A three-axis flexible feeder

Abstract

The present disclosure relates to a three-axis flexible feeder, including X-axis, Y-axis, Z-axis vibration generators, a vibration output platform, a visual light source and a tray; the X-axis vibration generator, the Y-axis vibration generator and the Z-axis vibration generator are respectively used to generate vibrations along the X-axis direction, the Y-axis direction and the Z-axis direction; the vibration output platform is connected with the X-axis vibration generator, the Y-axis vibration generator and the Z-axis vibration generator, and is used to output vibrations in one direction or coupled vibrations in two or more directions; the tray is used to hold bulk materials and is detachably connected to the vibration output platform, and the tray receives the vibration output by the vibration output platform; the amplitude and vibration frequency of the vibration generators in the three axial directions are adjustable; the three-axis directions are orthogonal to each other, the planes where the X-axis and the Y-axis are located are parallel to the plane where the material tray is located, and the Z-axis is perpendicular to the plane where the material tray is located. The present invention can be compatible with the feeding of various forms of bulk materials, can avoid material jamming, and avoid cyclic vibration to increase material wear.

Description

Technical Field

[0001] The present disclosure relates to the technical field of material conveying, and in particular to a three-axis flexible feeder. Background Art

[0002] With the vigorous promotion of Industry 4.0, various automation equipment is applied to all walks of life. Among them, the feeding of bulk materials has always been a difficulty and pain point in the automation industry. Bulk materials come in various shapes, sizes, and types, and are distributed irregularly. Traditional bulk material feeding basically relies on vibrating plate feeding, but the compatibility of vibrating plates is very poor. One vibrating plate can basically only complete the feeding of one type of bulk material, and it is easy to get stuck. The vibrating plate feeding has material cyclic vibration, which increases the wear of the material. If there are many types of bulk materials, since a certain component of the vibrating plate cannot be replaced alone to adapt to different types of bulk materials, it is necessary to reserve multiple types of vibrating plates, which increases the procurement cost and management and operation cost of the enterprise.

[0003] Therefore, the present application proposes a three-axis flexible feeder. Summary of the invention

[0004] In order to solve at least one of the above technical problems, the present disclosure provides a three-axis flexible feeder.

[0005] The technical solution adopted in the present invention is as follows:

[0006] A three-axis flexible feeder includes an X-axis vibration generator, a Y-axis vibration generator, a Z-axis vibration generator, a vibration output table, a visual light source and a material tray;

[0007] The X-axis vibration generator, the Y-axis vibration generator and the Z-axis vibration generator are used to generate vibrations along the X-axis direction, the Y-axis direction and the Z-axis direction respectively;

[0008] The vibration output platform is connected to the X-axis vibration generator, the Y-axis vibration generator and the Z-axis vibration generator, and is used to output vibration in one direction or coupled vibration in two or more directions;

[0009] The material tray is used to hold bulk materials and is detachably fixedly connected to the vibration output platform, the material tray receives the vibration output by the vibration output platform, and the visual light source is fixedly installed below the material tray and is aligned with the bottom of the material tray;

[0010] Among them, the amplitude and vibration frequency of the X-axis vibration generator, the Y-axis vibration generator and the Z-axis vibration generator are adjustable; the X-axis direction, the Y-axis direction and the Z-axis direction are orthogonal to each other, the plane where the X-axis direction and the Y-axis direction are located is parallel to the plane where the material tray is located, and the Z-axis direction is perpendicular to the plane where the material tray is located.

[0011] Preferably, the vibration output platform comprises a base, a directional elastic deformation member, a first vibration output layer, a second vibration output layer and a third vibration output layer which are sequentially arranged in parallel and spaced apart; the material tray is placed in parallel with the third vibration output layer and is detachably fixedly connected to the third vibration output layer;

[0012] The first vibration output layer is supported on the base through the directional elastic deformation part, the second vibration output layer is supported on the first vibration output layer through the directional elastic deformation part, and the third vibration output layer is supported on the second vibration output layer through the directional elastic deformation part; the elastic deformation direction of the directional elastic deformation part is consistent with the vibration direction of the vibration output layer supported by it.

[0013] Preferably, the X-axis vibration generator, the Y-axis vibration generator and the Z-axis vibration generator all adopt voice coil motors; the vibration output end of the voice coil motor is fixedly connected to the corresponding vibration output layer, driving the corresponding vibration output layer to vibrate in one of the X-axis direction, the Y-axis direction and the Z-axis direction.

[0014] Preferably, the directional elastic deformation member is a sheet-shaped supporting spring, and the vibration direction of the vibration output layer supported by the supporting spring is perpendicular to the plane where the supporting spring is located.

[0015] Preferably, the supporting spring piece between the base and the first vibration output layer is vertical, the supporting spring piece between the first vibration output layer and the second vibration output layer is vertical, and the supporting spring piece between the second vibration output layer and the third vibration output layer is horizontal, one end of the horizontal supporting spring piece is fixedly connected to the third vibration output layer, and the other end is fixedly connected to the second vibration output layer through a supporting column.

[0016] Preferably, the material tray includes a flat material tray, a pin material tray, a screw material tray, and a spring material tray.

[0017] Preferably, the material tray is detachably fixedly mounted on the upper part of the third vibration output layer through a quick-release quick-change mechanism, the quick-release quick-change mechanism comprises a limit seat, a support seat, a flip handle, a connecting rod, and a spring, the flip handle is flipably fixedly mounted on the third vibration output layer through the connecting rod, the flip handle is sleeved on the connecting rod, one end of the spring acts on the flip handle, and the other end acts on the connecting rod;

[0018] The limiting seat has a slot, and one end of the material tray has a mounting seat, the slot is used to mount the mounting seat, the support seat is used to support the other end of the material tray, the flip handle has a limiting protrusion, and the other end of the material tray has a limiting groove. When the installation is completed, the spring force presses the limiting protrusion into the limiting groove, and the flip handle is lifted upward to overcome the spring force, so that the limiting protrusion leaves the limiting groove.

[0019] To summarize, the three-axis flexible feeder of the present application is provided with vibration generators in three orthogonal directions, and the vibration output table is connected to the X-axis vibration generator, the Y-axis vibration generator and the Z-axis vibration generator, and is used to output vibration in one direction or coupled vibration in two or more directions according to specific feeding needs. The material tray receives the vibration output by the vibration output table to operate and process the bulk material, and by controlling the amplitude and frequency of the vibration generator and the vibration coupling between the axes, the material in the material tray can achieve movement in various directions, for example, achieving multi-dimensional movement of bulk materials such as front, back, left, right, center, diffusion, and flipping, providing conditions for subsequent sorting and achieving gentle feeding of bulk materials. The present invention is compatible with the feeding of various forms of bulk materials, can avoid material jamming, avoid cyclic vibration that increases material wear, and solve the problem of bulk material feeding. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings illustrate exemplary embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0021] Figure 1 It is a schematic diagram of the structure of this application;

[0022] Figure 2 yes Figure 1 Schematic diagram of the structure in which the material tray and visual light source are removed;

[0023] Figure 3 It is a schematic diagram of the coordination of the base, each vibration generator, the directional elastic deformation member, and each vibration output layer in the present application;

[0024] Figure 4 It is a schematic diagram of the cooperation between the quick-release quick-change mechanism and the third vibration output layer in the present application;

[0025] Figure 5 It is a schematic diagram of the structure of a flat material tray in this application;

[0026] Figure 6 It is a schematic diagram of the pin material tray structure in this application;

[0027] Figure 7 It is a schematic diagram of the screw material tray structure in this application;

[0028] Figure 8 It is a schematic diagram of the spring material disk structure in this application.

[0029] Markings in the figure: 1 is an X-axis vibration generator, 2 is a Y-axis vibration generator, 3 is a Z-axis vibration generator, 4 is a visual light source, 5 is a material tray, 6 is a base, 7 is a directional elastic deformation member, 8 is a first vibration output layer, 9 is a second vibration output layer, 10 is a third vibration output layer, 11 is a support column, 12 is a limiting seat, 13 is a support seat, 14 is a flip handle, 15 is a connecting rod, 16 is a card slot, 17 is a card seat, 18 is a limiting protrusion, 19 is a limiting groove, 20 is a pin slot, 21 is a screw slot, and 22 is a spring slot. DETAILED DESCRIPTION

[0030] The present disclosure is further described in detail below in conjunction with the accompanying drawings and implementations. It is understood that the specific implementations described herein are only used to explain the relevant content, rather than to limit the present disclosure. It should also be noted that, for ease of description, only the parts related to the present disclosure are shown in the accompanying drawings.

[0031] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present disclosure may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0032] Example 1

[0033] like Figures 1 to 8 As shown, a three-axis flexible feeder is used for feeding bulk materials, including an X-axis vibration generator 1, a Y-axis vibration generator 2, a Z-axis vibration generator 3, a vibration output table, a visual light source 4 and a material tray 5, wherein the material tray 5 is in a horizontal state; the X-axis vibration generator 1, the Y-axis vibration generator 2 and the Z-axis vibration generator 3 are used to generate vibrations along the X-axis direction, the Y-axis direction and the Z-axis direction respectively;

[0034] The vibration output platform is connected to the X-axis vibration generator 1, the Y-axis vibration generator 2 and the Z-axis vibration generator 3, and is used to output vibration in one direction or coupled vibration in two or more directions; as a vibration output component, the vibration output platform is connected to the X-axis vibration generator 1, the Y-axis vibration generator 2 and the Z-axis vibration generator 3. The vibration generated by the vibration generator in one of the three orthogonal directions can be output separately through the vibration output platform. After the vibration generators in any two of the three orthogonal directions generate vibrations, the vibrations in the two directions are coupled and output through the vibration output platform. After the vibration generators in the three orthogonal directions all generate vibrations, the vibrations in the three directions are coupled and output through the vibration output platform. In actual use, according to the characteristics of the bulk material in the material tray 5 and the different operations such as front, back, left, right, centering, diffusion, and flipping that need to be performed, different timing combinations such as timing control can be used to make a certain axis vibrate in sequence, multiple axes vibrate simultaneously, etc., and the amplitude and frequency can be adjusted at the same time;

[0035] The material tray 5 is used to hold bulk materials and is detachably fixedly connected to the vibration output table, so as to facilitate quick removal and replacement of the corresponding material tray 5. The material tray 5 receives the vibration output by the vibration output table, that is, receives a single axial vibration or coupled vibrations of two or more axial directions. The visual light source 4 is fixedly installed below the material tray 5 and is aligned with the bottom of the material tray 5.

[0036] The amplitude and vibration frequency of the X-axis vibration generator 1, the Y-axis vibration generator 2 and the Z-axis vibration generator 3 can be adaptively adjusted according to actual needs. Therefore, the vibration generator can also be called a vibration power axis. For example, an electromagnetic vibration device can be used to generate reciprocating vibration in a certain direction; the X-axis direction, the Y-axis direction and the Z-axis direction are orthogonal to each other, the plane where the X-axis direction and the Y-axis direction are located is parallel to the plane where the material tray 5 is located, the Z-axis direction is perpendicular to the plane where the material tray 5 is located, the X-axis direction and the Y-axis direction are located in the horizontal plane, and the Z-axis direction is the vertical direction;

[0037] The three-axis flexible feeder of the present application is provided with vibration generators in three orthogonal directions, the vibration output table is connected with the X-axis vibration generator 1, the Y-axis vibration generator 2 and the Z-axis vibration generator 3, the material tray 5 is detachably fixedly connected with the vibration output table, and is used to output vibration in one direction or coupled vibration in two or more directions according to specific feeding needs, and the material tray receives the vibration output by the vibration output table to operate and process the bulk material; by controlling the amplitude and frequency of the vibration generator and the vibration coupling between the axes, the material in the material tray can realize the movement in various directions, for example, the front, back, left, right, center, and diffusion of the bulk material can be realized , flipping and other multi-dimensional movements provide conditions for subsequent sorting and realize gentle feeding of bulk materials; at the same time, when in use, combined with the visual mechanism (including CCD camera, visual light source 4, etc.) and the sorting mechanism including (automatic manipulator, etc.), the visual mechanism takes pictures of the materials in the material tray 5 and transmits the data back to the electronic control system for processing, analyzes the position and placement of each material, and then controls the sorting mechanism to grab the matching materials. This process is a conventional operation process in this field, and the visual mechanism and the sorting mechanism are also conventional devices in this field. The specific operation process and the specific structure of the visual mechanism and the sorting mechanism are not repeated here.

[0038] Specifically, the vibration output platform includes a base 6, a directional elastic deformation member 7, a first vibration output layer 8, a second vibration output layer 9 and a third vibration output layer 10 which are arranged in parallel and spaced apart in sequence, and the three vibration output layers are all in a horizontal state; the material tray 5 is placed in parallel with the third vibration output layer 10 and is detachably fixedly connected to the third vibration output layer 10; specifically, the first vibration output layer 8 is located above the base 6, the second vibration output layer 9 is located above the first vibration output layer 8, and the third vibration output layer 10 is located above the second vibration output layer 9, and the material tray 5 is detachably fixedly installed on the upper part of the third vibration output layer 10; the first vibration output layer 8 is supported on the base by the directional elastic deformation member 7 6, the second vibration output layer 9 is supported on the first vibration output layer 8 through the directional elastic deformation member 7, and the third vibration output layer 10 is supported on the second vibration output layer 9 through the directional elastic deformation member 7. The directional elastic deformation member 7 here is a unified name, which does not mean that each layer structure is supported by the same directional elastic deformation member 7. The directional elastic deformation members 7 between each layer structure are independent; the elastic deformation direction of the directional elastic deformation member 7 is consistent with the vibration direction of the vibration output layer corresponding to the directional elastic deformation member 7, and the directional elastic deformation member 7 can only produce elastic deformation along one axial direction to realize the reciprocating vibration of the vibration output layer corresponding to the axial direction, while isolating vibrations in other directions;

[0039] The Y-axis vibration generator 2 is fixedly mounted on the base 6, and its vibration output end is connected to the first vibration output layer 8, the X-axis vibration generator 1 is fixedly mounted on the first vibration output layer 8, and its vibration output end is connected to the second vibration output layer 9, and the Z-axis vibration generator 3 is fixedly mounted on the second vibration output layer 9, and its vibration output end is connected to the third vibration output layer 10; the third vibration output layer 10 can accept a single vibration output of the second vibration output layer 9 and the first vibration output layer 8 or a coupled vibration output of the two, the second vibration output layer 9 can accept the vibration output of the first vibration output layer 8, and the material tray 5 can accept a single vibration output of the first vibration output layer 8, the second vibration output layer 9, and the third vibration output layer 10 or a coupled vibration output of any two or more.

[0040] Furthermore, the X-axis vibration generator 1, the Y-axis vibration generator 2 and the Z-axis vibration generator 3 all use voice coil motors; the voice coil motor (Voice Coil Motor) is a special form of direct drive motor. It has the characteristics of simple structure, small size, high speed, high acceleration and fast response. Its working principle is that when an energized coil (conductor) is placed in a magnetic field, a force will be generated, and the magnitude of the force is proportional to the current applied to the coil. The voice coil motor manufactured based on this principle can move in a straight line or an arc; the vibration output end of the voice coil motor is fixedly connected to the corresponding vibration output layer, driving the corresponding vibration output layer to vibrate in one of the X-axis direction, the Y-axis direction and the Z-axis direction.

[0041] Furthermore, the directional elastic deformation member 7 adopts a sheet-shaped supporting spring, and the vibration direction of the vibration output layer corresponding to the supporting spring is perpendicular to the plane where the supporting spring is located. The supporting spring between the base 6 and the first vibration output layer 8 is vertical, the supporting spring between the first vibration output layer 8 and the second vibration output layer 9 is vertical, and the supporting spring between the second vibration output layer 9 and the third vibration output layer 10 is horizontal. One end of the horizontal supporting spring is fixedly connected to the third vibration output layer 10, and the other end is fixedly connected to the second vibration output layer 9 through the supporting column 11. One end of the supporting column 11 is fixedly connected to the horizontal supporting spring, and the other end is fixedly connected to the second vibration output layer 9. Two supporting springs are arranged between the base 6 and the front end of the first vibration output layer 8, and two supporting springs are arranged between the rear end. The upper and lower ends of the supporting springs are fixedly connected to the base 6 and the first vibration output layer 8 by bolts respectively, and the supporting springs at this location can only produce elastic deformation along one Y-axis direction; two supporting springs are arranged between the left end of the first vibration output layer 8 and the second vibration output layer 9, and two supporting springs are arranged between the right ends. The upper and lower ends of the supporting springs are fixedly connected to the first vibration output layer 8 and the second vibration output layer 9 by bolts respectively, and the supporting springs at this location can only produce elastic deformation along one X-axis direction; four supporting springs are fixedly installed on the third vibration output layer 10, and the four supporting springs are arranged in a rectangular shape on the third vibration output layer 10. Each supporting spring is connected to a corresponding supporting column 11, and the supporting springs at this location can only produce elastic deformation along one Z-axis direction.

[0042] The material tray 5 specifically includes a flat material tray 5, a pin material tray 5, a screw material tray 5, and a spring material tray 5. The four types here are only examples of partial structural forms of the material tray 5. The user can design material trays with different internal structural forms according to the specific material structural forms. The internal structure of the flat material tray 5 is flat, and the flat material tray 5 can be compatible with materials of various sizes, shapes, and types, as long as the material can be stably stationary in the flat material tray 5. For materials such as screws, springs, and pins that are not easy to be stably stationary on the flat material tray 5, the internal structure of the material tray 5 is specifically set to a structure with pin grooves 20, screw grooves 21 or spring grooves 22 evenly distributed, that is, a pin material tray 5, a screw material tray 5, and a spring material tray 5 are formed. Since the material tray 5 is detachably fixedly connected to the vibration output table, that is, the material tray 5 can be quickly disassembled and replaced, the corresponding material tray 5 can be quickly matched according to the specific material characteristics, further improving the compatibility with bulk materials and realizing targeted rapid positioning and flipping of specific materials.

[0043] Example 2

[0044] like Figure 1 , 2, 4 to 8, on the basis of Example 1, the material tray 5 is detachably fixedly mounted on the upper part of the third vibration output layer 10 through a quick-release quick-change mechanism, the quick-release quick-change mechanism includes a limit seat 12, a support seat 13, a flip handle 14, a connecting rod 15, and a spring (not shown in the figure), the flip handle 14 is flipably fixedly mounted on the third vibration output layer 10 through the connecting rod 15, the flip handle 14 is sleeved on the connecting rod 15, one end of the spring acts on the flip handle 14, and the other end acts on the connecting rod 15, the limit seat 12, the support seat 13, and the connecting rod 15 are It is fixedly installed on the upper part of the third vibration output layer 10, and the connecting rod 15 can be flipped relative to the third vibration output layer 10; the limiting seat 12 has a card slot 16, and one end of the material tray 5 has a card seat 17, the card slot 16 is used to card the card seat 17, the support seat 13 is used to support the other end of the material tray 5, the flip handle 14 has a limiting protrusion 18, and the other end of the material tray 5 has a limiting groove 19. When the installation is completed, the spring force presses the limiting protrusion 18 into the limiting groove 19, and the flip handle 14 is lifted upward to overcome the spring force, so that the limiting protrusion 18 leaves the limiting groove 19.

[0045] When in use, the mounting seat 17 at one end of the material tray 5 is mounted in the slot 16 of the limiting seat 12, and the other end of the material tray 5 is supported on the support seat 13. The flip handle 14 is lifted and flipped into place in the direction of the material tray 5, and the flip handle 14 is released. Under the action of the spring force, the limiting protrusion 18 is pressed into the limiting groove 19. When the material tray 5 needs to be replaced, the spring force is overcome and the flip handle 14 is lifted upward, so that the limiting protrusion 18 disengages from the limiting groove 19, and the flip handle 14 is flipped away from the material tray 5. At this time, the material tray 5 can be quickly removed and replaced. Due to the use of the quick-release and quick-change mechanism of this embodiment, the operation process is more convenient and quick, and the replacement efficiency of the material tray 5 is further improved.

[0046] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments / methods or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments / methods or examples described in this specification and the features of the different embodiments / methods or examples, unless they are contradictory.

[0047] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0048] Those skilled in the art should understand that the above embodiments are only for the purpose of clearly illustrating the present disclosure, and are not intended to limit the scope of the present disclosure. For those skilled in the art, other changes or modifications may be made based on the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A three-axis flexible feeder, characterized in that: It includes an X-axis vibration generator (1), a Y-axis vibration generator (2), a Z-axis vibration generator (3), a vibration output platform, a visual light source (4) and a material tray (5); The X-axis vibration generator (1), the Y-axis vibration generator (2) and the Z-axis vibration generator (3) are used to generate vibrations along the X-axis direction, the Y-axis direction and the Z-axis direction respectively; The vibration output platform is connected to the X-axis vibration generator (1), the Y-axis vibration generator (2) and the Z-axis vibration generator (3), and is used to output vibration in one direction or coupled vibration in two or more directions; The material tray (5) is used to hold bulk materials and is detachably fixedly connected to the vibration output platform, the material tray (5) receives the vibration output by the vibration output platform, and the visual light source (4) is fixedly installed below the material tray (5) and is aligned with the bottom of the material tray (5); The amplitude and vibration frequency of the X-axis vibration generator (1), the Y-axis vibration generator (2) and the Z-axis vibration generator (3) are adjustable; the X-axis direction, the Y-axis direction and the Z-axis direction are orthogonal to each other; the planes where the X-axis direction and the Y-axis direction are located are parallel to the plane where the material tray (5) is located; and the Z-axis direction is perpendicular to the plane where the material tray (5) is located; The vibration output platform comprises a base (6), a directional elastic deformation member (7), a first vibration output layer (8), a second vibration output layer (9) and a third vibration output layer (10) which are arranged in parallel and spaced apart in sequence; the material tray (5) is placed in parallel on the third vibration output layer (10) and is detachably fixedly connected to the third vibration output layer (10); The first vibration output layer (8) is supported on the base (6) via the directional elastic deformation member (7), the second vibration output layer (9) is supported on the first vibration output layer (8) via the directional elastic deformation member (7), and the third vibration output layer (10) is supported on the second vibration output layer (9) via the directional elastic deformation member (7); the elastic deformation direction of the directional elastic deformation member (7) is consistent with the vibration direction of the vibration output layer it supports; The X-axis vibration generator (1), the Y-axis vibration generator (2) and the Z-axis vibration generator (3) all adopt voice coil motors; the vibration output end of the voice coil motor is fixedly connected to the corresponding vibration output layer, driving the corresponding vibration output layer to vibrate in one of the X-axis direction, the Y-axis direction and the Z-axis direction; The directional elastic deformation member (7) is a sheet-shaped supporting spring, and the vibration direction of the vibration output layer supported by the supporting spring is perpendicular to the plane where the supporting spring is located; The material tray (5) includes a flat material tray, a pin material tray, a screw material tray, and a spring material tray; The material tray (5) is detachably fixedly mounted on the upper part of the third vibration output layer (10) through a quick-release quick-change mechanism, the quick-release quick-change mechanism comprising a limit seat (12), a support seat (13), a flip handle (14), a connecting rod (15), and a spring, the flip handle (14) is flipably fixedly mounted on the third vibration output layer (10) through the connecting rod (15), the flip handle (14) is sleeved on the connecting rod (15), one end of the spring acts on the flip handle (14), and the other end acts on the connecting rod (15); The limiting seat (12) has a slot (16), one end of the material tray (5) has a mounting seat (17), the slot (16) is used to mount the mounting seat (17), the support seat (13) is used to support the other end of the material tray (5), the flip handle (14) has a limiting protrusion (18), and the other end of the material tray (5) has a limiting groove (19). When the installation is completed, the elastic force of the spring presses the limiting protrusion (18) into the limiting groove (19), and the flip handle (14) is lifted upward to overcome the elastic force of the spring, so that the limiting protrusion (18) leaves the limiting groove (19).

2. A three-axis flexible feeder according to claim 1, characterized in that: The supporting spring piece between the base (6) and the first vibration output layer (8) is vertical, the supporting spring piece between the first vibration output layer (8) and the second vibration output layer (9) is vertical, and the supporting spring piece between the second vibration output layer (9) and the third vibration output layer (10) is horizontal, one end of the horizontal supporting spring piece is fixedly connected to the third vibration output layer (10), and the other end is fixedly connected to the second vibration output layer (9) via a supporting column (11).

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