A modular fully automatic I-shaped plate supply device and method

Abstract

The present invention discloses a modular fully automatic I-shaped tray supply device and method, belonging to the technical field of wire winding equipment. The device includes a frame, a right storage tray feeding module, a left storage tray feeding module and a tray adjustment and supply module; the right storage tray feeding module, the left storage tray feeding module and the tray adjustment and supply module are installed on the frame and arranged in parallel with each other; the tray adjustment and supply module includes a tray adjustment and supply module base, a tray adjustment and supply module left vertical plate, a tray withdrawal unit, a tray adjustment and supply module right vertical plate unit, a tray adjustment and supply module storage rod, a tray adjustment and supply module shifting unit and a tray adjustment unit. The present invention can integrate and meet the requirements of main body positioning, circumferential positioning, storage and compatibility with different specifications in the tray supply process, so that one device can meet all the requirements of tray supply, and adopts a modular design, the number of storage trays is more flexible, the tray loading operation is simple, the efficiency is high, the labor intensity is low, the tray feeding process is simple and reliable, the parts are universal, the structure is simple and compact, the reliability is high, and the economy is good.

Description

Technical Field

[0001] The invention relates to a modular full-automatic I-shaped plate supply device and method, belonging to the technical field of wire winding equipment. Background Art

[0002] Wire and thread materials (such as welding wire, hereinafter referred to as wire) often need to be wound onto a rotating body-shaped carrier (such as an I-shaped reel) during production, transportation, sales, and use. For example, an important process in welding wire production is to wind the welding wire onto an I-shaped reel, and such a process is generally completed on a wire winding device (such as a welding wire layer winding machine). In order to realize the automation of wire winding, an I-shaped reel supply device is required to realize the supply of reels to the wire winding device during production.

[0003] The process of feeding the disk needs to complete the positioning of the I-shaped disk so that the disk grabbing device of the automatic winding equipment can correctly grab the I-shaped disk. Such positioning requirements include two aspects: on the one hand, the position of the I-shaped disk in space and the direction of its rotating axis in space are determined, so that the disk grabbing device can accurately take the I-shaped disk away at the set position, hereinafter referred to as main body positioning; on the other hand, the I-shaped disk generally has an eccentric drive hole, and there will also be an eccentric pin on the side of the main shaft of the winding equipment. When the I-shaped disk is installed on the winding equipment, the eccentric pin on one side of the main shaft is inserted into the eccentric hole of the I-shaped disk, and the main shaft can drive the I-shaped disk to rotate. Therefore, when feeding the disk, it is also necessary to realize the positioning of the I-shaped disk along its circumference to ensure that the eccentric pin on the main shaft of the winding equipment can be accurately inserted into the eccentric drive hole of the I-shaped disk when loading. This positioning is hereinafter referred to as circumferential positioning.

[0004] In addition, it takes a certain amount of time to wind a coil of wire, so the coil supply action is discontinuous, but the production process is uninterrupted. Therefore, the I-shaped coil supply device needs to have a certain coil storage capacity and be able to store a certain number of I-shaped coils so that the production process is not interrupted as much as possible due to lack of coils.

[0005] Furthermore, when the specifications of the I-shaped disk are different, their geometric dimensions (the main difference is the radial dimension) are different. If the disk supply device in production can be compatible with I-shaped disks of different specifications, the production efficiency can be improved and the downtime can be reduced.

[0006] Researchers have proposed some solutions for I-shaped tray feeding devices, which partially meet the above requirements such as main body positioning, circumferential positioning, tray storage and compatibility with different specifications. However, there is no solution that can meet all the above requirements at the same time, and the existing solutions are complex in design, the connection between the various functional requirements is not smooth, and there are deficiencies in reliability and economy.

[0007] For example, the patent with the publication number CN212450093U proposes a plastic tray loading mechanism and a full-automatic tray feeder, which includes parts such as a frame, a tray storage box, a flipping mechanism, a spiral conveying shaft, a plastic tray absence detection mechanism, an automatic positioning mechanism, and a lifting mechanism. The tray storage box and the flipping mechanism are used to store and load the I-shaped trays. In this storage method where multiple trays are arranged in a column and the columns overlap each other, it is easy for some plastic trays to get stuck, resulting in failed tray feeding. Moreover, this storage method cannot be compatible with plastic trays of different specifications. In addition, when loading the trays, workers are required to arrange each tray in sequence, which is inconvenient to operate. The spiral conveying shaft and the automatic positioning mechanism are used to complete two types of positioning. The main positioning is completed by two spiral conveying shafts and positioning blocks. However, since one end of the spiral conveying shaft has a section of smooth shaft, when the plastic tray rotates on the smooth shaft, it cannot move along its rotational axis. As a result, there will be errors in its axial positioning. Moreover, the distance between the plastic tray on the smooth shaft and its adjacent plastic tray is not controlled, which will also affect the main positioning. The circumferential position adjustment of the plastic tray is completed by the rotation of the plastic tray on the smooth shaft part in combination with the automatic positioning mechanism. When the plastic tray rotates, the limit block on it touches the positioning rod of the automatic positioning mechanism, causing the proximity switch sensor to send a signal. Due to the error and uncertainty of the axial positioning of the plastic tray, the reliability of the circumferential positioning based on the touching action will be greatly affected. In addition, this solution cannot be compatible with plastic trays of different specifications.

[0008] Another example is that the patent with the publication number CN108792609A proposes a wire spool loading machine, which includes a base, a rotating storage rack, a jacking mechanism for jacking the wire spool on the rotating storage rack to a specified position, an adjustment mechanism for adjusting the state of the wire spool and then attaching a label, and a feeding mechanism for moving the wire spool from a specified position on the rotating storage rack to the adjustment mechanism. Among them, the rotating storage rack is used for storing trays. In this storage method where the trays are stacked vertically and the tray shaft passes through the wire spool, when loading the wire spool, it is necessary for workers to manually thread each wire spool through the tray shaft one by one. Therefore, the operation workload is large and the efficiency is affected. When loading the trays, a special jacking mechanism is required to lift the wire spool, and a special feeding mechanism is also needed. The design is complex, redundant, and the economy is poor. The adjustment mechanism adjusts the state of the wire spool and then attaches a label, but no circumferential positioning device is designed, so its positioning ability is insufficient. Summary of the Invention

[0009] In order to solve the above problems currently existing, the present invention provides a modular full-automatic I-shaped tray feeding device and method, and the technical solutions are as follows:

[0010] The first object of the present invention is to provide a modular fully automatic I-shaped tray feeding device, which includes a frame, a right storage tray feeding module, a left storage tray feeding module, and a tray adjustment and feeding module; the right storage tray feeding module, the left storage tray feeding module, and the tray adjustment and feeding module are installed on the frame and are arranged parallel to each other; the tray adjustment and feeding module includes a tray adjustment and feeding module base, a left vertical plate of the tray adjustment and feeding module, a tray removal unit, a right vertical plate unit of the tray adjustment and feeding module, a storage rod of the tray adjustment and feeding module, a tray transfer unit of the tray adjustment and feeding module, and a tray adjustment unit; the left vertical plate of the tray adjustment and feeding module, the tray removal unit, the right vertical plate unit of the tray adjustment and feeding module, the tray transfer unit of the tray adjustment and feeding module, and the tray adjustment unit are installed on the tray adjustment and feeding module base; the two storage rods of the tray adjustment and feeding module are installed between the left vertical plate of the tray adjustment and feeding module and the right vertical plate unit of the tray adjustment and feeding module; the tray removal unit is located between the left vertical plate of the tray adjustment and feeding module and the right vertical plate unit of the tray adjustment and feeding module; the tray adjustment unit is located between the tray removal unit and the right vertical plate unit of the tray adjustment and feeding module.

[0011] In an embodiment of the present invention, the tray transfer unit of the tray adjustment and feeding module includes a tray transfer slide rail of the tray adjustment and feeding module, a tray transfer dial of the tray adjustment and feeding module, and a tray transfer drive motor of the tray adjustment and feeding module. The tray transfer dial of the tray adjustment and feeding module and the tray transfer drive motor of the tray adjustment and feeding module are installed on the tray transfer slide rail of the tray adjustment and feeding module; the right vertical plate unit of the tray adjustment and feeding module includes a right vertical plate of the tray adjustment and feeding module, a tray in-place and tray type sensing device installed on the right vertical plate of the tray adjustment and feeding module, a circumferential positioning device I type of the tray adjustment and feeding module, and a circumferential positioning device II type of the tray adjustment and feeding module.

[0012] In an embodiment of the present invention, the tray removal unit includes a tray removal unit bracket. On one side of the tray removal unit bracket, a left retraction translation driver, a left insertion translation driver mounting plate, a left insertion translation driver, and a left tray removal dial are installed; on the other side of the tray removal unit bracket, a right retraction translation driver, a right insertion translation driver mounting plate, a right insertion translation driver, and a right tray removal dial are installed; the left retraction translation driver and the right retraction translation driver are installed on the tray removal unit bracket; the left insertion translation driver mounting plate is installed on the left retraction translation driver, the left insertion translation driver is installed on the left insertion translation driver mounting plate, and the left tray removal dial is installed on the left insertion translation driver; the right insertion translation driver mounting plate is installed on the right retraction translation driver, the right insertion translation driver is installed on the right insertion translation driver mounting plate, and the right tray removal dial is installed on the right insertion translation driver; the left retraction translation driver is used to drive the left insertion translation driver mounting plate, the left insertion translation driver, and the left tray removal dial to move along the X-axis direction; the left insertion translation driver is used to drive the left tray removal dial to move along the Y-axis direction; the right retraction translation driver is used to drive the right insertion translation driver mounting plate, the right insertion translation driver, and the right tray removal dial to move along the X-axis direction; the right insertion translation driver is used to drive the right tray removal dial to move along the Y-axis direction.

[0013] In an embodiment of the present invention, the turntable unit includes a turntable lifting and translation driver connecting frame, a turntable lifting and translation driver, a turntable unit platform, a turntable motor bracket, a turntable driving motor, a turntable driving wheel, a turntable bearing plate wheel bracket, a first turntable bearing plate wheel, a second turntable bearing plate wheel, a first turntable driving belt, and a second turntable driving belt; the turntable lifting and translation driver connecting frame is fixed on the base of the feeding and turntable module, the turntable unit platform is installed on the turntable lifting and translation driver and can move along the Z-axis under the drive of the turntable lifting and translation driver, the turntable driving motor is installed on the turntable unit platform through the turntable motor bracket, the turntable driving wheel is installed on the output shaft of the turntable driving motor, the turntable bearing plate wheel bracket is installed on the turntable unit platform, the first turntable bearing plate wheel and the second turntable bearing plate wheel are installed on the turntable bearing plate wheel bracket, the first turntable driving belt is installed on the turntable driving wheel and the turntable bearing plate wheel, and the second turntable driving belt is installed on the turntable driving wheel and the turntable bearing plate wheel.

[0014] In an embodiment of the present invention, the turntable lifting and translation driver is a double-rod cylinder, the turntable driving motor is a stepper motor, the turntable driving wheel is a double-round belt-grooved wheel, the first turntable driving belt and the second turntable driving belt are elastic round belts, the first turntable bearing plate wheel and the second turntable bearing plate wheel have round belt grooves, and the axial lengths of the first turntable bearing plate wheel and the second turntable bearing plate wheel are longer than the axial width of the I-beam plate.

[0015] In an embodiment of the present invention, the feeding and turntable module in-place and disk type sensing device includes an in-place and disk type sensor mounting plate and a disk type sensor and an in-place sensor mounted thereon, and the in-place and disk type sensor mounting plate is mounted on the right vertical plate of the feeding and turntable module; the circumferential positioning device I type of the feeding and turntable module includes a circumferential positioning sensor bracket I type and a circumferential positioning sensor I type mounted thereon, and the circumferential positioning sensor bracket I type is mounted on the right vertical plate of the feeding and turntable module; the circumferential positioning device II type of the feeding and turntable module includes a circumferential positioning sensor bracket II type and a circumferential positioning sensor II type, and the circumferential positioning sensor bracket II type is mounted on the right vertical plate of the feeding and turntable module.

[0016] In an embodiment of the present invention, the disk type sensor selects a diffuse reflection photoelectric sensor, the in-place sensor selects a capacitive proximity switch sensor, and the circumferential positioning sensor I type and the circumferential positioning sensor II type select diffuse reflection photoelectric sensors.

[0017] In an embodiment of the present invention, the right storage tray feeding module includes a right module base, a right module left vertical plate, a right module right vertical plate, a right module storage tray rod, a right module tray moving unit, a right module feeding unit, and a right module discharging guide frame; the right module left vertical plate and the right module right vertical plate are installed on the right module base, the two right module storage tray rods are installed between the right module left vertical plate and the right module right vertical plate, the right module tray moving unit is installed on the right module base, the right module feeding unit is installed on the right module right vertical plate, and the right module discharging guide frame is installed on the right module right vertical plate; a right module I-shaped tray in-place inductor is installed on the right module right vertical plate; the right module tray moving unit includes a right module tray moving slide rail, a right module tray moving dialing frame, and a right module tray moving driving motor, the right module tray moving slide rail is installed on the right module base, and the right module tray moving dialing frame and the right module tray moving driving motor are installed on the right module tray moving slide rail; the right module feeding unit includes a right module feeding unit bracket, a right module feeding unit slide rail, a right module feeding unit driving motor, and a right module feeding unit dialing frame, the right module feeding unit bracket is installed on the right module right vertical plate, the right module feeding unit slide rail is installed on the right module feeding unit bracket, and the right module feeding unit driving motor and the right module feeding unit dialing frame are installed on the right module feeding unit slide rail.

[0018] In an embodiment of the present invention, the left storage tray feeding module includes a left module base, a left module left vertical plate, a left module right vertical plate, a left module storage tray rod, a left module tray moving unit, a left module feeding unit, and a left module discharging guide frame; the left module left vertical plate and the left module right vertical plate are installed on the left module base, the two left module storage tray rods are installed between the left module left vertical plate and the left module right vertical plate, the left module tray moving unit is installed on the left module base, the left module feeding unit is installed on the left module left vertical plate, and the left module discharging guide frame is installed on the left module left vertical plate; a left module I-shaped tray in-place inductor is installed on the left module left vertical plate; the left module tray moving unit includes a left module tray moving slide rail, a left module tray moving dialing frame, and a left module tray moving driving motor, the left module tray moving slide rail is installed on the left module base, and the left module tray moving dialing frame and the left module tray moving driving motor are installed on the left module tray moving slide rail; the left module feeding unit includes a left module feeding unit bracket, a left module feeding unit slide rail, a left module feeding unit driving motor, and a left module feeding unit dialing frame, the left module feeding unit bracket is installed on the left module left vertical plate, the left module feeding unit slide rail is installed on the left module feeding unit bracket, and the left module feeding unit driving motor and the left module feeding unit dialing frame are installed on the left module feeding unit slide rail.

[0019] The second object of the present invention is to provide a method for realizing automatic tray feeding by a modular full-automatic I-shaped tray feeding device, and the method includes the following steps:

[0020] Step 1: First, initialize the state of the I-beam tray feeding device, including moving the right-module tray shifting bracket of the right storage tray feeding module to the initial position close to the left vertical plate of the right module through the right-module tray shifting drive motor, moving the left-module tray shifting bracket of the left storage tray feeding module to the initial position close to the right vertical plate of the left module through the left-module tray shifting drive motor, moving the left insertion translation driver and the right insertion translation driver to the initial positions along the negative Y-axis direction and the positive Y-axis direction respectively, moving the left retraction translation driver and the right retraction translation driver to the initial positions along the positive X-axis direction, moving the tray adjustment lifting translation driver to the initial position along the negative Z-axis direction, moving the left-module tray feeding unit drive motor to move the left-module tray feeding unit bracket along the negative Y-axis direction to the initial position, and moving the right-module tray feeding unit drive motor to move the right-module tray feeding unit bracket along the negative Y-axis direction to the initial position;

[0021] Step 2: According to the needs of the production plan, place different types of I-beams on the right-module storage tray rods, left-module storage tray rods, and adjustment and feeding module storage tray rods of the right storage tray feeding module, left storage tray feeding module, and adjustment and feeding module in sequence or randomly;

[0022] Step 3: Automatic tray feeding starts. The adjustment and feeding module tray shifting drive motor of the adjustment and feeding module drives the adjustment and feeding module tray shifting slide rail to drive the adjustment and feeding module tray shifting bracket to move along the positive X-axis direction. The adjustment and feeding module tray shifting bracket moves the I-beam placed between the two adjustment and feeding module storage tray rods to the side of the right vertical plate of the adjustment and feeding module;

[0023] Step 4: When the I-beam moves close to the right vertical plate of the adjustment and feeding module, the in-position sensor detects that the I-beam has moved into position, calculates the number of I-beams on the adjustment and feeding module storage tray rod based on the moving distance of the feeding module tray shifting bracket, and then the adjustment and feeding module tray shifting drive motor stops and immediately rotates in the reverse direction to move the adjustment and feeding module tray shifting bracket to the initial position close to the left vertical plate of the adjustment and feeding module;

[0024] Step 5: The left insertion translation driver and the right insertion translation driver respectively push out the left tray withdrawing bracket and the right tray withdrawing bracket along the positive Y-axis direction and the negative Y-axis direction. Then, the left retraction translation driver and the right retraction translation driver push out along the negative X-axis direction to withdraw the I-beam a certain distance along the negative X-axis direction;

[0025] Step 6: The left insertion translation driver and the right insertion translation driver respectively reset along the negative Y-axis direction and the positive Y-axis direction to disengage the left tray withdrawing bracket and the right tray withdrawing bracket from contact with the I-beam, and the left retraction translation driver and the right retraction translation driver reset along the positive X-axis direction;

[0026] Step 7: Due to the different specifications of the I-beams, the diameters of the I-beams are different. The tray type sensor determines the specific specifications of the I-beams based on whether the I-beam exceeds the installation height of the tray type sensor in the Z-axis direction;

[0027] Step Eight: The turntable lifting and translation driver lifts the turntable unit platform together with other components thereon and the I-beam disk upward along the positive Z-axis by a certain distance, so that the I-beam disk is disengaged from the storage rod of the disk feeding and supplying module;

[0028] Step Nine: The turntable driving motor drives the turntable bearing wheels and the turntable bearing wheels to rotate, thereby driving the I-beam disk to rotate. According to the judgment of the disk type sensor, for different I-beam disk specifications, the circumferential positioning sensor type I or the circumferential positioning sensor type II performs circumferential positioning according to the end face holes of the I-beam disk, so that the positions of the eccentric positioning holes of the I-beam disk in the circumferential direction are consistent;

[0029] Step Ten: The turntable lifting and translation driver and the turntable lifting and translation driver reset along the negative Z-axis, and place the I-beam disk after circumferential positioning on the storage rod of the disk feeding and supplying module for the disk transfer device to grab;

[0030] Step Eleven: Automatically supply disks starting from Step Three in a loop;

[0031] Step Twelve: When the number of I-beam disks on the storage rod of the disk feeding and supplying module is lower than a certain set number, the left storage disk feeding module performs a disk feeding operation;

[0032] Step Thirteen: The left module disk transfer driving motor drives the left module disk transfer rack to move along the negative X-axis, and moves the I-beam disk placed on the left module storage rod to the side of the left vertical plate of the left module;

[0033] Step Fourteen: When the I-beam disk moves close to the left vertical plate of the left module, the left module I-beam disk in-place sensor detects that the I-beam disk has moved in place, calculates the number of I-beam disks on the left module storage rod according to the moving distance of the left module disk transfer rack, and then the left module disk transfer driving motor stops and immediately rotates in the reverse direction to move the left module disk transfer rack to the initial position close to the right vertical plate of the left module;

[0034] Step Fifteen: When the turntable disk feeding and supplying module is in the working state between Step Five and Step Ten, the left module disk feeding unit driving motor drives the left module disk feeding unit rack to move along the positive Y-axis, thereby driving the I-beam disk to move out from the left module storage rod, and transferring the I-beam disk to the storage rod of the disk feeding and supplying module of the turntable disk feeding and supplying module through the left module disk outlet guide frame. Then the left module disk feeding unit driving motor rotates in reverse to move the left module disk feeding unit rack to the initial position along the negative Y-axis;

[0035] Step Sixteen: Automatically feed disks starting from Step Twelve in a loop;

[0036] Step Seventeen: When the number of I-beam disks on the left module storage rod is lower than a certain set number, the right storage disk feeding module performs a disk feeding operation;

[0037] Step Eighteen: The right module disk transfer driving motor drives the right module disk transfer bracket to move along the positive X-axis direction, moving the I-beam disk placed on the right module disk storage rod to the side of the right vertical plate of the right module;

[0038] Step Nineteen: When the I-beam disk moves close to the right vertical plate of the right module, the right module I-beam disk in-place inductor detects that the I-beam disk has moved in place, calculates the number of I-beam disks on the right module disk storage rod according to the moving distance of the right module disk transfer bracket, and then the right module disk transfer driving motor stops and immediately rotates in the reverse direction, moving the right module disk transfer bracket to the initial position close to the left vertical plate of the right module;

[0039] Step Twenty: When the left disk storage and disk feeding module is in the working state between Step Fifteen and Step Sixteen, the right module disk feeding unit driving motor moves the right module disk feeding unit bracket along the positive Y-axis direction, thereby driving the I-beam disk to move out from the right module disk storage rod, and transferring the I-beam disk to the left module disk storage rod of the left disk storage and disk feeding module through the right module disk outlet guide frame. Then the right module disk feeding unit driving motor rotates in reverse, moving the right module disk feeding unit bracket along the negative Y-axis direction to the initial position;

[0040] Step Twenty-One: Automatically feed disks in a loop starting from Step Seventeen.

[0041] Beneficial Effects

[0042] By adopting a modular full-automatic I-beam disk feeding device and method proposed by the present invention, full-automatic disk feeding in wire winding processing can be realized, and the following beneficial effects can be achieved:

[0043] First, the present invention integrates and meets the requirements of main body positioning, circumferential positioning, disk storage, and compatibility with different specifications during the disk feeding process, realizing that one device meets all the requirements of disk feeding.

[0044] Second, the present invention adopts a modular disk storage and disk feeding device, which can adjust the number of stored disks as needed. The disk loading operation is simple, with high efficiency and low labor intensity. The disk feeding process has simple and reliable actions, common parts, and good economy.

[0045] Third, the disk adjustment and feeding module of the present invention includes a disk removal mechanism, which can separate the disk to be adjusted from the subsequent disks, reduce interference during circumferential positioning, and improve the reliability of the device operation.

[0046] Fourth, the circumferential positioning device of the present invention is integrated in the disk feeding module. During circumferential positioning, the moving distance of the I-beam disk is short and it is a translational motion. The circumferential positioning accuracy after adjustment is high, the structure is simple and compact, the reliability is high, and the economy is good. Description of the Drawings

[0047] Figure 1 is a schematic structural diagram of a modular full-automatic I-beam disk feeding device of the present invention;

[0048] Figure 2 It is a schematic structural view of one perspective of the right storage tray feeding module of the present invention;

[0049] Figure 3 It is a schematic structural view of another perspective of the right storage tray feeding module of the present invention;

[0050] Figure 4 It is a schematic structural view of one perspective of the left storage tray feeding module of the present invention;

[0051] Figure 5 It is a schematic structural view of another perspective of the left storage tray feeding module of the present invention;

[0052] Figure 6 It is a schematic structural view of one perspective of the tray adjusting and feeding module of the present invention;

[0053] Figure 7 It is a schematic structural view of another perspective of the tray adjusting and feeding module of the present invention;

[0054] Figure 8 It is a schematic structural view of the tray removing unit of the present invention;

[0055] Figure 9 It is a schematic structural view of one perspective of the tray adjusting unit of the present invention;

[0056] Figure 10 It is a schematic structural view of another perspective of the tray adjusting unit of the present invention;

[0057] Figure 11 It is a schematic structural view of one perspective of the right vertical plate unit of the tray adjusting and feeding module of the present invention;

[0058] Figure 12 It is a schematic structural view of another perspective of the right vertical plate unit of the tray adjusting and feeding module of the present invention;

[0059] Wherein: A, I-shaped tray type I; B, I-shaped tray type II; 1, base frame; 2, right storage tray feeding module; 3, left storage tray feeding module; 4, tray adjusting and feeding module. Detailed implementation manners

[0060] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0061] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0062] Example 1

[0063] like Figure 1 As shown, the present embodiment provides a modular fully automatic I-shaped tray feeding device, comprising a frame 1, a right storage tray feeding module 2, a left storage tray feeding module 3 and a tray adjusting and feeding module 4; the right storage tray feeding module 2, the left storage tray feeding module 3 and the tray adjusting and feeding module 4 are installed on the frame 1 and arranged parallel to each other; the number of the right storage tray feeding module 2 and the left storage tray feeding module 3 can be adjusted according to the number of storage trays, and the present embodiment is illustrated as a case of 1 right storage tray feeding module 2 and 1 left storage tray feeding module 3.

[0064] To more simply and clearly describe the structure of the device proposed by the present invention, Figure 2 - 11 As shown, the rotation axis direction of the I-shaped plate when arranged for storage is marked as the X-axis, the direction perpendicular to the X-axis in the upper plane of the frame 1 is marked as the Y-axis direction, and the upward direction perpendicular to the upper plane of the frame 1 is marked as the Z-axis direction.

[0065] As an example, the modular fully automatic I-shaped tray feeding device includes a right tray storage and feeding module 2, a left tray storage and feeding module 3, and a tray adjusting and feeding module 4.

[0066] As an example, the modular fully automatic I-shaped tray supply device is compatible with two specifications of I-shaped trays, A: I-shaped tray type I, B: I-shaped tray type II.

[0067] In one embodiment, if Figure 2 and 3As shown in the figure, the right storage tray loading module 2 includes a right module base 21, a right module left vertical plate 22, a right module right vertical plate 23, a right module storage tray rod 24, a right module tray transfer unit 25, a right module loading unit 26, and a right module unloading guide frame 27; the right module left vertical plate 22 and the right module right vertical plate 23 are installed on the right module base 21, two of the right module storage tray rods 24 are installed between the right module left vertical plate 22 and the right module right vertical plate 23, the right module tray transfer unit 25 is installed on the right module base 21, the right module loading unit 26 is installed on the right module right vertical plate 23, and the right module unloading guide frame 27 is installed on the right module right vertical plate 23; a right module I-shaped tray in-place sensor 231 is installed on the right module right vertical plate 23; the right module tray transfer unit 25 includes a right module tray transfer slide rail 251, a right module tray transfer bracket 252, and a right module tray transfer drive motor 253, the right module tray transfer slide rail 251 is installed on the right module base 21, and the right module tray transfer bracket 252 and the right module tray transfer drive motor 253 are installed on the right module tray transfer slide rail 251; the right module loading unit 26 includes a right module loading unit bracket 261, a right module loading unit slide rail 262, a right module loading unit drive motor 263, and a right module loading unit bracket 264, the right module loading unit bracket 261 is installed on the right module right vertical plate 23, the right module loading unit slide rail 262 is installed on the right module loading unit bracket 261, and the right module loading unit drive motor 263 and the right module loading unit bracket 264 are installed on the right module loading unit slide rail 262.

[0068] As an example, the right module base 21 is a rectangular tube, the right module tray transfer slide rail 251 is a synchronous belt slide rail, the right module loading unit slide rail 262 is a synchronous belt slide rail, and the right module I-shaped tray in-place sensor 231 is a capacitive proximity switch sensor.

[0069] In one embodiment, as Figure 4 and 5As shown in the figure, the left storage tray feeding module 3 includes a left module base 31, a left module left vertical plate 32, a left module right vertical plate 33, a left module storage tray rod 34, a left module tray moving unit 35, a left module feeding unit 36, and a left module discharging guide 37; the left module left vertical plate 32 and the left module right vertical plate 33 are installed on the left module base 31, the two left module storage tray rods 34 are installed between the left module left vertical plate 32 and the left module right vertical plate 33, the left module tray moving unit 35 is installed on the left module base 31, the left module feeding unit 36 is installed on the left module left vertical plate 32, and the left module discharging guide 37 is installed on the left module left vertical plate 32; a left module I-shaped tray in-place inductor 321 is installed on the left module left vertical plate 32; the left module tray moving unit 35 includes a left module tray moving slide rail 351, a left module tray moving dial 352, and a left module tray moving drive motor 353, the left module tray moving slide rail 351 is installed on the left module base 31, and the left module tray moving dial 352 and the left module tray moving drive motor 353 are installed on the left module tray moving slide rail 351; the left module feeding unit 36 includes a left module feeding unit bracket 361, a left module feeding unit slide rail 362, a left module feeding unit drive motor 363, and a left module feeding unit dial 364, the left module feeding unit bracket 361 is installed on the left module left vertical plate 32, the left module feeding unit slide rail 362 is installed on the left module feeding unit bracket 361, and the left module feeding unit drive motor 363 and the left module feeding unit dial 364 are installed on the left module feeding unit slide rail 362.

[0070] As an example, the left module base 31 is a rectangular tube, the left module tray moving slide rail 351 is a synchronous belt slide rail, the left module feeding unit slide rail 362 is a synchronous belt slide rail, and the left module I-shaped tray in-place inductor 321 is a capacitive proximity switch sensor.

[0071] In one embodiment, as Figure 6 and 7As shown, the turntable feeding module 4 includes a feeding module base 41, a left vertical plate 42 of the feeding module, a disc removing unit 43, a right vertical plate unit 44 of the feeding module, a storage rod 45 of the feeding module, a disc transferring unit 46 of the feeding module, and a turntable unit 47; the left vertical plate 42 of the feeding module, the disc removing unit 43, the right vertical plate unit 44 of the feeding module, the disc transferring unit 46 of the feeding module, and the turntable unit 47 are installed on the feeding module base 41; two storage rods 45 of the feeding module are installed between the left vertical plate 42 of the feeding module and the right vertical plate unit 44 of the feeding module; the disc removing unit 43 is located between the left vertical plate 42 of the feeding module and the right vertical plate unit 44 of the feeding module; the turntable unit 47 is located between the disc removing unit 43 and the right vertical plate unit 44 of the feeding module; the disc transferring unit 46 of the feeding module includes a disc transferring slide rail 461 of the feeding module, a disc transferring dial 462 of the feeding module, and a disc transferring drive motor 463 of the feeding module, and the disc transferring dial 462 of the feeding module and the disc transferring drive motor 463 of the feeding module are installed on the disc transferring slide rail 461 of the feeding module; the right vertical plate unit 44 of the feeding module includes a right vertical plate 441 of the feeding module, a position and disc type sensing device 442 of the feeding module installed on the right vertical plate 441 of the feeding module, a circumferential positioning device I type 443 of the turntable feeding module, and a circumferential positioning device II type 444 of the turntable feeding module.

[0072] As an example, the feeding module base 41 is a rectangular tube, and the disc transferring slide rail 461 of the feeding module is a synchronous belt slide rail.

[0073] In one embodiment, as Figure 8As shown, the dish removal unit 43 includes a dish removal unit support 431. On one side of the dish removal unit support 431, a left retraction translation driver 432A, a left insertion translation driver mounting plate 433A, a left insertion translation driver 434A, and a left dish removal dial 435A are installed; on the other side of the dish removal unit support 431, a right retraction translation driver 432B, a right insertion translation driver mounting plate 433B, a right insertion translation driver 434B, and a right dish removal dial 435B are installed; the left retraction translation driver 432A and the right retraction translation driver 432B are installed on the dish removal unit support 431; the left insertion translation driver mounting plate 433A is installed on the left retraction translation driver 432A, the left insertion translation driver 434A is installed on the left insertion translation driver mounting plate 433A, and the left dish removal dial 435A is installed on the left insertion translation driver 434A; the right insertion translation driver mounting plate 433B is installed on the right retraction translation driver 432B, the right insertion translation driver 434B is installed on the right insertion translation driver mounting plate 433B, and the right dish removal dial 435B is installed on the right insertion translation driver 434B; the left retraction translation driver 432A is used to drive the left insertion translation driver mounting plate 433A, the left insertion translation driver 434A, and the left dish removal dial 435A to move in the X-axis direction; the left insertion translation driver 434A is used to drive the left dish removal dial 435A to move in the Y-axis direction; the right retraction translation driver 432B is used to drive the right insertion translation driver mounting plate 433B, the right insertion translation driver 434B, and the right dish removal dial 435B to move in the X-axis direction; the right insertion translation driver 434B is used to drive the right dish removal dial 435B to move in the Y-axis direction.

[0074] As an example, the left retraction translation driver 432A, the left insertion translation driver 434A, the right retraction translation driver 432B, and the right insertion translation driver 434B are selected as double-rod cylinders.

[0075] In one implementation, as Figure 9 and Figure 10As shown, the turntable unit 47 includes a turntable lifting and translation driver connecting frame 471, a turntable lifting and translation driver 472, a turntable unit platform 473, a turntable motor bracket 474, a turntable driving motor 475, a turntable driving wheel 476, a turntable tray supporting wheel bracket 477, a first turntable tray supporting wheel 478A, a second turntable tray supporting wheel 478B, a first turntable driving belt 479A and a second turntable driving belt 479B; the turntable lifting and translation driver connecting frame 471 is fixed on the feeding and turntable module base 41, the turntable unit platform 473 is installed on the turntable lifting and translation driver 472 and can move along the Z-axis under the drive of the turntable lifting and translation driver 472, the turntable driving motor 475 is installed on the turntable unit platform 473 through the turntable motor bracket 474, the turntable driving wheel 476 is installed on the output shaft of the turntable driving motor 475, the turntable tray supporting wheel bracket 477 is installed on the turntable unit platform 473, the first turntable tray supporting wheel 478A and the second turntable tray supporting wheel 478B are installed on the turntable tray supporting wheel bracket 477, the first turntable driving belt 479A is installed on the turntable driving wheel 476 and the turntable tray supporting wheel 478A, and the second turntable driving belt 479B is installed on the turntable driving wheel 476 and the turntable tray supporting wheel 478B.

[0076] As an example, the turntable lifting and translation driver 472 is selected as a double-rod cylinder, the turntable driving motor 475 is selected as a stepping motor, the turntable driving wheel 476 is a double-round grooved wheel, the first turntable driving belt 479A and the second turntable driving belt 479B are selected as elastic round belts, the first turntable tray supporting wheel 478A and the second turntable tray supporting wheel 478B have round belt grooves, and the axial lengths of the first turntable tray supporting wheel 478A and the second turntable tray supporting wheel 478B are slightly longer than the axial width of the I-beam disk.

[0077] In one embodiment, as Figure 11 and Figure 12 shown, the feeding and turntable module in-place and disk type sensing device 442 includes an in-place and disk type sensor mounting plate 4421 and a disk type sensor 4422 and an in-place sensor 4423 mounted thereon, the in-place and disk type sensor mounting plate 4421 is mounted on the right vertical plate 441 of the feeding and turntable module; the feeding and turntable module circumferential positioning device type I 443 includes a circumferential positioning sensor bracket type I 4431 and a circumferential positioning sensor type I 4432 mounted thereon, the circumferential positioning sensor bracket type I 4431 is mounted on the right vertical plate 441 of the feeding and turntable module; the feeding and turntable module circumferential positioning device type II 444 includes a circumferential positioning sensor bracket type II 4441 and a circumferential positioning sensor type II 4442, the circumferential positioning sensor bracket type II 4441 is mounted on the right vertical plate 441 of the feeding and turntable module.

[0078] As an example, the disk-type sensor 4422 is a diffuse reflection photoelectric sensor, the in-position sensor 4423 is a capacitive proximity switch sensor, and the circumferential positioning sensor type I 4432 and the circumferential positioning sensor type II 4442 are diffuse reflection photoelectric sensors.

[0079] Example 2

[0080] This embodiment provides a method for automatically supplying trays using the modular fully automatic I-shaped tray supply device described in Embodiment 1, the method comprising the following steps:

[0081] Step 1: First, the state of the I-shaped tray feeding device is initialized, including moving the right module tray shifting rack 252 of the right tray storage tray feeding module 2 to the initial position close to the left vertical plate 22 of the right module through the right module tray shifting drive motor 253, moving the left module tray shifting rack 352 to the initial position close to the right vertical plate 33 of the left module through the left module tray shifting drive motor 353, the left insertion translation driver 434A and the right insertion translation driver 434B move to the initial position along the negative direction of the Y axis and the positive direction of the Y axis respectively, the left withdrawal translation driver 432A and the right withdrawal translation driver 432B move to the initial position along the positive direction of the X axis, the adjustment disk lifting translation driver 472 moves to the initial position along the negative direction of the Z axis, the left module tray feeding unit driving motor 363 moves the left module tray feeding unit rack 364 to the initial position along the negative direction of the Y axis, and the right module tray feeding unit driving motor 263 moves the right module tray feeding unit rack 264 to the initial position along the negative direction of the Y axis;

[0082] Step 2: According to the needs of the production plan, different types of I-shaped trays are placed in order or randomly on the right module storage rod 24, the left module storage rod 34 and the storage rod 45 of the right storage tray feeding module 2, the left storage tray feeding module 3 and the tray adjustment and supply module 4;

[0083] Step 3: Automatic tray supply starts, the tray supply module tray drive motor 463 of the tray supply module 4 drives the tray supply module tray moving slide rail 461 to drive the tray supply module tray moving rack 462 to move along the positive direction of the X axis, and the tray supply module tray moving rack 462 moves the I-shaped tray placed between the two tray supply module storage rods 45 to the side of the right vertical plate 441 of the tray supply module;

[0084] Step 4: When the I-shaped tray moves close to the right vertical plate 441 of the supply tray module, the in-position sensor 4423 detects that the I-shaped tray has moved into position, and calculates the number of I-shaped trays on the storage rod 45 of the supply tray module according to the moving distance of the tray shifting rack 462 of the supply tray module, and then the tray shifting drive motor 463 of the supply tray module stops and immediately rotates in the opposite direction to move the tray shifting rack 462 of the supply tray module to the initial position close to the left vertical plate 42 of the supply tray module;

[0085] Step Five: The left insertion translation driver 434A and the right insertion translation driver 434B respectively push out the left disk removal bracket 435A and the right disk removal bracket 435B along the positive Y-axis direction and the negative Y-axis direction. Then, the left retraction translation driver 432A and the right retraction translation driver 432B push out along the negative X-axis direction, retracting the I-beam disk a certain distance in the negative X-axis direction;

[0086] Step Six: The left insertion translation driver 434A and the right insertion translation driver 434B respectively reset along the negative Y-axis direction and the positive Y-axis direction, disengaging the left disk removal bracket 435A and the right disk removal bracket 435B from contact with the I-beam disk. The left retraction translation driver 432A and the right retraction translation driver 432B reset along the positive X-axis direction;

[0087] Step Seven: Due to the different specifications of the I-beam disks, with different diameters, the disk type sensor 4422 determines the specific specification of the I-beam disk based on whether the I-beam disk exceeds the installation height of the disk type sensor 4422 in the Z-axis direction;

[0088] Step Eight: The turntable lifting translation driver 472 lifts the turntable unit platform 473 together with other components thereon and the I-beam disk upward along the positive Z-axis direction by a certain distance, disengaging the I-beam disk from contact with the storage rod 45 of the disk supply and adjustment module;

[0089] Step Nine: The turntable drive motor 475 drives the turntable supporting disks 478A and 478B to rotate, thereby driving the I-beam disk to rotate. According to the judgment of the disk type sensor 4422, for different specifications of the I-beam disks, the circumferential positioning sensor type I 4432 or the circumferential positioning sensor type II 4442 performs circumferential positioning based on the end face holes of the I-beam disk, making the positions of the eccentric positioning holes of the I-beam disk consistent in the circumferential direction;

[0090] Step Ten: The turntable lifting translation drivers 472A and 472B reset along the negative Z-axis direction, placing the I-beam disk after circumferential positioning onto the storage rod 45 of the disk supply and adjustment module for a disk transfer device such as a robotic arm (not shown in this invention) to grasp;

[0091] Step Eleven: Automatically supply disks starting from Step Three in a loop;

[0092] Step Twelve: When the number of I-beam disks on the storage rod 45 of the disk supply and adjustment module is lower than a certain set number, the left storage disk feeding module 3 performs a disk feeding operation;

[0093] Step Thirteen: The left module disk transfer drive motor 353 drives the left module disk transfer bracket 352 to move along the negative X-axis direction, moving the I-beam disk placed on the left module storage rod 34 towards the left module left vertical plate 32 side;

[0094] Step 14: When the I-beam tray moves close to the left vertical plate 32 of the left module, the I-beam tray in-place sensor 321 of the left module detects that the I-beam tray has moved into place, calculates the number of I-beam trays on the I-beam tray storage rod 34 of the left module based on the moving distance of the left-module tray shifting bracket 352, then the left-module tray shifting drive motor 353 stops and immediately rotates in the reverse direction to move the left-module tray shifting bracket 352 to the initial position close to the right vertical plate 33 of the left module;

[0095] Step 15: When the turntable tray supply module 4 is in the working state between Step 5 and Step 10, the left-module tray feeding unit drive motor 363 moves the left-module tray feeding unit bracket 364 along the positive Y-axis direction, thereby driving the I-beam tray to move out from the I-beam tray storage rod 34 of the left module, and transferring the I-beam tray to the turntable supply module storage rod 45 of the turntable tray supply module 4 through the left-module tray outlet guide 37. Then the left-module tray feeding unit drive motor 363 rotates in reverse to move the left-module tray feeding unit bracket 364 along the negative Y-axis direction to the initial position;

[0096] Step 16: Automatically feed trays in a loop starting from Step 12;

[0097] Step 17: When the number of I-beam trays on the I-beam tray storage rod 34 of the left module is lower than a certain set number, the right storage tray feeding module 2 performs a tray feeding operation;

[0098] Step 18: The right-module tray shifting drive motor 253 drives the right-module tray shifting bracket 252 to move along the positive X-axis direction, moving the I-beam tray placed on the I-beam tray storage rod 24 of the right module towards the right vertical plate 23 side of the right module;

[0099] Step 19: When the I-beam tray moves close to the right vertical plate 23 of the right module, the I-beam tray in-place sensor 231 of the right module detects that the I-beam tray has moved into place, calculates the number of I-beam trays on the I-beam tray storage rod 24 of the right module based on the moving distance of the right-module tray shifting bracket 252, then the right-module tray shifting drive motor 253 stops and immediately rotates in the reverse direction to move the right-module tray shifting bracket 252 to the initial position close to the left vertical plate 22 of the right module;

[0100] Step 20: When the left storage tray feeding module 3 is in the working state between Step 15 and Step 16, the right-module tray feeding unit drive motor 263 moves the right-module tray feeding unit bracket 264 along the positive Y-axis direction, thereby driving the I-beam tray to move out from the I-beam tray storage rod 24 of the right module, and transferring the I-beam tray to the I-beam tray storage rod 34 of the left module of the left storage tray feeding module 3 through the right-module tray outlet guide 27. Then the right-module tray feeding unit drive motor 263 rotates in reverse to move the right-module tray feeding unit bracket 264 along the negative Y-axis direction to the initial position;

[0101] Step 21: Automatically feed trays in a loop starting from Step 17.

[0102] The tray supply device and method of the present invention can integrate and meet the requirements of main body positioning, circumferential positioning, tray storage, and compatibility with different specifications during the tray supply process, achieving that one device meets all the requirements of tray supply. Moreover, it adopts a modular design, with a more flexible number of stored trays, simple tray loading operation, high efficiency, low labor intensity, simple and reliable actions during the tray feeding process, common parts, simple and compact structure, high reliability, and good economy.

[0103] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or equivalently replace some of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A modular fully automatic I-shaped plate feeding device, characterized in that: It includes a frame, a right storage tray feeding module, a left storage tray feeding module, and a tray adjustment and feeding module; the right storage tray feeding module, the left storage tray feeding module, and the tray adjustment and feeding module are installed on the frame and arranged parallel to each other; the tray adjustment and feeding module includes a tray adjustment and feeding module base, a left vertical plate of the tray adjustment and feeding module, a tray removal unit, a right vertical plate unit of the tray adjustment and feeding module, a storage rod of the tray adjustment and feeding module, a tray transfer unit of the tray adjustment and feeding module, and a tray adjustment unit; the left vertical plate of the tray adjustment and feeding module, the tray removal unit, the right vertical plate unit of the tray adjustment and feeding module, the tray transfer unit of the tray adjustment and feeding module, and the tray adjustment unit are installed on the tray adjustment and feeding module base; two storage rods of the tray adjustment and feeding module are installed between the left vertical plate of the tray adjustment and feeding module and the right vertical plate unit of the tray adjustment and feeding module; the tray removal unit is located between the left vertical plate of the tray adjustment and feeding module and the right vertical plate unit of the tray adjustment and feeding module; the tray adjustment unit is located between the tray removal unit and the right vertical plate unit of the tray adjustment and feeding module.

2. The modular fully automatic I-shaped tray feeding device according to claim 1 is characterized in that: The tray transfer unit of the tray adjustment and feeding module includes a tray transfer slide rail of the tray adjustment and feeding module, a tray transfer bracket of the tray adjustment and feeding module, and a tray transfer drive motor of the tray adjustment and feeding module, and the tray transfer bracket of the tray adjustment and feeding module and the tray transfer drive motor of the tray adjustment and feeding module are installed on the tray transfer slide rail of the tray adjustment and feeding module; the right vertical plate unit of the tray adjustment and feeding module includes a right vertical plate of the tray adjustment and feeding module, a tray in-place and tray type sensing device installed on the right vertical plate of the tray adjustment and feeding module, a circumferential positioning device I type of the tray adjustment and feeding module, and a circumferential positioning device II type of the tray adjustment and feeding module.

3. The modular fully automatic I-shaped tray feeding device according to claim 2 is characterized in that: The tray removal unit includes a tray removal unit bracket, on one side of which a left retraction translation driver, a left insertion translation driver mounting plate, a left insertion translation driver, and a left tray removal bracket are installed; on the other side of the tray removal unit bracket, a right retraction translation driver, a right insertion translation driver mounting plate, a right insertion translation driver, and a right tray removal bracket are installed; the left retraction translation driver and the right retraction translation driver are installed on the tray removal unit bracket; the left insertion translation driver mounting plate is installed on the left retraction translation driver, the left insertion translation driver is installed on the left insertion translation driver mounting plate, and the left tray removal bracket is installed on the left insertion translation driver; the right insertion translation driver mounting plate is installed on the right retraction translation driver, the right insertion translation driver is installed on the right insertion translation driver mounting plate, and the right tray removal bracket is installed on the right insertion translation driver; the left retraction translation driver is used to drive the left insertion translation driver mounting plate, the left insertion translation driver, and the left tray removal bracket to move along the X-axis direction; the left insertion translation driver is used to drive the left tray removal bracket to move along the Y-axis direction; the right retraction translation driver is used to drive the right insertion translation driver mounting plate, the right insertion translation driver, and the right tray removal bracket to move along the X-axis direction; the right insertion translation driver is used to drive the right tray removal bracket to move along the Y-axis direction.

4. The modular fully automatic I-shaped tray feeding device according to claim 3 is characterized in that: The turntable unit includes a turntable lifting and translation driver connecting frame, a turntable lifting and translation driver, a turntable unit platform, a turntable motor bracket, a turntable driving motor, a turntable driving wheel, a turntable bearing wheel bracket, a first turntable bearing wheel, a second turntable bearing wheel, a first turntable driving belt, and a second turntable driving belt; the turntable lifting and translation driver connecting frame is fixed on the base of the feeding and turntable module, the turntable unit platform is installed on the turntable lifting and translation driver and can move along the Z-axis under the drive of the turntable lifting and translation driver, the turntable driving motor is installed on the turntable unit platform through the turntable motor bracket, the turntable driving wheel is installed on the output shaft of the turntable driving motor, the turntable bearing wheel bracket is installed on the turntable unit platform, the first turntable bearing wheel and the second turntable bearing wheel are installed on the turntable bearing wheel bracket, the first turntable driving belt is installed on the turntable driving wheel and the turntable bearing wheel, and the second turntable driving belt is installed on the turntable driving wheel and the turntable bearing wheel.

5. The modular fully automatic I-shaped tray feeding device according to claim 4 is characterized in that: The turntable lifting and translation driver is selected as a double-rod cylinder, the turntable driving motor is selected as a stepping motor, the turntable driving wheel is a double-round grooved wheel, the first turntable driving belt and the second turntable driving belt are selected as elastic round belts, the first turntable bearing wheel and the second turntable bearing wheel have round belt grooves, and the axial lengths of the first turntable bearing wheel and the second turntable bearing wheel are longer than the axial width of the I-beam disc.

6. The modular fully automatic I-shaped tray feeding device according to claim 4 is characterized in that: The in-place and disc type sensing device of the feeding and turntable module includes an in-place and disc type sensor mounting plate and a disc type sensor and an in-place sensor mounted thereon, and the in-place and disc type sensor mounting plate is mounted on the right vertical plate of the feeding and turntable module; the circumferential positioning device I type of the turntable feeding and turntable module includes a circumferential positioning sensor bracket I type and a circumferential positioning sensor I type mounted thereon, and the circumferential positioning sensor bracket I type is mounted on the right vertical plate of the feeding and turntable module; the circumferential positioning device II type of the turntable feeding and turntable module includes a circumferential positioning sensor bracket II type and a circumferential positioning sensor II type, and the circumferential positioning sensor bracket II type is mounted on the right vertical plate of the feeding and turntable module.

7. The modular fully automatic I-shaped tray feeding device according to claim 6 is characterized in that: The disc type sensor selects a diffuse reflection photoelectric sensor, the in-place sensor selects a capacitive proximity switch sensor, and the circumferential positioning sensor I type and the circumferential positioning sensor II type select diffuse reflection photoelectric sensors.

8. The modular fully automatic I-shaped tray feeding device according to claim 1, characterized in that: The right storage tray feeding module includes a right module base, a right module left vertical plate, a right module right vertical plate, a right module storage tray rod, a right module tray moving unit, a right module feeding unit, and a right module discharging guide frame; the right module left vertical plate and the right module right vertical plate are installed on the right module base, the two right module storage tray rods are installed between the right module left vertical plate and the right module right vertical plate, the right module tray moving unit is installed on the right module base, the right module feeding unit is installed on the right module right vertical plate, and the right module discharging guide frame is installed on the right module right vertical plate; a right module I-shaped tray in-place inductor is installed on the right module right vertical plate; the right module tray moving unit includes a right module tray moving slide rail, a right module tray moving dialing frame, and a right module tray moving driving motor, the right module tray moving slide rail is installed on the right module base, and the right module tray moving dialing frame and the right module tray moving driving motor are installed on the right module tray moving slide rail; the right module feeding unit includes a right module feeding unit bracket, a right module feeding unit slide rail, a right module feeding unit driving motor, and a right module feeding unit dialing frame, the right module feeding unit bracket is installed on the right module right vertical plate, the right module feeding unit slide rail is installed on the right module feeding unit bracket, and the right module feeding unit driving motor and the right module feeding unit dialing frame are installed on the right module feeding unit slide rail.

9. The modular fully automatic I-shaped tray feeding device according to claim 1, characterized in that: The left storage tray feeding module includes a left module base, a left module left vertical plate, a left module right vertical plate, a left module storage tray rod, a left module tray moving unit, a left module feeding unit, and a left module discharging guide frame; the left module left vertical plate and the left module right vertical plate are installed on the left module base, the two left module storage tray rods are installed between the left module left vertical plate and the left module right vertical plate, the left module tray moving unit is installed on the left module base, the left module feeding unit is installed on the left module left vertical plate, and the left module discharging guide frame is installed on the left module left vertical plate; a left module I-shaped tray in-place inductor is installed on the left module left vertical plate; the left module tray moving unit includes a left module tray moving slide rail, a left module tray moving dialing frame, and a left module tray moving driving motor, the left module tray moving slide rail is installed on the left module base, and the left module tray moving dialing frame and the left module tray moving driving motor are installed on the left module tray moving slide rail; the left module feeding unit includes a left module feeding unit bracket, a left module feeding unit slide rail, a left module feeding unit driving motor, and a left module feeding unit dialing frame, the left module feeding unit bracket is installed on the left module left vertical plate, the left module feeding unit slide rail is installed on the left module feeding unit bracket, and the left module feeding unit driving motor and the left module feeding unit dialing frame are installed on the left module feeding unit slide rail.

10. A method for realizing automatic tray feeding by using the modular full-automatic I-shaped tray feeding device according to any one of claims 1-9, the method comprising the following steps: Step 1: First, initialize the state of the I-beam tray feeding device, including moving the right module tray shifting bracket of the right storage tray feeding module to the initial position close to the left vertical plate of the right module through the right module tray shifting drive motor, moving the left module tray shifting bracket of the left storage tray feeding module to the initial position close to the right vertical plate of the left module through the left module tray shifting drive motor, moving the left insertion translation driver and the right insertion translation driver to the initial positions along the negative Y-axis direction and the positive Y-axis direction respectively, moving the left retraction translation driver and the right retraction translation driver to the initial positions along the positive X-axis direction, moving the tray adjustment lifting translation driver to the initial position along the negative Z-axis direction, moving the left module tray feeding unit drive motor to move the left module tray feeding unit bracket along the negative Y-axis direction to the initial position, and moving the right module tray feeding unit drive motor to move the right module tray feeding unit bracket along the negative Y-axis direction to the initial position; Step 2: According to the requirements of the production plan, place different types of I-beam trays on the right module storage tray rod, left module storage tray rod, and adjustment and feeding module storage tray rod of the right storage tray feeding module, left storage tray feeding module, and adjustment and feeding module in sequence or randomly; Step 3: Automatic tray feeding starts. The adjustment and feeding module tray shifting drive motor of the adjustment and feeding module drives the adjustment and feeding module tray shifting slide rail to drive the adjustment and feeding module tray shifting bracket to move along the positive X-axis direction. The adjustment and feeding module tray shifting bracket moves the I-beam tray placed between the two adjustment and feeding module storage tray rods to the side of the right vertical plate of the adjustment and feeding module; Step 4: When the I-beam tray moves close to the right vertical plate of the adjustment and feeding module, the in-place inductor detects that the I-beam tray has moved in place, calculates the number of I-beam trays on the adjustment and feeding module storage tray rod according to the moving distance of the adjustment and feeding module tray shifting bracket, and then the adjustment and feeding module tray shifting drive motor stops and immediately rotates in the reverse direction to move the adjustment and feeding module tray shifting bracket to the initial position close to the left vertical plate of the adjustment and feeding module; Step 5: The left insertion translation driver and the right insertion translation driver push out the left tray withdrawing bracket and the right tray withdrawing bracket along the positive Y-axis direction and the negative Y-axis direction respectively. Then, the left retraction translation driver and the right retraction translation driver push out along the negative X-axis direction to withdraw the I-beam tray a certain distance along the negative X-axis direction; Step 6: The left insertion translation driver and the right insertion translation driver reset along the negative Y-axis direction and the positive Y-axis direction respectively, so that the left tray withdrawing bracket and the right tray withdrawing bracket are disengaged from the I-beam tray, and the left retraction translation driver and the right retraction translation driver reset along the positive X-axis direction; Step 7: Due to the different specifications of the I-beam trays and different diameters of the I-beam trays, the tray type inductor determines the specific specifications of the I-beam trays according to whether the I-beam trays exceed the installation height of the tray type inductor in the Z-axis direction; Step 8: The tray adjustment lifting translation driver lifts the tray adjustment unit platform together with other components and the I-beam tray on it upward along the positive Z-axis direction by a certain distance to disengage the I-beam tray from the adjustment and feeding module storage tray rod; Step Nine: The turntable drive motor drives the turntable carrier wheel and the turntable carrier wheel to rotate, thereby driving the I-beam disk to rotate. According to the judgment of the disk type sensor, for different I-beam disk specifications, the circumferential positioning sensor type I or the circumferential positioning sensor type II performs circumferential positioning according to the end face holes of the I-beam disk, so that the eccentric positioning holes of the I-beam disk are in the same position in the circumferential direction; Step Ten: The turntable lifting and translation driver and the turntable lifting and translation driver reset along the negative Z-axis direction, and place the I-beam disk after circumferential positioning on the storage rod of the disk feeding and supplying module for the disk transfer device to grab; Step Eleven: Automatically supply disks starting from Step Three in a loop; Step Twelve: When the number of I-beam disks on the storage rod of the disk feeding and supplying module is lower than a certain set number, the left storage disk feeding module performs a feeding operation; Step Thirteen: The left module disk transfer drive motor drives the left module disk transfer bracket to move along the negative X-axis direction, and moves the I-beam disk placed on the left module storage rod to the side of the left vertical plate of the left module; Step Fourteen: When the I-beam disk moves close to the left vertical plate of the left module, the left module I-beam disk in-place sensor detects that the I-beam disk has moved in place, calculates the number of I-beam disks on the left module storage rod according to the moving distance of the left module disk transfer bracket, and then the left module disk transfer drive motor stops and immediately rotates in the reverse direction, moving the left module disk transfer bracket to the initial position close to the right vertical plate of the left module; Step Fifteen: When the disk feeding and supplying module is in the working state between Step Five and Step Ten, the left module disk feeding unit drive motor moves the left module disk feeding unit bracket along the positive Y-axis direction, thereby driving the I-beam disk to move out from the left module storage rod, and transferring the I-beam disk to the storage rod of the disk feeding and supplying module of the disk feeding and supplying module through the left module disk outlet guide, and then the left module disk feeding unit drive motor reverses, moving the left module disk feeding unit bracket along the negative Y-axis direction to the initial position; Step Sixteen: Automatically feed disks starting from Step Twelve in a loop; Step Seventeen: When the number of I-beam disks on the left module storage rod is lower than a certain set number, the right storage disk feeding module performs a feeding operation; Step Eighteen: The right module disk transfer drive motor drives the right module disk transfer bracket to move along the positive X-axis direction, and moves the I-beam disk placed on the right module storage rod to the side of the right vertical plate of the right module; Step Nineteen: When the I-beam disk moves close to the right vertical plate of the right module, the right module I-beam disk in-place sensor detects that the I-beam disk has moved in place, calculates the number of I-beam disks on the right module storage rod according to the moving distance of the right module disk transfer bracket, and then the right module disk transfer drive motor stops and immediately rotates in the reverse direction, moving the right module disk transfer bracket to the initial position close to the left vertical plate of the right module; Step Twenty: When the left storage disk feeding module is in the working state between Step Fifteen and Step Sixteen, the right module disk feeding unit drive motor moves the right module disk feeding unit bracket along the positive Y-axis direction, thereby driving the I-beam disk to move out from the right module storage rod, and transferring the I-beam disk to the left module storage rod of the left storage disk feeding module through the right module disk outlet guide, and then the right module disk feeding unit drive motor reverses, moving the right module disk feeding unit bracket along the negative Y-axis direction to the initial position; Step Twenty-One: Automatically feed the disks in a loop starting from Step Seventeen.

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