Feeding device

Abstract

The present invention relates to a feeding device. The feeding device of the present invention comprises: a coarse positioning mechanism, which is used for coarse positioning of a workpiece; a fine positioning mechanism, which is used for fine positioning of the workpiece; a vibration plate, which is used to feed the workpiece into the coarse positioning mechanism; and a transport mechanism, which is used to transport the workpiece from the coarse positioning mechanism to the fine positioning mechanism. The feeding device of the present invention has the advantages of saving site area and saving time for manual loading and unloading.

Description

Technical Field

[0001] The invention relates to the field of mechanical feeding equipment, in particular to a feeding device. Background Art

[0002] See also Figure 1 and Figure 2 , Figure 1 It is a three-dimensional diagram of a stepped rotating body. Figure 2 The figure is a front view of a stepped rotating body, which includes a circular cake portion 11 and a truncated cone portion 12, wherein the large circular end surface of the truncated cone portion 12 is arranged on the bottom surface of the circular cake portion 11, the axis of the truncated cone portion 12 is located on the same straight line as the axis of the circular cake portion 11, and the diameter of the large circular end surface of the truncated cone portion 12 is smaller than the diameter of the bottom surface of the circular cake portion 11. Two ribs 13 are arranged on the circumferential side surface of the truncated cone portion 12, and the two ribs 13 are symmetrically arranged on both sides of the truncated cone portion 12 about the axis of the truncated cone portion 12.

[0003] At present, the method of loading round special-shaped products similar to the above-mentioned stepped rotating body is basically to use a manual material placement table. A fool-proof structure is designed on the material placement table so that the round special-shaped products can be positioned and then the robot grabs and loads the materials. However, this method of using a manual material placement table occupies a large area, and manual labor is required to load and unload materials frequently, with a small storage capacity, which cannot really save labor. Summary of the invention

[0004] Based on this, the object of the present invention is to provide a loading device, which has the advantages of saving site area and saving manual loading and unloading time.

[0005] A loading device comprises: a coarse positioning mechanism for coarse positioning of a workpiece; a fine positioning mechanism for fine positioning of the workpiece; a vibration plate for feeding the workpiece into the coarse positioning mechanism; and a transport mechanism for transporting the workpiece from the coarse positioning mechanism to the fine positioning mechanism.

[0006] Compared with the prior art, the feeding device of the present invention adopts a vibrating plate for feeding, which has a large material storage capacity, can save site area and save time for manual loading and unloading. In addition, a rough positioning mechanism is used to preliminarily adjust the posture of the workpiece, and then the workpiece with the adjusted posture is transported to the fine positioning mechanism by the transport mechanism, and then the direction of the workpiece is adjusted by the fine positioning mechanism to realize directional feeding.

[0007] Further, the rough positioning mechanism includes a rough positioning bracket, and a first slide groove for the workpiece to slide into and position is arranged on the top of the rough positioning bracket, one end of the first slide groove is an open end, and the other end of the first slide groove is a closed end, the open end of the first slide groove is opened on the first side surface of the rough positioning bracket, the open end of the first slide groove is connected with the discharge end of the vibration disk, the first slide groove extends horizontally from the first side surface in a direction away from the vibration disk to constitute the closed end of the first slide groove, and the width of the first slide groove is less than the maximum diameter of the workpiece.

[0008] Furthermore, the first slide slot can only accommodate a single workpiece.

[0009] Furthermore, the rough positioning mechanism also includes an in-place sensor, which is arranged on one side of the first slide slot, and the in-place sensor is used to detect whether there is the workpiece at the closed end of the first slide slot.

[0010] Furthermore, the precision positioning mechanism includes a first power source and a precision positioning bracket, the first power source is used to drive the precision positioning bracket to vertically lift and lower, both ends of the precision positioning bracket are provided with V-shaped clamps, and the V-shaped clamps are provided with V-shaped bayonet sockets that cooperate with the workpiece.

[0011] Furthermore, the first power source may be a cylinder or a screw motor.

[0012] Furthermore, a discharge track is provided on the vibration plate, and the discharge end of the discharge track is connected to the feed end of the coarse positioning mechanism. The distance between the discharge end of the discharge track and the feed end of the coarse positioning mechanism allows the workpiece to slide from the discharge track into the coarse positioning mechanism.

[0013] Furthermore, a second slide groove is provided at a portion of the discharging track close to the rough positioning mechanism, one end of the second slide groove is an open end, and the other end of the second slide groove is a closed end, the open end of the second slide groove is opened on the discharging end face of the discharging track, and the second slide groove extends from the discharging end face of the discharging track along a direction opposite to the feeding direction of the discharging track to form a closed end of the second slide groove, and the width of the second slide groove is smaller than the maximum diameter of the workpiece.

[0014] Furthermore, the transport mechanism includes a horizontal moving component, a vertical moving component, and a picking component. The horizontal moving component is used to drive the picking component to move horizontally, the vertical moving component is used to drive the picking component to rise and fall vertically, and the picking component is used to pick up and place the workpiece.

[0015] Furthermore, the transport mechanism also includes a correction mechanism, and the correction mechanism is used to adjust the direction of the workpiece.

[0016] Furthermore, the horizontal moving component includes a first guide rail, a first slider, and a second power source. The guiding direction of the first guide rail is horizontally set, the first slider is slidably set on the first guide rail, and the second power source is used to drive the first slider to move.

[0017] Furthermore, the second power source may be a screw motor or a cylinder.

[0018] Furthermore, the vertical moving component includes a second guide rail, a second slider, and a third power source. The second guide rail is arranged on the first slider, the guiding direction of the second guide rail is arranged vertically, the second slider is slidably arranged on the second guide rail, and the third power source is used to drive the second slider to move.

[0019] Furthermore, the third power source may be a screw motor or a cylinder.

[0020] Furthermore, the object-picking component includes an object-picking rack and a suction cup. The object-picking rack moves synchronously with the second sliding block, and the suction cup is arranged at the bottom of the object-picking rack.

[0021] Furthermore, a position adjustment groove is provided on the picking rack, and the position adjustment groove extends along the radial direction of the workpiece. The suction cup is slidably arranged in the position adjustment groove, and the suction cup is detachably connected to the picking rack.

[0022] Furthermore, the correction mechanism includes a fourth power source and a detector. The fourth power source is arranged on the second slider. The fourth power source is used to drive the picking rack to rotate horizontally. The detector is arranged on the peripheral side of the workpiece. The detector is used to identify the direction of the workpiece. The fourth power source controls the rotation angle of the picking rack according to the direction identified by the detector.

[0023] Furthermore, the fourth power source is an electric motor.

[0024] Furthermore, the correction mechanism also includes a positioning plate, which is located directly above the precision positioning mechanism. A through hole is provided on the positioning plate for the workpiece to pass through, and the diameter of the through hole is smaller than the maximum diameter of the workpiece. The detector is arranged on one side of the through hole.

[0025] For better understanding and implementation, the present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a three-dimensional diagram of a stepped rotating body;

[0027] Figure 2 It is a front view of a stepped rotating body;

[0028] Figure 3 It is a structural schematic diagram of the feeding device described in Example 1;

[0029] Figure 4 It is a structural schematic diagram of the coarse positioning mechanism described in Example 1;

[0030] Figure 5 It is a structural schematic diagram of the precise positioning mechanism described in Example 1;

[0031] Figure 6 It is a structural schematic diagram of the vibration plate described in Example 1;

[0032] Figure 7 It is a structural schematic diagram of the transport mechanism described in Example 1;

[0033] Figure 8 It is a structural schematic diagram of the correction mechanism described in Example 1;

[0034] Reference numerals:

[0035] 10. Step-type rotating body; 11. Round cake part; 12. Cone part; 13. Rib; 100. Frame; 110. Universal wheel; 120. Support and adjustment foot; 200. Coarse positioning mechanism; 210. Coarse positioning bracket; 211. First slide; 212. First side; 220. In-position sensor; 300. Fine positioning mechanism; 310. Base; 320. First power source; 330. Fine positioning bracket; 331. V-shaped clamp; 332. V-shaped bayonet; 400. Vibrating plate; 410. Discharging track; 411. Second slide; 500. Transport mechanism; 510, horizontal moving assembly; 511, first guide rail; 512, first slider; 513, second power source; 514, first buffer; 520, vertical moving assembly; 521, second guide rail; 522, second slider; 523, third power source; 524, second buffer; 530, picking assembly; 531, picking rack; 532, suction cup; 533, position adjustment slot; 600, correction mechanism; 610, connecting seat; 620, fourth power source; 630, detector; 640, positioning plate; 650, support column. DETAILED DESCRIPTION

[0036] Embodiment 1

[0037] A feeding device, see Figures 1 to 3, including a frame 100, a coarse positioning mechanism 200, a fine positioning mechanism 300, a vibration plate 400, a transport mechanism 500, and a correction mechanism 600. Among them, the frame 100 is used to place the coarse positioning mechanism 200, the fine positioning mechanism 300, the vibration plate 400, the transport mechanism 500, and the correction mechanism 600. The coarse positioning mechanism 200 is used for coarse positioning of the workpiece. The fine positioning mechanism 300 is used for fine positioning of the workpiece. The vibration plate 400 is used to feed the workpiece into the coarse positioning mechanism 200. The transport mechanism 500 is used to transport the workpiece from the coarse positioning mechanism 200 to the fine positioning mechanism 300. The correction mechanism 600 is used to adjust the direction of the workpiece. In addition, in this embodiment, the workpiece takes a stepped rotating body 10 as an example, and the stepped rotating body 10 includes a circular cake portion 11 and a truncated cone portion 12, wherein the large circular end surface of the truncated cone portion 12 is arranged on the bottom surface of the circular cake portion 11, the axis of the truncated cone portion 12 and the axis of the circular cake portion 11 are located on the same straight line, and the diameter of the large circular end surface of the truncated cone portion 12 is smaller than the diameter of the bottom surface of the circular cake portion 11. Two ribs 13 are arranged on the circumferential side surface of the truncated cone portion 12, and the two ribs 13 are symmetrically arranged on both sides of the truncated cone portion 12 about the axis of the truncated cone portion 12.

[0038] The working process of the loading device is: first, the vibration plate 400 delivers the workpiece to the coarse positioning mechanism 200, and the coarse positioning mechanism 200 performs coarse positioning on the workpiece; then, the conveying mechanism 500 conveys the workpiece in the coarse positioning mechanism 200 to directly above the fine positioning mechanism 300; then, the correction mechanism 600 adjusts the direction of the workpiece so that the workpiece matches the fine positioning mechanism 300; finally, the conveying mechanism 500 puts the corresponding workpiece into the fine positioning mechanism 300, waiting for the robot arm of the next process to grab the workpiece.

[0039] See also Figure 3 In order to facilitate the movement of the equipment, universal wheels 110 are installed at the bottom of the frame 100. In order to prevent the feeding device from moving during operation, support and adjustment feet 120 are also provided at the bottom of the frame 100. After the feeding device is moved into place, the support and adjustment feet 120 are used to prop up the frame 100 so that the universal wheels 110 are separated from the ground.

[0040] See also Figure 3 and Figure 4The rough positioning mechanism 200 includes a rough positioning bracket 210, and the rough positioning bracket 210 is mounted on the frame 100 by bolts. A first slide groove 211 for the workpiece to slide into and position is provided on the top surface of the rough positioning bracket 210. One end of the first slide groove 211 is an open end, and the other end of the first slide groove 211 is a closed end. The open end of the first slide groove 211 is opened on the first side surface 212 of the rough positioning bracket 210, and the open end of the first slide groove 211 is connected to the discharge end of the vibration disk 400. The first slide groove 211 extends horizontally from the first side surface 212 of the rough positioning bracket 210 in a direction away from the vibration disk 400 to form the closed end of the first slide groove 211. The width of the first slide groove 211 is less than the maximum diameter of the workpiece, so that the workpieces can be moved to the closed end of the first slide groove 211 one by one. In actual work, after the vibration plate 400 sends the workpiece into the first chute 211, the first chute 211 is used to correct the posture of the workpiece from the vibration plate 400, so that the circular cake portion 11 of the workpiece is located above the first chute 211, and the truncated cone portion 12 of the workpiece is located in the first chute 211, that is, the top surface of the rough positioning bracket 210 is against the bottom surface of the circular cake portion 11 of the workpiece to limit the freedom of the workpiece in the vertical direction, and the two side walls of the first chute 211 are against the peripheral side of the truncated cone portion 12 of the workpiece to limit the freedom of the workpiece in the horizontal direction. Then, the workpiece moves along the extension direction of the first chute 211 to the closed end of the first chute 211. After the workpiece reaches the closed end of the first chute 211, the closed end of the first chute 211 is against the peripheral side of the truncated cone portion 12 of the workpiece to achieve rough positioning of the workpiece. In addition, the first slide groove 211 here can only accommodate a single workpiece. Of course, the first slide groove 211 can also accommodate multiple workpieces and can be designed according to specific needs.

[0041] See also Figure 3 and Figure 4 The rough positioning mechanism 200 also includes an in-place sensor 220, which is installed on the rough positioning bracket 210. The in-place sensor 220 is located on one side of the closed end of the first chute 211. The in-place sensor 220 is used to detect whether the workpiece reaches the closed end of the first chute 211. When the in-place sensor 220 detects that there is an object at the closed end of the first chute 211, the transport mechanism 500 is started, and the transport mechanism 500 transports the rough-positioned workpiece to the fine positioning mechanism 300. In this embodiment, the in-place sensor 220 adopts the E2B-M12KN08 proximity switch on the market. Of course, the in-place sensor 220 can also adopt ultrasonic sensors, infrared ranging sensors, etc. on the market, which are not limited in actual design.

[0042] See also Figure 3 and Figure 5The precision positioning mechanism 300 includes a base 310, a first power source 320, and a precision positioning bracket 330. The base 310 is mounted on the frame 100 by bolts. The first power source 320 is mounted on the base 310 by bolts, and the first power source 320 is used to drive the precision positioning bracket 330 to rise and fall vertically. The precision positioning bracket 330 is fixedly connected to the power output end of the first power source 320. Both ends of the precision positioning bracket 330 are provided with V-shaped clamps 331, and the V-shaped clamps 331 extend vertically upward from the end of the precision positioning bracket 330. A V-shaped bayonet 332 is provided on the top of the V-shaped clamp 331, and the V-shaped bayonet 332 matches the rib 13 of the workpiece to achieve the precision positioning of the workpiece. Specifically, the first power source 320 can be a cylinder or a screw motor. In this embodiment, the first power source 320 adopts a three-axis cylinder on the market, and the telescopic rod of the three-axis cylinder is connected to the bottom surface of the precision positioning bracket 330. Specifically, after the transport mechanism 500 transports the workpiece from the rough positioning mechanism 200 to directly above the V-shaped clamp 331, the direction of the workpiece is first adjusted by the correction mechanism 600 so that the rib 13 of the workpiece corresponds to the corresponding V-shaped clamp 331, and then the first power source 320 drives the V-shaped clamp 331 to rise, and the V-shaped snap fit 332 of the V-shaped clamp 331 cooperates with the rib 13 of the workpiece, so that the workpiece can be placed on the fine positioning bracket 330, thereby completing the fine positioning of the workpiece.

[0043] See also Figure 3 and Figure 6 , a discharge track 410 is provided on the vibration plate 400. The discharge end of the discharge track 410 corresponds to and is connected with the open end of the first chute 211 of the rough positioning mechanism 200, and the distance between the discharge end of the discharge track 410 and the open end of the first chute 211 allows the workpiece to slide from the discharge track 410 into the first chute 211. In this embodiment, the distance between the discharge end of the discharge track 410 and the open end of the first chute 211 is 1-5 mm. By separating the vibration plate 400 from the rough positioning mechanism 200, the vibration of the vibration plate 400 is prevented from affecting the rough positioning mechanism 200, the fine positioning mechanism 300, the transport mechanism 500, and the correction mechanism 600.

[0044] See also Figure 3 and Figure 6Further, a second chute 411 is provided at a portion of the discharge track 410 close to the rough positioning mechanism 200. One end of the second chute 411 is an open end, and the other end of the second chute 411 is a closed end, and the width of the second chute 411 is less than the maximum diameter of the workpiece. The open end of the second chute 411 is provided on the discharge end face of the discharge track 410, and the open end of the second chute 411 corresponds to and communicates with the open end of the first chute 211 of the rough positioning mechanism 200, and the width of the open end of the second chute 411 is less than the width of the open end of the first chute 211, so that the workpiece can slide from the second chute 411 into the first chute 211. The second chute 411 extends from the discharge end face of the discharge track 410 in the opposite direction of the feeding direction of the discharge track 410 to form the closed end of the second chute 411. In actual operation, first, the vibration disk 400 uses its own pulse battery iron to send the workpiece to the discharge track 410, and uses the track on the vibration disk 400 to adjust the posture of the workpiece in the process. After the workpiece falls into the second chute 411, the second chute 411 is used to correct the posture of the workpiece from the vibration disk 400, so that the round cake portion 11 of the workpiece is located above the second chute 411, and the truncated cone portion 12 of the workpiece is located in the second chute 411, that is, the inner bottom surface of the discharge track 410 abuts against the bottom surface of the round cake portion 11 of the workpiece to limit the freedom of the workpiece in the vertical direction, and the two side walls of the second chute 411 abut against the peripheral side surface of the truncated cone portion 12 of the workpiece to limit the freedom of the workpiece in the horizontal direction. Then, the workpieces after adjusting the posture slide into the first chute 211 of the rough positioning mechanism 200 one by one along the second chute 411 to complete the feeding of the vibration disk 400.

[0045] See also Figure 3 and Figure 7 The transport mechanism 500 includes a horizontal moving assembly 510, a vertical moving assembly 520, and a pick-up assembly 530. The horizontal moving assembly 510 is used to drive the pick-up assembly 530 to move horizontally. The vertical moving assembly 520 is used to drive the pick-up assembly 530 to move vertically. The pick-up assembly 530 is used to pick up and place workpieces.

[0046] See also Figure 3 and Figure 7, the horizontal moving assembly 510 includes a first guide rail 511, a first slider 512, and a second power source 513. The first slide rail is mounted on the frame 100 by bolts, and the guide direction of the first guide rail 511 is set horizontally. The first slider 512 is slidably arranged on the first guide rail 511, and the first slider 512 reciprocates horizontally on the horizontal plane along the first guide rail 511, and the above-mentioned vertical moving assembly 520 and the picking assembly 530 are installed on the first slider 512. The second power source 513 is installed at one end of the first guide rail 511, and the power output end of the second power source 513 is fixedly connected to the first slider 512, and the second power source 513 is used to drive the first slider 512 to move. The second power source 513 can be a screw motor or a cylinder. In this embodiment, the second power source 513 adopts a cylinder on the market. The feeding device can realize the movement of the workpiece in the horizontal direction by using the horizontal moving assembly 510. In actual work, when the in-position sensor 220 detects that a workpiece is placed at the closed end of the first slide slot 211 of the coarse positioning mechanism 200, the second power source 513 drives the first slider 512 to move, and the first slider 512 moves horizontally along the first guide rail 511 toward the direction close to the coarse positioning mechanism 200, so that the picking component 530 reaches directly above the workpiece in the coarse positioning mechanism 200, and the picking component 530 corresponds to the workpiece, so that the picking component 530 can absorb the workpiece. After the picking component 530 picks up the object, the second power source 513 drives the first slider 512 to move, and the first slider 512 moves horizontally along the first guide rail 511 toward the direction close to the fine positioning mechanism 300, so that the workpiece absorbed by the picking component 530 reaches directly above the fine positioning mechanism 300, and the workpiece corresponds to the fine positioning mechanism 300.

[0047] See also Figure 3 and Figure 7 In order to limit and slow down the first slider 512, at least one first buffer 514 is provided at both ends of the first guide rail 511. These first buffers 514 are within the activity space of the first slider 512. When the first slider 512 abuts against the first buffer 514 at one end of the first guide rail 511, it means that the picking component 530 reaches the top of the rough positioning mechanism 200 and performs the picking action; when the first slider 512 abuts against the first buffer 514 at the other end of the first guide rail 511, it means that the picking component 530 reaches the top of the fine positioning mechanism 300 and performs the placing action. In this embodiment, the first buffer 514 adopts a commercially available buffer.

[0048] See also Figure 3 and Figure 7The vertical moving assembly 520 includes a second guide rail 521, a second slider 522, and a third power source 523. The second guide rail 521 is fixedly mounted on the first slider 512 by bolts, and the guide direction of the second guide rail 521 is vertically arranged. The second slider 522 is slidably arranged on the second guide rail 521, and the second slider 522 is vertically lifted and lowered along the second guide rail 521, and the above-mentioned object-picking assembly 530 is installed on the second slider 522. The third power source 523 is installed at one end of the second guide rail 521, and the power output end of the third power source 523 is fixedly connected to the second slider 522, and the third power source 523 is used to drive the second slider 522 to move. The third power source 523 can be a screw motor or a cylinder. In this embodiment, the third power source 523 adopts a cylinder on the market. The feeding device can realize the lifting and lowering of the workpiece in the vertical direction by using the vertical moving assembly 520. In actual work, after the object-to-be-picked component 530 moves to the top of the rough positioning mechanism 200, the third power source 523 drives the second slider 522 to move, and the second slider 522 moves vertically downward along the second guide rail 521 toward the direction close to the rough positioning mechanism 200, so that the object-to-be-picked component 530 can pick up the workpiece. After the object-to-be-picked component 530 picks up the object, the third power source 523 drives the second slider 522 to move, and the second slider 522 moves vertically upward along the second guide rail 521 away from the rough positioning mechanism 200, and the horizontal moving component 510 is used to send the sucked workpiece to the top of the fine positioning mechanism 300. After the workpiece reaches the top of the fine positioning mechanism 300, the third power source 523 drives the second slider 522 to move, and the second slider 522 moves vertically downward along the second guide rail 521 toward the direction close to the fine positioning mechanism 300, so that the workpiece can be placed on the V-shaped clamp 331 of the fine positioning mechanism 300.

[0049] See also Figure 3 and Figure 7 In order to limit and slow down the second slider 522, at least one second buffer 524 is provided at both ends of the second guide rail 521. These second buffers 524 are within the activity space of the second slider 522. When the second slider 522 abuts against the second buffer 524 at one end of the second guide rail 521, it means that the picking assembly 530 has reached the highest position; when the second slider 522 abuts against the second buffer 524 at the other end of the second guide rail 521, it means that the picking assembly 530 has reached the lowest position. In this embodiment, the second buffer 524 adopts a commercially available buffer.

[0050] See also Figure 3 and Figure 7, the picking component 530 includes a picking rack 531 and a suction cup 532. The picking rack 531 moves synchronously with the second slider 522. In the present embodiment, the picking rack 531 is fixedly connected to the second slider 522 by bolts. The suction cup 532 is arranged at the bottom of the picking rack 531, one end of the suction cup 532 is used to suck the workpiece, and the other end of the suction cup 532 is detachably mounted on the picking rack 531. In the present embodiment, the picking component 530 uses four suction cups 532 to suck the workpiece, that is, a suction cup 532 is installed at each of the four corners of the picking rack 531, which helps to ensure that the picking component 530 can suck the workpiece every time. Furthermore, in order to adapt to workpieces of different diameters, a position adjustment groove 533 is provided on the picking rack 531, and the position adjustment groove 533 extends along the radial direction of the workpiece, and the suction cup 532 is slidably arranged in the position adjustment groove 533. In order to adapt to this adjustment method, an external thread is provided at the end of the suction cup 532, and at least one nut is provided at the upper and lower parts of the picking rack 531. The nut is threadedly connected to the external thread, and the suction cup 532 is fixed to the picking rack 531 by the upper and lower nuts. In addition to the above-mentioned installation method, the suction cup 532 and the picking rack 531 can also be pin-connected, bolt-connected, etc.

[0051] See also Figure 3 and Figure 8 , the correction mechanism 600 includes a connecting seat 610, a fourth power source 620, and a detector 630. Among them, the connecting seat 610 is fixedly connected to the second slider 522 by bolts. The fourth power source 620 moves synchronously with the second slider 522, that is, the fourth power source 620 is installed on the connecting seat 610 by bolts, and the power output end of the fourth power source 620 is detachably connected to the object-removing rack 531, and the fourth power source 620 is used to drive the object-removing rack 531 to rotate horizontally. The detector 630 is arranged on the peripheral side of the workpiece, and the detector 630 is used to identify the direction of the workpiece. In this embodiment, the detector 630 adopts the E2B-M12KN04 proximity switch on the market. In actual work, the fourth power source 620 controls the rotation angle of the object-removing rack 531 according to the direction identified by the detector 630.

[0052] See also Figure 3 and Figure 8Furthermore, in order to prevent the workpiece from suddenly falling off the object-picking assembly 530 or falling on the precision positioning mechanism 300, the correction mechanism 600 also includes a positioning plate 640, which is installed on the base 310 of the precision positioning mechanism 300 through four support columns 650, and the positioning plate 640 is located directly above the base 310. A through hole (not shown) for placing the workpiece is provided on the positioning plate 640, and the diameter of the through hole is smaller than the maximum diameter of the workpiece, that is, when the workpiece falls on the positioning plate 640, the top surface of the positioning plate 640 abuts against the bottom surface of the circular cake portion 11 of the workpiece to limit the freedom of the workpiece in the vertical direction, and the truncated cone portion 12 of the workpiece is penetrated in the through hole. In addition, a detector 630 is installed on the positioning plate 640, and the detector 630 is located between the positioning plate 640 and the base 310 of the precision positioning mechanism 300, and the detector 630 is arranged on one side of the through hole. In actual work, after the horizontal moving component 510 moves the workpiece to the top of the precision positioning mechanism 300, the vertical moving component 520 is first used to send the workpiece into the through hole of the positioning plate 640, so that the workpiece enters the recognition range of the detector 630; then the detector 630 identifies the direction of the workpiece, and the fourth power source 620 controls the rotation angle of the picking rack 531 according to the direction identified by the detector 630, thereby adjusting the direction of the workpiece so that the rib 13 of the workpiece corresponds to the corresponding V-shaped clip 331; finally, the V-shaped bayonet 332 of the V-shaped clip 331 cooperates with the rib 13 of the workpiece, and the picking component 530 releases the workpiece.

[0053] Embodiment 2

[0054] A loading device, which differs from the loading device described in Example 1 in that: a picking rack 531 is installed on a second slider 522, and a fourth power source 620 is used to drive the precision positioning mechanism 300 to rotate horizontally; specifically, the output end of the fourth power source 620 is connected to the first power source 320, and the output end of the first power source 320 is connected to the precision positioning bracket 330, that is, the fourth power source 620 drives the first power source 320 and the precision positioning bracket 330 to rotate horizontally synchronously, and the first power source 320 drives the precision positioning bracket 330 to rise and fall vertically.

[0055] Embodiment 3

[0056] A loading device, which differs from the loading device described in Example 2 in that: the output end of the first power source 320 is connected to the fourth power source 620, and the output end of the fourth power source 620 is connected to the precision positioning bracket 330, that is, the first power source 320 drives the fourth power source 620 and the precision positioning bracket 330 to rise and fall vertically synchronously, and the fourth power source 620 drives the precision positioning bracket 330 to rotate horizontally.

[0057] The above-mentioned embodiments only express several implementation methods of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A feeding device, characterized in that: The feeding device comprises: A rough positioning mechanism (200) is used for rough positioning of a workpiece; the workpiece comprises a circular cake portion (11) and a truncated cone portion (12); the large circular end surface of the truncated cone portion (12) is arranged on the bottom surface of the circular cake portion (11); the axis of the truncated cone portion (12) and the axis of the truncated cone portion (11) are located on the same straight line; the diameter of the large circular end surface of the truncated cone portion (12) is smaller than the diameter of the bottom surface of the circular cake portion (11); and two ribs (13) are symmetrically arranged on both sides of the circumferential side surface of the truncated cone portion (12); A precision positioning mechanism (300) is used for precision positioning of the workpiece; the precision positioning mechanism (300) comprises a first power source (320) and a precision positioning bracket (330); the first power source (320) is used to drive the precision positioning bracket (330) to vertically lift; both ends of the precision positioning bracket (330) are provided with V-shaped clamps (331); the V-shaped clamps (331) are provided with V-shaped bayonet holes (332) that cooperate with the ribs (13) of the workpiece; a vibrating plate (400) for feeding the workpiece into the coarse positioning mechanism (200); A transport mechanism (500) for transporting the workpiece from the rough positioning mechanism (200) to the fine positioning mechanism (300); A correction mechanism (600), wherein the correction mechanism (600) is used to adjust the direction of the workpiece; the correction mechanism (600) includes a fourth power source (620) and a detector (630), wherein the fourth power source (620) is used to drive the object picking rack (531) to rotate horizontally, the detector (630) is arranged on the peripheral side of the workpiece, the detector (630) is used to identify the direction of the workpiece, and the fourth power source (620) controls the rotation angle of the object picking rack (531) according to the direction identified by the detector (630); the correction mechanism (600) also includes a positioning plate (640), wherein the positioning plate (640) is located directly above the fine positioning mechanism (300), and a through hole is arranged on the positioning plate (640) for the workpiece to pass through, wherein the diameter of the through hole is smaller than the maximum diameter of the workpiece, and the detector (630) is arranged on one side of the through hole.

2. The feeding device according to claim 1, characterized in that: The rough positioning mechanism (200) comprises a rough positioning bracket (210), the top of the rough positioning bracket (210) is provided with a first slide groove (211) for the workpiece to slide into and be positioned, one end of the first slide groove (211) is an open end, and the other end of the first slide groove (211) is a closed end, the open end of the first slide groove (211) is arranged on a first side surface (212) of the rough positioning bracket (210), the open end of the first slide groove (211) is connected to the discharge end of the vibration plate (400), the first slide groove (211) extends horizontally from the first side surface (212) in a direction away from the vibration plate (400) to form the closed end of the first slide groove (211), and the width of the first slide groove (211) is less than the maximum diameter of the workpiece.

3. The feeding device according to claim 2, characterized in that: The first slide groove (211) can only accommodate a single workpiece.

4. The feeding device according to claim 2, characterized in that: The rough positioning mechanism (200) further comprises an in-position sensor (220), wherein the in-position sensor (220) is arranged on one side of the first slide groove (211), and the in-position sensor (220) is used to detect whether the workpiece is present at the closed end of the first slide groove (211).

5. The feeding device according to claim 1, characterized in that: The first power source (320) is a cylinder or a screw motor.

6. The feeding device according to claim 1, characterized in that: The vibration plate (400) is provided with a discharge track (410), the discharge end of the discharge track (410) is connected to the feed end of the rough positioning mechanism (200), and the distance between the discharge end of the discharge track (410) and the feed end of the rough positioning mechanism (200) allows the workpiece to slide from the discharge track (410) into the rough positioning mechanism (200).

7. The feeding device according to claim 6, characterized in that: A second slide groove (411) is provided at a portion of the discharge track (410) close to the rough positioning mechanism (200), one end of the second slide groove (411) is an open end, and the other end of the second slide groove (411) is a closed end, the open end of the second slide groove (411) is arranged on the discharge end surface of the discharge track (410), the second slide groove (411) extends from the discharge end surface of the discharge track (410) along a direction opposite to the feeding direction of the discharge track (410) to form a closed end of the second slide groove (411), and the width of the second slide groove (411) is smaller than the maximum diameter of the workpiece.

8. The feeding device according to claim 1, characterized in that: The transport mechanism (500) comprises a horizontal moving component (510), a vertical moving component (520), and a picking component (530); the horizontal moving component (510) is used to drive the picking component (530) to move horizontally; the vertical moving component (520) is used to drive the picking component (530) to move vertically; and the picking component (530) is used to pick up and place the workpiece.

9. The feeding device according to claim 8, characterized in that: The horizontal moving assembly (510) comprises a first guide rail (511), a first slider (512), and a second power source (513); the guiding direction of the first guide rail (511) is horizontally arranged; the first slider (512) is slidably arranged on the first guide rail (511); and the second power source (513) is used to drive the first slider (512) to move; The second power source (513) is a screw motor or a cylinder; The vertical moving assembly (520) comprises a second guide rail (521), a second slider (522), and a third power source (523); the second guide rail (521) is arranged on the first slider (512); the guiding direction of the second guide rail (521) is arranged vertically; the second slider (522) is slidably arranged on the second guide rail (521); and the third power source (523) is used to drive the second slider (522) to move; The third power source (523) is a screw motor or a cylinder; The fourth power source (620) is disposed on the second sliding block (522); The object-picking component (530) comprises an object-picking rack (531) and a suction cup (532); the object-picking rack (531) moves synchronously with the second sliding block (522); and the suction cup (532) is arranged at the bottom of the object-picking rack (531); The object-taking rack (531) is provided with a position adjustment groove (533), the position adjustment groove (533) extends along the radial direction of the workpiece, the suction cup (532) is slidably arranged in the position adjustment groove (533), and the suction cup (532) is detachably connected to the object-taking rack (531); The fourth power source (620) is a motor.

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