Feeding gripper device and tracking feeding line

Abstract

The utility model relates to a feeding equipment technical field especially is a kind of feeding gripper device and tracking feeding production line.The feeding gripper device includes mounting bracket, connecting seat, suction end, controller and drive locking piece;The drive locking piece is used to drive the connecting seat along the length direction of the mounting bracket sliding or the connecting seat is locked and fixed in the mounting bracket.The feeding gripper device is applied to robot and is used to grab workpiece, the drive locking piece is when being subjected to excessive force, the rigid connection relationship of robot and plate material can be quickly released, so that it can guarantee that robot will not be damaged because of excessive load.Specific to plate film-coating processing scene, tracking feeding production line applies the feeding gripper device, and the plate material of front and rear position can be seamlessly spliced accurately, and plate material is continuously fed and is conveyed to film-coating processing equipment, greatly improves the feeding efficiency in plate film-coating processing process.

Description

Technical Field

[0001] This utility model relates to the field of feeding equipment technology, and in particular to a feeding gripper device and a tracking feeding production line. Background Technology

[0002] In industrial production, the use of robotic arms to grasp and process workpieces is becoming increasingly common, leading to higher demands on the precision and efficiency of robotic arm feeding. Once purchased, the structure of a robotic arm is fixed. As a precision mechanical device, its internal transmission and force-bearing structure is extremely delicate; excessive external loads can easily cause structural damage. Therefore, how to utilize robotic arms to grasp different workpieces for specific processing operations while ensuring that the robotic arm is not damaged by excessive loads is a pressing technical problem that needs to be solved in this field. Utility Model Content

[0003] To address the technical problem of robotic arms being easily damaged by excessive loads during material feeding in existing technologies, this utility model provides a feeding gripper device and a tracking feeding production line. The feeding gripper device quickly releases the rigid connection between the robotic arm and the sheet material when subjected to excessive force, thus ensuring that the robotic arm is not damaged by excessive loads. The tracking feeding production line, using the feeding gripper device, can precisely and seamlessly splice the sheets end-to-end, continuously feeding the sheets to the laminating equipment, greatly improving the feeding efficiency during the sheet laminating process.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: A feeding gripper device includes: a mounting frame, a connecting seat, an adsorption end, a controller, and a drive locking component; the connecting seat is used for connecting to a robotic arm, and is slidably mounted on the mounting frame and can slide along the length direction of the mounting frame; the drive locking component is used to drive the connecting seat to slide along the length direction of the mounting frame or to lock the connecting seat to the mounting frame; the adsorption end is connected to a vacuum generator for adsorbing workpieces; the controller is used to control the operation of the drive locking component and the vacuum generator; the adsorption end is connected to the mounting frame, and the length direction of the adsorption end is consistent with the length direction of the mounting frame.

[0005] Preferably, the top of the mounting bracket is provided with a linear slide rail along the length of the mounting bracket, and the bottom of the connecting seat is provided with a slider; the slider slides in cooperation with the linear slide rail; the drive locking component includes: a telescopic drive assembly, a controller, and a sensor switch; the telescopic cylinder of the telescopic drive assembly is connected to an external power drive device through a pipeline; the controller is electrically connected to the external power drive device and is used to control the external power drive device to supply power to the telescopic cylinder; the sensor switch is used to detect the telescopic stroke of the telescopic drive assembly; the sensor switch is electrically connected to the controller.

[0006] Preferably, the telescopic drive assembly is a hydraulic telescopic cylinder or a pneumatic telescopic cylinder.

[0007] Preferably, the adsorption end is a vacuum adsorption plate; the vacuum adsorption plate includes: an adsorption plate body and a connecting rod; the bottom of the adsorption plate body is a planar structure and has adsorption holes evenly distributed, the adsorption plate body has a cavity inside, and the adsorption holes communicate with the cavity; the left or right end of the adsorption plate body has a gas source connection hole for connecting to an external vacuum generator; the connecting rod is used to fix the bottom of the mounting frame and the top of the adsorption plate body, so that the adsorption plate body and the mounting frame are arranged in parallel.

[0008] The tracking feeding production line includes: a loading station, a robot arm, a calibration table, a plate feeding and conveying device, and a feeding gripper device as described above; the connecting end of the robot arm is connected to the feeding gripper device; the loading sections of the loading station, the calibration table, and the plate feeding and conveying device are all located within the operating range of the robot arm; the calibration table is used to calibrate and position the plate gripped by the robot arm; the plate feeding and conveying device is used to transport the plate fed to the loading section to the laminating device.

[0009] Preferably, the plate conveying device includes: a base, a door frame bracket, a bottom roller drive mechanism, a top roller mechanism, and a side roller mechanism; a plurality of the door frame brackets are erected at intervals along the conveying direction of the base; the bottom roller drive mechanism includes: a bottom roller and a conveying drive device; the bottom roller is used to closely adhere to the bottom surface of the plate and roll, and the bottom roller rotates around its own axis under the drive of the conveying drive device, thereby driving the plate placed above the bottom roller to move; the top roller mechanism is installed on the top of the door frame bracket, and the top roller mechanism is provided with... The top roller is used to press and roll the top surface of the plate; the two side roller mechanisms are symmetrically arranged on the left and right door frame supports of the base, respectively, and the side rollers of the side roller mechanism are used to press and roll the left and right sides of the plate; the side roller mechanism includes an upper side roller assembly and a lower side roller assembly; the upper side roller assembly and the lower side roller assembly are provided with a hollow area at the loading section of the plate feeding and conveying device, the hollow area is parallel to the conveying direction of the plate feeding and conveying device, and the vertical width of the hollow area is greater than the width of the feeding gripper device.

[0010] Preferably, the bottom roller drive mechanism includes: a bottom roller, a bottom rotating shaft, and a conveying drive device; the bottom rotating shaft is horizontally mounted on the top surface of the base via bearings, perpendicular to the conveying direction of the plate feeding device; the bottom roller is sleeved and fixed to the middle of the bottom rotating shaft, such that all the bottom rollers are located on a vertical plane at the center of the base; several bottom rollers roll synchronously under the drive of the conveying drive device; the top roller mechanism includes: an upper suspension, a top roller, and a lifting adjustment mechanism; the upper suspension is horizontally mounted above the base along the conveying direction of the plate feeding device; the upper suspension is connected to the top of the door frame bracket via the lifting adjustment mechanism, and under the drive of the lifting adjustment mechanism, the upper suspension can move vertically relative to the door frame bracket; several top rollers are spaced apart along the arrangement direction of the bottom rollers, and the top rollers and the bottom rollers are located on the same vertical plane.

[0011] Preferably, the upper side roller assemblies are respectively disposed on both sides of the upper suspension; the upper side roller assembly includes: an upper mounting beam, a plurality of upper side rods, a plurality of upper side rollers, and an upper width adjustment mechanism; the upper mounting beam is arranged parallel to the transport direction of the plate conveying device, the plurality of upper side rods are spaced apart along the extension direction of the upper mounting beam, the upper end of the upper side rods is fixed to the mounting beam, and the lower end extends downward; the plurality of upper side rollers are respectively sleeved and installed on the outside of the plurality of upper side rods; the upper mounting beams on the left and right sides of the base are driven by the width adjustment mechanism. Under the influence of the movement, the lower side rollers can move closer together or further apart; the lower side roller assembly includes: a lower mounting beam, several lower side rods, several lower side rollers, and a lower width adjustment mechanism; the lower mounting beam is arranged parallel to the transport direction of the plate feeding and transporting device, the several lower side rods are spaced apart along the extension direction of the lower mounting beam, the lower end of the lower side rods is fixed to the mounting beam, and the lower end extends downward; the several lower side rollers are respectively sleeved and installed on the outside of the several lower side rods; the lower mounting beams on the left and right sides of the base can move closer together or further apart under the drive of the width adjustment mechanism.

[0012] Preferably, the lifting adjustment mechanism, the upper width adjustment mechanism, and the lower width adjustment mechanism are screw drive mechanisms.

[0013] Preferably, the calibration platform includes: an inclined plane and legs supporting the bottom of the inclined plane; the inclined plane is rectangular and inclined towards one apex, and baffles are provided on both sides of the apex at the lowest position of the inclined plane; the surface of the inclined plane is provided with a limiting hole, and a ball bearing is provided in the limiting hole, and the ball bearing can rotate freely in the limiting hole.

[0014] The beneficial effects of this utility model are: 1. When the feeding gripper device is applied to the robot arm to grip workpieces, it can sensitively detect when the gripped workpiece is in contact with other objects. When it comes into close contact with other objects, the force transmitted from the workpiece to the mounting frame will increase. When this force exceeds the maximum thrust set by the drive locking component, the drive locking component will passively retract, and the connecting seat connected to the robot arm will slide relative to the mounting frame, quickly releasing the rigid connection between the robot arm and the workpiece. This ensures that the robot arm will not be damaged due to excessive load, providing a foundation for continuous and efficient workpiece feeding in the workpiece coating process.

[0015] 2. Compared to traditional sliding rail gripping mechanisms, the robotic arm offers greater freedom of movement, higher operability, and higher work efficiency. When applied to the tracking feeding production line using the feeding gripper device, specifically in the scenario of board lamination processing, the relationship between the robotic arm and the gripped board can be either locked and fixed or quickly switched to a relatively sliding state. This allows for continuous feeding with the board seams joined end-to-end while preventing damage to the robotic arm due to rigid collisions between the boards at the ends, thus avoiding excessive load on the robotic arm. Furthermore, when the board is transported to the lamination device by the board conveyor, the two sides of the board to be laminated are exposed, facilitating subsequent lamination operations and further improving the efficiency of board lamination processing. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the tracking and feeding production line described in one embodiment of the present invention.

[0017] Figure 2 This is a three-dimensional structural diagram of the feeding gripper device described in one embodiment of the present invention.

[0018] Figure 3 for Figure 2 The above-view structural diagram of the embodiment is shown.

[0019] Figure 4 for Figure 2 A side view of the embodiment shown.

[0020] Figure 5 This is a three-dimensional structural diagram of the plate feeding and transporting device described in one embodiment of the present utility model.

[0021] Figure 6 for Figure 5 A side view of the embodiment shown.

[0022] Figure 7 This is a three-dimensional structural diagram of the calibration platform described in one embodiment of the present invention.

[0023] Figure 8 This is a three-dimensional structural diagram of the robotic arm described in one embodiment of the present invention.

[0024] Figure 9 This is a schematic diagram of the tracking and feeding production line in one embodiment of the present invention when continuously feeding the sheet material.

[0025] 1. Loading position, 2. Robotic arm, 21. Fixed base, 22. Drive motor, 23. Movable joint, 24. Connecting end, 84. Correction table, 3. Inclined plane, 31. Support leg, 32. Plate feeding and conveying device, 4. Base, 41. Door frame bracket, 42. Bottom roller, 430. Conveying drive device, 431. Top roller, 440. Upper suspension, 441. Lifting adjustment mechanism, 442. Side roller, 450. Upper mounting beam, 453. Upper side rod, 454. Upper width adjustment mechanism, 455. Lower mounting beam, 456. Lower side rod, 457. Lower width adjustment mechanism, 458. Feeding gripper device, 5. Mounting frame, 51. Connecting seat, 52. Drive locking component, 54. Linear slide rail, 541. Adsorption plate, 531. Connecting rod, 532. Air source connection hole, 534. 6. Coating device. Detailed Implementation

[0026] This invention addresses the technical problem of robotic arms being easily damaged by excessive loads during material feeding in existing technologies. Particularly in the field of board production, double-sided lamination is a crucial process for improving the surface properties of boards (such as wear resistance, water resistance, and aesthetics), and is widely used in furniture manufacturing, decoration, cabinet doors, and flooring substrates. Its core principle is to firmly bond functional films (such as PVC film, PET film, melamine decorative paper, etc.) to both sides of the board through hot pressing and lamination processes, ultimately forming a "film-board-film" composite structure. In existing technologies, manual labor is required to pick up the board from the loading position using a board gripper, move it to the lamination device, and then remove the board using the gripper after both sides have been laminated. Due to the diverse sizes and shapes of the boards, their large volume and weight, and the need for lamination on both sides, manual control of the gripper to flip the board may also be required during the lamination process. Therefore, the lamination operation is inefficient, requires significant manual intervention, and makes it difficult to guarantee processing quality and safety.

[0027] like Figures 1 to 9This invention discloses a tracking and feeding production line according to one embodiment of the present invention, comprising: a loading station 1, a robotic arm 2, a calibration table 3, a plate conveying device 4, and a feeding gripper device 5. The connecting end of the robotic arm 2 is connected to the feeding gripper device 5; the loading sections of the loading station 1, the calibration table 3, and the plate conveying device 4 are all located within the operating area of ​​the robotic arm 2; the calibration table 3 is used to calibrate and position the plate grasped by the robotic arm 2; the plate conveying device 4 is used to transport the plate loaded to the loading section to the laminating device 6. The loading station 1 is used to place the plate to be loaded to the laminating device 6. Specifically, according to the loading and unloading needs, two plate conveying devices 4 can be set in front of the laminating device 6, and at least one plate conveying device 4 can be set at the unloading end of the laminating device 6 to transport the plate after lamination to a designated position. Multiple plate conveying devices are sequentially connected to form a complete transport line, passing under the laminating device 6.

[0028] Specifically, such as Figure 2 As shown in Figure 4, the feeding gripper device 5 includes: a mounting frame 51, a connecting seat 52, an adsorption end, a controller, and a drive locking component 54; the connecting seat 52 is used for connecting the robot arm 2, and the connecting seat 52 is slidably mounted on the mounting frame 51 and can slide along the length direction of the mounting frame 51; the drive locking component 54 is used to drive the connecting seat 52 to slide along the length direction of the mounting frame 51 or to lock the connecting seat 52 to the mounting frame 51; the adsorption end is connected to a vacuum generator and is used to adsorb the plate; the controller is used to control the operation of the drive locking component 54 and the vacuum generator; the adsorption end is connected to the mounting frame 51; and the length direction of the adsorption end is consistent with the length direction of the mounting frame 51.

[0029] Replacing manual sheet material handling with robotic arm 2 is theoretically a straightforward technological improvement. However, a technical challenge arises when attempting to completely automate the feeding process in sheet material lamination using robotic arm 2. Specifically, to ensure higher efficiency in the lamination process, multiple sheets must be continuously fed to the lamination device 6, with each sheet tightly packed end-to-end. Achieving this with robotic arm 2 requires its high sensitivity to detect the contact between the head of the sheet being gripped and the tail of the sheet in front. If rigid contact occurs and robotic arm 2 fails to disengage quickly, the rigid structure between it and the sheet will transfer the stress to it. As a precision mechanical device with intricate internal structures and multiple actively driven joints, robotic arm 2 is highly susceptible to damage if excessive loads are not promptly released. Therefore, two critical technical issues need to be addressed: continuous sheet material feeding and overload protection for robotic arm 2.

[0030] When the feeding gripper device 5 is applied to the robot arm 2 to grip the board, it can sensitively detect the contact between the gripped board and the board in front. After the front and rear boards are in close contact, the force transmitted from the board to the mounting frame 51 will increase. When the force exceeds the maximum thrust set by the drive locking member 54, the drive locking member 54 will passively retract, and the connecting seat 52 connected to the robot arm 2 will slide relative to the mounting frame 51, quickly releasing the rigid connection between the robot arm 2 and the board. This ensures that the robot arm 2 will not be damaged due to excessive load, providing a foundation for the robot arm 2 to achieve continuous and efficient board feeding in the board coating process.

[0031] Compared to traditional sliding rail gripping mechanisms, the robotic arm 2 has a higher degree of freedom, greater operability, and higher work efficiency. After the feeding gripper device 5 is applied to the tracking feeding production line, the relationship between the robotic arm 2 and the gripped board can be either locked and fixed or can be quickly switched to a relatively sliding state as needed. This allows for continuous feeding of boards while avoiding the situation where the robotic arm 2 is damaged due to excessive load caused by rigid collisions between the ends of the boards being fed.

[0032] Preferably, the top of the mounting bracket 51 is provided with a linear slide rail 541 along the length direction of the mounting bracket 51, and the bottom of the connecting seat 52 is provided with a slider; the slider is slidably engaged with the linear slide rail 541; the drive locking member 54 includes: a telescopic drive assembly, a controller, and a sensor switch; the telescopic cylinder of the telescopic drive assembly is connected to an external power drive device through a pipeline; the controller is electrically connected to the external power drive device and is used to control the external power drive device to supply power to the telescopic cylinder; the sensor switch is used to detect the telescopic stroke of the telescopic drive assembly; the sensor switch is electrically connected to the controller. As a specific embodiment of the feeding gripper device 5, the controller can adjust the thrust of the telescopic drive assembly by adjusting the pressure of the external power drive device on the telescopic cylinder of the telescopic drive assembly. Depending on the actual application requirements, this thrust will ensure that when the robot arm 2 normally grips the sheet metal, the connecting seat 52 and the mounting bracket 51 are locked and fixed. When the sheet metal gripped by the robot arm 2 rigidly contacts a fixed object (such as the sheet metal placed at the top of the conveyor line), the telescopic drive assembly receives a reverse pushing force from the telescopic drive rod that is greater than the set thrust. When the telescopic drive assembly retracts, it causes the connecting seat 52 to slide relative to the mounting frame 51. At this time, the rigid connection between the robot arm 2 and the adsorption end is released, preventing the robot arm 2 from being subjected to excessive load and providing a buffering protection effect. When the force transmitted by the adsorption end becomes less than the thrust set by the telescopic drive assembly, the telescopic drive assembly's telescopic drive rod extends again, causing the connecting seat 52 to slide relative to the mounting frame 51 until the connecting seat 52 and the mounting frame 51 are relatively fixed and locked within the set force range. The inductive switch is used to detect the telescopic stroke of the telescopic drive rod in real time. When the telescopic drive rod moves to a set position, the inductive switch sends detection information to the controller. After receiving the detection information, the controller immediately controls the external power drive device to supply power to the telescopic cylinder, thereby stopping the connecting seat 52 from sliding further. This avoids rigid collisions between the connecting seat and the two ends of the mounting frame, further preventing damage to the robot arm 2 due to collisions.

[0033] Specifically, the telescopic drive assembly is a hydraulic telescopic cylinder or a pneumatic telescopic cylinder.

[0034] Specifically, the adsorption end is a vacuum adsorption plate; the vacuum adsorption plate includes: an adsorption plate body 531 and a connecting rod 532; the bottom of the adsorption plate body is a planar structure and has adsorption holes evenly distributed; the adsorption plate body 531 has a cavity inside, and the adsorption holes communicate with the cavity; the left or right end of the adsorption plate body 531 is provided with a gas source connection hole 534 for connecting to an external vacuum generator; the connecting rod 532 is used to fix the bottom of the mounting frame 51 and the top of the adsorption plate body 531, so that the adsorption plate body 531 and the mounting frame 51 are arranged in parallel.

[0035] like Figure 5 and Figure 6 As shown, the plate conveying device 4 includes: a base 41, a door frame bracket 42, a bottom roller 430 drive mechanism, a top roller 440 mechanism, and a side roller 450 mechanism; several door frame brackets 42 are erected at intervals along the conveying direction of the base 41; the bottom roller 430 drive mechanism includes: a bottom roller 430 and a conveying drive device 431; the bottom roller 430 is used to closely adhere to the bottom surface of the plate and roll, and the bottom roller 430 rotates around its own axis under the drive of the conveying drive device 431, thereby driving the plate placed above the bottom roller 430 to move; the top roller 440 mechanism is installed on the top of the door frame bracket 42, and the top roller 450 mechanism... The top roller 440 of the 0 mechanism is used to press the top surface of the plate and roll it; the two side rollers 450 are respectively symmetrically arranged on the left and right side of the door frame bracket 42 of the base 41, and the side rollers 450 are used to press the left and right sides of the plate and roll it; the side rollers 450 include an upper side roller 450 assembly and a lower side roller 450 assembly; the upper side roller 450 assembly and the lower side roller 450 assembly are provided with a hollow area at the loading section of the plate feeding and conveying device 4, the hollow area is parallel to the conveying direction of the plate feeding and conveying device 4, and the vertical width of the hollow area is greater than the width of the feeding gripper device 5.

[0036] The feeding and conveying device 4 employs a four-directional roller structure to position and support the sheet metal. This ensures that the sheet metal is quickly and accurately positioned and supported after being fed onto the feeding and conveying device 4. Furthermore, the roller structure reduces movement resistance, allowing the robotic arm 2 to use its own driving force to smoothly push the adsorbed sheet metal to the designated position in the feeding section even without active drive from the feeding and conveying device 4. This ensures that the head of the adsorbed sheet metal can be smoothly joined with the tail of the preceding sheet metal. In addition, the side roller 450 mechanism is a two-part split design, ensuring that the robotic arm 2 has sufficient clearance (i.e., open areas) while grasping the sheet metal within the feeding section, further preventing damage from impacts.

[0037] Preferably, the bottom roller 430 driving mechanism includes: a bottom roller 430, a bottom rotating shaft, and a conveying drive device 431; the bottom rotating shaft is horizontally mounted on the top surface of the base 41 via bearings, perpendicular to the conveying direction of the plate conveying device 4; the bottom roller 430 is sleeved and fixed to the middle of the bottom rotating shaft, such that the bottom roller 430 is located on a vertical plane at the center of the base 41; several bottom rollers 430 roll synchronously under the drive of the conveying drive device 431; the top roller 440 mechanism includes: an upper suspension 441, a top roller 430, and a bottom rotating shaft. The base 41 is horizontally positioned above the plate conveying device 4 along the transport direction of the plate conveying device 4. The upper suspension 441 is connected to the top of the door frame support 42 via the lifting adjustment mechanism 442, and under the drive of the lifting adjustment mechanism 442, the upper suspension 441 can move vertically relative to the door frame support 42. Several top rollers 440 are spaced apart along the arrangement direction of the bottom rollers 430, and the top rollers 440 and the bottom rollers 430 are located on the same vertical plane. The bottom rollers 430 are the driving wheels of the plate conveying device 4, which can provide power during the plate conveying process. The top rollers 440 and the bottom rollers 430 can stably limit the plate in the vertical direction, preventing the plate from slipping on the bottom rollers 430 and causing unstable transport speed. The top rollers 440 can be height-adjusted in the vertical direction, which can be used for applications with different widths of plates (i.e., the height dimensions of the plates when transported vertically).

[0038] Preferably, the upper side roller 450 assemblies are respectively disposed on both sides of the upper suspension 441; the upper side roller 450 assemblies include: an upper mounting beam 453, a plurality of upper side rods 454, a plurality of upper side rollers, and an upper width adjustment mechanism 455; the upper mounting beam 453 is arranged parallel to the transport direction of the plate feeding and transporting device 4, the plurality of upper side rods 454 are spaced apart along the extension direction of the upper mounting beam 453, the upper end of the upper side rod is fixed to the mounting beam, and the lower end extends downward; the plurality of upper side rollers are respectively sleeved and installed on the outside of the plurality of upper side rods 454; the upper mounting beams 453 on the left and right sides of the base 41 are driven by the width adjustment mechanism. The upper and lower rollers can move closer together or further apart. The lower side roller assembly 450 includes an upper width adjustment mechanism 455, several lower side rods 457, several lower side rollers, and a lower width adjustment mechanism 458. The upper width adjustment mechanism 455 is arranged parallel to the transport direction of the plate feeding and transporting device 4. The several lower side rods 457 are spaced apart along the extension direction of the upper width adjustment mechanism 455. The lower ends of the lower side rods are fixed to the mounting beam and extend downward. The several lower side rollers are respectively sleeved and installed on the outside of the several lower side rods 457. The upper width adjustment mechanisms 455 on the left and right sides of the base 41 can move closer together or further apart under the drive of the width adjustment mechanism. The upper and lower rollers can be height adjusted in the horizontal direction, making them suitable for applications with plates of different thicknesses.

[0039] Specifically, the upper width adjustment mechanism 455 and the lower width adjustment mechanism 458 can be telescopic drive devices, such as pneumatic telescopic cylinders or hydraulic telescopic cylinders, or screw drive mechanisms. There are many different implementation methods, as long as they can drive the upper mounting beam 453 and the upper width adjustment mechanism 455 to move relative to the upper suspension 441 in the left and right directions. Specifically, when it is a telescopic drive device, the upper mounting beam 453 and the upper width adjustment mechanism 455 are mounted on the bottom of the upper suspension 441 via slide rails set in the left and right directions. The telescopic drive device is mounted on the side of the upper suspension 441, and the telescopic drive end of the telescopic drive device is connected to the upper mounting beam 453 or the upper width adjustment mechanism 455. When it is a lead screw drive mechanism, it includes a lead screw, a drive motor, and a nut sleeve. The upper mounting beam 453 and the upper width adjustment mechanism 455 are mounted on the bottom of the upper suspension 441 via slide rails arranged in the left and right directions. The lead screw is mounted to the upper suspension 441 in the left and right directions via bearings. The nut sleeve is sleeved on the lead screw, and the outer wall of the nut sleeve is fixed to the upper mounting beam 453 and the upper width adjustment mechanism 455. The threads of the nut sleeves on the left and right sides are opposite.

[0040] Similarly, the specific implementation of the lifting adjustment mechanism 442 is also very diverse. It can be a telescopic drive device, such as a pneumatic telescopic cylinder or a hydraulic telescopic cylinder, or a screw drive mechanism.

[0041] Furthermore, it should be noted that in the above embodiment, the board is moved vertically within the board feeding and transporting device 4. This ensures that both sides of the board are exposed when it reaches the laminating device 6, facilitating subsequent laminating operations on both sides. Referring to the specific implementation structure of the board feeding and transporting device 4, those skilled in the art will easily conceive of making the board feeding and transporting device 4 a horizontal installation, that is, the board moves horizontally within the board feeding and transporting device 4, allowing the side rollers 450 at the bottom to have active driving force, while the rollers in other positions serve a close-fitting and positioning function. In this way, when the board moves to the laminating device 6, the top and bottom surfaces of the board are also exposed. Therefore, the above embodiment only provides a specific installation method. Those skilled in the art can make simple adjustments in orientation, but the working principle remains the same, and as long as the structure of each component does not substantially change in position, this technical solution still falls within the protection scope of this utility model.

[0042] like Figure 7 As shown, the calibration platform 3 includes an inclined plane 31 and support legs 32 supporting the bottom of the inclined plane 31. The inclined plane 31 is rectangular and inclined towards one apex. Baffles are provided on both sides of the apex at the lowest point of the inclined plane 31. Limiting holes are provided on the surface of the inclined plane 31, and ball bearings are provided in the limiting holes, which can rotate freely within the limiting holes. The ball bearing structure allows the plate placed on the inclined plane 31 to move towards the apex at the lowest point under the action of gravity. When the plate moves to the apex at the lowest point and is in contact with the baffle at that point, the calibration and positioning operation of the plate is completed. At this time, the robot arm 2 picks up the plate from the calibration platform. The relative positions of the plate and the robot arm 2 are clear, which can ensure that the robot arm 2 can more accurately load the plate to the designated position of the plate feeding and transport device 4, ensuring loading accuracy and further preventing the robot arm 2 from being damaged due to collision with the plate.

[0043] like Figure 8 As shown, the robotic arm 2 is a KUKA robot, comprising a fixed base 21, a swing arm, a drive motor 22, a movable joint 23, and a connecting end 24 connected to the gripping end. The robotic arm has movable joints that rotate around a vertical axis in a horizontal plane, movable joints that rotate around a horizontal axis in a vertical plane, and movable joints that rotate around an axis coaxial with the extension direction of the swing arm end, etc.

[0044] Specifically, the control method and working principle of the tracking feeding production line are as follows: Initial sheet material handling stage: Step A1: The robotic arm 2 swings the feeding gripper 5 to directly above the loading position 1, and the driving locking member 54 locks and fixes the mounting frame 51 and the connecting seat 52, so that the feeding gripper is in a locked and fixed state. Step A2: Under the drive of the robotic arm 2, the adsorption end of the feeding gripper device descends horizontally. When the adsorption end contacts the top surface of the board at the loading position 1, the external vacuum generator works to perform a vacuuming operation on the adsorption end, so that the adsorption end adsorbs the board at the top of the loading position 1. Board alignment and positioning stage: Step B1: The robotic arm 2 moves the sheet material adsorbed by the feeding gripper 5 to above the calibration table 3; Step B2: Driven by the robotic arm 2, the suction end of the feeding gripper device descends horizontally and then comes into contact with the inclined plane 31 of the calibration table 3. When the board is in complete contact with the inclined plane 31, the external vacuum generator stops working, the suction end separates from the board, and the board slides to the lower apex of the inclined plane 31 under the action of gravity until the board comes into contact with the baffles on both sides of the lowest apex of the inclined plane 31. The suction end then re-adsorbs the board, thus completing the board calibration and positioning operation. Sheet material tracking and conveying stage: Step C1: The robotic arm 2 drives the feeding gripper 5 so that the feeding gripper 5 is parallel to the transport direction of the plate feeding and transporting device 4, and the adsorbed plate is coplanar with the top roller 440 and the bottom roller 430; the feeding gripper 5 is directly opposite the hollow area; Step C2: Driven by the upper width adjustment mechanism 455 and the lower width adjustment mechanism 458, the width between the side rollers 450 increases; the top roller rises under the drive of the lifting adjustment mechanism 442; the robot 2 drives the feeding gripper 5 to move into the hollow area; the bottom of the adsorbed plate is placed on the bottom roller 430, and the robot 2 gradually moves the adsorbed plate to the loading section of the plate feeding and conveying device 4; Step C3: After the front end of the gripped board enters the feeding section of the board conveying device 4, the width between the side rollers 450 is reduced under the drive of the upper width adjustment mechanism 455 and the lower width adjustment mechanism 458; the top roller is lowered under the drive of the lifting adjustment mechanism 442; until the top roller 440 rolls close to the top surface of the adsorbed board and the side rollers 450 roll close to the two sides of the adsorbed board; the robot arm 2 continues to move forward along the conveying direction of the board conveying device with the adsorbed board in hand; Step C4: The reverse pushing force of the telescopic drive assembly under the telescopic drive rod will increase. When the reverse pushing force is greater than the set pushing force of the telescopic drive assembly, the telescopic drive rod of the telescopic drive assembly will retract, thereby causing the connecting seat 52 to slide relative to the mounting frame 51 (as shown in the figure, sliding to the right, that is, sliding in the direction of transporting the plate); the robot arm 2 stops swinging and no longer drives the plate forward, that is, at this time the front part of the adsorbed plate is in close contact with the tail part of the previous plate, realizing the tracking operation of the two plates; Step C5: The external vacuum generator stops working, the feeding gripper 5 separates from the board, and under the drive of the robot 2, it performs a preliminary gripping of the board at the loading position 1; the conveying drive device 431 starts, driving the bottom roller 430 to rotate actively, and the bottom roller 430 drives the board that has completed the tracking operation to move forward a certain distance until the board reaches the coating device 6 and stops. Step C6: After the board at the laminating device 6 has completed the laminating operation and been removed, repeat steps A1, A2, B1, B2, C1, C2, C3, C4 and C5 above.

[0045] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0046] In the description of this utility model, it should be understood that the directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description. Unless otherwise stated, these directional terms 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 the scope of protection of this utility model. The directional terms "inner" and "outer" refer to the inner and outer contours of each component itself.

[0047] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0048] 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 feeding gripper device, characterized in that, include: Mounting bracket, connector, suction end, controller, and drive locking mechanism; The connecting seat is used for connecting the robot arm. The connecting seat is slidably mounted on the mounting frame and can slide along the length of the mounting frame. The drive locking component is used to drive the connecting seat to slide along the length direction of the mounting bracket or to lock and fix the connecting seat to the mounting bracket. The adsorption end is connected to a vacuum generator and is used to adsorb workpieces; The controller is used to control the operation of the drive locking component and the vacuum generating device; The adsorption end is connected to the mounting frame; and the length direction of the adsorption end is consistent with the length direction of the mounting frame.

2. The feeding gripper device according to claim 1, characterized in that, The top of the mounting bracket is provided with a linear slide rail along the length of the mounting bracket, and the bottom of the connecting seat is provided with a slider; the slider is slidably engaged with the linear slide rail. The drive locking component includes: a telescopic drive assembly, a controller, and a sensor switch; The telescopic cylinder of the telescopic drive assembly is connected to an external power drive device via a pipeline; the controller is electrically connected to the external power drive device and is used to control the external power drive device to supply power to the telescopic cylinder. The inductive switch is used to detect the extension stroke of the telescopic drive assembly; the inductive switch is electrically connected to the controller.

3. The feeding gripper device according to claim 2, characterized in that, The telescopic drive assembly is a hydraulic telescopic cylinder or a pneumatic telescopic cylinder.

4. The feeding gripper device according to claim 1, characterized in that, The adsorption end is a vacuum adsorption plate; The vacuum adsorption plate includes: an adsorption plate body and a connecting rod; the bottom of the adsorption plate body is a planar structure and has adsorption holes evenly distributed; the adsorption plate body has a cavity inside, and the adsorption holes communicate with the cavity; the left or right end of the adsorption plate body has a gas source connection hole for connecting to an external vacuum generator. The connecting rod is used to fix the bottom of the mounting frame and the top of the adsorption plate, so that the adsorption plate and the mounting frame are arranged in parallel.

5. A tracking feeding production line, characterized in that, include: The material loading station, the robotic arm, the calibration table, the plate conveying device, and the material feeding gripper device as described in any one of claims 1 to 4; The connecting end of the robotic arm is connected to the feeding gripper device; the loading position, the calibration table and the loading section of the plate conveying device are all located within the operating range of the robotic arm; The calibration platform is used to calibrate and position the sheet metal gripped by the robotic arm. The plate feeding and conveying device is used to transport the plates from the feeding section to the coating device.

6. The tracking feeding production line according to claim 5, characterized in that, The plate feeding and transport device includes: a base, a door frame bracket, a bottom roller drive mechanism, a top roller mechanism, and a side roller mechanism; Several of the aforementioned door frame supports are erected at intervals along the transport direction of the base; The bottom roller drive mechanism includes a bottom roller and a conveying drive device; the bottom roller is used to closely adhere to the bottom surface of the plate and roll, and the bottom roller rotates around its own axis under the drive of the conveying drive device, thereby driving the plate placed above the bottom roller to move; The top roller mechanism is installed on the top of the door frame bracket, and the top roller of the top roller mechanism is used to press the top surface of the plate and roll it. The two side roller mechanisms are symmetrically arranged on the left and right door frame brackets of the base, respectively. The side rollers of the side roller mechanisms are used to press the left and right sides of the plate and roll it. The side roller mechanism includes an upper side roller assembly and a lower side roller assembly; the upper side roller assembly and the lower side roller assembly are provided with a hollow area at the loading section of the plate feeding and conveying device, the hollow area is parallel to the conveying direction of the plate feeding and conveying device, and the width of the hollow area in the vertical direction is greater than the width of the feeding gripper device.

7. The tracking feeding production line according to claim 6, characterized in that, The bottom roller drive mechanism includes: a bottom roller, a bottom rotating shaft, and a conveying drive device; the bottom rotating shaft is horizontally mounted on the top surface of the base via bearings, perpendicular to the conveying direction of the plate feeding and conveying device; the bottom roller is sleeved and fixed in the middle of the bottom rotating shaft, so that the bottom rollers are all located on a vertical plane at the center of the base; several bottom rollers roll synchronously under the drive of the conveying drive device; The top roller mechanism includes: an upper suspension, a top roller, and a lifting and adjusting mechanism; The upper suspension is horizontally arranged above the base along the transport direction of the plate conveying device; the upper suspension is connected to the top of the door frame bracket through the lifting adjustment mechanism, and under the drive of the lifting adjustment mechanism, the upper suspension can move up and down relative to the door frame bracket in the vertical direction. Several of the top rollers are spaced apart along the arrangement direction of the bottom rollers, and the top rollers and the bottom rollers are located on the same vertical plane.

8. The tracking feeding production line according to claim 7, characterized in that, The upper side roller assemblies are respectively disposed on both sides of the upper suspension; The upper side roller assembly includes: an upper mounting beam, several upper side rods, several upper side rollers, and an upper width adjustment mechanism; the upper mounting beam is arranged parallel to the transport direction of the plate feeding and transporting device, the several upper side rods are spaced apart along the extension direction of the upper mounting beam, the upper end of the upper side rods is fixed to the mounting beam, and the lower end extends downward; the several upper side rollers are respectively sleeved and installed on the outside of the several upper side rods; the upper mounting beams on the left and right sides of the base can move closer together or further apart under the drive of the upper width adjustment mechanism; The lower side roller assembly includes: a lower mounting beam, several lower side rods, several lower side rollers, and a lower width adjustment mechanism; the lower mounting beam is arranged parallel to the transport direction of the plate feeding and transporting device, the several lower side rods are spaced apart along the extension direction of the lower mounting beam, the lower ends of the lower side rods are fixed to the mounting beam, and the lower ends extend downward; the several lower side rollers are respectively sleeved and installed on the outside of the several lower side rods; the lower mounting beams on the left and right sides of the base can move towards each other or away from each other under the drive of the lower width adjustment mechanism.

9. The tracking feeding production line according to claim 8, characterized in that, The lifting adjustment mechanism, the upper width adjustment mechanism, and the lower width adjustment mechanism are screw drive mechanisms.

10. The tracking feeding production line according to claim 5, characterized in that, The calibration platform includes: an inclined plane and legs supporting the bottom of the inclined plane; the inclined plane is rectangular and inclined towards one apex, and baffles are provided on both sides of the apex at the lowest position of the inclined plane; the surface of the inclined plane is provided with a limiting hole, and a ball bearing is provided in the limiting hole, which can rotate freely within the limiting hole.

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