CN110803531A - Feeding system - Google Patents
Feeding system Download PDFInfo
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- CN110803531A CN110803531A CN201911092444.1A CN201911092444A CN110803531A CN 110803531 A CN110803531 A CN 110803531A CN 201911092444 A CN201911092444 A CN 201911092444A CN 110803531 A CN110803531 A CN 110803531A
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- release
- blanking
- cylinder body
- demoulding
- piston
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- 230000007246 mechanism Effects 0.000 claims abstract description 61
- 230000003578 releasing effect Effects 0.000 claims abstract description 54
- 239000000463 material Substances 0.000 claims abstract description 32
- 238000003825 pressing Methods 0.000 claims abstract description 19
- 241000252254 Catostomidae Species 0.000 claims abstract description 4
- 238000007789 sealing Methods 0.000 claims description 19
- 239000003921 oil Substances 0.000 claims description 18
- 230000000149 penetrating effect Effects 0.000 claims description 9
- 230000006835 compression Effects 0.000 claims description 8
- 238000007906 compression Methods 0.000 claims description 8
- 239000010720 hydraulic oil Substances 0.000 claims description 8
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 11
- 229910052751 metal Inorganic materials 0.000 description 6
- 239000002184 metal Substances 0.000 description 6
- 239000004033 plastic Substances 0.000 description 4
- 210000003437 trachea Anatomy 0.000 description 3
- 239000010727 cylinder oil Substances 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000012840 feeding operation Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Manipulator (AREA)
Abstract
The invention discloses a feeding system, which comprises a material rack, a mechanical arm and a conveying belt, wherein the material rack comprises a vertical guide frame and an electric lifting platform; the manipulator comprises a lifting rotating shaft, a base station and two grabbing and releasing mechanisms, wherein each grabbing and releasing mechanism comprises a grabbing and releasing frame, a gas collecting pipe and a plurality of elastic suckers; the grabbing and placing frame is provided with a first transverse release pipe, a first release inlet pipe and a first release cylinder body; the blanking mechanism comprises an unlocking pressing column and a blanking cylinder body, the inner part of the blanking cylinder body is divided into a blanking action cavity and a blanking adjustment communicated with the atmosphere by a piston in the blanking, and the blanking action cavity is communicated with the first release action cavity through a first oil pipe. The invention has the beneficial effects that: it is rational in infrastructure, can effectively carry out snatching, shifting of sheet material, snatch the operation swift, the transfer action is high-efficient, and the release operation need not extra power supply, can accomplish voluntarily, and snatch, shift, the continuity of release is good, and work efficiency is high.
Description
Technical Field
The invention belongs to the technical field of feeding, feeding and mechanical arms, and particularly relates to a feeding system.
Background
Metal/alloy plates with small thickness, such as 3 mm aluminum plates, have been widely used in production and life. Since many metal sheets are large and inconvenient to handle manually, in the production process, a feeding structure with suction cups is often used for feeding (transferring the sheets), generally speaking, the sheets are stacked on a certain mechanism, then the sheets are grabbed by the suction cups in the feeding structure and transferred to the next station, and then the suction cups are separated from the sheets. However, in the conventional sheet feeding structure with a suction cup, when the suction cup is grabbed, an air extractor needs to be used for extracting air (forming negative pressure to suck the sheet) from the suction cup, and after the sheet is transferred in place, the air ventilation structure on the suction cup needs to be operated and opened to allow air to enter the suction cup, so that the sheet is released, after the above process is completed, the feeding structure needs to be reset to perform next feeding operation, and relatively, the working efficiency still has a space for improving.
Disclosure of Invention
The feeding system provided by the invention has the advantages that the structure is reasonable, the plate can be effectively grabbed and transferred, the grabbing operation is quick, the transferring action is efficient, the releasing operation can be automatically completed without an additional power source, the grabbing, transferring and releasing continuity is good, and the working efficiency is high.
In order to achieve the purpose, the invention adopts the following technical scheme:
a feeding system comprises a material rack, a manipulator and a conveying belt, wherein the material rack comprises a vertical guide frame and an electric lifting table arranged at the bottom in the vertical guide frame, and a lifting material table for stacking plate materials is arranged at the top of the electric lifting table;
the manipulator comprises a lifting rotating shaft, a base station fixed with the lifting rotating shaft and two grabbing and releasing mechanisms arranged on the base station, wherein the lifting rotating shaft is vertically arranged, the two grabbing and releasing mechanisms are symmetrically arranged along the axis center of the lifting rotating shaft, and each grabbing and releasing mechanism comprises a grabbing and releasing frame, a collecting air pipe with two closed ends and a plurality of elastic suckers with downward openings;
in a pick and place mechanism: the elastic sucker is arranged on the grabbing frame through a sucker connecting rod, the elastic sucker is communicated with the collecting air pipe through a branch air pipe, the collecting air pipe is provided with a collecting air hole, the collecting air hole is provided with a collecting exhaust one-way valve, the grabbing frame is provided with a first release transverse pipe, a first release inlet pipe and a first release cylinder body, the side wall of the first release transverse pipe is provided with a first side wall inlet hole, one end of the first release inlet pipe is communicated with the first side wall inlet hole, the other end of the first release inlet pipe is communicated with the collecting air pipe, the first release transverse pipe is internally provided with a first transverse pipe piston used for sealing the first side wall inlet hole, the first release cylinder body is internally provided with a first release inner piston matched with the first release cylinder body in a sliding and sealing manner, the sliding direction of the first release inner piston is horizontal, the first release inner piston divides the inner part of the first release cylinder body into a first release acting cavity and a first release adjusting cavity communicated with the atmosphere, the first release inner piston is, a first release limiting body used for contacting the first release inner piston is arranged in the first release acting cavity;
still include two and grab the blanking mechanism of putting mechanism one-to-one, the conveyer belt includes carriage and two electric conveyor who arranges side by side, in the mechanism and the blanking mechanism are put to the grabbing that correspond: the blanking mechanism comprises an unlocking compression leg and a blanking cylinder body arranged between two electric conveyor belts, the unlocking compression leg is fixed at the bottom of the grabbing and placing frame, a blanking inner piston matched with the blanking cylinder body in a sliding and sealing mode is arranged in the blanking cylinder body, the sliding direction of the piston in the blanking is vertical, the inner part of the blanking cylinder body is divided into a blanking action cavity and a blanking adjustment communicated with the atmosphere by the piston in the blanking, a blanking upper stop body used for contacting the inner piston in the blanking is arranged in the blanking adjustment cavity, a blanking spring and a blanking lower stop body used for contacting the inner piston in the blanking are arranged in the blanking action cavity, the upper end of the blanking spring is contacted with the inner piston in the blanking, the lower end of the blanking spring is contacted with the blanking cylinder body, a blanking piston rod penetrating through the blanking adjustment cavity is arranged on the inner piston in the blanking, a contact block used for being pressed by, The first oil pipe and the first release action cavity are filled with hydraulic oil, the contact block and the unlocking compression leg form a moving contact structure together, when the blanking inner piston contacts the blanking upper stop body, the blanking inner piston is separated from the blanking lower stop body, the first release inner piston contacts the first release limiting body, the first side wall inlet hole is sealed by the first transverse pipe piston, when the blanking inner piston contacts the blanking lower stop body, the blanking inner piston is separated from the blanking upper stop body, and the first side wall inlet hole is communicated with the interior of the first release transverse pipe;
when the unlocking pressing column in one movable contact structure is contacted with the contact block, the unlocking pressing column in the other movable contact structure is separated from the contact block.
Preferably, the first release acting cavity, the first release adjusting cavity and the first release transverse pipe are sequentially arranged along the axial direction of the first release transverse pipe, and in one blanking cylinder body: the blanking action cavity is positioned below the blanking adjusting cavity.
Preferably, the conveying direction of the conveying belt is horizontal, the top surfaces of the contact blocks are higher than the highest point of the electric conveying belt, the top surfaces of the two contact blocks are flush, the contact blocks are cylindrical, and in one movable contact structure: the unlocking pressing column is coaxially arranged with the contact block.
Preferably, the corresponding grabbing and placing mechanism and the corresponding blanking mechanism are provided with: when the piston contacts the blanking lower stop body in the blanking, the distance between the bottom of the elastic sucker and the conveying belt is less than or equal to 50 mm.
Preferably, an outer auxiliary cylinder body is arranged on the material rack, an outer auxiliary limiting plate is arranged above the outer auxiliary cylinder body, an outer auxiliary inner piston in sliding sealing fit with the outer auxiliary cylinder body is arranged in the outer auxiliary cylinder body, the sliding direction of the outer auxiliary inner piston is vertical, the outer auxiliary inner piston divides the inner part of the outer auxiliary cylinder body into an outer auxiliary action cavity and an outer auxiliary adjusting cavity communicated with the atmosphere, a plurality of outer auxiliary piston rods penetrating through the outer auxiliary adjusting cavity are arranged on the outer auxiliary inner piston, the upper end of each outer auxiliary piston rod is connected with the outer auxiliary limiting plate, an outer auxiliary limiting column used for contacting the top of the outer auxiliary cylinder body is arranged on each outer auxiliary limiting plate, and the outer auxiliary limiting plate, the outer auxiliary adjusting cavity and the outer auxiliary action cavity are sequentially arranged from;
grab and put mechanism still including taking off the board cylinder body and being used for the jack-up to assist the board kicking block that takes off of limiting plate outward, in a grabbing and putting mechanism: the demoulding cylinder body is internally provided with a demoulding inner piston which is in sliding seal fit with the demoulding cylinder body, the sliding direction of the demoulding inner piston is horizontal, the demoulding inner piston divides the demoulding cylinder body into a demoulding action cavity and a demoulding adjustment cavity communicated with the atmosphere, the demoulding action cavity is internally provided with a demoulding spring and a demoulding limiting body used for contacting the demoulding inner piston, one end of the demoulding spring is connected with the demoulding inner piston, the other end of the demoulding spring is connected with the demoulding cylinder body, the demoulding inner piston is provided with a plurality of demoulding piston rods penetrating through the demoulding adjustment cavity, the demoulding piston rods are connected with a demoulding top block, the demoulding cylinder body is positioned above the grabbing and placing frame, the demoulding cylinder body is provided with a demoulding pressure rod used for pressing down a plate, the demoulding pressure rod is in sliding connection with the grabbing and placing frame, the sliding direction of the demoulding pressure rod is vertical, the collecting air hole is communicated with the demoulding action cavity through a demoulding air pipe, the grabbing and placing frame is provided with a second release transverse pipe, a second release inlet pipe and, a second lateral wall inlet hole is formed in the lateral wall of a second release transverse pipe, one end of the second release inlet pipe is communicated with the second lateral wall inlet hole, the other end of the second release inlet pipe is communicated with a stripping gas pipe, a second transverse pipe piston used for sealing the second lateral wall inlet hole is arranged in the second release transverse pipe, a second release inner piston matched with a second release cylinder body in a sliding and sealing mode is arranged in a second release cylinder body, the sliding direction of the second release inner piston is horizontal, the second release inner piston divides the interior of the second release cylinder body into a second release action cavity and a second release adjustment cavity communicated with the atmosphere, a second release piston rod used for driving the second transverse pipe piston to slide is arranged on the second release inner piston, a second release limiting body used for contacting the second release inner piston is arranged in the second release adjustment cavity, an outer auxiliary action cavity is communicated with the second release action cavity through a second oil pipe, and the second release action cavity are all filled with hydraulic oil, when the elastic sucker sucks the plates stacked on the lifting material platform, the inner stripper piston is separated from the stripper limiting body, the vertical projection of the stripper top block falls within the vertical projection range of the outer auxiliary limiting plate, the stripper top block is located below the outer auxiliary limiting plate, the second side wall inlet hole is sealed by a second transverse pipe piston, when the distance between the outer auxiliary limiting column and the top of the outer auxiliary cylinder body is larger than X millimeters, the vertical projection of the stripper top block is separated from the vertical projection of the outer auxiliary limiting plate, X is larger than or equal to 20, X is smaller than or equal to 50, the second side wall inlet hole is communicated with the inner portion of a second release transverse pipe, the second release inner piston is separated from the second release limiting body, and when the stripper cylinder body is in contact with the grabbing frame, the height of the lowest point of the stripper pressure rod is lower than the height of the elastic sucker.
Preferably, the plate-releasing cylinder body is provided with an auxiliary sliding rod, the auxiliary sliding rod is connected with the grabbing and placing frame in a sliding manner, the sliding direction of the auxiliary sliding rod is vertical, and the plate-releasing cylinder body is arranged in a grabbing and placing mechanism: the lower end of the auxiliary sliding rod is higher than the highest point of the elastic sucker.
The invention has the beneficial effects that: it is rational in infrastructure, can effectively carry out snatching, shifting of sheet material, snatch the operation swift, the transfer action is high-efficient, and the release operation need not extra power supply, can accomplish voluntarily, and snatch, shift, the continuity of release is good, and work efficiency is high.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged view at A in FIG. 1;
FIG. 3 is an enlarged view at B in FIG. 1;
FIG. 4 is an enlarged view at C of FIG. 1;
FIG. 5 is an enlarged view at D of FIG. 1;
FIG. 6 is an enlarged view at E in FIG. 1;
FIG. 7 is an enlarged view at F of FIG. 1;
FIG. 8 is an enlarged view at G of FIG. 1;
FIG. 9 is an enlarged view at H in FIG. 2;
FIG. 10 is an enlarged view at I of FIG. 2;
FIG. 11 is a schematic view of the blanking cylinder of the present invention.
Reference numerals: the device comprises a material rack 1, a vertical guide frame 11, an electric lifting platform 12, a lifting material platform 13, a conveying belt 2, a conveying rack 21, an electric conveying belt 22, a lifting rotating shaft 31, a base table 32, a gripping and releasing mechanism 4, a gripping and releasing rack 41, a collecting air pipe 42, an elastic suction cup 43, a suction cup connecting rod 431, a branch air pipe 432, a first transverse releasing pipe 51, a first side wall inlet hole 51a, a first transverse releasing pipe 52, a first transverse releasing cylinder 53, a first releasing action cavity 53a, a first releasing adjustment cavity 53b, a first inner releasing piston 531, a first releasing piston rod 532, a first releasing limiting body 533, a first transverse pipe piston 54, a second transverse releasing pipe 55, a second side wall inlet hole 55a, a second releasing pipe 56, a second releasing cylinder 57, a second releasing action cavity 57a, a second releasing adjustment cavity 57b, a second releasing inner piston 571, a second releasing piston rod 572, a second releasing limiting body 573, a second transverse releasing piston 58, The device comprises an unlocking pressing column 61, a blanking cylinder 62, a blanking acting cavity 62a, a blanking adjusting cavity 62b, a blanking inner piston 621, a blanking upper stopper 622, a blanking spring 623, a blanking lower stopper 624, a blanking piston rod 625, a contact block 626, an outer auxiliary cylinder 71, an outer auxiliary acting cavity 71a, an outer auxiliary adjusting cavity 71b, an outer auxiliary inner piston 711, an outer auxiliary piston rod 712, an outer auxiliary limiting column 713, an outer auxiliary limiting plate 72, a stripping cylinder 81, a stripping acting cavity 81a, a stripping adjusting cavity 81b, a stripping inner piston 811, a stripping spring 812, a stripping limiting body 813, a stripping piston rod 814, a stripping top block 82, a stripping pressing rod 83, an auxiliary sliding rod 84 and a plate 9.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
As shown in figures 1 to 11 of the drawings,
a feeding system comprises a material rack 1, a manipulator and a conveying belt 2, wherein the material rack comprises a vertical guide frame 11 and an electric lifting table 12 arranged at the bottom in the vertical guide frame, and a lifting material table 13 used for stacking plate materials is arranged at the top of the electric lifting table;
the manipulator comprises a lifting rotating shaft 31, a base station 32 fixed with the lifting rotating shaft and two grabbing and releasing mechanisms 4 arranged on the base station, wherein the lifting rotating shaft is vertically arranged, the two grabbing and releasing mechanisms are symmetrically arranged along the axis center of the lifting rotating shaft, and each grabbing and releasing mechanism comprises a grabbing and releasing frame 41, a gas collecting pipe 42 with two closed ends and a plurality of elastic suckers 43 with downward openings;
in a pick and place mechanism: the elastic sucker is arranged on the grabbing frame through a sucker connecting rod 431, the elastic sucker is communicated with a collecting air pipe through a branch air pipe 432, a collecting air hole is arranged on the collecting air hole, a collecting exhaust one-way valve is arranged on the collecting air hole, a first release transverse pipe 51, a first release inlet pipe 52 and a first release cylinder body 53 are arranged on the grabbing frame, a first transverse pipe inlet hole 51a is arranged on the side wall of the first release transverse pipe, one end of the first release inlet pipe is communicated with the first transverse pipe inlet hole, the other end of the first release inlet pipe is communicated with the collecting air pipe, a first transverse pipe piston 54 used for sealing the first transverse pipe inlet hole is arranged in the first release transverse pipe, a first release inner piston 531 matched with the first release cylinder body in a sliding and sealing mode is arranged in the first release cylinder body, the sliding direction of the first release inner piston is horizontal, the first release inner piston divides the inner part of the first release cylinder body into a first release acting cavity 53a and a, a first release piston rod 532 for driving the first transverse pipe piston to slide is arranged on the first release inner piston, and a first release limiting body 533 for contacting the first release inner piston is arranged in the first release action cavity;
still include two and grab the blanking mechanism that puts the mechanism one-to-one, the conveyer belt includes carriage 21 and two electronic conveyer belt 22 of arranging side by side, in the mechanism and the blanking mechanism are put to the grabbing that correspond: the blanking mechanism comprises an unlocking pressing post 61 and a blanking cylinder body 62 arranged between two electric conveyor belts, the unlocking pressing post is fixed at the bottom of the grabbing and placing frame, a blanking inner piston 621 matched with the blanking cylinder body in a sliding and sealing manner is arranged in the blanking cylinder body, the sliding direction of the blanking inner piston is vertical, the blanking inner piston divides the interior of the blanking cylinder body into a blanking acting cavity 62a and a blanking adjusting cavity 62b communicated with the atmosphere, a blanking upper stop body 622 used for contacting the blanking inner piston is arranged in the blanking adjusting cavity, a blanking spring 623 and a blanking lower stop body 624 used for contacting the blanking inner piston are arranged in the blanking acting cavity, the upper end of the blanking spring contacts the blanking inner piston, the lower end of the blanking spring contacts the blanking cylinder body, a blanking piston rod 625 penetrating through the blanking adjusting cavity is arranged on the blanking piston rod, a contact block 626 used for being pressed by the unlocking pressing post is arranged on the blanking piston rod, the blanking action cavity, the first oil pipe and the first release action cavity are filled with hydraulic oil, the contact block and the unlocking compression leg form a moving contact structure together, when the blanking inner piston contacts the blanking upper stop body, the blanking inner piston is separated from the blanking lower stop body, the first release inner piston contacts the first release limiting body, the first side wall inlet hole is sealed by the first transverse pipe piston, when the blanking inner piston contacts the blanking lower stop body, the blanking inner piston is separated from the blanking upper stop body, and the first side wall inlet hole is communicated with the interior of the first release transverse pipe;
when the unlocking pressing column in one movable contact structure is contacted with the contact block, the unlocking pressing column in the other movable contact structure is separated from the contact block.
According to the invention, the lifting rotating shaft belongs to a part of the manipulator, the lifting rotating shaft can drive the grabbing and placing mechanism to lift, and the lifting rotating shaft can rotate along the axis of the lifting rotating shaft. The plates are sequentially stacked on the lifting material platform, are horizontally arranged and are positioned in the vertical guide frame. The passing direction of the collection exhaust one-way valve is from the collection air pipe to the atmosphere through the collection exhaust one-way valve.
The invention has two grabbing and releasing mechanisms, when in work, the lifting rotating shaft rotates, one grabbing and releasing mechanism reaches the position above the material rack (the grabbing and releasing structure above the material rack is named as X at the moment), the other grabbing and releasing mechanism reaches the position above the conveying belt (the grabbing and releasing structure above the conveying belt is named as Y at the moment), the lifting rotating shaft and the two grabbing and releasing mechanisms integrally descend, and in X: the X descends, the elastic sucker contacts the uppermost plate, the elastic sucker is flattened due to extrusion, gas (air) in the elastic sucker enters the collecting air pipe through the branch air pipe, part of gas in the collecting air pipe enters the atmosphere through the collecting exhaust one-way valve, then the lifting rotating shaft drives the elastic sucker to ascend for a short distance (the two grabbing and releasing mechanisms ascend together), and the elastic sucker bulges again due to elasticity, so that negative pressure is formed in the elastic sucker, and the plate is sucked.
Then, starting to enter a 'recyclable process', continuously ascending the lifting rotating shaft, and driving the two grabbing and placing mechanisms to integrally rotate by the lifting rotating shaft until the X is completely separated from the material rack, wherein the X reaches above the conveying belt, and the Y reaches above the material rack; the lifting rotating shaft and the two grabbing and placing mechanisms are integrally descended, and in the X and the blanking mechanism corresponding to the X: the X descends, the unlocking compression leg presses downwards and contacts with the contact block, the pressing continues, the blanking piston rod and the blanking inner piston move downwards, a part of hydraulic oil in the blanking action cavity enters the first release action cavity through the first oil pipe, the first release inner piston, the first release piston rod and the first transverse pipe piston move, the blanking inner piston contacts with the blanking lower stop body finally, the first side wall inlet hole is communicated with the interior of the first release transverse pipe, the elastic sucker is communicated with the atmosphere through the branch air pipe, the collecting air pipe, the first release inlet pipe, the first side wall inlet hole and the first release transverse pipe, the air pressure in the elastic sucker rises, the grabbed plate is released finally, and the plate falls onto the conveying belt; in Y and the blanking mechanism that corresponds with Y: elastic sucker contacts the top sheet material, and because the extrusion, gas (air) in the elastic sucker gets into through the tributary trachea and collects the trachea, collects in the trachea some gas and gets into the atmosphere through collecting the exhaust check valve, afterwards, the lift pivot drives elastic sucker and rises a short segment distance (two grab and put the mechanism and rise together), and elastic sucker in the Y is because elasticity is bloated once more to form the negative pressure in the elastic sucker, holds the sheet material. After the "recyclable process" is completed, the process can be repeated, and when the "recyclable process" is continuously performed, the exchange of X and Y occurs once every time. Whenever a sheet is grabbed (sucked away by the elastic sucker) from the material rack, the electric lifting platform is lifted by a height M equal to the thickness of the sheet.
Note that if the last lifting rotating shaft rotates clockwise, the next lifting rotating shaft should rotate counterclockwise, the next lifting rotating shaft should rotate clockwise, and so on, otherwise, the air pipes and the oil pipes may be wound and interfered with other structures), so that the plate can be continuously grabbed, transferred and released. And, utilize pressure, elasticity automatic realization elasticity sucking disc to the absorption of sheet material (accomplish the exhaust simultaneously) during snatching, during the release, utilize pressure and transform structure automatic realization sucking disc inside and atmospheric intercommunication, process and action are distributed rationally, moreover, because snatch the process and go on, also accomplished the release process to the transfer process also goes on simultaneously, work efficiency is high.
It should be emphasized that, because the manipulator needs to move, in order to prevent interference, there should be enough margin left for the length of the branch air pipe, there should be enough margin left for the length of the first oil pipe, the branch air pipe may adopt a common cylinder air pipe with a certain deformation capability, such as a metal corrugated pipe, an elastic rubber pipe or a plastic hose, etc., and the first oil pipe may adopt a common cylinder oil pipe with a certain deformation capability, such as a metal corrugated pipe, an elastic rubber pipe or a plastic hose, etc., to ensure the normal movement of the manipulator. In addition, the stacks and the pick-and-place mechanisms (pick-and-place stacks) should avoid interference. Although the above is common knowledge in the field of air cylinders, oil cylinders and manipulators, the emphasis is still placed on the above.
The first release acting cavity, the first release adjusting cavity and the first release transverse pipe are sequentially arranged along the axial direction of the first release transverse pipe, and in one blanking cylinder body: the blanking action cavity is positioned below the blanking adjusting cavity.
The direction of delivery level of conveyer belt, the height that contact block top surface is located highly is higher than the height that electronic conveyer belt peak is located, and two contact block top surfaces flush, and the contact block is cylindricly, in a removal contact structure: the unlocking pressing column is coaxially arranged with the contact block.
And at the corresponding grabbing and placing mechanism and the corresponding blanking mechanism: when the piston contacts the blanking lower stop body in the blanking, the distance between the bottom of the elastic sucker and the conveying belt is less than or equal to 50 mm. When the elastic sucking disc releases the plate, the distance from the plate to the conveying belt is not too large, and preferably less than or equal to 50 mm.
The material rack is provided with an outer auxiliary cylinder body 71, an outer auxiliary limiting plate 72 is arranged above the outer auxiliary cylinder body, an outer auxiliary inner piston 711 in sliding sealing fit with the outer auxiliary cylinder body is arranged in the outer auxiliary cylinder body, the sliding direction of the outer auxiliary inner piston is vertical, the outer auxiliary inner piston divides the inner part of the outer auxiliary cylinder body into an outer auxiliary action cavity 71a and an outer auxiliary adjusting cavity 71b communicated with the atmosphere, the outer auxiliary inner piston is provided with a plurality of outer auxiliary piston rods 712 penetrating through the outer auxiliary adjusting cavity, the upper end of each outer auxiliary piston rod is connected with an outer auxiliary limiting plate, the outer auxiliary limiting plate is provided with an outer auxiliary limiting column 713 used for contacting the top of the outer auxiliary cylinder body, and the outer auxiliary limiting plate, the outer auxiliary adjusting cavity and the outer auxiliary action cavity are sequentially arranged;
the grabbing and releasing mechanism further comprises a plate releasing cylinder 81 and a plate releasing jacking block 82 for jacking the outer auxiliary limiting plate, and in one grabbing and releasing mechanism: a stripper plate inner piston 811 which is in sliding sealing fit with the stripper plate cylinder is arranged in the stripper plate cylinder, the sliding direction of the stripper plate inner piston is horizontal, the stripper plate inner piston divides the interior of the stripper plate cylinder into a stripper plate acting cavity 81a and a stripper plate adjusting cavity 81b communicated with the atmosphere, a stripper plate spring 812 and a stripper plate limiting body 813 used for contacting the stripper plate inner piston are arranged in the stripper plate acting cavity, one end of the stripper plate spring is connected with the stripper plate inner piston, the other end of the stripper plate spring is connected with the stripper plate cylinder, a plurality of stripper plate piston rods 814 penetrating through the stripper plate adjusting cavity are arranged on the stripper plate inner piston, the stripper plate piston rods are connected with a stripper plate jacking block, the stripper plate cylinder is arranged above the grabbing frame, a stripper plate cylinder 83 used for pressing plates is arranged on the stripper plate cylinder, the stripper plate pressure rod is in sliding connection with the grabbing frame, the stripper plate pressure rod is vertical in sliding direction, a collection air hole is communicated with the stripper plate acting cavity through a, A second release inlet pipe 56 and a second release cylinder 57, a second lateral wall inlet hole 55a is arranged on the lateral wall of the second release transverse pipe, one end of the second release inlet pipe is communicated with the second lateral wall inlet hole, the other end of the second release inlet pipe is communicated with the stripper gas pipe, a second transverse pipe piston 58 for sealing the second lateral wall inlet hole is arranged in the second release transverse pipe, a second release inner piston 571 in sliding sealing fit with the second release cylinder is arranged in the second release cylinder, the sliding direction of the second release inner piston is horizontal, the second release inner piston divides the interior of the second release cylinder into a second release acting cavity 57a and a second release adjusting cavity 57b communicated with the atmosphere, a second release piston rod 572 for driving the second transverse pipe piston to slide is arranged on the second release inner piston, a second release limiting body 573 for contacting the second release inner piston is arranged in the second release adjusting cavity, the external auxiliary acting cavity is communicated with the second release acting cavity through a second oil pipe, the outer auxiliary action cavity, the second oil pipe and the second release action cavity are filled with hydraulic oil, when the elastic sucker sucks plates stacked on the lifting material platform, the inner stripper piston is separated from the stripper limiting body, the vertical projection of the stripper top block falls within the vertical projection range of the outer auxiliary limiting plate, the stripper top block is located below the outer auxiliary limiting plate, the second side wall inlet hole is sealed by a second transverse pipe piston, when the distance between the outer auxiliary limiting column and the top of the outer auxiliary cylinder body is larger than X millimeters, the vertical projection of the stripper top block is separated from the vertical projection of the outer auxiliary limiting plate, X is larger than or equal to 20, X is smaller than or equal to 50, the second side wall inlet hole is communicated with the inside of the second release transverse pipe, the second release inner piston is separated from the second release limiting body, and when the stripper cylinder body contacts the grabbing frame, the lower end of the stripper pressure rod is lower than the lowest point of the elastic sucker.
The stacked plates are prone to adhesion due to various factors (for example, oil stains exist to cause two plates to adhere together), and when the plates are grabbed, the situation that two plates are grabbed at a time may occur, which is unfavorable for smooth operation. In the scheme, the following scheme is adopted for solving the problem, and in a grabbing and releasing mechanism: when the elastic sucker sucks the two uppermost plates (the upper plate is sucked by the elastic sucker, and the lower plate is adhered to the bottom of the upper plate), the lower end of the stripping pressure rod contacts the plates, so that the stripping cylinder body is jacked up, the stripping cylinder body is separated from one end of the grabbing and placing frame, in the process that the elastic sucker sucks the plates, gas in the elastic sucker enters the collecting gas pipe through the branch gas pipe, redundant gas in the collecting gas pipe enters the stripping action cavity through the collecting exhaust one-way valve and the stripping gas pipe, the stripping inner piston, the stripping piston rod and the stripping jacking block move together until the stripping jacking block reaches the lower part of the outer auxiliary limiting plate, the vertical projection of the stripping jacking block falls within the vertical projection range of the outer auxiliary limiting plate, and therefore, when the grabbing and placing mechanism continues to rise, the stripping jacking block can contact the outer auxiliary limiting plate and drive the outer auxiliary limiting plate to move upwards, the outer auxiliary limiting plate can provide a downward force for the stripper top block, so that the rising speed of the stripper top block cannot reach the rising speed of the grabbing and placing frame at the moment, the stripper cylinder body and the stripper pressure rod move downwards relative to the grabbing and placing frame, the plates can be bent, and therefore the two plates adhered together can be separated, the lower plate can fall back to the stacked plates because the lower plate is not sucked by the elastic sucking disc, and automatic separation is completed.
As mentioned above, in a certain period of time, although the lifting speed of the stripper top block cannot reach the lifting speed of the grabbing and releasing frame, the stripper top block drives the outer auxiliary limiting plate to move upwards (only the outer auxiliary limiting plate moves upwards relatively slowly), so that the outer auxiliary piston rod and the outer auxiliary inner piston move upwards, a part of hydraulic oil in the second release action cavity enters the outer auxiliary action cavity through the second oil pipe, the second release inner piston, the second release piston rod and the second transverse pipe piston move, finally the second side wall inlet hole is communicated with the inner part of the second release transverse pipe, so that the stripper action cavity is communicated with the atmosphere through the stripper air pipe, the second release inlet pipe, the second side wall inlet hole and the second release transverse pipe, the stripper inner piston, the stripper piston rod and the stripper top block move together to reset under the action of the stripper spring, so that the stripper top block is separated from the outer auxiliary limiting plate, and the stripper cylinder body can continue to smoothly lift together with the grabbing and releasing frame, the mechanical arm can complete follow-up actions.
It should be emphasized that, since the manipulator needs to move, in order to prevent interference, there should be enough margin left for the length of the material-removing air pipe, there should be enough margin left for the length of the second oil pipe, the material-removing air pipe may be a common air cylinder air pipe with a certain deformability, such as a metal corrugated pipe, an elastic rubber pipe or a plastic hose, etc., and the second oil pipe may be a common oil cylinder oil pipe with a certain deformability, such as a metal corrugated pipe, an elastic rubber pipe or a plastic hose, etc., to ensure the normal movement of the manipulator. Although the above is common knowledge in the field of air cylinders, oil cylinders and manipulators, the emphasis is still placed on the above.
The plate releasing cylinder is provided with an auxiliary sliding rod 84, the auxiliary sliding rod is connected with the grabbing and placing frame in a sliding mode, the sliding direction of the auxiliary sliding rod is vertical, and the plate releasing cylinder is arranged in a grabbing and placing mechanism: the lower end of the auxiliary sliding rod is higher than the highest point of the elastic sucker. The auxiliary slide rod can assist in guiding and increase the stability of the plate-removing cylinder body in the up-and-down moving process.
Claims (6)
1. A feeding system is characterized by comprising a material rack, a mechanical arm and a conveying belt, wherein the material rack comprises a vertical guide frame and an electric lifting table arranged at the bottom in the vertical guide frame, and a lifting material table for stacking plate materials is arranged at the top of the electric lifting table;
the manipulator comprises a lifting rotating shaft, a base station fixed with the lifting rotating shaft and two grabbing and releasing mechanisms arranged on the base station, wherein the lifting rotating shaft is vertically arranged, the two grabbing and releasing mechanisms are symmetrically arranged along the axis center of the lifting rotating shaft, and each grabbing and releasing mechanism comprises a grabbing and releasing frame, a collecting air pipe with two closed ends and a plurality of elastic suckers with downward openings;
in a pick and place mechanism: the elastic sucker is arranged on the grabbing frame through a sucker connecting rod, the elastic sucker is communicated with the collecting air pipe through a branch air pipe, the collecting air pipe is provided with a collecting air hole, the collecting air hole is provided with a collecting exhaust one-way valve, the grabbing frame is provided with a first release transverse pipe, a first release inlet pipe and a first release cylinder body, the side wall of the first release transverse pipe is provided with a first side wall inlet hole, one end of the first release inlet pipe is communicated with the first side wall inlet hole, the other end of the first release inlet pipe is communicated with the collecting air pipe, the first release transverse pipe is internally provided with a first transverse pipe piston used for sealing the first side wall inlet hole, the first release cylinder body is internally provided with a first release inner piston matched with the first release cylinder body in a sliding and sealing manner, the sliding direction of the first release inner piston is horizontal, the first release inner piston divides the inner part of the first release cylinder body into a first release acting cavity and a first release adjusting cavity communicated with the atmosphere, the first release inner piston is, a first release limiting body used for contacting the first release inner piston is arranged in the first release acting cavity;
still include two and grab the blanking mechanism of putting mechanism one-to-one, the conveyer belt includes carriage and two electric conveyor who arranges side by side, in the mechanism and the blanking mechanism are put to the grabbing that correspond: the blanking mechanism comprises an unlocking compression leg and a blanking cylinder body arranged between two electric conveyor belts, the unlocking compression leg is fixed at the bottom of the grabbing and placing frame, a blanking inner piston matched with the blanking cylinder body in a sliding and sealing mode is arranged in the blanking cylinder body, the sliding direction of the piston in the blanking is vertical, the inner part of the blanking cylinder body is divided into a blanking action cavity and a blanking adjustment communicated with the atmosphere by the piston in the blanking, a blanking upper stop body used for contacting the inner piston in the blanking is arranged in the blanking adjustment cavity, a blanking spring and a blanking lower stop body used for contacting the inner piston in the blanking are arranged in the blanking action cavity, the upper end of the blanking spring is contacted with the inner piston in the blanking, the lower end of the blanking spring is contacted with the blanking cylinder body, a blanking piston rod penetrating through the blanking adjustment cavity is arranged on the inner piston in the blanking, a contact block used for being pressed by, The first oil pipe and the first release action cavity are filled with hydraulic oil, the contact block and the unlocking compression leg form a moving contact structure together, when the blanking inner piston contacts the blanking upper stop body, the blanking inner piston is separated from the blanking lower stop body, the first release inner piston contacts the first release limiting body, the first side wall inlet hole is sealed by the first transverse pipe piston, when the blanking inner piston contacts the blanking lower stop body, the blanking inner piston is separated from the blanking upper stop body, and the first side wall inlet hole is communicated with the interior of the first release transverse pipe;
when the unlocking pressing column in one movable contact structure is contacted with the contact block, the unlocking pressing column in the other movable contact structure is separated from the contact block.
2. A loading system according to claim 1, wherein said first release acting chamber, first release adjusting chamber and first release cross pipe are arranged in sequence along the axial direction of the first release cross pipe, in a blanking cylinder: the blanking action cavity is positioned below the blanking adjusting cavity.
3. A loading system according to claim 1, wherein the conveyor belt is horizontal in the conveying direction, the top surfaces of the contact blocks are at a height higher than the highest point of the motor-driven conveyor belt, the top surfaces of the two contact blocks are flush, the contact blocks are cylindrical, and in a moving contact configuration: the unlocking pressing column is coaxially arranged with the contact block.
4. A loading system according to claim 1, wherein at the respective pick and place mechanism and blanking mechanism: when the piston contacts the blanking lower stop body in the blanking, the distance between the bottom of the elastic sucker and the conveying belt is less than or equal to 50 mm.
5. A feeding system as claimed in claim 1, 2, 3 or 4, wherein an outer auxiliary cylinder body is arranged on the feeding frame, an outer auxiliary limiting plate is arranged above the outer auxiliary cylinder body, an outer auxiliary inner piston in sliding sealing fit with the outer auxiliary cylinder body is arranged in the outer auxiliary cylinder body, the sliding direction of the outer auxiliary inner piston is vertical, the outer auxiliary inner piston divides the inner part of the outer auxiliary cylinder body into an outer auxiliary acting cavity and an outer auxiliary adjusting cavity communicated with the atmosphere, a plurality of outer auxiliary piston rods penetrating through the outer auxiliary adjusting cavity are arranged on the outer auxiliary inner piston, the upper end of each outer auxiliary piston rod is connected with the outer auxiliary limiting plate, an outer auxiliary limiting column for contacting the top of the outer auxiliary cylinder body is arranged on each outer auxiliary limiting plate, and the outer auxiliary limiting plate, the outer auxiliary adjusting cavity and the outer auxiliary acting cavity are sequentially arranged from top to bottom;
grab and put mechanism still including taking off the board cylinder body and being used for the jack-up to assist the board kicking block that takes off of limiting plate outward, in a grabbing and putting mechanism: the demoulding cylinder body is internally provided with a demoulding inner piston which is in sliding seal fit with the demoulding cylinder body, the sliding direction of the demoulding inner piston is horizontal, the demoulding inner piston divides the demoulding cylinder body into a demoulding action cavity and a demoulding adjustment cavity communicated with the atmosphere, the demoulding action cavity is internally provided with a demoulding spring and a demoulding limiting body used for contacting the demoulding inner piston, one end of the demoulding spring is connected with the demoulding inner piston, the other end of the demoulding spring is connected with the demoulding cylinder body, the demoulding inner piston is provided with a plurality of demoulding piston rods penetrating through the demoulding adjustment cavity, the demoulding piston rods are connected with a demoulding top block, the demoulding cylinder body is positioned above the grabbing and placing frame, the demoulding cylinder body is provided with a demoulding pressure rod used for pressing down a plate, the demoulding pressure rod is in sliding connection with the grabbing and placing frame, the sliding direction of the demoulding pressure rod is vertical, the collecting air hole is communicated with the demoulding action cavity through a demoulding air pipe, the grabbing and placing frame is provided with a second release transverse pipe, a second release inlet pipe and, a second lateral wall inlet hole is formed in the lateral wall of a second release transverse pipe, one end of the second release inlet pipe is communicated with the second lateral wall inlet hole, the other end of the second release inlet pipe is communicated with a stripping gas pipe, a second transverse pipe piston used for sealing the second lateral wall inlet hole is arranged in the second release transverse pipe, a second release inner piston matched with a second release cylinder body in a sliding and sealing mode is arranged in a second release cylinder body, the sliding direction of the second release inner piston is horizontal, the second release inner piston divides the interior of the second release cylinder body into a second release action cavity and a second release adjustment cavity communicated with the atmosphere, a second release piston rod used for driving the second transverse pipe piston to slide is arranged on the second release inner piston, a second release limiting body used for contacting the second release inner piston is arranged in the second release adjustment cavity, an outer auxiliary action cavity is communicated with the second release action cavity through a second oil pipe, and the second release action cavity are all filled with hydraulic oil, when the elastic sucker sucks the plates stacked on the lifting material platform, the inner stripper piston is separated from the stripper limiting body, the vertical projection of the stripper top block falls within the vertical projection range of the outer auxiliary limiting plate, the stripper top block is located below the outer auxiliary limiting plate, the second side wall inlet hole is sealed by a second transverse pipe piston, when the distance between the outer auxiliary limiting column and the top of the outer auxiliary cylinder body is larger than X millimeters, the vertical projection of the stripper top block is separated from the vertical projection of the outer auxiliary limiting plate, X is larger than or equal to 20, X is smaller than or equal to 50, the second side wall inlet hole is communicated with the inner portion of a second release transverse pipe, the second release inner piston is separated from the second release limiting body, and when the stripper cylinder body is in contact with the grabbing frame, the height of the lowest point of the stripper pressure rod is lower than the height of the elastic sucker.
6. A feeding system as claimed in claim 5, wherein the stripping cylinder is provided with an auxiliary slide bar, the auxiliary slide bar is slidably connected with the pick-and-place frame, the sliding direction of the auxiliary slide bar is vertical, and in a pick-and-place mechanism: the lower end of the auxiliary sliding rod is higher than the highest point of the elastic sucker.
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| CN201911092444.1A CN110803531B (en) | 2019-11-11 | 2019-11-11 | Feeding system |
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| CN201911092444.1A CN110803531B (en) | 2019-11-11 | 2019-11-11 | Feeding system |
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| CN110803531B CN110803531B (en) | 2020-11-27 |
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| CN111924233A (en) * | 2020-09-04 | 2020-11-13 | 杭州骏远生物科技有限公司 | Automatic packaging and processing technology of mask box |
| CN113636342A (en) * | 2021-08-31 | 2021-11-12 | 苏州天准科技股份有限公司 | Feeding device, feeding system and feeding method |
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| CN110803531B (en) | 2020-11-27 |
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Effective date of registration: 20220118 Address after: 215600 No. 1, Fuxin Road, yangshe Town, Zhangjiagang City, Suzhou City, Jiangsu Province (in Shazhou Institute of Technology) Patentee after: Zhangjiagang shagong Dongli Electromechanical Equipment Manufacturing Co.,Ltd. Address before: 310008 Fenghuang Beiyuan 4-5-602, Qiutao Road, Shangcheng District, Hangzhou City, Zhejiang Province Patentee before: Wang Tiexia |