阅读说明：本技术 上料机器人拆剁上料柔性系统及拆剁上料方法 (Flexible system for chopping and feeding of feeding robot and chopping and feeding method ) 是由 马立廷 高强 刘东海 孙建丽 郑海涛 于 2019-09-18 设计创作，主要内容包括：一种上料机器人拆剁上料柔性系统,包括上料机器人、料框装置部分、放料台和夹具装置；所述夹具装置包括夹持固定架、螺栓、弹簧、吸盘、夹具接近开关和夹具接近开关接触件；所述螺栓穿过夹持固定架且可以在夹持固定架上滑动,在螺栓的另一端设置吸盘；所述弹簧套接在夹持固定架和吸盘之间的螺栓上；所述夹具接近开关接触件设在螺栓上,夹具接近开关设置在夹持固定架上；所述夹持固定架下压弹簧或弹簧复位时,夹具接近开关接触件进入与脱离夹具接近开关的感应范围来实现感应的通断。本发明系统柔性好,能够简单便捷的实现对工件识别和夹取,适用于多种产品。(A flexible system for chopping and feeding a feeding robot comprises the feeding robot, a material frame device part, a material placing table and a clamp device; the clamp device comprises a clamping fixing frame, a bolt, a spring, a sucker, a clamp proximity switch and a clamp proximity switch contact element; the bolt penetrates through the clamping fixing frame and can slide on the clamping fixing frame, and a sucking disc is arranged at the other end of the bolt; the spring is sleeved on the bolt between the clamping fixing frame and the sucker; the clamp proximity switch contact piece is arranged on the bolt, and the clamp proximity switch is arranged on the clamping fixing frame; when the clamping fixing frame presses the spring downwards or the spring resets, the contact piece of the clamp proximity switch enters and is separated from the sensing range of the clamp proximity switch to realize the on-off of sensing. The system has good flexibility, can simply and conveniently realize workpiece identification and clamping, and is suitable for various products.)

1. A flexible system for chopping and feeding a feeding robot comprises a feeding robot (1), a material frame device part (2), a material placing table (3) and a clamp device (4); the clamp device (4) comprises a clamping fixed frame (4-1), a bolt (4-2), a spring (4-3), a sucker (4-4), a clamp proximity switch (4-7) and a clamp proximity switch contact piece (4-8); the bolt (4-2) penetrates through the clamping fixed frame (4-1) and can slide on the clamping fixed frame (4-1), and a sucker (4-4) is arranged at the other end of the bolt (4-2); the spring (4-3) is sleeved on the bolt (4-2) between the clamping fixed frame (4-1) and the sucking disc (4-4); the clamp proximity switch contact piece (4-8) is arranged on the bolt (4-2), and the clamp proximity switch (4-7) is arranged on the clamping fixing frame (4-1); when the clamping fixing frame (4-1) presses the spring (4-3) downwards or the spring (4-3) resets, the clamp proximity switch contact piece (4-8) enters or departs from the sensing range of the clamp proximity switch (4-7) to achieve on-off sensing.

2. The flexible system for robotic chop and feed loading of the feeder of claim 1, further comprising: the clamp device (4) is also provided with a sucker connecting pipe (4-5) and a vacuum generator (4-9); one end of the sucker connecting pipe (4-5) is communicated with the sucker (4-4), and the other end of the sucker connecting pipe is communicated with the vacuum generator (4-9); the vacuum generator (4-9) is provided with a pressure detection component.

3. The flexible system for robotic chop and feed loading of the feeder of claim 1, further comprising: it also comprises a repositioning device (5); the repositioning device (5) comprises a repositioning fixing frame (5-1) and a repositioning frame (5-2); the repositioning fixing frame (5-1) comprises a repositioning chassis (5-1-1) and a supporting plate (5-1-2) fixed on the repositioning chassis, and the upper part of the supporting plate (5-1-2) is connected with a repositioning frame (5-2); the shape in the repositioning frame (5-2) is matched with the appearance of the material and is obliquely arranged.

4. The flexible system for robotic chop and feed according to claim 1, 2 or 3, wherein: the material frame device part (2) comprises a material frame (2-1), a material frame positioning module (2-2), a material frame in-place detection module (2-3) and a travelling wheel (2-4); the bottom of the material frame (2-1) is provided with a traveling wheel (2-4); the material frame positioning module (2-2) comprises a material frame positioning plate (2-2-1), a material frame wheel groove (2-2-2) and a material frame limiting block (2-2-3); the material frame wheel groove (2-2-2) is arranged on the material frame positioning plate (2-2-1), and the material frame limiting block (2-2-3) is arranged at the rear end of the material frame wheel groove (2-2-2); the walking wheels (2-4) are matched with the material frame wheel grooves (2-2-2), and the material frame limiting blocks (2-2-3) limit the positions of the walking wheels (2-4) on the material frame wheel grooves (2-2-2).

5. The flexible system for robotic chop and feed loading of the feeder of claim 4, wherein: the material frame in-place detection module (2-3) comprises a detection device fixing frame (2-3-1), a clamp (2-3-2), a clamping groove (2-3-3), a material frame detection proximity switch fixing plate (2-3-4), a material frame detection proximity switch (2-3-5), a material frame fixing block (2-3-6), a clamping block (2-3-7) and a material frame detection proximity switch contact element (2-3-8); the detection device fixing frame (2-3-1) is arranged on the material frame positioning plate (2-2-1); a fixture (2-3-2) is arranged on the detection device fixing frame (2-3-1), a material frame detection proximity switch fixing plate (2-3-4) is arranged on one side of the fixture (2-3-2), and a material frame detection proximity switch (2-3-5) is arranged on the material frame detection proximity switch fixing plate (2-3-4); the clamping groove (2-3-6) is arranged at the front end of the clamping apparatus (2-3-2) and is matched with the clamping apparatus (2-3-7) for use; the material frame detection proximity switch (2-3-5) and the material frame detection proximity switch contact piece (2-3-8) are arranged oppositely and used in a matched mode.

6. A chop feeding method of a feeding robot, which adopts the chop feeding flexible system according to any one of claims 1-5, characterized in that: A. placing the workpiece into the material frame device part (2);

B. the feeding robot (1) moves to a working position and drives the clamp device (4) to press downwards, and the pressed sucker sucks the work material from the material frame device part (2); in the pressing process, the clamp proximity switch (4-7) is communicated with the clamp proximity switch contact piece (4-8) in an induction manner; the feeding robot (1) lifts up and conveys the workpiece to the discharging platform (3).

7. The chop-breaking feeding method of the feeding robot according to claim 6, characterized in that: after the clamp proximity switch (4-7) and the clamp proximity switch contact piece (4-8) are communicated in an induction mode, the vacuum generator (4-9) extracts air in the sucker (4-4).

8. The chop-breaking feeding method of the feeding robot according to claim 6, characterized in that: in the step (1), after a workpiece is placed in the material frame (2-1), the workpiece is pushed into a material frame wheel groove (2-2-2) through a traveling wheel (2-4) and limited by a material frame limiting block (2-2-3); the material frame detection proximity switch (2-3-5) and the material frame detection proximity switch contact piece (2-3-8) generate induction, and the material frame in-place detection module (2-3) identifies the type of the material frame (2-1) and feeds the material frame back to the feeding robot.

Technical Field

The invention relates to a flexible chopping and feeding system and a chopping and feeding method of a feeding robot, and belongs to the technical field of object chopping.

Background

With the continuous development of modern industry, it has become the current trend to adopt the feeding robot to replace the manual work to carry out heavy physical labor, wherein the chopping robot is located at the foremost end of the production line, so that workers are liberated from dangerous and seriously polluted workshops, and meanwhile, the chopping efficiency and the chopping precision are greatly improved.

In present tear open chop system, what adopt is that visual system combines together with the material loading robot to tear open the technical scheme who chops, at the discernment work piece, tear open the in-process that chops, in order to reach the purpose of accurate positioning and accurate operation, need a plurality of cameras to establish visual system to can adapt to multiple product, the operation is chopped apart to tearing of multiple occasion, especially to unordered work piece setting environment, will accurate discernment work piece, tear open chop, the material loading operation, need very complicated intelligent system, often can cause the debugging difficulty, the dilemma of hardware cost height. Therefore, the existing chopping technology mostly adopts a programming teaching scheme to carry out chopping operation, the scheme is simple in structure and relatively low in hardware cost, but various problems exist in the practical application process, firstly, products must be placed orderly, otherwise, a feeding robot cannot correctly identify workpieces, a teaching program is operated, and an operation program cannot be correctly executed. Besides, the position of the chopping is required to be programmed one by one, the programming workload is large, the program execution requirement is very strict, the product in chopping is fixed, and once the product is changed, the teaching task is required to come all over.

Disclosure of Invention

The system aims to overcome the defects of the prior art and provides the flexible feeding system which is suitable for the feeding robot for chopping various products, can simply and conveniently realize workpiece identification and workpiece clamping.

The method aims to overcome the defects of the prior art, and provides the method for the feeding robot to chop and feed, which is simple and convenient to operate, does not adopt a camera system and realizes workpiece identification and workpiece clamping.

The problems of the invention are solved by the following technical scheme:

a flexible system for chopping and feeding a feeding robot comprises the feeding robot, a material frame device part, a material placing table and a clamp device; the clamp device comprises a clamping fixing frame, a bolt, a spring, a sucker, a clamp proximity switch and a clamp proximity switch contact element; the bolt penetrates through the clamping fixing frame and can slide on the clamping fixing frame, and a sucking disc is arranged at the other end of the bolt; the spring is sleeved on the bolt between the clamping fixing frame and the sucker; the clamp proximity switch contact piece is arranged on the bolt, and the clamp proximity switch is arranged on the clamping fixing frame; when the clamping fixing frame presses the spring downwards or the spring resets, the contact piece of the clamp proximity switch enters and is separated from the sensing range of the clamp proximity switch to realize the on-off of sensing.

The flexible feeding system is characterized in that the feeding robot chops and feeds the materials, and the clamp device is also provided with a sucker connecting pipe and a vacuum generator; one end of the sucker connecting pipe is communicated with the sucker, and the other end of the sucker connecting pipe is communicated with the vacuum generator; the vacuum generator is provided with a pressure detection component.

The flexible feeding system for the feeding robot for chopping and feeding comprises a repositioning device; the repositioning device comprises a repositioning fixing frame and a repositioning frame; the repositioning fixing frame comprises a repositioning chassis and a supporting plate fixed on the repositioning chassis, and a repositioning frame is connected to the upper part of the supporting plate; the shape in the repositioning frame is matched with the appearance of the material and is obliquely arranged.

The feeding robot chops and feeds the flexible system, and the material frame device part comprises a material frame, a material frame positioning module, a material frame in-place detection module and a travelling wheel; the bottom of the material frame is provided with a travelling wheel; the material frame positioning module comprises a material frame positioning plate, a material frame wheel groove and a material frame limiting block; the material frame wheel groove is arranged on the material frame positioning plate, and the material frame limiting block is arranged at the rear end of the material frame wheel groove; the walking wheels are matched with the material frame wheel grooves, and the material frame limiting blocks limit the positions of the walking wheels on the material frame wheel grooves.

The material frame in-place detection module comprises a detection device fixing frame, a fixture, a clamping groove, a material frame detection proximity switch fixing plate, a material frame detection proximity switch, a material frame fixing block, a clamping block and a material frame detection proximity switch contact element; the detection device fixing frame is arranged on the material frame positioning plate; a fixture is arranged on the detection device fixing frame, a material frame detection proximity switch fixing plate is arranged on one side of the fixture, and a material frame detection proximity switch is arranged on the material frame detection proximity switch fixing plate; the clamping groove is arranged at the front end of the clamping apparatus and is matched with the clamping block for use; the material frame detection proximity switch and the material frame detection proximity switch contact piece are oppositely arranged and are matched for use.

A chopping and feeding method of a feeding robot adopts the chopping and feeding flexible system, and comprises the following steps: A. placing the workpiece into the material frame device part;

B. the feeding robot moves to a working position and drives the clamp device to press downwards, and the downwards-pressed sucker sucks the work materials from the material frame device; in the pressing process, the clamp proximity switch and the clamp proximity switch contact piece are communicated in an induction mode; the feeding robot lifts up and conveys the workpiece to the discharge table.

According to the chopping and feeding method of the feeding robot, after the clamp proximity switch is communicated with the clamp proximity switch contact element in an induction mode, the vacuum generator extracts air in the sucker.

According to the chopping and feeding method of the feeding robot, in the step, after a workpiece is placed in a feeding frame, the workpiece is pushed into a wheel groove of the feeding frame through a travelling wheel and is limited by a limiting block of the feeding frame; the material frame detection proximity switch and the material frame detection proximity switch contact piece generate induction, and the material frame in-place detection module identifies the type of the material frame and feeds the material frame back to the feeding robot.

The clamping device in the system can simply and conveniently judge whether the workpiece exists or not, clamp the workpiece, and accurately judge whether the workpiece is clamped or not after the workpiece is clamped so as to avoid the situations of empty clamping, workpiece falling and the like in the process of clamping the workpiece; the clamping component of the clamp device takes the first proximity switch as the identification element, has high reaction speed and high identification precision, is not easily influenced by the ambient temperature, and plays an important role in the process of judging whether a workpiece exists or not.

The material frame device part in the system can realize storage, transportation and material frame identification of workpieces, and has convenient transportation and accurate identification; the feeding robot moves the workpiece to a specified position according to a pre-designed program, so that the operation precision is high, and the automation degree is good. In addition, the repositioning device is additionally arranged, the workpiece can be corrected by utilizing the gravity of the workpiece, errors caused by the position of a material frame, the placement of the workpiece and the like are eliminated through correction, and the product placement precision is effectively ensured.

The system has good flexibility, can simply and conveniently realize workpiece identification and clamping, and is suitable for various products.

According to the method, the previous camera system is not adopted for material frame identification, so that the technical difficulty is greatly reduced, and when the clamp device is used for grabbing workpieces, the proximity switch is used for identification, so that the identification speed of the whole system is high, the identification is accurate, and the workpiece carrying time is effectively shortened.

Drawings

The invention will be further explained with reference to the drawings.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the wrist and clamp apparatus;

FIG. 3 is a schematic view of a part of the structure of the material frame device;

FIG. 4 is a schematic structural diagram of a material frame in-position detection module;

FIG. 5 is a schematic view of the engagement of the repositioning device with the workpiece;

FIG. 6 is a schematic structural view of the relocating device;

FIG. 7 is a flow chart of the operation of the system;

fig. 8 is an electrical schematic diagram of a loading control circuit of the loading robot.

The reference numbers in the figures denote: 1. the automatic feeding device comprises a feeding robot, 1-1 parts of a base, 1-2 parts of a machine body, 1-3 parts of an elbow, 1-4 parts of a cross beam, 1-5 parts of a wrist, 2 parts of a material frame device, 2-1 parts of a material frame, 2-2 parts of a material frame positioning module, 2-2-1 parts of a material frame positioning plate, 2-2-2 parts of a material frame wheel groove, 2-2-3 parts of a material frame limiting block, 2-3 parts of a material frame detection module, 2-3-1 parts of a detection device fixing frame, 2-3-2 parts of a fixture, 2-3-3 parts of a clamping groove, 2-3-4 parts of a material frame detection proximity switch fixing plate, 2-3-5 parts of a material frame detection proximity switch, 2-3-6 parts of a material frame fixing block, and 2-3-7 parts of a fixture block, 2-3-8 of a material frame detection proximity switch contact piece, 2-4 of a walking wheel, 3 of a discharge table, 4 of a clamp device, 4-1 of a clamping fixing frame, 4-2 of a bolt, 4-3 of a spring, 4-4 of a sucker, 4-5 of a connecting pipe, 4-6 of a clamp proximity switch fixing plate, 4-7 of a clamp proximity switch, 4-8 of a clamp proximity switch contact piece, 4-9 of a vacuum generator, 5 of a repositioning device, 5-1 of a repositioning frame, 5-1-1 of a repositioning chassis, 5-1-2 of a supporting plate, 5-2 of a repositioning frame, 5-2-1 of a repositioning bottom plate, 5-2-2 of a side plate I, 5-2-3 of a repositioning side plate II, 5-3, a connecting plate, 6, a workpiece and a PLC control chip.

Detailed Description

Referring to fig. 1 and 8, the present invention includes a feeding robot 1, a material frame device portion 2, a jig device 4, a relocating device 5, and a discharge table 3; the feeding robot 1 can adopt the existing feeding robot structure and comprises a base 1-1, a machine body 1-2, an elbow 1-3, a cross beam 1-4, a wrist 1-5 and a feeding control circuit. Referring to fig. 3, the material frame device part 2 of the flexible system for chopping and feeding of the feeding robot comprises a material frame 2-1; the material frame 2-1 is a frame-shaped structure and is used for containing a workpiece 6, and four traveling wheels 2-4 are arranged at the bottom of the material frame. The material frame positioning module 2-2 comprises a material frame positioning plate 2-2-1, a material frame wheel groove 2-2-2 and a material frame limiting block 2-2-3; the material frame positioning plate 2-2-1 is fixed on the ground, and a material frame wheel groove 2-2-2 is formed in the material frame positioning plate 2-2-1 and used for a traveling wheel 2-4 to travel in; the rear end of the material frame wheel groove 2-2-2 is provided with a material frame limiting block 2-2-3 which is used for positioning and limiting the position of the travelling wheel 2-4 in the material frame wheel groove 2-2-2. After the material frame 2-1 is placed into the workpiece 6, an operator pushes the material frame 2-1 to the material frame positioning module 2-2, and the traveling wheels 2-4 travel backwards along the material frame wheel grooves 2-2-2 until the traveling wheels contact the material frame limiting blocks 2-2-3, stop advancing and are limited; at the moment, the whole material frame 2-1 is completely arranged on the material frame positioning plate 2-2-1, so that the positioning of the material frame is realized.

Referring to fig. 4, the material frame device part 2 of the flexible system for chopping and feeding of the feeding robot comprises a material frame in-place detection module 2-3; the material frame in-place detection module 2-3 comprises a detection device fixing frame 2-3-1, a clamp 2-3-2, a clamping groove 2-3-3, a material frame detection proximity switch fixing plate 2-3-4, a material frame detection proximity switch 2-3-5, a material frame fixing block 2-3-6, a clamping block 2-3-7 and a material frame detection proximity switch contact element 2-3-8. The detection device fixing frame 2-3-1 is fixedly connected to the material frame positioning plate 2-2-1, a fixture 2-3-2 is arranged on the detection device fixing frame 2-3-1, a material frame detection proximity switch fixing plate 2-3-4 is arranged on the fixture 2-3-2, and a material frame detection proximity switch 2-3-5 is arranged on the material frame detection proximity switch fixing plate 2-3-4. The front end of the clamp 2-3-2 is provided with a clamping groove 2-3-6, the material frame 2-1 is provided with a clamping block 2-3-7, and the clamping groove 2-3-6 is matched with the clamping block 2-3-7 for use, so that the material frame is fixed on the material frame positioning plate 2-2-1. The contact element 2-3-8 of the material frame detection contact proximity switch is arranged on the material frame 2-1 and corresponds to the material frame detection proximity switch 2-3-5; the material frame detection proximity switches 2-3-5 and the material frame detection contact proximity switch contact elements 2-3-8 can be arranged into a plurality of groups, preferably 6 groups or more; thus, the representation of different material frames can be realized by changing the existence of the contact element 2-3-8 of the material frame detection contact switch, so that the material frame 2-1 is identified; because different workpieces 6 to be processed can be accommodated in different material frames, under the recognition action of the material frame detection proximity switches 2-3-5, the control chip PLC can call different programs to clamp different workpieces 6. For example, the bezel detection proximity switches 2-3-5 and bezel detection proximity switch contacts 2-3-8 are arranged in 6 sets, and the bezel detection proximity switch contacts 2-3-8 adopt the settings of groups 1-3, 5 and groups 4, 6 which are not, and the settings represent the characterization of a certain bezel.

Referring to fig. 2, the clamp device 4 in the flexible chopping and feeding system of the feeding robot comprises a clamping fixing frame 4-1, a bolt 4-2, a spring 4-3, a suction cup 4-4, a clamp proximity switch fixing plate 4-6, a clamp proximity switch 4-7 and a clamp proximity switch contact element 4-8. The clamping fixing frame 4-1 is connected with a wrist part 1-5 of the feeding robot 1, a bolt 4-2 penetrates through the clamping fixing frame 4-1, and the clamping fixing frame 4-1 can slide on the bolt 4-2; the bolts 4-2 are preferably provided in four. The end part of the screw rod of the bolt 4-2 is connected with the sucker 4-4, and the screw rod between the clamping fixed frame 4-1 and the sucker 4-4 is sleeved with the spring 4-3. The clamp proximity switch contact element 4-8 is arranged on the head of the screw rod 4-2, and the clamp proximity switch 4-7 is fixed on the clamping fixing frame 4-1 through the clamp proximity switch fixing plate 4-6; when the clamping fixing frame 4-1 presses the spring 4-3 downwards or the spring 4-3 bounces to reset, the clamp proximity switch 4-7 and the clamp proximity switch contact element 4-8 realize inductive on-off; as best shown in fig. 2, when the spring is reset, the position of the clamp proximity switch 4-7 is higher than the position of the clamp proximity switch contact 4-8, and the clamp proximity switch 4-7 is disconnected from the clamp proximity switch contact 4-8; when the spring is pressed down, the clamp proximity switch 4-7 is in inductive communication with the clamp proximity switch contact 4-8. The clamping device 4 is also provided with a sucker connecting pipe 4-5 and a vacuum generator 4-9. One end of the sucker connecting pipe 4-5 is communicated with the sucker 4-4, and the other end of the sucker connecting pipe is communicated with the vacuum generator 4-9; the vacuum generator 4-9 is provided with a pressure detection part; the vacuum generator 4-9 operates when the clamp proximity switch 4-7 is induced to the clamp proximity switch contact 4-8. The vacuum generator 4-9 can suck air out of the sucker 4-4 through the sucker connecting pipe 4-5 to improve the suction force of the sucker 4-4 and prevent the workpiece 6 from falling off in the transportation process; on the other hand, the state of the workpiece 6 sucked by the suction cup 4-4 can be fed back by the pressure detection part. After the structure is adopted, when the clamp device 4 clamps the workpiece 6, the wrist parts 1-5 of the feeding robot 1 drive the suckers to be positioned above the workpiece 6 and press down; after the sucker 4-4 is contacted with the workpiece 6, the air of the sucker 4-4 is compressed, and a negative pressure space is formed between the sucker 4-4 and the workpiece 6; the clamping fixing frame 4-1 is driven by the wrist part 1-5 of the feeding robot 1 to be continuously pressed downwards, the clamping fixing frame 4-1 slides on the bolt 4-2, the spring 4-3 is compressed, the clamp proximity switch 4-7 is in inductive communication with the clamp proximity switch contact element 4-8, and the clamp proximity switch 4-7 outputs a signal, so that the workpiece 6 exists at the moment; simultaneously, the vacuum generator 4-9 starts to work, and air in the sucker 4-4 is further extracted; after the feeding robot 1 receives a signal of a clamp proximity switch 4-7, a wrist part 1-5 of the feeding robot lifts a workpiece 6 upwards, and the workpiece 6 is lifted under the action of suction force of a suction disc 4-4 and then is sent to a subsequent repositioning device; when the wrist part 1-5 is lifted upwards, the spring 4-3 is reset, and the clamp proximity switch 4-7 is disconnected from the clamp proximity switch contact part 4-8.

Referring to fig. 5 and 6, the flexible chopping and feeding system of the feeding robot is provided with a repositioning device, wherein the repositioning device 5 comprises a repositioning fixing frame 5-1, a repositioning frame 5-2 and a connecting plate 5-5. The repositioning fixing frame 5-1 comprises a repositioning chassis 5-1-1 and a supporting plate 5-1-2. The repositioning chassis 5-1-1 is fixed on the ground, the support plate 5-1-2 is fixed on the repositioning chassis 5-1-1, the upper end of the support plate 5-1-2 is fixed with the connecting plate 5-5, and the connecting plate 5-5 is obliquely arranged. The repositioning frame 5-2 is a structure matched with the appearance of the part formed by a repositioning bottom plate 5-2-1, a repositioning side plate I5-2-2 and a repositioning side plate II 5-2-3, and a repositioning bottom plate 5-4 of the repositioning frame 5-2 is fixedly connected with a connecting plate 5-3. In the use process, as the appearance requirements of different workpieces 6 are required to be met, the repositioning frames 5-2 with different sizes and structures are required to meet the different workpieces 6; when replacing, the repositioning frame 5-2 above the connecting plate 5-3 is detached, and the repositioning frame 5-2 with another size and structure is connected with the connecting plate 5-3. After the structure is adopted, the feeding robot 1 drives the clamp device 4 to move above the repositioning device 5, the vacuum generator 4-9 is controlled to stop working, the workpiece 6 below the sucker 4-4 falls into the repositioning frame 5-2 under the action of gravity, and the workpiece 6 can automatically swing in the repositioning frame 5-2 due to the fact that the repositioning frame 5-2 is obliquely arranged along with the connecting plate 5-3, and the error of clamping the workpiece 6 before is eliminated.

Referring to fig. 1, in order to ensure the chopping efficiency, another material frame device part 2 is arranged at the other side of the feeding robot 1 to ensure that the feeding robot 1 can seamlessly join after the workpiece 6 of the material frame 2-1 is completely carried, and the workpiece 6 of another material frame is continuously carried.

Referring to fig. 8, the feeding control circuit of the present invention includes a control chip PLC; the signal output end of the control chip PLC is respectively connected with the base 1-1, the machine body 1-2, the elbow 1-3, the cross beam 1-4 and the wrist 1-5, so that the purposes of controlling the rotation of the machine body 1-2, the rotation of the elbow 1-3 and the rotation of the wrist 1-5 of the loading robot 1 are achieved; the signal input end of the control chip PLC is respectively connected with the clamp proximity switch 4-7 and the material frame detection proximity switch 2-3-5; the clamp proximity switches 4 to 7 transmit the judgment information of the presence or absence of the workpiece 6 to the control chip PLC, and the control chip PLC clamps the workpiece 6 or moves to the next position to clamp the next workpiece 6 according to a set program; the material frame detection proximity switches 2-3-5 transmit the read material frame information to the control chip PLC, and the control chip PLC decides which material frame clamping program to call according to the type of the material frame.

The process of the method comprises the following steps: (1) referring to fig. 7 and 8, the control chip PLC is initialized, after the material frame 2-1 is in place and the material frame 2-1 is placed into a workpiece, an operator pushes the material frame 2-1 onto the material frame positioning module 2-2, and the traveling wheels 2-4 travel backwards along the material frame wheel grooves 2-2-2 until the traveling wheels contact the material frame limiting blocks 2-2-3 to stop advancing and are limited. The clamping device 2-3-2 enters the clamping groove 2-3-6 and is clamped by the clamping groove 2-3-6, the contact piece 2-3-8 of the material frame detection proximity switch reaches the use range of the material frame detection proximity switch 2-3-5, the material frame detection proximity switch 2-3-5 outputs the read result to the control chip PLC, and the control chip PLC calls different programs to perform clamping operation on different workpieces 6.

(2) The feeding robot 1 runs to a working position, and the wrist part 1-5 of the feeding robot 1 drives the sucking disc 4-4 to be positioned above the workpiece 6 and pressed downwards; after the sucker 4-4 contacts the workpiece, air of the sucker 4-4 is compressed, and a negative pressure space is formed between the sucker 4-4 and the workpiece 6; the clamping fixing frame 4-1 is driven by the wrist part 1-5 of the feeding robot 1 to be continuously pressed downwards, the clamping fixing frame 4-1 slides on the bolt 4-2, the spring 4-3 is compressed, the clamp proximity switch 4-7 is in inductive communication with the clamp proximity switch contact element 4-8, and the clamp proximity switch 4-7 outputs a signal, so that the workpiece 6 exists at the moment; simultaneously, the vacuum generator 4-9 starts to work, vacuum is formed between the suction cup 4-4 and the workpiece 6, and the suction cup 4-4 successfully sucks the workpiece 6; after the feeding robot 1 receives a signal of a clamp proximity switch 4-7, a wrist part 1-5 of the feeding robot lifts a workpiece 6 upwards, and the workpiece 6 is lifted under the action of suction force of a suction disc 4-4 and then is sent to a subsequent repositioning device; the vacuum generator pressure detection device of the vacuum generator 4-9 can input a set value of ' vacuum pressure ', when the actual vacuum pressure is higher than the set value ', the workpiece 6 falls off, the feeding robot 1 stops, and the operator waits for checking. When the actual vacuum pressure is lower than the "set value", the workpiece 6 is normally transported. When the wrist part 1-5 is lifted upwards, the spring 4-3 is reset, and the clamp proximity switch 4-7 is disconnected from the clamp proximity switch contact part 4-8.

(3) The feeding robot 1 drives the clamp device 4 to move above the repositioning frame, the vacuum generators 4-9 are controlled to stop working, the workpiece 6 under the suckers 4-4 falls into the repositioning frame under the action of gravity, and the workpiece 6 can automatically be aligned in the repositioning frame due to the fact that the repositioning frame is obliquely arranged along with the connecting plates 5-3, and errors of clamping the workpiece 6 are eliminated. By reading the values of the pressure detection components of the vacuum generators 4-9, the repositioning operation is verified to be completed if the values are zero, and is not completed if the values are greater than zero.

(4) After repositioning, the clamping device 4 clamps the workpiece 6 again and sends the workpiece to the upper part of the discharging table 3 to wait for the control chip to send a discharging signal, after the discharging signal is sent, the clamping device 4 releases the workpiece 6 to the discharging table 3 to complete the feeding operation, and meanwhile, the feeding robot 1 moves to the position of the next workpiece 6 to grab the next workpiece 6.