Flexible smart tray feeder

Abstract

The application discloses a flexible intelligent tray feeding device, and relates to the technical field of industrial intelligent automation equipment.The device comprises a frame body, a work platform, a material taking end and a material receiving and discharging end arranged on the frame body; a storage bin is arranged below the material receiving and discharging end; a material receiving bin is arranged above the material receiving and discharging end; a conveying component is arranged on the outer side of the work platform and close to the material taking end, and comprises a first conveying device, a transfer device and a second conveying device arranged in sequence; a separating component is used for separating and lifting a full tray in the storage bin and carrying the full tray to the material receiving and discharging end; a carrying platform arranged on the work platform can reciprocate between the material taking end and the material receiving and discharging end, and a jacking assembly is further arranged on the carrying platform; the material taking component arranged above the work platform is further provided with a visual recognition unit.The flexible intelligent tray feeding device has the advantages of small overall size, continuous and uninterrupted feeding process, compatibility of feeding of different types of components, realization of flexible production, and component detection function.

Description

Technical Field

[0001] This invention relates to the field of industrial intelligent automation equipment technology, and in particular to a flexible intelligent pallet feeding device. Background Technology

[0002] PCBs in industries such as home appliances, communications, automotive electronics, and instrumentation contain a wide variety of irregularly shaped components with pins. To automate the insertion process of these components, multi-layer tray feeding is commonly used for larger components whose surfaces are easily deformable. Currently, tray feeders used in irregular component insertion machines largely follow a structure similar to those used in pick-and-place machines. Due to the irregular three-dimensional structure of irregular components, existing technologies struggle to achieve high-speed, accurate, and continuous feeding. Multi-layer tray feeders have become a bottleneck restricting the standardization of irregular component insertion machines, and they cannot guarantee compatibility between different component materials, failing to achieve a flexible production process. Furthermore, changing the full tray of different component materials on existing tray feeders is difficult and time-consuming.

[0003] Furthermore, existing multi-layer tray-type feeders mainly come in two structural forms. One type has components arranged regularly in blister packs on a tray without a storage module. Component retrieval is achieved by the insertion head moving through the XY axis. The large XY stroke results in a correspondingly larger overall feeder structure. To accommodate the feeder's size, the insertion machine also increases in size, making it difficult to increase insertion speed. Moreover, while the insertion machine is retrieving components, the tray feeder cannot prepare for the next material, potentially leading to a situation where it cannot keep up with the insertion machine's speed. The other type includes a storage module. Components in the blister packs are pre-grabbed and stored in the storage module by a robotic arm. The XY stroke required for component retrieval is smaller, the insertion machine is smaller, and the insertion speed is faster. This type of feeder is currently widely used in irregularly shaped component insertion machines. However, this type of feeder is larger, and each side of the insertion machine typically only accommodates a single feeder, resulting in low machine utilization and inconvenient maintenance in case of malfunction. Furthermore, handling empty trays and placing full trays in the same area requires manual differentiation, which is prone to errors. Changing full trays also necessitates machine downtime and is time-consuming, reducing the insertion efficiency of the insertion machine. Therefore, in recent years, many manufacturers of irregular-shaped insertion machines generally do not provide tray feeders. Even if they do, they are mostly single-layer tray feeders, holding a small number of components and requiring frequent refilling. This significantly hinders the promotion of irregular-shaped insertion machines and the standardization of insertion operations. Summary of the Invention

[0004] The present invention aims to at least partially solve one of the aforementioned technical problems in the prior art. To this end, embodiments of the present invention provide a flexible intelligent tray feeding device. This device is compact in size, capable of continuous and uninterrupted component feeding, and facilitates the replacement of relevant parts to adapt to the feeding of different types of components, achieving a flexible production process. Furthermore, while feeding components, manual loading and unloading of full trays for blister packs can be performed, reducing the time spent on replenishing materials and retrieving empty trays, effectively improving the insertion efficiency of the insertion machine.

[0005] According to an embodiment of the present invention, a flexible intelligent pallet feeding device includes a frame, a working platform at the top of the frame, and a picking end and a receiving end at both ends of the working platform; a storage bin located below the receiving end and retractable from the frame, the storage bin being used to store full pallets filled with components; a receiving bin located above the receiving end; and a conveying component arranged outside the working platform and close to the picking end. The conveying component includes a first conveying device, a transfer device, and a second conveying device arranged sequentially. Both the first and second conveying devices are movable to a position below the transfer device. The first conveying device is detachably connected to at least one material box. The transfer device receives components conveyed from the material box and transports the components received by the transfer device to the picking end via the second conveying device. The second conveying device includes a detachably connected positioning box for positioning and defining components; a separation component for separating and lifting the top full tray stacked in the storage bin and transporting it to the receiving / discharging end; a transport platform located on the working platform, capable of traveling between the picking end and the receiving / discharging end, and docking with the separation component to receive the full tray separated by the separation component; a lifting component for lifting the full tray after picking up materials into the receiving bin; and a picking component mounted above the working platform for sequentially grabbing and transporting the components from the full tray on the transport platform to the material box; and a visual recognition unit for acquiring material information of the components from the full tray on the transport platform.

[0006] As a further improvement to the above solution, the separation component includes two separation tray feeding mechanisms distributed on both sides of the outer side of the frame and a first drive mechanism for driving the two separation tray feeding mechanisms to move up and down synchronously. The two separation tray feeding mechanisms are arranged facing each other, wherein the separation tray feeding mechanism includes a tray that can extend into the interior of the frame.

[0007] As a further improvement to the above solution, the separating tray feeding mechanism also includes a mounting plate and a first cylinder. The mounting plate is slidably connected to the frame, and the tray is connected and mounted on the mounting plate through a guide rail slider structure. The first cylinder is fixed to the mounting plate and is drivenly connected to the tray.

[0008] As a further improvement to the above solution, the mounting plate is movably connected to the frame through a guide rail slider structure. The first drive mechanism includes a first motor, a drive shaft, and two drive belts. Each of the separation and feeding mechanisms has a drive belt on its movement path. The mounting plate is connected to the drive belt, and the first motor drives the two drive belts to rotate synchronously through the drive shaft.

[0009] As a further improvement to the above solution, the material picking component includes a material picking hand and a third drive mechanism. The third drive mechanism is installed on the top of the frame and one end extends above the first conveying device. The material picking hand is driven by the third drive mechanism to move back and forth between the transport platform and the first conveying device, so that the material picking hand can sequentially pick up the components on the full tray on the transport platform and transport them to the material box.

[0010] As a further improvement to the above solution, the third drive mechanism includes two sets of mutually perpendicular first linear motion modules and second linear motion modules. The first linear motion modules are arranged in a direction perpendicular to the movement direction of the transport platform, and the second linear motion modules are vertically installed on the moving part of the first linear motion modules. The visual recognition unit is fixed on the moving part of the first linear motion modules, and the material handling hand is installed on the moving part of the second linear motion modules.

[0011] As a further improvement to the above solution, the receiving bin includes a limiter and four guide bars vertically arranged on the top of the frame. The four guide bars restrict a channel through which a full tray can pass. The limiter is arranged at the entrance of the channel and is used to intercept a full tray in the channel.

[0012] As a further improvement to the above solution, the limiter includes a mounting block, a stop block, and a spring. One end of the stop block is hinged to the side of the mounting block facing the channel, and the other end of the stop block can extend into the channel under the action of the spring.

[0013] As a further improvement to the above solution, the transfer device includes at least one gripping member capable of vertical movement, wherein the number of gripping members is the same as the number of material boxes.

[0014] As a further improvement to the above solution, the lifting assembly includes a guide rod, a second cylinder, and a top plate. The guide rod is inserted into the transport platform, and the top plate is mounted on the guide rod. The second cylinder drives the top plate to extend out from the clearance opening of the transport platform.

[0015] Based on the above technical solution, the embodiments of the present invention have at least the following beneficial effects: In the above technical solution, the storage bin is located below the receiving and dispensing end and can be pulled out from the frame, making it convenient to place full trays containing components into the storage bin. The separating component sequentially separates and lifts the full trays stacked in the storage bin and transports them to the receiving and dispensing end for standby. After completion, the transport platform on the work platform moves to the receiving and dispensing end. The transport platform docks with the separating component to receive the full trays separated by the separating component and transports the full trays below the picking component. After the above actions are completed, the visual recognition unit obtains the material information of the components in the full trays on the transport platform. The material information of the components to be collected includes the category of the components (whether they are the same as...). The visual recognition unit collects information on the components, including whether they belong to the same type of component, their placement (whether they are placed according to the set orientation), their appearance integrity (whether there is any damage or missing features), and their position. This information is then sent to the control system for processing. The system controls the picking component to skip components that do not conform to the placement posture, are not of the set category, or have incomplete appearances. For components that conform to the placement posture, belong to the set category, and have complete appearances, the system calculates the positional deviation in real time to compensate for the picking component's position. This ensures that the picking component can accurately grasp components from a full tray. The transport platform then coordinates with the picking component to ensure that the picking component can move the full tray from the transport platform. The components are sequentially picked up and transported to the material box of the first conveyor. Once all the material boxes are filled with components, the picking component stops picking up components. When the control system detects that there are no components buffered on the transfer device, the first conveyor activates, causing the material box containing the components to move below the transfer device. The transfer device then picks up and buffers the components from the material box. Furthermore, if the control system detects that the positioning box on the second conveyor does not have a positioned component for the insertion machine to pick up, the second conveyor activates and moves below the transfer device containing the buffered components. After the positioning box is in position, the transfer device lowers the buffered components into the positioning box. After the positioning box receives the components, the second conveyor returns to its initial picking position at the picking end, waiting for the insertion machine. The picking component removes the components positioned in the positioning box. It's important to note that the box containing the removed components returns to its original position to continue receiving components from the picking component. This ensures that after all components on the transfer device have been moved by the positioning box, the box can promptly move to the bottom of the transfer device for replenishment. This guarantees that during the insertion process, the positioning box prepares and positions the components before the insertion machine arrives to pick them up, the transfer device has buffered components, and the box is full. This allows for continuous and uninterrupted feeding from the pallet feeder, eliminating the need for the insertion machine to wait for the components to be positioned, effectively improving efficiency. Furthermore, compared to the previous method where the pallet feeder's robotic arm directly grabbed and transported the grabbed components to the docking point with the insertion machine, this method offers a significant improvement.During the process of receiving components from the picking component, the positioning box of the second conveyor can move to transfer the components buffered on the transfer device. Each buffer device can operate independently without interference, effectively shortening the time for components to be transferred to the positioning point where they dock with the insertion machine, greatly improving the feeding speed of the pallet feeder, and further, effectively increasing the insertion speed of the insertion machine. Above the receiving and discharging end is a receiving bin. After the picking component has picked up all the components from the full pallet on the transport platform, the transport platform moves to below the receiving bin. The lifting component on the transport platform pushes the empty full pallet into the receiving bin for storage. This achieves automatic picking of full pallets, sequential picking and conveying of components from full pallets to fixed positions, and automatic storage of full pallets after component removal, improving the automation level of the feeder and reducing manual intervention. After all components have been retrieved, the operator simply places the stacked full pallets into the storage bin and removes the empty ones. It's worth noting that placing the full pallets into the storage bin and removing the empty ones does not require stopping the machine. Compared to existing pallet feeding devices, the placement of full pallets and the storage of empty ones are done in separate areas, making operation convenient. Even when the picking component is grabbing components, the placement and retrieval of full pallets can be done independently, achieving non-stop operation and effectively improving feeding efficiency. Furthermore, because the material boxes are detachably mounted on the first conveyor and the positioning boxes are detachably mounted on the second conveyor, when different types of components need to be fed, the original material boxes and positioning boxes can be removed and replaced with those compatible with the corresponding component types, ensuring compatibility with different component feeding and making replacement convenient.

[0016] In summary, at least the following beneficial effects can be derived:

[0017] 1. The setting of storage bins, receiving bins and separate conveying components enables the feeder to be miniaturized, reduce its size and footprint. When used with irregularly shaped insertion machines, it can improve the space utilization of the feeding position of the insertion machine. Full trays can be stacked, and maintenance is convenient in case of failure. Compared with existing pallet feeders, the placement of full trays and the collection of empty trays are carried out in separate areas. When the machine is running, empty trays can be collected and full trays can be stacked independently. Empty tray collection and full tray stacking do not interfere with each other. The operation is convenient and can greatly reduce the time for replenishing materials and retrieving empty trays.

[0018] 2. It is equipped with modular conveying components, which effectively buffer components, enabling continuous and uninterrupted supply of positioned components to the insertion machine during empty tray collection and full tray stacking, achieving continuous production without stopping the machine. In addition, due to the quick-disassembly design of the material box and positioning box, it is easy to replace them to adapt to and be compatible with the feeding of different types of components, realizing a flexible production process.

[0019] 3. The picking component is equipped with a vision recognition unit, which monitors the placement posture of components in real time. Components that do not conform to the placement posture are skipped and not picked up. For components that conform to the placement posture, the position deviation is calculated in real time to compensate for the picking position of the picking component. This ensures that the picking component can accurately pick up components on a full tray, avoiding picking failures or the transfer of incorrectly placed components to the material box, which would ultimately lead to wasted insertion cycle time in the insertion machine. The vision recognition unit enables the tray feeder to have intelligent detection function, effectively improving the picking efficiency of irregularly shaped components and increasing the feeding speed and accuracy of the tray feeder. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0021] Figure 1 This is a structural schematic diagram of an embodiment of the present invention. Figure 1 ;

[0022] Figure 2 This is a structural schematic diagram of an embodiment of the present invention. Figure 2 ;

[0023] Figure 3 This is a schematic diagram of the transport platform and the structure used to drive the transport platform in this embodiment;

[0024] Figure 4 This is a schematic diagram of the conveying component in this embodiment;

[0025] Figure 5 This is a schematic diagram of the material handling component in this embodiment;

[0026] Figure 6 This is a schematic diagram of the separation and feeding mechanism in this embodiment;

[0027] Figure 7 This is a schematic diagram of the limiter in this embodiment;

[0028] Figure 8 yes Figure 7 A cross-sectional view along the AA direction. Detailed Implementation

[0029] This section will describe in detail specific embodiments of the present invention. Preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present invention, but they should not be construed as limiting the scope of protection of the present invention.

[0030] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0031] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0032] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0033] Reference Figures 1 to 2 The flexible intelligent pallet feeding device of this embodiment includes a frame 100, a storage bin 110, a receiving bin 300, a conveying component 600, a separating component, a transport platform 410, and a picking component 500.

[0034] like Figure 1 As shown, the top of the frame 100 has a working platform 130, and the two ends of the working platform 130 are a material picking end 140 and a material receiving end 150, respectively. The material picking end 140 extends out of the frame 100 for docking with the insertion machine. The bottom of the frame 100 is equipped with rollers for easy handling and movement.

[0035] The storage bin 110 is located below the receiving and discharging end 150 and can be pulled out from inside the frame 100. Specifically, the storage bin 110 is connected to the inner sides of the frame 100 via slide rails, so that the storage bin 110 can be pulled out from inside the frame 100, facilitating the loading, stacking, and placement of full pallets 700. It should be noted that, compared with existing pallet feeders, the full pallets 700 in this embodiment can be stacked on top of each other. Operators can stack the full pallets 700 outside the pallet feeder and then move them into the storage bin 110, without having to put the full pallets 700 in one by one, effectively improving the loading speed.

[0036] The receiving bin 300 is located above the receiving / discharging end 150. Specifically, the receiving bin 300 includes a limiter 310 and four guide bars 320 vertically arranged on the top of the frame 100. The four guide bars 320 restrict a channel through which a full tray 700 can pass. The limiter 310 is arranged at the entrance of the channel to intercept the full tray 700 in the channel. Furthermore, the bottom of the channel is the entrance. Multiple limiters 310 are installed on the frame 100 and arranged at the entrance of the channel to prevent the full tray 700 in the channel from falling from the entrance, while also facilitating the entry of the full tray 700 into the channel from the entrance. Specifically, as shown... Figure 7 and Figure 8 As shown, the limiter 310 includes a mounting block 312, a stop block 311, and a spring 313. The mounting block 312 is connected to the frame 100 by fasteners. One end of the stop block 311 is hinged to the side of the mounting block 312 facing the channel. The other end of the stop block 311 can extend into the channel under the action of the spring 313 to support the full material tray 700 in the channel. When the full material tray 700 enters the channel from the inlet, the full material tray 700 squeezes the stop block 311 out of the channel and compresses the spring 313, allowing the full material tray 700 to enter the channel and lift the full material tray 700 in the channel. When the full material tray 700 is completely inside the channel and higher than the stop block 311, the stop block 311 loses its restriction. Under the restoring action of the spring 313, the stop block 311 returns to its original position and enters the channel to support the full material tray 700, thus controlling the entry and exit of the full material tray 700. Compared to existing pallet feeders, the placement of full pallets (700) and the collection of empty pallets are carried out in separate areas. During machine operation, empty pallets can be collected and full pallets (700) can be stacked independently. The collection of empty pallets and the stacking of full pallets (700) do not interfere with each other, making operation convenient and greatly reducing the time for replenishing materials and retrieving empty pallets.

[0037] The separation component is used to separate and lift the full pallets 700 stacked in the storage bin 110 and transport them to the receiving end 150. Specifically, the separation component includes two separating pallet feeding mechanisms 220 distributed on both sides of the outer side of the frame 100 and a first drive mechanism 210 for driving the two separating pallet feeding mechanisms 220 to lift and lower synchronously. The two separating pallet feeding mechanisms 220 are arranged facing each other. Each separating pallet feeding mechanism 220 includes a tray 221 that can extend into the frame 100. The separating pallet feeding mechanism 220 is also equipped with a sensor for sensing the full pallets 700. Both sides of the outer side of the frame 100 are provided with access for the tray 221 to enter and move. When the moving slot 120 separates and lifts the full pallet 700, the first drive mechanism 210 simultaneously drives the two separating pallet feeding mechanisms 220 to move toward the full pallet 700 stacked on the storage bin 110. When the sensor detects the full pallet 700, the pallets 221 move toward each other and enter the frame 100 from the slot 120, separating the full pallet 700 stacked at the highest point on the storage bin 110 from both sides. Then, under the action of the first drive mechanism 211, the two pallets 221 are driven to rise and fall synchronously so that the two pallets 221 can smoothly transport the full pallet 700 to the receiving end 150 for the transport platform 410 to receive.

[0038] like Figure 6 As shown, the separating tray feeding mechanism 220 also includes a mounting plate 223, a first cylinder 222, and a support plate 221. The mounting plate 223 is slidably connected to the frame 100 and can be raised and lowered. The support plate 221 is connected and mounted on the top of the mounting plate 223 via a guide rail slider structure. The guide rail slider structure includes a guide rail fixed on the mounting plate 223 and a slider that can slide on the guide rail. The support plate 221 is fixed on the slider. The guide rail slider structure allows the support plate 221 to slide horizontally on the mounting plate 223. The first cylinder... 222 is fixed to the mounting plate 223 and is connected to the transmission plate 221. Specifically, the plate 221 is provided with a connecting block, the connecting block is provided with a guide groove, and the guide groove is provided with a slidable roller. The cylinder rod of the first cylinder 222 is connected to the roller. The first cylinder drives the roller to rise or fall. Under the action of the guide groove, the reciprocating motion perpendicular to the plate 221 is converted into the horizontal reciprocating motion of the plate 221, so that the plate 221 can enter the frame 100 from the slot 120 or exit from the frame 100 and return to its original position.

[0039] In this embodiment, the mounting plate 223 is movably connected to the frame 100 via a guide rail slider structure. The guide rail slider structure includes a guide rail and a slider. The guide rail is fixed on both sides of the outer side of the frame 100, and the mounting plate 223 is fixed on the slider that cooperates with the guide rail, so that the separating tray feeding mechanism 220 can move up and down. The first drive mechanism 210 includes a first motor, a drive shaft, and two drive belts. Each separating tray feeding mechanism 220 has a drive belt on its movement path. The mounting plate 223 is connected to the drive belt. The first motor drives both drive belts to rotate simultaneously through the drive shaft. Specifically, the first motor is fixed inside the frame 100 and is connected to the drive shaft through gear transmission. The drive shaft is rotatably installed inside the frame 100, and both ends of the drive shaft extend to both sides of the frame 100 and are connected to the drive belts through a synchronous pulley structure. It should be noted that the drive belts are synchronous belts, so that the first motor drives both drive belts to rotate simultaneously through the drive shaft, thereby driving the two separating tray feeding mechanisms 220 to move up and down synchronously.

[0040] Compared with existing technologies, the configuration of the storage bin 110, receiving bin 300 and separating conveying component 600 enables the feeder to be miniaturized, reduced in size and footprint. When used with a non-standard insert machine, it can improve the space utilization of the feed position of the insert machine. The full material tray 700 can be stacked, making maintenance convenient in case of malfunction.

[0041] For the conveying component 600, the conveying component 600 is arranged outside the working platform 130 and close to the picking end 140, as shown in the figure. Figure 4 The conveying component 600 includes a first conveying device 610, a transfer device 630, and a second conveying device 620 arranged sequentially. Both the first conveying device 610 and the second conveying device 620 can move to below the transfer device 630. The first conveying device 610 is detachably connected to at least one material box 611. The transfer device 630 can receive the components conveyed by the material box 611 and transport the components received by the transfer device 630 to the picking end 140 via the second conveying device 620. The second conveying device 620 is detachably connected to a positioning box 621, which is used to position and limit the components.

[0042] Specifically, the conveying component 600 also includes a mounting base plate. The first conveying device 610 and the second conveying device 620 are slidably mounted on the mounting base plate via linear guide rails. The transfer device 630 is fixed on the frame 100 and located between the first conveying device 610 and the second conveying device 620. The positioning box 621 can be raised and lowered. The positioning box 621 is provided with a positioning groove for positioning and defining components. The transfer device 630 includes at least one gripper 631 that can be raised and lowered. The number of grippers 631 is the same as the number of material boxes 611. When there are 3 material boxes 611, there are also 3 grippers 631. The 3 material boxes 611 are arranged in an array, and correspondingly, the 3 grippers 631 are also arranged in an array. The array direction of the grippers 631 is the same as the array direction and array spacing of the material boxes 611, so that the grippers 631 can receive all the components on the material boxes 611 at once, achieving rapid reception.

[0043] In the initial state, the positioning box 621 and the material box 611 are at the same height, and the lowest point of the gripper 631 is higher than the top of the positioning box 621 and the material box 611. Furthermore, the mounting base plate is also provided with two transmission structures. One is used to drive the first conveying device 610 to reciprocate so as to transport the components stored on the material box 611 to below the gripper 631. When it is sensed that there are no components buffered on the gripper 631, the material box 611 moves to below the gripper 631 under the action of the transmission structure so that the picker 520 can descend and pick up the components from the material box 611. The other transmission structure is used to drive the second conveying device 620 to reciprocate linearly so that the positioning box 621 can move to below the gripper 631 to receive the components placed by the gripper 631, and then transport them to a position near the picking end 140 for easy picking by the insertion machine. After arriving at the position, the positioning box 621 rises to the appropriate position and is in a state of waiting for the insertion machine to pick up the components.

[0044] The transmission structure includes a motor, at least two synchronous pulleys and a synchronous belt. The two synchronous pulleys are spaced a certain distance apart and are rotatably mounted on the mounting base plate. The synchronous belt is fitted on the synchronous pulleys and is in a taut state. The motor is connected to one of the synchronous pulleys. The first conveying device 610 and the second conveying device 620 are both connected to the synchronous belt. The motor drives the synchronous belt, which in turn drives the first conveying device 610 or the second conveying device 620 to perform reciprocating linear motion.

[0045] In some embodiments, the material box 611 on the first conveying device 610 is detachable and replaceable, and the positioning box 621 on the second conveying device 620 is also detachable and replaceable. Specifically, the material box 611 and the positioning box 621 are fixed to the first conveying device 610 and the second conveying device 620 respectively by bolts. In actual use, one component corresponds to one set of material box 611 and positioning box 621. If there are multiple components that need to be automatically fed, multiple sets of material boxes 611 and positioning boxes 621 are customized. The positioning groove on each positioning box 621 is adapted and customized according to different types of components. When feeding different types of components, only the corresponding set of material box 611 and positioning box 621 needs to be replaced to be compatible with the automatic feeding of different types of components. The replacement is quick, convenient and easy. By replacing a small number of workpieces or units, a flexible production process can be achieved.

[0046] In this embodiment, the transport platform 410 located on the work platform 130 can travel back and forth between the material picking end 140 and the material receiving end 150. Specifically, as shown in the example... Figure 3 As shown, the transport platform 410 is slidably connected to the inner side of the frame 100 via a guide rail slider structure, so that the transport platform 410 can move from the material picking end 140 of the working platform 130 to the material receiving end 150. The working platform 130 is also equipped with a second motor and a belt assembly. The second motor drives the transport platform 410 to perform linear reciprocating motion through the belt assembly. The belt assembly includes a synchronous pulley and a synchronous belt. The synchronous pulley is fixed on the motor shaft of the second motor, and the synchronous belt is arranged on the movement path of the transport platform 410. The transport platform 410 is fixedly connected to the synchronous belt. The rotation of the second motor drives the synchronous belt to roll, so that the transport platform 410 can move back and forth between the material picking end 140 and the material receiving end 150. The transport platform 410 can dock with the separation component to receive the full tray 700 separated by the separation component. Specifically, after the pallet 221 separates the full tray 700, the separation and feeding mechanism 220, driven by the first drive mechanism 210, raises the full tray 700 above the movement plane of the transport platform 410. After completion, a signal is given to the transport platform 410, and the transport platform 410 moves to directly above the storage bin 110 under the drive of the synchronous belt. After reaching the position, the pallet 221 retracts so that the full tray 700 falls onto the transport platform 410, completing the transport platform 410's receipt of the full tray 700 separated by the separation and feeding mechanism 220. After completion, the separation and feeding mechanism 220 returns to its original position, waiting for the next separation and lifting command, while the transport platform 410 is also in standby. It should be noted that the transport platform 410 is also equipped with a stop bar 411 for positioning the full tray 700.

[0047] As a further improvement, the transport platform 410 is also equipped with a lifting assembly. The lifting assembly is used to push the full material tray 700 above the transport platform 410 into the receiving bin 300. Specifically, the lifting assembly includes a guide rod 423, a second cylinder 422, and a top plate 421. The guide rod 423 is inserted into the transport platform 410, and the top plate 421 is installed on the guide rod 423. After confirming that the components of the full material tray 700 on the transport platform 410 have been completely removed, the transport platform 410 moves to directly below the receiving bin 300. The second cylinder 422 drives the top plate 421 to extend from the clearance opening of the transport platform 410, thereby pushing the full material tray 700 above the transport platform 410 into the receiving bin 300, completing the automatic collection of the empty full material tray 700.

[0048] like Figure 5 As shown, the material handling component 500, mounted above the work platform 130, sequentially picks up and transports components from the full pallet 700 on the transport platform 410 to the material box 611. The material handling component 500 is equipped with a visual recognition unit for acquiring material information of the components in the full pallet 700 on the transport platform 410. This visual recognition unit is preferably an industrial camera 510. The cooperation between the industrial camera 510 and the material handling component 500 forms a visual recognition and positioning system, enabling the material handling component 500 to perform intelligent detection and improving the picking rate and accuracy of irregularly shaped components.

[0049] Specifically, the material handling component 500 includes a material handling hand 520 and a third drive mechanism. The third drive mechanism is installed on the top of the frame 100 and one end extends above the first conveying device 610. The third drive mechanism drives the material handling hand 520 to move back and forth between the transport platform 410 and the first conveying device 610, so that the material handling hand 520 can sequentially grab and transport the components on the full material tray 700 on the transport platform 410 to the material box 611. The third drive mechanism includes two mutually perpendicular linear motion modules: a first linear motion module and a second linear motion module. The first linear motion module is arranged perpendicular to the movement direction of the transport platform 410. The second linear motion module is vertically mounted on the moving part of the first linear motion module. The industrial camera 510 is fixed to the moving part of the first linear motion module, and the picker 520 is mounted on the moving part of the second linear motion module. The first linear motion module consists of a motor, a linear guide rail, and a synchronous pulley and belt, forming a motion mechanism that converts the rotation of the motor into linear motion. The second linear motion module is fixed on the slider of the linear guide rail. The second linear motion module can also be a combination structure of a motor and a lead screw. Both the first and second linear motion modules are relatively mature linear motion modules in the prior art, and will not be described in detail here. The industrial camera 510 is close to the picker 520, and the movement direction of the picker 520 is parallel to the axis of the industrial camera 510. The distance between the axis of the picker 520 and the axis of the industrial camera 510 is fixed. When the picker 520 moves, the industrial camera 510 moves synchronously.

[0050] Specifically, the first linear motion module and the second linear motion module work together to make the picker 520 move in the YZ plane. The first linear motion module drives the picker 520 and the industrial camera 510 to move back and forth above the transport platform 410 and the material box 611. The second linear motion module drives the picker 520 to rise or fall, so that the picker 520 can pick up the components from the full tray 700 on the transport platform 410 or put the components picked up by the picker 520 into the conveying component 600.

[0051] It should be noted that during component picking, an industrial camera 510 is used to acquire real-time material information of the components on the full pallet 700 of the transport platform 410. This material information includes at least one or more of the following: component category (whether they belong to the same type of component), component placement (whether they are placed according to the set orientation), component appearance integrity (whether there is any damage or missing features), and component location information. After collecting this information, the industrial camera 510 sends it to the control system for processing. Components that do not meet the requirements (meaning they have at least one...) are... For components that do not meet one or more conditions (e.g., not in the correct placement, not in the set category, or incomplete appearance), the system instructs the picker 520 to skip the component and pick up the next one. For components that meet the requirements (i.e., those that meet the correct placement, belong to the set category, and have a complete appearance), the data captured by the industrial camera 510 is transmitted to the system. The system calculates the relative positional deviation between the component and the picker 520, compensates the third drive mechanism, and adjusts the picker 520's position to ensure that the picker 520 can pick up components accurately.

[0052] For the conveying component 600, during operation, if the system detects that the material box 611 is not buffered with components, the third drive mechanism, under the intelligent feedback of the industrial camera 510, drives the picking hand 520 to move. The picking hand 520 accurately grabs the components from the full tray 700 on the transport platform 410 and transports them to the material box 611. When it detects that the gripper 631 is not buffered with components, the material box 611 containing the components moves below the gripper 631. The gripper 631 grabs the components from the material box 611 and returns to its original position. It should be noted that the number of grippers 631 is the same as the number of material boxes 611. If the number of material boxes 611 is greater than two, the material box... The setting interval and arrangement of 611 are the same as those of the gripper 631, so that the gripper 631 can pick up and cache the components on the material box 611 at once, improving the speed of component caching. At the same time that the material box 611 receives the components below the picker 520, the positioning box 621 can simultaneously move the components cached on the gripper 631 to the insertion machine for receiving. They do not interfere with each other, ensuring that the gripper 631 and the material box 611 can be replenished with components in a timely manner. There will be no gap in picking when the insertion machine picks up components, which will lead to production interruption and shutdown. This effectively improves the insertion efficiency of the insertion machine.

[0053] In summary, as can be understood from the accompanying drawings, when using the flexible intelligent pallet feeding device in this embodiment for feeding, the operator places the full pallet 700 containing components into the storage bin 110. The separation component separates and lifts the full pallets 700 stacked in the storage bin 110 in sequence and transports them to the receiving end 150 for waiting. After completion, the transport platform 410 on the work platform 130 moves to the receiving end 150. After docking with the separation component, the transport platform 410 receives the full pallets 700 separated by the separation component and transports the full pallets 700 to below the picking component 500.

[0054] After the above actions are completed, the visual recognition unit determines the placement status of the components on the full tray 700 on the transport platform 410. Components that do not conform to the placement posture are skipped and not picked up. For components that conform to the placement posture, the position deviation is calculated in real time to compensate for the picking position of the picking component 500, ensuring that the picking hand 520 of the picking component 500 can accurately pick up the components on the full tray 700. Then, the transport platform 410 and the picking component 500 cooperate to enable the picking hand 520 of the picking component 500 to pick up the components on the full tray 700 on the transport platform 410 in sequence and transport them to the material box 611 of the first conveying device 610. After the material box 611 is full of components, the picking hand 520 stops picking up components. When the control system detects the transfer device 63 When the gripper 631 on the 0th has no component buffer, the first conveying device 610 operates, causing the component-containing box 611 to move to below the gripper 631. The gripper 631 descends and grips and buffers the component on the box 611. Furthermore, if the control system detects that the positioning box 621 on the second conveying device 620 has no positioned component for the insertion machine to grip, the second conveying device 620 operates and moves to below the gripper 631 with the buffered component. After the positioning box 621 is in place, the gripper 631 descends and places the buffered component into the positioning box 621. After the positioning box 621 receives the component, the second conveying device 620 returns to the initial picking position at the picking end 140 and waits for the picking component 500 of the insertion machine to pick up the component positioned in the positioning box 621.

[0055] It should be noted that the component bin 611, after the components have been removed, returns to its original position to continue receiving components from the picker 520. This ensures that after all components on the gripper 631 have been transferred away by the positioning box 621, the component bin 611 can promptly move to a position below the gripper 631 for the gripper 631 to descend and pick up additional components. This ensures that during the component insertion process, the positioning box 621 prepares and positions the components before the component insertion machine comes to pick them up, the gripper 631 has components buffered, and the component bin 611 is full of components. This allows for continuous and uninterrupted feeding from the pallet feeder, eliminating the need for the component insertion machine to wait for the materials to be positioned. This significantly improves efficiency. Compared to the previous method where the robotic arm of the pallet feeder directly grabs and transports the grabbed components to the docking point with the insertion machine, the positioning box 621 of the second conveyor 620 can move to transfer the components buffered on the transfer device 630 during the process of receiving components from the picking component 500. The operation of each buffer device can be carried out independently without interfering with each other, effectively shortening the time for components to be transferred to the positioning point docking with the insertion machine, greatly improving the feeding speed of the pallet feeder, and further, effectively improving the insertion speed of the insertion machine.

[0056] The receiving end 150 is equipped with a receiving bin 300 above it. After the components in the correct placement position on the full tray 700 on the transport platform 410 are picked up by the picking hand 520 of the picking component 500, the transport platform 410 moves to below the receiving bin 300. The lifting component on the transport platform 410 then pushes the empty full tray 700 into the receiving bin 300 for storage. This achieves automatic picking of full trays 700, sequential picking and conveying of components from the full trays 700 to a fixed position, and automatic storage of full trays 700 after component removal. This improves the automation level of the feeder, reduces manual intervention, and after all components are removed, the operator only needs to place the stacked full trays 700 into the storage bin 110 and then remove the empty full trays 700. It should be noted that placing the stacked full trays 700 into the storage bin 110... When the storage bin 110 is used and the empty full tray 700 is removed, there is no need to stop the machine. Compared with the existing pallet feeding device, the placement of the full tray 700 to be used and the storage of the empty full tray 700 are carried out in separate areas, which is convenient to operate. Even when the material handling operator 520 is grabbing components, the full tray 700 can be placed and retrieved independently, so as to achieve non-stop operation and effectively improve the feeding efficiency. Furthermore, since the material box 611 is detachably set on the first conveying device 610 and the positioning box 621 is detachably set on the second conveying device 620, when different types of components need to be fed, the original material box 611 and positioning box 621 can be removed and replaced with material boxes 611 and positioning boxes 621 that are compatible with the corresponding type of components, so that it can be compatible with the feeding of different components and the replacement is convenient.

[0057] In summary, at least the following beneficial effects can be derived:

[0058] 1. The setting of the storage bin 110, receiving bin 300 and the separating conveying component 600 enables the feeder to be miniaturized, reduce its size and occupy a small area. When used with the irregular shape insertion machine, it can improve the space utilization of the feeding position of the insertion machine. The full material tray 700 can be stacked, and maintenance is convenient in case of failure. Compared with the existing pallet feeder, the placement of the full material tray 700 and the collection of the empty material tray are carried out in separate areas. When the machine is running, the empty tray collection and the stacking of the full material tray 700 can be carried out independently. The empty tray collection and the stacking of the full material tray 700 do not interfere with each other. The operation is convenient and can greatly reduce the time for replenishing materials and retrieving empty trays.

[0059] 2. The modular conveying component 600 is provided to effectively buffer components, enabling continuous and uninterrupted supply of positioned components to the insertion machine during empty tray collection and full tray stacking 700, achieving continuous production without stopping the machine. In addition, due to the detachable design of the material box 611 and the positioning box 621, it is easy to replace them to adapt to and be compatible with the feeding of different types of components, realizing a flexible production process.

[0060] 3. The picking component 500 is equipped with a vision recognition unit, which monitors the placement posture of components in real time. Components that do not conform to the placement posture are skipped and not picked up. For components that conform to the placement posture, the position deviation is calculated in real time to compensate for the picking position of the picking component 500. This ensures that the picking component 500 can accurately pick up components on the full tray 700, avoiding picking failures or the transfer of incorrectly placed components to the material box 611, which would ultimately lead to wasted insertion cycle time in the insertion machine. The setting of the vision recognition unit enables the tray feeder to have intelligent detection function, effectively improving the picking efficiency of irregularly shaped components and improving the feeding speed and accuracy of the tray feeder.

[0061] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A flexible intelligent pallet feeding device, characterized in that: include A frame (100) has a working platform (130) at its top, and the two ends of the working platform (130) are a material picking end (140) and a material receiving end (150), respectively. Storage bin (110), the storage bin (110) is located below the receiving and discharging end (150) and can be pulled out from the frame (100), the storage bin (110) is used to stack full trays (700) filled with components; A receiving hopper (300) is located above the receiving and discharging end (150); A conveying component (600) is arranged on the outside of the working platform (130) and close to the picking end (140). The conveying component (600) includes a first conveying device (610), a transfer device (630), and a second conveying device (620) arranged in sequence. The first conveying device (610) and the second conveying device (620) can both move to below the transfer device (630). The first conveying device (610) is detachably connected to at least one material box (611). The transfer device (630) can receive the components conveyed by the material box (611) and transport the components received by the transfer device (630) to the picking end (140) through the second conveying device (620). The second conveying device (620) is detachably connected to a positioning box (621), which is used to position and define the components. A separation component is used to separate and lift the top full tray (700) stacked in the storage bin (110) and transport it to the receiving and discharging end (150); A transport platform (410) is provided on the working platform (130). The transport platform (410) can travel back and forth between the material picking end (140) and the material receiving end (150). The transport platform (410) can dock with the separation component to receive the full material tray (700) separated by the separation component. The transport platform (410) is also provided with a lifting component, which is used to push the full material tray (700) that has been picked up from the transport platform (410) into the receiving bin (300). A material picking component (500) is mounted above the work platform (130). The material picking component (500) is used to sequentially pick up and transport the components from the full material tray (700) on the transport platform (410) to the material box (611). The material picking component (500) is equipped with a visual recognition unit for obtaining material information of the components from the full material tray (700) on the transport platform (410).

2. The flexible intelligent pallet feeding device according to claim 1, characterized in that: The separation component includes two separation tray feeding mechanisms (220) distributed on both sides of the outer side of the frame (100) and a first drive mechanism (210) for driving the two separation tray feeding mechanisms (220) to rise and fall synchronously. The two separation tray feeding mechanisms (220) are arranged facing each other. Each separation tray feeding mechanism (220) includes a tray (221) that can extend into the frame (100).

3. The flexible intelligent pallet feeding device according to claim 2, characterized in that: The separating tray feeding mechanism (220) further includes a mounting plate (223) and a first cylinder (222). The mounting plate (223) is slidably connected to the frame (100). The tray (221) is connected to the mounting plate (223) via a guide rail slider structure. The first cylinder (222) is fixed to the mounting plate (223) and is drivenly connected to the tray (221).

4. The flexible intelligent pallet feeding device according to claim 3, characterized in that: The mounting plate (223) is movably connected to the frame (100) through a guide rail slider structure. The first drive mechanism (210) includes a first motor, a drive shaft and two drive belts. Each of the separation and feeding mechanisms (220) has a drive belt on its movement path. The mounting plate (223) is connected to the drive belt. The first motor drives the two drive belts to rotate synchronously through the drive shaft.

5. The flexible intelligent pallet feeding device according to claim 1, characterized in that: The material handling component (500) includes a material handling hand (520) and a third drive mechanism. The third drive mechanism is installed on the top of the frame (100) and one end extends above the first conveying device (610). The material handling hand (520) is driven by the third drive mechanism to move back and forth between the transport platform (410) and the first conveying device (610) so that the material handling hand (520) can sequentially grab and transport the components located on the full material tray (700) on the transport platform (410) to the material box (611).

6. The flexible intelligent pallet feeding device according to claim 5, characterized in that: The third drive mechanism includes two sets of mutually perpendicular first linear motion modules and second linear motion modules. The first linear motion modules are arranged in a direction perpendicular to the movement direction of the transport platform (410). The second linear motion modules are vertically installed on the moving part of the first linear motion modules. The visual recognition unit is fixed on the moving part of the first linear motion modules. The material handling hand (520) is installed on the moving part of the second linear motion modules.

7. The flexible intelligent pallet feeding device according to claim 1, characterized in that: The receiving bin (300) includes a limiter (310) and four guide bars (320) vertically arranged on the top of the frame (100). The four guide bars (320) restrict a channel through which a full tray (700) can pass. The limiter (310) is arranged at the entrance of the channel and is used to intercept the full tray (700) in the channel.

8. The flexible intelligent pallet feeding device according to claim 7, characterized in that: The limiter (310) includes a mounting block (312), a stop block (311) and a spring (313). One end of the stop block (311) is hinged to the side of the mounting block (312) facing the channel, and the other end of the stop block (311) can extend into the channel under the action of the spring (313).

9. The flexible intelligent pallet feeding device according to claim 1, characterized in that: The transfer device (630) includes at least one gripper (631) capable of moving up and down, wherein the number of grippers (631) is the same as the number of material boxes (611).

10. The flexible intelligent pallet feeding device according to claim 1, characterized in that: The lifting assembly includes a guide rod (423), a second cylinder (422), and a top plate (421). The guide rod (423) is inserted into the transport platform (410), and the top plate (421) is mounted on the guide rod (423). The second cylinder (422) drives the top plate (421) to extend out from the clearance opening of the transport platform (410).

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