CN110683367A - Flexible system for chopping and feeding of feeding robot and chopping and feeding method - Google Patents

Abstract

A flexible system for dismantling, chopping, and feeding a feeding robot, comprising a feeding robot, a material frame device part, a feeding table and a fixture device; the fixture device includes a clamping fixture, a bolt, a spring, a suction cup, a fixture proximity switch and a fixture The contact part of the proximity switch; the bolt passes through the clamping fixture and can slide on the clamping fixture, and a suction cup is arranged on the other end of the bolt; the spring is sleeved on the bolt between the clamping fixture and the suction cup; The contact part of the clamp proximity switch is arranged on the bolt, and the clamp proximity switch is arranged on the clamping fixture; when the clamping fixture presses down the spring or the spring is reset, the contact part of the fixture proximity switch enters and leaves the induction of the fixture proximity switch. range to realize the on-off of the induction. The system of the invention has good flexibility, can realize the identification and clamping of workpieces simply and conveniently, and is suitable for various products.

Description

Feeding robot dismantling, chopping and feeding flexible system and dismantling, chopping and feeding method

technical field

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

Background technique

With the continuous development of modern industry, it has become an existing trend to use feeding robots instead of manual labor to perform heavy manual labor. Among them, the demolition and chopping robots are located at the forefront of the production line, liberating workers from dangerous and polluting workshops. At the same time, The cutting efficiency and cutting precision will be greatly improved.

In the current demolition and chopping system, most of the technical solutions used are the combination of the vision system and the feeding robot for demolition. A camera is used to form a vision system, so as to be able to adapt to the demolition and chopping operations of various products and occasions, especially for the disordered workpiece placement environment. Intelligent systems often cause difficulties in debugging and high hardware costs. For this reason, the current demolition technology mostly adopts the program of programming teaching for demolition operation. This solution has a simple structure and relatively low hardware cost, but there are various problems in the actual application process. First of all, the products must be placed neatly, otherwise, The loading robot will not be able to correctly identify the workpiece, run the teaching program, and will not be able to execute the operation program correctly. In addition, it is also necessary to program the positions of the chopping and chopping one by one. The programming workload is large, and the program execution requirements are very strict. The products in the chopping and chopping must be fixed. Once the product is replaced, the teaching work must be restarted from the beginning.

SUMMARY OF THE INVENTION

The purpose of the system of the present invention is to overcome the deficiencies of the prior art, and to provide a flexible system for unloading, chopping, and loading a feeding robot suitable for a variety of products, which can easily and conveniently realize workpiece identification and workpiece clamping.

The purpose of the method of the present invention is to overcome the deficiencies of the prior art, and to provide a method for unloading, chopping, and loading by a loading robot that is easy to operate, does not use a camera system, and realizes workpiece identification and workpiece clamping.

The problems described in the present invention are solved by the following technical solutions:

A flexible system for dismantling, chopping, and feeding a feeding robot, comprising a feeding robot, a material frame device part, a feeding table and a fixture device; the fixture device includes a clamping fixture, a bolt, a spring, a suction cup, a fixture proximity switch and a fixture The contact part of the proximity switch; the bolt passes through the clamping fixture and can slide on the clamping fixture, and a suction cup is arranged on the other end of the bolt; the spring is sleeved on the bolt between the clamping fixture and the suction cup; The contact part of the clamp proximity switch is arranged on the bolt, and the clamp proximity switch is arranged on the clamping fixture; when the clamping fixture presses down the spring or the spring is reset, the contact part of the fixture proximity switch enters and leaves the induction of the fixture proximity switch. range to realize the on-off of the induction.

The above-mentioned feeding robot disassembles the chopping and feeding flexible system, and the clamp device is further provided with a suction cup connecting pipe and a vacuum generator; one end of the suction cup connecting pipe is communicated with the suction cup, and the other end is communicated with the vacuum generator; the vacuum generator belt There are pressure detection parts.

The above-mentioned flexible system for dismantling, chopping, and feeding of the feeding robot also includes a repositioning device; the repositioning device includes a repositioning fixing frame and a repositioning frame; the repositioning fixing frame includes a repositioning chassis and a A support plate is connected with a repositioning frame on the upper part of the support plate; the inner shape of the repositioning frame is matched with the appearance of the material and is arranged obliquely.

In the above-mentioned flexible system for dismantling, chopping and feeding of the feeding robot, the material frame device part includes a material frame, a material frame positioning module, a material frame in-position detection module and a walking wheel; the bottom of the material frame is provided with a walking wheel; the material frame positioning module It includes a material frame positioning plate, a material frame wheel groove and a material frame limit block; the material frame wheel groove is arranged on the material frame positioning plate, and the material frame limit block is arranged at the rear end of the material frame wheel groove; the walking wheel It is set in coordination with the material frame wheel groove, and the material frame limit block restricts the position of the walking wheel on the material frame wheel groove.

The above-mentioned feeding robot disassembles, chops and feeds the flexible system, and the material frame in-position detection module includes a detection device fixing frame, a clamp, a card slot, a material frame detection proximity switch fixing plate, a material frame detection proximity switch, a material frame fixing block, a card The block and the material frame detect the contact part of the proximity switch; the detection device fixing frame is arranged on the material frame positioning plate; the detection device fixing frame is provided with a clamp, and one side of the clamp is provided with a material frame detection proximity switch fixing plate, The frame detection proximity switch fixing plate is provided with a frame detection proximity switch; the card slot is arranged at the front end of the clamp and used in conjunction with the clamping block; the frame detection proximity switch and the frame detection proximity switch contact are arranged opposite to each other and use together.

A method for dismantling, chopping and feeding a feeding robot, using the above-mentioned flexible system for dismantling, chopping, and feeding, the method is as follows: A. Put the workpiece into the part of the material frame device;

B. The feeding robot runs to the working position and drives the fixture device to press down, and the sucker that presses down absorbs the material from the material frame device; during the pressing process, the fixture proximity switch and the fixture proximity switch contact are inductively connected; the feeding robot lifts Pick up and transport the workpiece to the discharge table.

In the above-mentioned method for removing, chopping, and feeding a feeding robot, after the fixture proximity switch and the fixture proximity switch contact are inductively connected, the vacuum generator extracts the air in the suction cup.

In the above-mentioned method for disassembling, chopping, and feeding a feeding robot, in the steps, after the workpiece is put into the material frame, it is pushed into the wheel groove of the material frame by the walking wheel and is limited by the limit block of the material frame; the material frame detection proximity switch and the The material frame detection proximity switch contacts generate induction, and the material frame in-position detection module identifies the type of material frame and feeds it back to the feeding robot.

The clamping device in the system of the invention can simply and conveniently determine the presence or absence of the workpiece, and perform the clamping operation on the workpiece, and accurately determine whether the workpiece is clamped after the workpiece is clamped to avoid empty material and workpiece falling during the process of clamping the workpiece. The first proximity switch is used as the identification element in the clamping part of the fixture device, which has fast response speed, high identification accuracy, and is not easily affected by the ambient temperature, and plays an important role in the process of judging whether the workpiece is present or not.

The material frame device in the system of the invention can realize the storage, transportation and material frame identification of the workpiece, which is convenient for transportation and accurate in identification; Good degree of automation. In addition, the repositioning device is added in the present invention, which can utilize the gravity of the workpiece itself to correct the workpiece, and eliminate errors caused by the position of the material frame and the placement of the workpiece through the correction, thereby effectively ensuring the unloading accuracy of the product.

The system of the invention has good flexibility, can realize the identification and clamping of workpieces simply and conveniently, and is suitable for various products.

The method of the present invention does not use the previous camera system to identify the material frame, which greatly reduces the technical difficulty. When the fixture device grasps the workpiece, the proximity switch is used for identification, so that the identification speed of the entire system is fast and accurate, and the time is effectively shortened. Workpiece handling time.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings.

Fig. 1 is the structural representation of the present invention;

Fig. 2 is the structural representation of wrist and clamp device;

Figure 3 is a schematic diagram of a part of the structure of the material frame device;

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

Figure 5 is a schematic diagram of the repositioning device and the workpiece;

Fig. 6 is the structural representation of the relocation device;

Fig. 7 is the flow chart of system operation;

Figure 8 is an electrical schematic diagram of the feeding control circuit of the feeding robot.

The symbols in the figure are: 1. Feeding robot, 1-1. Base, 1-2. Body, 1-3. Elbow, 1-4. Beam, 1-5. Wrist, 2. Material frame device Part, 2-1. Material frame, 2-2. Material frame positioning module, 2-2-1. Material frame positioning plate, 2-2-2. Material frame wheel groove, 2-2-3. Material frame limit Block, 2-3. Material frame detection module, 2-3-1 Detection device fixing frame, 2-3-2. Clamp, 2-3-3. Card slot, 2-3-4. Material frame detection proximity switch Fixing plate, 2-3-5. Material frame detection proximity switch, 2-3-6. Material frame fixing block, 2-3-7. Clamping block, 2-3-8. Material frame detection proximity switch contact piece, 2 -4. Walking wheel, 3. Discharging table, 4. Clamping device, 4-1. Clamping and fixing frame, 4-2. Bolt, 4-3. Spring, 4-4. Suction cup, 4-5. Connecting pipe , 4-6. Fixture plate of fixture proximity switch, 4-7. Fixture proximity switch, 4-8. Fixture proximity switch contact piece, 4-9. Vacuum generator, 5. Repositioning device, 5-1. Repositioning frame , 5-1-1. Relocation chassis, 5-1-2. Support plate, 5-2. Relocation frame, 5-2-1. Relocation bottom plate, 5-2-2. Relocation side plate one, 5-2-3. Repositioning side plate 2, 5-3. Connecting plate, 6. Work piece, PLC. Control chip.

Detailed ways

1 and 8, the present invention includes a feeding robot 1, a material frame device part 2, a fixture device 4, a repositioning device 5 and a feeding table 3; the feeding robot 1 can adopt the existing feeding robot structure. , including base 1-1, body 1-2, elbow 1-3, beam 1-4, wrist 1-5 and feeding control circuit. Referring to Fig. 3, the material frame device part 2 of the flexible system for dismantling, chopping and feeding of the feeding robot includes a material frame 2-1; Four walking wheels 2-4. The material frame positioning module 2-2 includes a material frame positioning plate 2-2-1, a material frame wheel groove 2-2-2 and a material frame limit block 2-2-3; the material frame positioning plate 2-2 -1 is fixed on the ground, and the material frame positioning plate 2-2-1 is provided with a material frame wheel groove 2-2-2, which is used for the walking wheel 2-4 to walk in it; in the material frame wheel groove 2-2-2 The rear end is provided with a material frame limit block 2-2-3, which is used to locate and limit the position of the traveling wheel 2-4 in the material frame wheel groove 2-2-2. After the material frame 2-1 is placed in the workpiece 6, the operator pushes the material frame 2-1 onto the material frame positioning module 2-2, and the traveling wheel 2-4 travels backward along the material frame wheel groove 2-2-2 until When the limit block 2-2-3 of the material frame is contacted, it stops moving forward and is limited; at this time, the entire material frame 2-1 is completely on the material frame positioning plate 2-2-1 to realize the positioning of the material frame.

Referring to Fig. 4, the material frame device part 2 of the flexible system for dismantling, chopping and feeding of the feeding robot includes a material frame in-position detection module 2-3; the material frame in-position detection module 2-3 includes a detection device fixing frame 2-3- 1. Fixture 2-3-2, card slot 2-3-3, material frame detection proximity switch fixing plate 2-3-4, material frame detection proximity switch 2-3-5, material frame fixing block 2-3- 6. Block 2-3-7 and frame detection proximity switch contact 2-3-8. The detection device fixing frame 2-3-1 is fixed on the material frame positioning plate 2-2-1, the detection device fixing frame 2-3-1 is provided with a clamp 2-3-2, and the clamp 2 is provided with a clamp 2-3-2. -3-2 is provided with a frame detection proximity switch fixing plate 2-3-4, and a frame detection proximity switch fixing plate 2-3-4 is provided with a frame detection proximity switch 2-3-5. The front end of the clamp 2-3-2 is provided with a card slot 2-3-6, the material frame 2-1 is provided with a card block 2-3-7, the card groove 2-3-6 and the card block 2-3- 7 is used together to fix the material frame on the material frame positioning plate 2-2-1. The material frame detection proximity switch contact 2-3-8 is arranged on the material frame 2-1, and is correspondingly arranged with the material frame detection proximity switch 2-3-5; the material frame detection proximity switch 2-3-5 The contact pieces 2-3-8 of the proximity switch with the frame detection can be set to multiple groups, preferably 6 groups or more; in this way, the presence or absence of the contact pieces 2-3-8 of the proximity switch for detection of the material frame can be changed. Realize the characterization of different kinds of material frames, so as to identify the material frame 2-1; since different material frames can accommodate different workpieces 6 to be processed, under the recognition function of the material frame detection proximity switch 2-3-5, control The chip PLC can call different programs to realize the clamping of different workpieces 6 . For example, the material frame detection proximity switch 2-3-5 and the material frame detection proximity switch contact piece 2-3-8 are set to 6 groups, and the material frame detection proximity switch contact piece 2-3-8 adopts the first Groups 1-3 and 5 have settings that are not available in groups 4 and 6. This setting represents the characterization of a certain material frame.

Referring to Figure 2, the clamp device 4 in the flexible system for dismantling, chopping and feeding of the feeding robot includes a clamping and fixing frame 4-1, a bolt 4-2, a spring 4-3, a suction cup 4-4, and a clamp proximity switch fixing plate 4- 6. The fixture proximity switch 4-7 and the fixture proximity switch contact piece 4-8. The clamping and fixing frame 4-1 is connected to the wrist part 1-5 of the feeding robot 1, the clamping and fixing frame 4-1 has a bolt 4-2 passing through it, and the clamping and fixing frame 4-1 can be attached to the bolt 4. -2 sliding on; the bolts 4-2 are preferably set to four. The end of the screw rod of the bolt 4-2 is connected with the suction cup 4-4, and a spring 4-3 is sleeved on the screw rod between the clamping fixture 4-1 and the suction cup 4-4. The fixture proximity switch contact piece 4-8 is arranged on the head of the screw 4-2, and the fixture proximity switch 4-7 is fixed on the clamping fixture 4-1 through the fixture proximity switch fixing plate 4-6; When the fixed frame 4-1 presses down the spring 4-3 or the spring 4-3 bounces up and resets, the fixture proximity switch 4-7 and the fixture proximity switch contact piece 4-8 realize the on-off of induction; it is best as shown in Figure 2, When the spring is reset, the position of the fixture proximity switch 4-7 is higher than the position of the fixture proximity switch contact piece 4-8. At this time, the fixture proximity switch 4-7 and the fixture proximity switch contact piece 4-8 are disconnected from the inductive connection; the spring is pressed down. , the fixture proximity switch 4-7 is in inductive communication with the fixture proximity switch contact piece 4-8. The clamp device 4 is also provided with a suction cup connecting pipe 4-5 and a vacuum generator 4-9. One end of the suction cup connecting pipe 4-5 is communicated with the suction cup 4-4, and the other end is communicated with the vacuum generator 4-9; the vacuum generator 4-9 has a pressure detection part; the vacuum generator 4-9 is in the The clamp proximity switch 4-7 and the clamp proximity switch contact piece 4-8 generate induction to work. The vacuum generator 4-9 will, on the one hand, be able to remove the air in the suction cup 4-4 through the suction cup connecting pipe 4-5, so as to enhance the suction force of the suction cup 4-4 and prevent the workpiece 6 from falling off during transportation; On the one hand, the state of sucking the workpiece 6 by the suction cup 4 - 4 can also be fed back through the pressure detection component. After adopting the above structure, when the clamp device 4 clamps the workpiece 6, the wrists 1-5 of the feeding robot 1 drive the suction cups above the workpiece 6 and press down; after the suction cups 4-4 contact the workpiece 6, the suction cups 4 The air of -4 is compressed, and a negative pressure space is formed between the suction cup 4-4 and the workpiece 6; because the clamping and fixing frame 4-1 is continuously pressed down by the wrist 1-5 of the feeding robot 1, the clamping and fixing frame 4-1 Slide on the bolt 4-2, the spring 4-3 is compressed, the fixture proximity switch 4-7 and the fixture proximity switch contact 4-8 are inductively connected, and the fixture proximity switch 4-7 has a signal output, which proves this At the same time, the vacuum generator 4-9 starts to work, and the air in the suction cup 4-4 is further extracted; after the feeding robot 1 receives the signal from the clamp proximity switch 4-7, its wrist 1-5 is lifted upwards. Workpiece 6, the workpiece 6 is lifted under the suction of the suction cup 4-4, and then sent to the subsequent repositioning device; when the wrist 1-5 is lifted upward, the spring 4-3 is reset, and the fixture is close to the switch 4-7 Disconnect sense from fixture proximity switch contacts 4-8.

Referring to Figure 5 and Figure 6, the flexible system for dismantling, chopping and feeding of the feeding robot is provided with a repositioning device. The repositioning device 5 includes a repositioning fixing frame 5-1, a repositioning frame 5-2 and a connecting plate 5-5. . The relocation fixing frame 5-1 includes a relocation chassis 5-1-1 and a support 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 connecting plate 5-5 is fixed on the upper end of the support plate 5-1-2, and the connecting plate 5-5 tilt settings. The repositioning frame 5-2 is composed of the repositioning bottom plate 5-2-1, the first repositioning side plate 5-2-2 and the second repositioning side plate 5-2-3 to form a structure that matches the appearance of the parts. The repositioning bottom plate 5-4 of 5-2 is fixedly connected with the connecting plate 5-3. In the process of use, since it is necessary to adapt to the shape requirements of different workpieces 6, repositioning frames 5-2 of different sizes and structures are required to adapt to different workpieces 6; when replacing, only the repositioning frame 5 above the connecting plate 5-3 is required. -2 Remove and replace the relocation frame 5-2 of another size and structure with the connecting plate 5-3. After adopting the above structure, the feeding robot 1 drives the fixture device 4 to move above the repositioning device 5, controls the vacuum generator 4-9 to stop working, and the workpiece 6 under the suction cup 4-4 falls into the repositioning frame 5- In 2, since the repositioning frame 5-2 is inclined along with the connecting plate 5-3, the workpiece 6 will be automatically straightened in the repositioning frame 5-2, eliminating the error of clamping the workpiece 6 before.

Referring to FIG. 1, in order to ensure the efficiency of dismantling and chopping, another material frame device part 2 is provided on the other side of the feeding robot 1, so as to ensure that the feeding robot 1 can be free from the workpiece 6 after the material frame 2-1 is transported. The seam is connected, and the workpiece 6 of another material frame is continued to be transported.

8, the feeding control circuit in the present invention includes a control chip PLC; the signal output end of the control chip PLC is connected to the base 1-1, the fuselage 1-2, the elbow 1-3, the beam 1-4, the wrist The parts 1-5 are respectively connected to achieve the purpose of controlling the rotation of the body 1-2 of the feeding robot 1, the rotation of the elbows 1-3, and the rotation of the wrists 1-5; the signal input ends of the control chip PLC are respectively connected with the fixture. The proximity switch 4-7 is connected with the material frame detection proximity switch 2-3-5; the fixture proximity switch 4-7 transmits the judgment information of the presence or absence of the workpiece 6 to the control chip PLC, and the control chip PLC performs according to the set program. The operation of clamping the workpiece 6 or moving to the next position to clamp the next workpiece 6; the material frame detection proximity switch 2-3-5 transmits the read material frame information to the control chip PLC, and the control chip PLC according to the material frame The type determines which frame's gripping program is called.

The process of the method of the present invention is as follows: (1) Referring to FIG. 7 and FIG. 8, the control chip PLC is initialized, waiting for the material frame 2-1 to be in place, and after the material frame 2-1 is placed in the workpiece, the operator pushes the material frame 2-1 to the On the material frame positioning module 2-2, the traveling wheel 2-4 travels backward along the material frame wheel groove 2-2-2 until it contacts the material frame limit block 2-2-3 and stops moving forward and is limited. The fixture 2-3-2 enters the card slot 2-3-6 and is stuck by the card slot 2-3-6. The frame detection proximity switch contact 2-3-8 reaches the frame detection proximity switch 2-3- The scope of use of 5, the material frame detection proximity switch 2-3-5 outputs the read results to the control chip PLC, and the control chip PLC calls different programs to perform the clamping operation for different workpieces 6.

(2) The feeding robot 1 runs to the working position, and the wrist 1-5 of the feeding robot 1 drives the suction cup 4-4 to the top of the workpiece 6 and presses it down; after the suction cup 4-4 contacts the workpiece, the suction cup 4-4 The air of 4 is compressed, and a negative pressure space is formed between the suction cup 4-4 and the workpiece 6; since the clamping and fixing frame 4-1 is continuously pressed down by the wrist 1-5 of the feeding robot 1, the clamping and fixing frame 4-1 is continuously pressed down. -1 Slide on the bolt 4-2, the spring 4-3 is compressed, the fixture proximity switch 4-7 is inductively connected to the fixture proximity switch contact 4-8, and the fixture proximity switch 4-7 has a signal output, which proves that at this time There is a workpiece 6; at the same time, the vacuum generator 4-9 starts to work, forming a vacuum between the suction cup 4-4 and the workpiece 6, and the suction cup 4-4 successfully sucks the workpiece 6; the feeding robot 1 receives the fixture proximity switch 4-7 After receiving the signal, its wrist 1-5 lifts the workpiece 6 upward, and the workpiece 6 is lifted under the suction of the suction cup 4-4, and then sent to the subsequent repositioning device; the vacuum generator pressure of the vacuum generator 4-9 The detection device can input the set value of "vacuum pressure". When the actual vacuum pressure is higher than the "set value", the workpiece 6 falls, and the feeding robot 1 stops, waiting for the operator to check. When the actual vacuum pressure is lower than the "set value", the workpiece 6 is normally transported. When the wrist portion 1-5 is lifted upward, the spring 4-3 is reset, and the clamp proximity switch 4-7 is disconnected from the clamp proximity switch contact piece 4-8.

(3) The feeding robot 1 drives the fixture device 4 to move above the repositioning frame, controls the vacuum generators 4-9 to stop working, and the workpiece 6 under the suction cups 4-4 falls into the repositioning frame under the action of gravity. The frame is inclined with the connecting plate 5-3, and the workpiece 6 will be automatically aligned in the repositioning frame, eliminating the error of clamping the workpiece 6 before. By reading the value of the pressure detection part of the vacuum generator 4-9, if the value is zero, it proves that the relocation operation has been completed; if the value is greater than zero, the relocation operation is not completed at this time.

(4) After repositioning, the clamping device 4 will clamp the workpiece 6 again and send it to the top of the discharging table 3 to wait for the control chip to send a discharging signal. After the discharging signal is sent out, the clamping device 4 will clamp the workpiece 6 It is released to the unloading table 3 to complete the feeding operation. At the same time, the feeding robot 1 runs to the position of the next workpiece 6 to grasp the next workpiece 6 .

Claims (8)

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.

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