Automatic feeding device and discharging control method

Abstract

The invention discloses an automatic feeding device and a discharging control method. The automatic feeding device comprises a rack; the roller is rotationally arranged on the rack; the discharging mechanism is arranged on the rack and comprises a discharging table and a roller shaft assembly, the discharging table and the rollers are horizontally arranged at intervals, and the roller shaft assembly is arranged between the discharging table and the rollers; one part of the material belt is wound on the roller, the other part of the material belt passes through the roller shaft assembly and is laid on the discharging table, and a plurality of material sheets are distributed on the material belt; and the material receiving mechanism is arranged on the rack and connected with the material belt, and the material receiving mechanism is used for driving the material belt to advance at a first material receiving speed determined according to the thickness of the part, wound on the roller, of the material belt. According to the automatic feeding device, the material belt is driven to advance at the first material receiving speed determined according to the thickness of the part, wound on the roller, of the material belt through the material receiving mechanism, the positioning deviation of the material sheet can be reduced, the material sheet can be accurately located above the discharging table, and the discharging accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and in particular to an automatic feeding device and a discharging control method. Background Art

[0002] In the production of air conditioner outdoor units, the condenser fins need to be sponged. In order to improve the efficiency of sponge sticking on the condenser fins, the sponge sticking process on the condenser is currently completed by an automatic feeding device and a robot. The automatic feeding device is used to automatically release the sponge roll, and the robot picks up the sponge sheet from the released part of the sponge roll at a fixed point, and then automatically sticks the sponge sheet to the condenser fin. However, as the sponge roll is released, the sponge roll is gradually consumed, making it difficult for the device to control the speed of the sponge roll release, and there will be a deviation between the discharge position of the sponge roll on the device and the position of the robot picking up the material. The accuracy of the sponge sheet discharge is low, making it difficult for the robot to pick up the material. Summary of the invention

[0003] Provided are an automatic feeding device and a discharging control method to solve the problem of low discharging accuracy of the feeding device.

[0004] In a first aspect, an embodiment of the present invention provides an automatic feeding device, comprising:

[0005] frame;

[0006] A drum is rotatably disposed on the frame;

[0007] A discharging mechanism is arranged on the frame, the discharging mechanism comprises a discharging platform and a roller assembly, the discharging platform and the roller are arranged horizontally and alternately, and the roller assembly is arranged between the discharging platform and the roller;

[0008] A material belt, a part of which is wound on the drum, and another part of which is laid on the unloading platform through the roller assembly, and a plurality of material sheets are distributed on the material belt;

[0009] A material receiving mechanism is disposed on the frame and connected to the material belt, and is used for driving the material belt forward at a first material receiving speed determined according to the thickness of the portion of the material belt wound on the roller.

[0010] In the automatic feeding device provided in an embodiment of the present invention, a mounting platform is provided on the frame, the mounting platform is adjacent to the roller, the discharging platform and the roller assembly are both arranged above the mounting platform, the discharging platform and the upper side of the mounting platform are spaced apart to form a folding channel, the material belt passes through the folding channel and folds back toward the roller, the material receiving mechanism is arranged below the roller and connected to the folded part of the material belt, wherein the material receiving mechanism retracts and pulls the folded part of the material belt to drive the material belt to move forward relative to the discharging platform.

[0011] In the automatic feeding device provided in an embodiment of the present invention, a first stopper and a second stopper are spaced apart on the upper side of the mounting platform, the unloading platform is connected between the first stopper and the second stopper, the material belt is arranged between the first stopper and the second stopper, at least one first roller is transversely connected between the first stopper and the second stopper, the first roller is located above the unloading platform and spaced apart from the upper side of the mounting platform, the material belt is passed between the first roller and the mounting platform and is in rolling contact with the first roller.

[0012] In the automatic feeding device provided in an embodiment of the present invention, the roller assembly includes at least one guide roller, which is laterally rotatably arranged between the roller and the discharge platform and remains parallel to the axis of the roller, and the material belt passes under the guide roller and is in rolling contact with the guide roller.

[0013] In the automatic feeding device provided in an embodiment of the present invention, the material receiving mechanism includes a rotating drive module and a winding rod, the winding rod is laterally arranged below the roller and connected to the folded part of the material strip, the rotating drive module is arranged on the frame and is transmission-connected to the winding rod, wherein the rotating drive module is used to drive the winding rod to rotate so that the winding rod can wind up the folded part of the material strip.

[0014] In the automatic feeding device provided in an embodiment of the present invention, the automatic feeding device also includes a pressing mechanism, which includes a first lifting and pressing module and a second lifting and pressing module, the first lifting and pressing module and the second lifting and pressing module are respectively arranged above the discharge platform, and the first lifting and pressing module and the second lifting and pressing module are respectively adjacent to the long sides of the material belt above and below, wherein the first lifting and pressing module and the second lifting and pressing module are used to perform lifting and movement in the vertical direction to press the long sides of the material belt on the upper side of the discharge platform.

[0015] In the automatic feeding device provided in an embodiment of the present invention, the automatic feeding device also includes a tension control mechanism, the roller includes a cylinder and a rotating shaft, the cylinder and the discharge platform are horizontally spaced, the rotating shaft is fixedly penetrated through the axis of the cylinder and is rotatably connected to the frame, the material belt is wound on the cylinder, and the tension control mechanism is arranged on the frame and connected to the rotating shaft, wherein the tension control mechanism is used to frictionally cooperate with the rotating shaft to increase the rotational resistance of the rotating shaft.

[0016] In the automatic feeding device provided in an embodiment of the present invention, the tension control mechanism includes a spring and a damping belt, a wheel groove is sleeved on the rotating shaft, the damping belt is sleeved on the wheel groove and one end is connected to the frame and the other end is connected to one end of the spring, and the other end of the spring is connected to the frame, wherein the spring tightens the damping belt so that the damping belt tightens the wheel groove.

[0017] In a second aspect, an embodiment of the present invention provides a material discharge control method, which is applied to the automatic feeding device described in the first aspect above, and the method includes: if it is detected that there is no material sheet above the discharge table, then the material receiving mechanism is controlled to drive the material belt forward according to the thickness of the part of the material belt rolled on the roller; if it is detected that there is a material sheet above the discharge table, then the material receiving mechanism is controlled to stop driving the material belt forward.

[0018] The present invention provides an automatic feeding device and a discharging control method, wherein the automatic feeding device comprises a frame; a roller, which is rotatably arranged on the frame; a discharging mechanism, which is arranged on the frame, and the discharging mechanism comprises a discharging platform and a roller assembly, wherein the discharging platform and the roller are arranged horizontally alternately, and the roller assembly is arranged between the discharging platform and the roller; a material belt, a part of which is wound on the roller, and the other part is passed through the roller assembly and laid on the discharging platform, and a plurality of material sheets are distributed on the material belt; a material receiving mechanism, which is arranged on the frame and connected to the material belt, and the material receiving mechanism is used to drive the material belt forward at a first material receiving speed determined according to the thickness of the part of the material belt wound on the roller. The automatic feeding device of the present application rotates the roller and sets it on the frame, sets the discharging table and the roller of the discharging mechanism horizontally and alternately, sets the roller assembly of the discharging mechanism between the discharging table and the roller, rolls a part of the material belt on the roller, and lays the other part on the discharging table through the roller assembly, sets the frame of the receiving mechanism and connects it with the material belt, drives the material belt forward through the receiving mechanism at a first receiving speed determined according to the thickness of the part of the material belt rolled on the roller, reduces the positioning deviation of the material sheet, makes the material sheet accurately above the discharging table, and improves the accuracy of the discharging. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0020] Figure 1 A three-dimensional diagram of an automatic feeding device provided by an embodiment of the present invention;

[0021] Figure 2 for Figure 1 A magnified view of part A;

[0022] Figure 3 A front view of an automatic feeding device provided by an embodiment of the present invention;

[0023] Figure 4 A top view of an automatic feeding device provided by an embodiment of the present invention;

[0024] Figure 5 A side view of an automatic feeding device provided by an embodiment of the present invention;

[0025] Figure 6 Another side view of the automatic feeding device provided by the embodiment of the present invention;

[0026] Figure 7 for Figure 1 A magnified view of part B;

[0027] Figure 8 An application scenario diagram of the automatic feeding device provided by an embodiment of the present invention;

[0028] Fig. 9 A schematic flow chart of a discharge control method provided by an embodiment of the present invention;

[0029] Fig.10 A schematic diagram of a sub-process of a discharge control method provided in an embodiment of the present invention;

[0030] The reference numerals in the figures are:

[0031] 100, automatic feeding device; 10, frame; 11, mounting platform; 1101, folding channel; 111, first stopper; 112, second stopper; 12, second roller; 13, first roller; 20, discharging mechanism; 21, discharging platform; 22, roller assembly; 220, guide roller; 30, roller; 31, cylinder; 32, rotating shaft; 320, wheel groove; 40, material belt; 401, material sheet; 50, material collection mechanism; 51, rotating drive module; 52, rewinding rod; 60, pressing mechanism; 61, first lifting and pressing module; 62, second lifting and pressing module; 70, tension control mechanism; 71, spring; 72, damping belt; 80, guide assembly; 81, guide rod; 82, first stopper; 83, second stopper; 200, robot. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] Reference Figures 1 to 8 For details, please refer to Figure 1 , which shows an embodiment of the automatic feeding device 100 provided by the present invention. The structure and working principle of the automatic feeding device 100 are described in detail below in conjunction with the drawings in the specification. The automatic feeding device 100 includes a frame 10; a roller 30, which is rotatably arranged on the frame 10; a discharging mechanism 20, which is arranged on the frame 10, and the discharging mechanism 20 includes a discharging platform 21 and a roller assembly 22, the discharging platform 21 and the roller 30 are arranged horizontally alternately, and the roller assembly 22 is arranged between the discharging platform 21 and the roller 30; a material belt 40, a part of which is wound on the roller 30, and the other part passes through the roller assembly 22 and is laid on the discharging platform 21, and a plurality of material sheets 401 are distributed on the material belt 40; a material receiving mechanism 50, which is arranged on the frame 10 and connected to the material belt 40, and the material receiving mechanism 50 is used to drive the material belt 40 forward at a first material receiving speed determined according to the thickness of the part of the material belt 40 wound on the roller 30.

[0034] In specific implementation, Figure 8As shown, the automatic feeding device 100 is mainly used to continuously provide the robot 200 with the material sheet 401. The automatic feeding device 100 is controlled by a PLC controller as a whole. The automatic feeding device 100 includes a frame 10, a roller 30, a discharging mechanism 20, a material belt 40 and a receiving mechanism 50. The frame 10 is the basic framework of the entire device. The frame 10 is formed by connecting many metal parts and is the basic structure for installing various components. The roller 30 is a cylindrical structural member, which is used to roll up the material belt 40. The roller 30 is rotatably mounted on the frame 10. The axis of the roller 30 is parallel to the horizontal plane, and the roller 30 can rotate freely relative to the frame 10. The discharging mechanism 20 is arranged on the frame 10. The discharging mechanism 20 includes a discharging table 21 and a roller assembly 22. The discharging table 21 is arranged on the frame 10 as a whole and keeps a certain distance from the roller 30 in the horizontal direction. The discharging table 21 is a small platform structure, and its upper side is a plane structure. The roller assembly 22 is integrally arranged on the frame 10, and is located between the discharge platform 21 and the roller 30. The roller assembly 22 is a roller structure, which is mainly used to guide the material belt 40. The material belt 40 is a thin strip structure with a long length. A plurality of material sheets 401 are distributed on the upper side of the material belt 40. The material sheets 401 are regularly distributed on the material belt 40. Specifically, a plurality of material sheets 401 are evenly spaced along the long side and the short side of the material belt 40. The material sheets 401 are attached to the material belt 40 by adhesion. A part of the material belt 40 is rolled up on the roller 30, and the material belt 40 is rolled out to a certain thickness on the radial outer side of the roller 30. The other part of the material belt 40 is passed through the roller assembly 22 and laid on the upper side of the discharge platform 21. The upper side of the discharge platform 21 serves as the material grabbing point of the robot 200, and the robot 200 grabs the material sheet 401 on the upper side of the material platform. When the material belt 40 is laid on the upper side of the discharge platform 21, the material pieces 401 distributed on the material belt 40 face upward, and the robot 200 can grab the material pieces 401. The receiving mechanism 50 is integrally arranged on the frame 10 and connected to the material belt 40. The receiving mechanism 50 is connected to the PLC controller. Under the control of the PLC controller, the receiving mechanism 50 can drive the material belt 40 to move toward the discharge platform 21, so that the material belt 40 brings the material pieces 401 to the top of the discharge platform 21.After the material piece 401 is grabbed by the robot 200, the original position of the material piece 401 on the material belt 40 is vacated, and the material receiving mechanism 50 drives the material belt 40 to move toward the discharge platform 21 to fill the material piece 401, so that the position of the material piece 401 that has been grabbed on the material belt 40 moves away from the discharge platform 21, and the position of the material piece 401 that has not been grabbed on the material belt 40 moves forward and is laid on the upper side of the discharge platform 21, so that the material piece 401 is always supplied to the material grabbing position of the robot 200 above the discharge platform 21, thereby completing the automatic supply of the material piece 401. In actual application, a sensor is set on the discharge platform 21 to cooperate with the robot 200. When the sensor senses the material piece 401 at the corresponding position on the discharge platform 21, the PLC controller controls the material receiving mechanism 50 to stop running, and the robot 200 grabs the material piece 401 at the same time. When the sensor does not sense the material piece at the corresponding position on the discharge platform 21 401, the PLC controller controls the material receiving mechanism 50 to drive the material belt 40 forward, so that the material belt 40 brings the material sheet 401 to the top of the discharge platform 21. Since the material belt 40 is wound on the roller 30, and as the material belt 40 advances, the part of the material belt 40 wound on the roller 30 is released, and the thickness of the part of the material belt 40 wound on the roller 30 will gradually decrease. After the material receiving mechanism 50 receives the signal from the sensor and stops the material belt 40 from advancing completely, the material belt 40 will slide for a distance. The material receiving speed of the material receiving mechanism 50 is not equal to the speed at which the material belt advances. If the material receiving mechanism 50 drives the material belt 40 forward at a constant material receiving speed, the distance that the material belt 40 advances will change with the change in the thickness of the part of the material belt 40 wound on the roller 30, causing a certain deviation in the positioning of the material sheet 401 on the discharge platform 21, which is likely to affect the accuracy of the robot 200 in grabbing the material. Therefore, in the present embodiment, in the control system of the device, the PLC controller will determine the first material receiving speed according to the thickness of the portion of the material strip 40 wound on the roller 30 in accordance with the set program algorithm, and the material receiving mechanism 50 will then drive the material strip 40 forward at the first material receiving speed, so that the linear speed of the material strip 40 moving forward after being released from the roller 30 remains constant, and the material strip 40 laid on the upper side of the discharge table 21 slides at a uniform speed relative to the discharge table 21, so that the material strip 40 moves forward at a constant speed on the discharge table 21, and the forward speed of the material strip 40 will not be affected by the thickness change of the material strip 40 wound on the roller, so that the material strip 40 can accurately bring the material sheet 401 to the fixed point above the material table each time, thereby the automatic feeding device 100 completes the automatic and accurate supply of the material sheet 401, and cooperates with the robot 200 to achieve efficient automated production.

[0035] The automatic feeding device of this embodiment rotates the roller and sets it on the frame, and the discharge platform and the roller are arranged horizontally alternately. The roller assembly is arranged between the discharge platform and the roller, and a part of the material belt is rolled up on the roller, and the other part is laid on the discharge platform through the roller assembly. The material belt is driven forward relative to the discharge platform by the receiving mechanism to bring the material sheet to the top of the discharge platform, thereby realizing the automatic supply of the material sheet and improving the efficiency of automated production. The receiving mechanism drives the material belt forward at a first receiving speed determined according to the thickness of the part of the material belt rolled up on the roller, which can effectively reduce the positioning deviation of the material sheet, and the material sheet can be accurately located above the discharge platform, thereby improving the accuracy of the discharge.

[0036] In one embodiment, referring to Figures 1 to 4 The frame 10 is provided with a mounting platform 11, and the mounting platform 11 is adjacent to the roller 30. The discharge platform 21 and the roller assembly 22 are both arranged above the mounting platform 11. The discharge platform 21 and the upper side of the mounting platform 11 are spaced apart to form a folding channel 1101. The material belt 40 folds back toward the roller 30 through the folding channel 1101. The material receiving mechanism 50 is arranged below the roller 30 and connected to the folded part of the material belt 40, wherein the material receiving mechanism 50 retracts and pulls the folded part of the material belt 40 to drive the material belt 40 to move forward relative to the discharge platform 21. In a specific implementation, a mounting platform 11 is provided on the frame 10. The mounting platform 11 is a platform structure with a certain area. The mounting platform 11 as a whole is at a certain height on the frame 10. The discharge platform 21 and the roller assembly 22 are both arranged above the mounting platform 11. The discharge platform 21 and the roller assembly 22 are horizontally spaced apart above the mounting platform 11. The discharge platform 21 as a whole maintains a certain interval with the upper side of the mounting platform 11 to form a folding channel 1101, that is, the folding channel 1101 is the space between the lower side of the discharge platform 21 and the upper side of the mounting platform 11. The material belt 40 laid on the upper side of the discharge platform 21 passes through the folding channel 1101 to fold toward the roller 30. The material receiving mechanism 50 is arranged as a whole at a position below the roller 30 and is connected to the folded part of the material belt 40. In actual applications, the material belt 40 is driven to move forward relative to the discharge platform 21 by pulling the folded part of the material belt 40, so that the material belt 40 brings the material sheet 401 to the discharge platform 21. After the robot 200 takes away the material sheet 401, there is no material sheet 401 in the folded part of the material belt 40. The material collection mechanism 50 pulls the folded part of the material belt 40 to make the material belt 40 continue to move forward. The material belt 40 as a whole slides relative to the discharge platform 21 and passes into the folded channel 1101, and finally returns to the material collection mechanism 50.

[0037] Further, refer to Figures 2 to 4A first stopper 111 and a second stopper 112 are spaced apart on the upper side of the mounting platform 11, the discharge platform 21 is connected between the first stopper 111 and the second stopper 112, the material belt 40 is arranged between the first stopper 111 and the second stopper 112, and the long sides of both sides of the material belt 40 are stopped by the first stopper 111 and the second stopper 112 respectively. In a specific implementation, a first stopper 111 and a second stopper 112 are provided on the upper side of the mounting platform 11, and the first stopper 111 and the second stopper 112 are both designed as plate-like structures. The first stopper 111 and the second stopper 112 are spaced apart on the upper side of the mounting platform 11, and the spacing distance between the two is designed according to the width of the material belt 40. The discharge platform 21 is connected as a whole between the first stopper 111 and the second stopper 112, and the material belt 40 is located between the first stopper 111 and the second stopper 112 and is laid on the upper side of the material dividing piece. The long sides of the material belt 40 are respectively stopped by the first stopper 111 and the second stopper 112, which can effectively prevent the material belt 40 from leaving the discharge platform 21. In actual application, when the material belt 40 moves forward, the first stopper 111 and the second stopper 112 form a blockage for the long sides of the material belt 40 on both sides, and form a guide for the material belt 40, which can make the material belt 40 move forward more smoothly.

[0038] Further, refer to Figures 4 to 6 , at least one first roller 13 is transversely connected between the first stopper 111 and the second stopper 112, and the first roller 13 is located above the discharge platform 21 and is in rolling contact with the upper side of the material belt 40. In a specific implementation, at least one first roller 13 is transversely connected between the first stopper 111 and the second stopper 112, and the first roller 13 is a roller structure, which is cylindrical as a whole and can rotate relative to the first stopper 111 and the second stopper 112. The specific number of the first roller 13 can be one or more, and the first roller 13 is preferably designed to be two. The first roller 13 is located above the discharge platform 21 and is in rolling contact with the upper side of the material belt 40. Specifically, a gap equivalent to the thickness of the material belt 40 is left between the first roller 13 and the upper side of the discharge platform 21, and the material belt 40 passes through the gap between the first roller 13 and the upper side of the discharge platform 21. In actual application, when the material belt 40 moves forward, the first roller 13 will be moved by the material belt 40 and roll. At the same time, the first roller 13 forms a vertical restriction on the material belt 40, effectively preventing the material belt 40 from swinging up and down, so that the material belt 40 can move forward smoothly and keep the material belt 40 in a well-tensioned state and lay flat on the upper side of the discharge table 21.

[0039] In one embodiment, referring to Figures 4 to 6, at least one second roller 12 is transversely connected between the first stopper 111 and the second stopper 112, the second roller 12 is located below the discharge platform 21 and is spaced apart from the lower side of the mounting platform 11, and the folded portion of the material strip 40 is in rolling contact with the second roller 12. In a specific implementation, at least one second roller 12 is transversely connected between the first stopper 111 and the second stopper 112, the second roller 12 is a roller structure, which is cylindrical as a whole and can rotate relative to the first stopper 111 and the second stopper 112, the specific number of the second roller 12 is not limited, and one or more second rollers can be provided, the second roller 12 is located below the discharge platform 21 and maintains a certain interval from the upper side of the mounting platform 11, the folded portion of the material strip 40 is in rolling contact with the second roller 12, specifically, the folded portion of the material strip 40 passes through the lower side of the second roller 12 and is in rolling contact with the second roller 12. In actual applications, when the material belt 40 moves forward, the second roller 12 will be driven by the material belt 40 to roll, and the rolling of the second roller 12 guides the material belt 40 to move forward, so that the material belt 40 can move forward more smoothly.

[0040] In one embodiment, referring to Figure 4 , the roller assembly 22 includes at least one guide roller 220, the guide roller 220 is rotatably disposed between the drum 30 and the discharge platform 21 and is parallel to the axis of the drum 30, and the material belt 40 passes under the guide roller 220 and is in rolling contact with the guide roller 220. In a specific implementation, the roller assembly 22 includes at least one guide roller 220, the guide roller 220 is a roller structure, and the specific number of guide rollers 220 is not limited, and one or more guide rollers can be provided. The guide roller 220 is rotatably disposed between the drum 30 and the discharge platform 21, and the guide roller 220 as a whole is parallel to the axis of the drum 30, the height of the guide roller 220 is equivalent to the height of the discharge platform 21, and the material belt 40 passes under the guide roller 220 and is in rolling contact with the guide roller 220. In actual applications, when the material belt 40 moves forward, the guide roller 220 can guide the material belt 40 to move forward in a rolling manner, so that the material belt 40 can move toward the unloading platform 21 more smoothly.

[0041] In one embodiment, referring to Figure 1 and Figure 3The material receiving mechanism 50 includes a rotating driving module 51 and a reeling rod 52. The reeling rod 52 is transversely arranged below the drum 30 and connected to the folded portion of the material strip 40. The rotating driving module 51 is arranged on the frame 10 and is in driving connection with the reeling rod 52. The rotating driving module 51 is used to drive the reeling rod 52 to rotate so that the reeling rod 52 reels the folded portion of the material strip 40. In a specific implementation, the material receiving mechanism 50 includes a rotating driving module 51 and a reeling rod 52. The reeling rod 52 is a rod-shaped structure. The reeling rod 52 is transversely arranged below the drum 30 as a whole and connected to the folded portion of the material strip 40. The reeling rod 52 is parallel to the axial direction of the drum 30. The rotating drive module 51 is arranged as a whole at the lower position of the roller 30 and is connected to the winding rod 52. The rotating drive module 51 can be specifically connected to the winding rod 52 by gear or belt transmission. The rotating drive module 51 can drive the winding rod 52 to rotate, so that the winding rod 52 rewinds the folded part of the material strip 40. In actual application, the winding rod 52 rotates to rewind the folded part of the material strip 40 to advance the material strip 40, and the roller 30 rotates passively, so that the part of the material strip 40 rolled up on the roller 30 is released, and the material sheet 401 is brought to the top of the discharge table 21, which is simple to implement and convenient for the recovery of the material strip 40.

[0042] In one embodiment, referring to Figures 1 to 4The automatic feeding device 100 also includes a pressing mechanism 60, and the pressing mechanism 60 includes a first lifting and pressing module 61 and a second lifting and pressing module 62. The first lifting and pressing module 61 and the second lifting and pressing module 62 are respectively arranged above the discharge platform 21, and the first lifting and pressing module 61 and the second lifting and pressing module 62 are respectively adjacent to the long sides of the material belt 40 above and below, wherein the first lifting and pressing module 61 and the second lifting and pressing module 62 are used to move up and down in the vertical direction to press the long sides of the material belt 40 on the upper side of the discharge platform 21. In a specific implementation, the automatic feeding device 100 also includes a pressing mechanism 60, which is integrally arranged on the frame 10. The pressing mechanism 60 is mainly composed of a first lifting pressing module 61 and a second lifting pressing module 62. The first lifting pressing module 61 and the second lifting pressing module 62 are respectively arranged above the discharge platform 21, specifically above the edges of the two opposite sides of the discharge platform 21. After the material belt 40 is laid on the discharge platform 21, the first lifting pressing module 61 and the second lifting pressing module 62 are respectively arranged above the discharge platform 21. 2 are respectively adjacent to the long sides of the two sides of the material belt 40 in the upper and lower directions. The first lifting and pressing module 61 and the second lifting and pressing module 62 are lifting module structures with the same structure. Both of them can realize vertical lifting and movement. When the first lifting and pressing module 61 and the second lifting and pressing module 62 are descending, they can press the material belt 40 onto the discharge platform 21. The first lifting and pressing module 61 is responsible for pressing one side of the long side of the material belt 40, and the second lifting and pressing module 62 is responsible for pressing the other side of the long side of the material belt 40. In actual applications, the first lifting and pressing module 61 and the second lifting and pressing module 62 press the long sides of the material belt 40 laid on the discharge table 21, and press the long sides of the material belt 40 on the upper side of the discharge table 21, so that the position of the material belt 40 on the discharge table 21 remains fixed, and the material belt 40 does not slide relative to the discharge table 21. The positioning of the material piece 401 on the material belt 40 is more accurate, and the robot 200 can pick up the material more accurately. At the same time, the action of the robot 200 grabbing the material piece 401 from the material belt 40 will not cause the position of the material belt 40 to change, and the material picking is more reliable.

[0043] In one embodiment, referring to Figure 1, the automatic feeding device 100 further includes a tension control mechanism 70, the roller 30 includes a cylinder 31 and a rotating shaft 32, the cylinder 31 and the discharging platform 21 are horizontally spaced, the rotating shaft 32 is fixedly arranged through the axis of the cylinder 31 and is rotatably connected to the frame 10, the material strip 40 is wound on the cylinder 31, the tension control mechanism 70 is arranged on the frame 10 and connected to the rotating shaft 32, wherein the tension control mechanism 70 is used to frictionally cooperate with the rotating shaft 32 to increase the rotation resistance of the rotating shaft 32. In a specific implementation, the roller 30 is mainly composed of a cylinder 31 and a rotating shaft 32, the cylinder 31 is a cylindrical structure with a certain radius, the rotating shaft 32 is fixedly arranged through the axis of the cylinder 31 as a whole, and the rotating shaft 32 is fixedly connected to the cylinder 31, that is, when the cylinder 31 rotates, the rotating shaft 32 will rotate synchronously, and the material strip 40 is wound on the cylinder 31. The end of the rotating shaft 32 is rotatably connected to the frame 10, specifically, the rotatable connection is achieved by arranging a bearing component on the frame 10. The automatic feeding device 100 further includes a tension control mechanism 70, which is integrally arranged on the frame 10 and connected to the rotating shaft 32. When the material receiving mechanism 50 drives the material belt 40 toward the discharge platform 21, the drum 31 will passively rotate, and the material belt 40 wound on the drum 31 will gradually be lowered. Since the material pieces 401 on the material belt 40 are evenly spaced, the speed of the material belt 40 is too fast, which will cause the position of the material pieces 401 on the discharge platform 21 to be offset. The drum 31 is passively rotated, and the rotation of the drum 31 is easily affected by its own rotational inertia, resulting in unstable forward speed of the material belt 40. Here, the tension control mechanism 70 is connected to the rotating shaft 32. The tension control mechanism 70 and the rotating shaft 32 are frictionally matched to increase the rotational resistance of the rotating shaft 32. By increasing the resistance of the rotating shaft 32 to counteract the inertia of the drum 31 during rotation, the rotation speed of the drum 31 is more balanced, and the material belt 40 can always remain in a tensioned state. The material belt 40 wound on the drum 31 can be evenly released and move forward at a steady speed, so that the positioning of the material piece 401 is more accurate.

[0044] Further, refer to Figures 2 to 6The tension control mechanism 70 includes a spring 71 and a damping belt 72. A wheel groove 320 is sleeved on the rotating shaft 32. The damping belt 72 is sleeved on the wheel groove 320 and one end of the damping belt 72 is connected to the frame 10 and the other end is connected to one end of the spring 71. The other end of the spring 71 is connected to the frame 10, wherein the spring 71 tightens the damping belt 72 so that the damping belt 72 converges the wheel groove 320. In a specific implementation, the tension control mechanism 70 is mainly composed of a spring 71 and a damping belt 72. A wheel groove 320 is sleeved on the rotating shaft 32. The wheel groove 320 is sleeved on one end of the rotating shaft 32 connected to the frame 10. The damping belt 72 is sleeved on the wheel groove 320 as a whole, and one end of the damping belt 72 is connected and fixed to the frame 10. The other end of the damping belt 72 is connected to one end of the spring 71. The other end of the spring 71 is fixed to the frame 10. The spring 71 is in a stretched state as a whole, and the damping belt 72 is tightened so that the damping belt 72 contracts the wheel groove 320. In actual application, the damping belt 72 converges the wheel groove 320. When the material belt 40 moves forward and drives the cylinder 31 to rotate passively, the rotating shaft 32 will drive the wheel groove 320 to rotate together. The rotation of the wheel groove 320 causes it to rub against the damping belt 72, thereby increasing the rotation resistance of the rotating shaft 32, counteracting the inertia of the cylinder 31 during rotation, making the rotation speed of the cylinder 31 more balanced, and the material belt 40 can always remain in a tensioned state. The material belt 40 wound on the cylinder 31 can be evenly released and move forward at a steady speed, making the positioning of the sheet 401 more accurate.

[0045] In one embodiment, referring to Figure 1The automatic feeding device 100 also includes a guide assembly 80, which includes a guide rod 81, a first stopper 82 and a second stopper 83. The guide rod 81 is laterally arranged between the roller assembly 22 and the roller 30 and is parallel to the axis of the roller 30. The first stopper 82 and the second stopper 83 are respectively arranged at both ends of the guide rod 81. The material belt 40 is attached to the bottom of the guide rod 81 and is between the first stopper 82 and the second stopper 83. In a specific implementation, the automatic feeding device 100 also includes a guide assembly 80, which is mainly composed of a guide rod 81, a first stopper 82 and a second stopper 83. The guide rod 81 is arranged horizontally between the roller assembly 22 and the roller 30, and the guide rod 81 is parallel to the axis of the roller 30. The first stopper 82 and the second stopper 83 are of the same block structure. The first stopper 82 and the second stopper 83 are respectively connected to the two ends of the guide rod 81, and the material belt 40 passes under the guide rod 81 and is connected to the guide rod 81. The bottom of the rod 81 is in close contact, and the material belt 40 is between the first stop block 82 and the second stop block 83. The distance between the first stop block 82 and the second stop block 83 is slightly larger than the width of the material belt 40 on both sides. On the whole, the guide rod 81 cooperates with the first stop block 82 and the second stop block 83 to guide the material belt 40. The first stop block 82 and the second stop block 83 form a horizontal block for the long sides of the material belt 40 on both sides, and the guide rod 81 forms a vertical block for the material belt 40, which effectively prevents the material belt 40 from swinging during the forward movement.

[0046] The present invention also provides a material discharging control method, which is applied to the automatic feeding device described in the above embodiment. Fig. 9 As shown, the discharge control method includes steps: S110-S120.

[0047] S110, if it is detected that there is no sheet above the unloading platform, the material collection mechanism is controlled according to the thickness of the portion of the material strip wound on the roller to drive the material strip forward;

[0048] In the specific implementation, the sheets are neatly arranged at equal intervals along the long side of the material belt, and the automatic feeding device controls the receiving mechanism through the PLC controller to drive the material belt forward. A sensor is set on the unloading table of the automatic feeding device, and the PLC controller can judge whether there are sheets on the material belt laid on the unloading table through the signal sent back by the sensor. When the PLC controller judges that there are no sheets on the material belt laid on the unloading table through the signal sent back by the sensor, the PLC controller outputs a start signal to control the receiving mechanism to control the receiving mechanism according to the thickness of the part of the material belt wound on the roller to drive the material belt forward, so that the linear speed of the material belt after it is released from the roller remains constant.

[0049] Furthermore, if Fig.10As shown, the step S110 includes steps S111-S113.

[0050] S111, obtaining a change in thickness of the portion of the material strip wound on the roller within a preset time.

[0051] In a specific implementation, the material strip is wound on a roller. When the material strip moves forward, the time interval between two adjacent groups of material sheets spaced apart in the long side direction of the material strip is sensed by the sensor as a preset time, which is also a feeding cycle. The distance the material strip runs in each feeding cycle remains unchanged, so the change in thickness of the material strip wound on the roller can be approximately calculated within the preset time.

[0052] S112, calculating a first material collection speed according to a change in thickness of a portion of the material strip wound on the roller within a preset time and a PID algorithm;

[0053] In a specific implementation, the time for the material belt to advance through a feeding cycle is taken as t. In order to control the sliding distance of the material belt to be constant when the roller stops, the PLC control calculates the first material collection speed according to the change in thickness of the part of the material belt wound on the roller within a preset time and the PID algorithm. The PID algorithm is also called the Proportional-Integral-Differential Control Algorithm, which measures the error between the actual output of the control system and the expected output, and calculates the control quantity according to the three parameters of proportion (P), integration (I) and differentiation (D), thereby adjusting the input of the system to make the output as close to the expected value as possible. The time interval between two adjacent groups of sheets sensed by the sensor in the long side direction of the material belt is t, and the first material collection speed is calculated according to the PID algorithm formula u(t)=Kp*e(t)+Ki*∫e(t)dt+Kd*de(t) / dt, where u(t) is the first material collection speed for controlling a given amount, e(t) is the deviation signal of the given amount, which is the difference between the feeding cycle of the collected sheet and the given amount, Kp is the proportional coefficient, Ki is the integral time constant, and Kd is the differential time constant. The corresponding values ​​of Kp, Ki, and Kd can be calculated through the actual operation experiment of the automatic feeding device. Combined with the time t for the material belt to advance one feeding cycle, the PLC controller can calculate the first material collection speed of the part of the material belt wound on the roller at different thicknesses.

[0054] S113, controlling the material receiving mechanism to drive the material belt forward at the first material receiving speed.

[0055] In the specific implementation, the PLC controller calculates the first material receiving speed and controls the material receiving mechanism to drive the material belt forward at the first material receiving speed. The first material receiving speed changes with the thickness of the part of the material belt wound on the roller, so that the part of the material belt wound on the roller moves forward from the roller on the unloading table at a constant linear speed.

[0056] S120: If it is detected that there is a sheet above the discharge table, the material receiving mechanism is controlled to stop driving the material belt forward.

[0057] In the specific implementation, the PLC controller determines whether there is a sheet of material on the material belt laid on the unloading table through the signal sent back by the sensor. When the PLC controller determines that there is a sheet of material on the material belt laid on the unloading table through the signal sent back by the sensor, the PLC controller outputs a stop signal to control the material receiving mechanism to stop driving the material belt forward. Since the PLC controller controls the material receiving mechanism to drive the material belt forward according to the thickness of the part of the material belt wound on the roller, from the beginning of receiving the stop signal to the complete stop of the material receiving mechanism, the material belt can accurately bring the sheet of material to the fixed point above the material table, and the positioning deviation of the sheet of material is reduced.

[0058] The material discharging control method of the present application detects that there is no material sheet above the discharging table, and controls the material receiving mechanism to drive the material belt forward according to the thickness of the part of the material belt rolled on the roller. By detecting the presence of the material sheet above the discharging table, the material receiving mechanism is controlled to stop driving the material belt forward, thereby reducing the positioning deviation of the material sheet, making the material sheet accurately located above the discharging table, and improving the accuracy of the material discharging.

[0059] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An automatic feeding device, characterized in that: include: frame; A drum is rotatably disposed on the frame; A discharging mechanism is arranged on the frame, the discharging mechanism comprises a discharging platform and a roller assembly, the discharging platform and the roller are arranged horizontally and alternately, and the roller assembly is arranged between the discharging platform and the roller; A material belt, a part of which is wound on the drum, and another part of which is laid on the unloading platform through the roller assembly, and a plurality of material sheets are distributed on the material belt; A material receiving mechanism is disposed on the frame and connected to the material belt, and is used for driving the material belt forward at a first material receiving speed determined according to the thickness of the portion of the material belt wound on the roller.

2. The automatic feeding device according to claim 1, characterized in that: The frame is provided with a mounting platform, the mounting platform is adjacent to the roller, the discharging platform and the roller assembly are both arranged above the mounting platform, the discharging platform and the upper side of the mounting platform are spaced apart to form a folding channel, the material belt passes through the folding channel and folds back toward the roller, the material receiving mechanism is arranged below the roller and connected to the folded part of the material belt, wherein the material receiving mechanism retracts and pulls the folded part of the material belt to drive the material belt to move forward relative to the discharging platform.

3. The automatic feeding device according to claim 2, characterized in that: A first stopper and a second stopper are spaced apart on the upper side of the mounting platform, the discharge platform is connected between the first stopper and the second stopper, the material belt is disposed between the first stopper and the second stopper, at least one first roller is transversely connected between the first stopper and the second stopper, the first roller is located above the discharge platform and spaced apart from the upper side of the mounting platform, the material belt is passed between the first roller and the mounting platform and is in rolling contact with the first roller.

4. The automatic feeding device according to claim 1, characterized in that: The roller assembly includes at least one guide roller, which is laterally rotatably arranged between the drum and the discharge platform and remains parallel to the axis of the drum. The material belt passes under the guide roller and is in rolling contact with the guide roller.

5. The automatic feeding device according to claim 1, characterized in that: The material receiving mechanism includes a rotating drive module and a winding rod, wherein the winding rod is laterally arranged below the roller and connected to the folded portion of the material strip, and the rotating drive module is arranged on the frame and is transmission-connected to the winding rod, wherein the rotating drive module is used to drive the winding rod to rotate so that the winding rod can wind up the folded portion of the material strip.

6. The automatic feeding device according to any one of claims 1 to 5, characterized in that: The automatic feeding device also includes a pressing mechanism, which includes a first lifting and pressing module and a second lifting and pressing module, wherein the first lifting and pressing module and the second lifting and pressing module are respectively arranged above the discharge platform, and the first lifting and pressing module and the second lifting and pressing module are respectively adjacent to the long sides of the material belt above and below, wherein the first lifting and pressing module and the second lifting and pressing module are used to perform lifting and movement in the vertical direction to press the long sides of the material belt on the upper side of the discharge platform.

7. The automatic feeding device according to any one of claims 1 to 5, characterized in that: The automatic feeding device also includes a tension control mechanism, the roller includes a cylinder and a rotating shaft, the cylinder and the discharge platform are horizontally spaced, the rotating shaft is fixedly penetrated through the axis of the cylinder and is rotatably connected to the frame, the material strip is wound on the cylinder, and the tension control mechanism is arranged on the frame and connected to the rotating shaft, wherein the tension control mechanism is used to frictionally cooperate with the rotating shaft to increase the rotational resistance of the rotating shaft.

8. The automatic feeding device according to claim 7, characterized in that: The tension control mechanism includes a spring and a damping belt. A wheel groove is sleeved on the rotating shaft. The damping belt is sleeved on the wheel groove and one end of the damping belt is connected to the frame and the other end is connected to one end of the spring. The other end of the spring is connected to the frame, wherein the spring tightens the damping belt so that the damping belt converges the wheel groove.

9. A discharge control method, characterized in that: Applied to the automatic feeding device according to any one of claims 1 to 8, the method comprises: If it is detected that there is no sheet above the unloading platform, the material collection mechanism is controlled to drive the material strip forward according to the thickness of the portion of the material strip wound on the roller; If it is detected that there is a sheet of material above the discharge table, the material receiving mechanism is controlled to stop driving the material belt forward.

10. The material discharging control method according to claim 9, characterized in that: The method of controlling the material receiving mechanism to drive the material tape forward according to the thickness of the portion of the material tape wound on the roller comprises: Obtaining a change in thickness of a portion of the material strip wound on the roller within a preset time; Calculate a first material collection speed according to a change in thickness of the portion of the material strip wound on the roller within a preset time and a PID algorithm; The material receiving mechanism is controlled to drive the material belt forward at the first material receiving speed.

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