assemblies 40 spaced apart along the extension direction of the first clamping arm assembly 32, and a plurality of second gripper assemblies 41 spaced apart along the extension direction of the second clamping arm assembly 33. The first gripper assemblies 40 and the second gripper assemblies 41 are arranged opposite to each other and form a clamping space.

[0056] The general working process of the feeding device in this utility model is as follows:

[0057] 1) Initial stage (i.e., clamping actuator 3 is open): At this time, the linear push mechanism 2 is in the initial position (i.e., retracted state): the synchronous drive unit 35 is started to drive all segmented lead screws 31 to rotate. Since the first threaded segment 311 and the second threaded segment 312 have opposite spiral directions, the first clamping arm assembly 32 and the second clamping arm assembly 33 move in opposite directions, so that multiple first gripper assemblies 40 and second gripper assemblies 41 move away from each other, the clamping space is opened, and the material can enter easily.

[0058] 2) Material clamping stage: The material is fed into the clamping space, which can be done manually or by an automatic feeding mechanism; the synchronous drive unit 35 is activated to rotate the segmented lead screw 31 in the opposite direction, causing the first clamping arm assembly 32 and the second clamping arm assembly 33 to move towards each other, driving all the first gripper assemblies 40 and the second gripper assemblies 41 to move synchronously towards each other, clamping the material. The first guide constraint assembly 34 ensures that the clamping arm assemblies move only in a straight line, avoiding skew caused by the rotation of the lead screw, and improving clamping stability.

[0059] 3) Linear material feeding stage: The linear feeding mechanism 2 is activated, pushing the entire clamping actuator 3 to move along the first axis, causing the clamped material to move synchronously, thus realizing feeding. Since the first gripper assembly 40 and the second gripper assembly 41 are distributed at intervals along the clamping arm assembly, they can provide multi-point clamping, preventing long materials from bending or realizing the function of simultaneously clamping multiple materials.

[0060] 4) Material Release & Reset Stage: After the material reaches the target position, the synchronous drive unit 35 rotates the segmented lead screw 31 again, causing the first gripper assembly 40 and the second gripper assembly 41 to move away from each other and release the material. Then, the linear push mechanism 2 retracts, driving the clamping actuator 3 back to the initial position, ready for the next feeding cycle.

[0061] This invention's feeding device achieves high-precision, high-efficiency, and high-stability material conveying through a collaborative design of segmented screw drive, multi-point synchronous clamping, and linear pushing. Specifically, the cooperation between the segmented screw 31 and the synchronous drive unit 35 ensures that all first gripper assemblies 40 and second gripper assemblies 41 move synchronously, eliminating material offset or uneven force caused by unilateral clamping. Furthermore, the spaced-out multi-point gripper design effectively disperses clamping force, preventing bending or vibration of long materials due to excessive overhang. By adjusting the number of grippers, spacing, or gripping arm length, it can quickly adapt to materials of different specifications, offering strong scalability; or the multi-point gripper design can achieve multi-point synchronous clamping, increasing material conveying speed. Additionally, the opposing arrangement of the first gripper assemblies 40 and second gripper assemblies 41 ensures tight clamping of the material, resulting in a large clamping force.

[0062] It should be noted that the first guide constraint component 34 in this utility model can be a linear guide rail, a slide rail, or an optical axis, as long as it can ensure that the movement trajectory of the first clamping arm assembly 32 and the second clamping arm assembly 33 is a stable linear motion, avoiding skewness or vibration. In this embodiment, the first guide constraint component 34 is a guide rail arranged along the axial direction of the segmented lead screw 31, and the bottom of the first clamping arm assembly 32 and the second clamping arm assembly 33 is provided with sliders that slide in cooperation with the guide rail to achieve the guiding constraint function.

[0063] In this invention, the first axial direction is the X-axis direction shown in the figure, and the axial direction of the segmented lead screw 31 is the Y-axis direction.

[0064] Furthermore, in some specific embodiments, such as Figure 1 , 2 As shown, the linear pushing mechanism 2 is used to drive the clamping actuator 3 to perform reciprocating linear motion along the first axis, and it includes:

[0065] Push base 20;

[0066] A lead screw shaft 21 is mounted on the push base 20 along the first axial direction;

[0067] A pusher slide member 22 is threadedly connected to the lead screw shaft 21;

[0068] The second guide constraint component 23 is mounted on the push base 20 and slidably connected to the push slide member 22 to restrict the rotation of the push slide member 22;

[0069] A drive unit 24 is mounted on the push base 20 and is connected to the lead screw shaft 21 to drive the lead screw shaft 21 to rotate. In this embodiment, the drive unit 24 is a first servo motor, which has fast dynamic response and adjustable speed.

[0070] During operation, the drive unit 24 is in a stopped state, the lead screw 21 is stationary, and the push sliding member 22 remains in its initial position, such as the starting end of the lead screw 21. At this time, the clamping actuator 3 is in the retracted position along with the push sliding member 22. Then, the drive unit 24 starts rotating forward, driving the lead screw 21 to rotate. Since the push sliding member 22 is threadedly connected to the lead screw 21, and its rotation is restricted by the second guide constraint assembly 23, the rotational motion of the lead screw 21 is converted into the linear motion of the push sliding member 22, pushing the clamping actuator 3 to move along the first axis.

[0071] Subsequently, when the pusher slide 22 moves to the preset end point of the stroke, the drive unit 24 stops, and the clamping actuator 3 drives the material to the designated position, completing the feeding action. Finally, the drive unit 24 reverses, driving the lead screw 21 to rotate in the opposite direction, causing the pusher slide 22 to move in the opposite direction, and the clamping actuator 3 to return to the initial position.

[0072] It should be noted that the second guide constraint component 23 in this utility model can be a linear guide rail, a slide rail, or an optical axis, as long as it can ensure the stability of the movement trajectory of the push sliding member 22 and avoid deviation or vibration. In this embodiment, the second guide constraint component 23 is a guide rail arranged along the axial direction of the lead screw shaft 21, and the push sliding member 22 is provided with a slider that slides with the guide rail to achieve the guiding constraint function.

[0073] Furthermore, there are multiple ways to achieve the linear reciprocating motion of the clamping actuator 3 driven by the linear pushing mechanism 2 in this utility model. For example, in the traditional way, the entire clamping actuator 3 can be directly fixedly connected to the pushing sliding member 22, and the pushing sliding member 22 can directly push the entire clamping actuator 3 to push the material in a complete linear motion. However, this method requires the simultaneous driving of the support 30, the segmented lead screw 31, the first clamping arm assembly 32, the second clamping arm assembly 33, the first guide constraint assembly 34, and the synchronous drive unit 35. At this time, the driving force of the pushing sliding member 22 needs to overcome the inertia and friction of the entire clamping actuator 3, resulting in a large driving load.

[0074] Of course, it is also possible to simply drive a portion of the clamping actuator 3 to reciprocate, as specifically in this embodiment. Figure 1 , 2 As shown, the first clamping arm assembly 32 includes a first lead screw mother 321, a first linear slide rail slide block module 322, and a first clamping arm body 323.

[0075] The first lead screw female component 321 is threadedly connected to the first threaded section 311 of the segmented lead screw 31, enabling the first lead screw female component 321 to move axially along the segmented lead screw 31. The first linear slide rail slide block module 322 is disposed on top of the first lead screw female component 321; the first linear slide rail slide block module 322 includes a first slide rail 322-1 arranged along the first axial direction and a first slide block 322-2 that slides in cooperation with the first slide rail 322-1. One of the first slide rail 322-1 and the first slide block 322-2 is fixedly connected to the first lead screw female component 321, and the other is fixedly connected to the first clamping arm body 323, so that the first clamping arm body 323 slides along the first axial direction. At this time, the first clamping arm body 323 can be pushed to move along the first axial direction by the pushing sliding component 22 in the linear pushing mechanism 2, thereby realizing the material pushing process.

[0076] Similarly, such as Figure 1 , 2 As shown, the second clamping arm assembly 33 includes a second lead screw mother 331, a second linear slide rail slide block module 332, and a second clamping arm body 333.

[0077] The second lead screw female component 331 is threadedly connected to the second threaded section 312 of the segmented lead screw 31; the second linear slide rail slide block module 332 is disposed on the top of the second lead screw female component 331; the second linear slide rail slide block module 332 includes a second slide rail 332-1 arranged along the first axial direction and a second slide block 332-2 that slides in cooperation with the second slide rail 332-1. One of the second slide rail 332-1 and the second slide block 332-2 is fixedly connected to the second lead screw female component 331, and the other is fixedly connected to the second clamping arm body 333, so that the second clamping arm body 333 slides along the first axial direction. At this time, the second clamping arm body 333 can also be moved along the first axial direction by the pushing sliding component 22 in the linear pushing mechanism 2, thereby realizing the material pushing process.

[0078] Meanwhile, the first clamping arm body 323 and the second clamping arm body 333 are both slidably connected to the push sliding member 22, and the sliding direction is set along the axial direction of the segmented lead screw 31. This is to cooperate with the first clamping arm assembly 32 and the second clamping arm assembly 33 to slide synchronously relative to each other on the push sliding member 22 along the axial direction of the segmented lead screw 31 when they slide along the axial direction of the segmented lead screw 31.

[0079] During operation, the synchronous drive unit 35 first drives the segmented lead screw 31 to rotate. Since the first threaded section 311 and the second threaded section 312 rotate in opposite directions, the first lead screw female part 321 and the second lead screw female part 331 will move synchronously towards or away from each other. When the lead screw female part moves, the first / second clamping arm body (323 / 333) is driven to move along the axial direction of the segmented lead screw through the first / second linear slide rail slide block module (322 / 332), thereby clamping or releasing the material.

[0080] Next, when pushing materials, since the first / second linear slide rail and slide block modules (322 / 332) adopt a slide rail and slide block design, the pushing sliding component 22 in the linear pushing mechanism 2 only needs to directly push the first clamping arm body 323 and the second clamping arm body 333 (which already clamp materials), without having to push the entire clamping execution mechanism 3. Since the first / second clamping arm body is connected to the lead screw mother component through the slide rail and slide block module, the lead screw mother component can remain relatively stationary during the pushing process (i.e., the segmented lead screw 31 does not rotate), and only the first / second clamping arm body (323 / 323) slides along the slide rail or slide block, realizing the linear pushing of materials.

[0081] Finally, when the sliding component 22 retracts, the first / second clamping arm body (323 / 323) slides in the opposite direction under the guidance of the slide rail module, while the lead screw mother component remains stationary (i.e., the segmented lead screw 31 does not rotate) until the first / second clamping arm body (323 / 323) returns to its initial position.

[0082] During this operation, only the first / second clamping arm bodies (323 / 323) are pushed, significantly reducing the load, saving energy, and extending the life of the drive components. Meanwhile, for the longer first / second clamping arm bodies (323 / 323), the first / second linear slide rail modules (322 / 332), and the sliding connection points between the first clamping arm body 323 and the second clamping arm body 333 and the push sliding member 22 all serve as support points, avoiding the problem of only one end of the longer clamping arm assembly being fixedly connected to the push sliding member 22.

[0083] During operation, the operation can be completed simply by pushing the first / second gripping arm body (323 / 323), which significantly reduces the system load compared to traditional drive methods. This not only greatly reduces energy consumption but also effectively extends the service life of drive components and reduces equipment maintenance costs. Furthermore, for the longer first / second gripping arm bodies (323 / 323), their sliding connection points with the push sliding member 22, as well as the first / second linear slide rail modules (322 / 332), all serve as support points, forming a multi-point support structure. This design solves the cantilever effect and other drawbacks of traditional structures where only one end of the long gripping arm assembly is fixed to the push sliding member 22, greatly improving the stability and reliability of the gripping arm assembly during operation and effectively avoiding cantilever effects and other problems.

[0084] Furthermore, in some specific embodiments, the synchronous drive unit 35 includes a plurality of second servo motors, the number of which corresponds one-to-one with the number of segmented lead screws 31, and each second servo motor is connected to the corresponding segmented lead screw 31 for transmission, so as to facilitate the synchronous drive of the segmented lead screws 31.

[0085] Furthermore, in some specific embodiments, such as Figure 1 , 3 As shown in Figure 4, the first gripper assembly 40 includes a first cylinder 401, a first support base 402, a first rotating member 403, and a first gripper 404. The first cylinder 401 is fixedly mounted on the first gripping arm body 323 of the first gripping arm assembly 32, and its telescopic end is fixedly connected to the first support base 402. One end of the first rotating member 403 is hinged to the first support base 402 via a hinge shaft, and the other end is fixedly mounted on the first gripper 404. By driving the first cylinder 401 to extend or retract, the first support base 402 is moved, causing the first rotating member 403 to rotate around the hinge shaft.

[0086] The second gripper assembly 41 includes a second cylinder 411, a second support base 412, a second rotating member 413, and a second gripper 414. The second cylinder 411 is fixedly mounted on the second gripping arm body 333 of the second gripping arm assembly 33, with its telescopic end fixedly connected to the second support base 412. One end of the second rotating member 413 is hinged to the second support base 412 via a hinge shaft, and the other end is fixedly mounted with the second gripper 414. By driving the second cylinder 411 to extend or retract, the second support base 412 is moved, causing the second rotating member 413 to rotate around the hinge shaft.

[0087] During operation, the segmented lead screw 31, in conjunction with the first clamping arm assembly 32 and the second clamping arm assembly 33, drives the two clamping arm assemblies to move to the material clamping position, ensuring that the first gripper 404 and the second gripper 414 are tightly against the outer wall of the material to be clamped. Subsequently, the first cylinder 401 and the second cylinder 411 are activated, their extension ends extending synchronously towards the material, driving the second support base 412 to move. Since the grippers have formed a limiting constraint with the outer wall of the material, under the thrust of the cylinders, the first rotating component 403 and the second rotating component 413 are forced to rotate upward around the hinge axis, thereby achieving a smooth lifting of the material and preparing it for subsequent conveying processes.

[0088] In some more specific embodiments, the first gripper assembly 40 further includes a first limiting member 405. One end of the first limiting member 405 is fixedly connected to the first support base 402, and the other end abuts against the lower surface of the first rotating member 403. This limiting member restricts the downward rotation range of the first rotating member 403, ensuring that it can only rotate upward at a preset angle during the clamping process. That is, when the first gripper 404 is in contact with the outer wall of the material to be clamped, the other end of the first limiting member 405 abuts against the lower surface of the first rotating member 403, forcibly limiting the lowest position of the first rotating member 403 and preventing excessive downward swing due to gravity or external force.

[0089] Similarly, the second gripper assembly also includes a second limiting member 415. One end of the second limiting member 415 is fixedly connected to the second support base 412, and the other end abuts against the lower surface of the second rotating member 413. This limits the downward rotation range of the second rotating member 413, ensuring that it can only rotate upward at a preset angle during the clamping process. That is, when the second gripper 414 is in contact with the outer wall of the material to be clamped, the other end of the second limiting member 415 abuts against the lower surface of the second rotating member 413, forcibly limiting the lowest position of the second rotating member 413 and preventing excessive downward swing due to gravity or external force.

[0090] More specifically, in this embodiment, both the first gripper 404 and the second gripper 414 are provided with arc-shaped grooves 42 on the side near the clamping space, which can be adapted to the clamping of columnar and arc-shaped materials, and can also increase the clamping area and enhance the stability of clamping.

[0091] The present invention has been further described above with reference to specific embodiments. However, it should be understood that the specific description herein should not be construed as limiting the substance and scope of the present invention. Various modifications made by those skilled in the art to the above embodiments after reading this specification are all within the scope of protection of the present invention.

Claims

1. A feeding device, characterized in that: It includes: Base; A linear pushing mechanism is mounted on the base, and the output end of the linear pushing mechanism is capable of reciprocating along a first axis. A clamping actuator is installed at the output end of the linear pushing mechanism. The clamping actuator includes a first support base, at least two parallel and spaced segmented lead screws mounted on the first support base, a first clamping arm assembly, a second clamping arm assembly, a first guide constraint assembly, and a synchronous drive unit. The axial direction of each segmented lead screw is perpendicular to the first axial direction, and each segmented lead screw has a first threaded segment and a second threaded segment with opposite helical directions. Both the first and second clamping arm assemblies extend along the first axial direction, and the first clamping arm assembly is threadedly connected to the first threaded segment of each segmented lead screw, while the second clamping arm assembly is threadedly connected to the second threaded segment of each segmented lead screw. The first guide constraint assembly is mounted on the first support base and cooperates with the first and second clamping arm assemblies to restrict their rotation. The synchronous drive unit is connected to all the segmented lead screws and drives them to rotate synchronously. The clamping mechanism includes a plurality of first gripper assemblies spaced apart along the extension direction of the first gripping arm assembly, and a plurality of second gripper assemblies spaced apart along the extension direction of the second gripping arm assembly, wherein the first gripper assemblies and the second gripper assemblies are arranged opposite to each other and form a clamping space.

2. The feeding device according to claim 1, characterized in that: The linear pushing mechanism includes: Push the base; A lead screw shaft, which is mounted on the push base along the first axial direction; A pusher slide member is threadedly connected to the lead screw shaft; A second guide constraint assembly is mounted on the push base and slidably connected to the push slide member to restrict the rotation of the push slide member; A drive unit is mounted on the push base and is connected to the lead screw shaft to drive the lead screw shaft to rotate.

3. The feeding device according to claim 2, characterized in that: The drive unit is a first servo motor.

4. The feeding device according to claim 2, characterized in that: The first clamping arm assembly includes a first lead screw mother piece, a first linear slide rail slide block module, and a first clamping arm body; Wherein, the first lead screw female component is threadedly connected to the first threaded section of the segmented lead screw; The first linear slide rail slide block module is disposed on the top of the first lead screw mother component; the first linear slide rail slide block module includes a first slide rail disposed along the first axis and a first slide block that slides with the first slide rail, one of the first slide rail and the first slide block being fixedly connected to the first lead screw mother component, and the other being fixedly connected to the first clamping arm body.

5. The feeding device according to claim 4, characterized in that: The second clamping arm assembly includes a second lead screw mother piece, a second linear slide rail slide block module, and a second clamping arm body; The second lead screw female component is threadedly connected to the second threaded section of the segmented lead screw; The second linear slide rail slide block module is disposed on the top of the second lead screw mother piece; the second linear slide rail slide block module includes a second slide rail disposed along the first axis and a second slide block that slides with the second slide rail, one of the second slide rail and the second slide block being fixedly connected to the second lead screw mother piece, and the other being fixedly connected to the second clamping arm body.

6. The feeding device according to claim 5, characterized in that: Both the first clamping arm body and the second clamping arm body are slidably connected to the push sliding member, and the sliding direction is set along the axial direction of the segmented lead screw.

7. The feeding device according to claim 1, characterized in that: The synchronous drive unit includes multiple second servo motors, the number of which corresponds one-to-one with the number of segmented lead screws, and each second servo motor is connected to the corresponding segmented lead screw via a transmission.

8. The feeding device according to claim 1, characterized in that: The first gripper assembly includes a first cylinder, a first support base, a first rotating member, and a first gripper; wherein, the first cylinder is fixedly mounted on the first gripping arm assembly, and its telescopic end is fixedly connected to the first support base; one end of the first rotating member is hinged to the first support base via a hinge shaft, and the other end is fixedly mounted with the first gripper; by driving the first cylinder to extend or retract, the first support base is moved, so that the first rotating member rotates around the hinge shaft; And / or the second gripper assembly includes a second cylinder, a second support base, a second rotating member, and a second gripper; wherein, the second cylinder is fixedly mounted on the second gripping arm assembly, and its telescopic end is fixedly connected to the second support base; one end of the second rotating member is hinged to the second support base via a hinge shaft, and the other end is fixedly mounted with the second gripper; by driving the second cylinder to extend or retract, the second support base is moved, so that the second rotating member rotates around the hinge shaft.

9. The feeding device according to claim 8, characterized in that: The first gripper assembly further includes a first limiting member, one end of which is fixedly connected to the first support base, and the other end of which abuts against the lower surface of the first rotating member. And / or the second gripper assembly further includes a second limiting member, one end of which is fixedly connected to the second support base, and the other end of which abuts against the lower surface of the second rotating member.

10. The feeding device according to claim 8, characterized in that: Both the first gripper and the second gripper have an arc-shaped groove on the side near the clamping space.

Images