A feeding device, a feeding system and a feeding method

Abstract

The application discloses a feeding device, a feeding system and a feeding method. The feeding device comprises a transport vehicle, a rack and a positioning frame. The rack is connected to the transport vehicle, and the positioning frame is provided with a parking space for parking the transport vehicle. At least one material placing support capable of being folded and unfolded is arranged on the rack, and a driving element is arranged on the rack. The material placing support is provided with an unfolded state and a folded state. When the transport vehicle is parked in the parking space, the driving element is connected to the material placing support, and the driving element can drive the material placing support to switch from the unfolded state to the folded state. The material placing support on the feeding device can be unfolded and folded. After the material on the material placing support is taken, the material placing support can be folded, the occupied space is reduced, and other materials on the rack can be conveniently taken.

Description

Technical Field

[0001] This invention relates to the field of vehicle manufacturing technology, and in particular to a feeding device, feeding system and feeding method. Background Technology

[0002] With the introduction of the Industry 4.0 concept, all production lines in the vehicle production process have undergone automation and intelligent transformation.

[0003] An existing material rack consists of a main body and a feeding rack, with the feeding rack mounted on the main body. The feeding rack is a fixed structure. After the material on the feeding rack is removed, it occupies a large space and interferes with materials in other positions on the feeding rack, thus affecting feeding efficiency.

[0004] Given the above problems, improvements are needed. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a feeding device, feeding system and feeding method that facilitates material handling and improves work efficiency.

[0006] The present invention provides a feeding device comprising a transport vehicle, a material rack, and a positioning frame. The material rack is connected to the transport vehicle, and the positioning frame is provided with a parking space for parking the transport vehicle. The material rack is provided with at least one retractable feeding bracket, and a driving component is provided on the material rack. The feeding bracket has an extended state and a retracted state. When the transport vehicle is located in the parking space, the driving component is connected to the feeding bracket, and the driving component can drive the feeding bracket to switch from the extended state to the retracted state.

[0007] Furthermore, the material rack is provided with at least two material feeding brackets, and the positioning frame is provided with at least two driving components; when the transport vehicle is located in the parking space, all the driving components can be activated in sequence, so that all the material feeding brackets can be switched from the unfolded state to the retracted state in sequence.

[0008] Furthermore, the material feeding bracket includes a bracket body, a support rod, and a linkage mechanism; the support rod is rotatably connected to the bracket body, and the linkage mechanism is movably connected to the bracket body and connected to the support rod; when the transport vehicle is located in the parking space, the drive component can be connected to the linkage mechanism.

[0009] Furthermore, the linkage mechanism includes a slide rod and a linkage rod. The slide rod is slidably connected to the support body, and one end of the linkage rod is hinged to the slide rod, while the other end is hinged to the support rod.

[0010] Furthermore, a first connecting seat is provided on the slide rod, and a second connecting seat is provided on the main body of the bracket; the linkage mechanism also includes a telescopic spring, which is sleeved on the slide rod and connected between the first connecting seat and the second connecting seat.

[0011] Furthermore, the positioning frame includes a base and a mounting frame. The parking space is disposed on the base, and the mounting frame is connected to the base and located in front of the parking space. The drive component is connected to the mounting frame. A positioning block is connected to the mounting frame, and a positioning groove is provided on the material rack. When the transport vehicle is located in the parking space, the positioning block cooperates with the positioning groove.

[0012] Furthermore, a limiting mechanism is provided on the base, the limiting mechanism including a limiting seat, a telescopic cylinder, a connecting rod, and a limiting plate for blocking the movement of the transport vehicle; the limiting seat is connected to the base, the telescopic cylinder is connected to the limiting seat, the limiting plate is rotatably connected to the limiting seat, one end of the connecting rod is connected to the limiting plate, and the other end is connected to the output end of the telescopic cylinder.

[0013] Furthermore, a guide is provided on the base, the guide including a guide support and a guide rail, the guide support being connected to the base and the guide rail being connected to the guide support; the guide rail includes a first guide surface facing the parking space and a second guide surface perpendicular to the first guide surface; a first roller and a second roller are connected to the material rack, when the transport vehicle moves to the parking space, the first roller is slidably connected to the first guide surface, and the second roller is slidably connected to the second guide surface.

[0014] The present invention provides a feeding system comprising a mechanical gripper, a controller, and a feeding device as described above. The mechanical gripper is disposed on one side of the positioning frame. The mechanical gripper is communicatively connected to the controller, and the driving component is communicatively connected to the controller.

[0015] Furthermore, the positioning frame is equipped with a sensor for sensing the position of the transport vehicle, and the sensor is communicatively connected to the controller; when the transport vehicle is located in the parking space, the sensor is triggered, and the controller controls the movement of the mechanical gripper.

[0016] The present invention provides a feeding method, comprising the feeding steps of feeding using any of the above-described feeding systems; a transport vehicle moves a material rack to a parking position, and when the sensor on the positioning frame senses that the transport vehicle is in the parking position, the controller controls the mechanical gripper to grab the material on the feeding rack and remove the material; after all the material on the feeding rack has been removed, the controller controls the drive to start, and the drive causes the feeding rack to switch from an extended state to a retracted state.

[0017] Furthermore, it also includes the step of grabbing material from at least two feeding racks; when the feeding rack arranged above in two adjacent feeding racks is in a retracted state, the controller controls the robotic arm to remove the material from the next feeding rack.

[0018] Furthermore, it also includes the step of limiting the transport vehicle; when the transport vehicle moves to the parking space, the limiting mechanism on the positioning frame is activated, and the limiting plate of the limiting mechanism moves to the rear of the transport vehicle.

[0019] The above technical solution has the following beneficial effects:

[0020] In the technical solution of this application, the feeding device can unfold and retract the feeding bracket. After the material on the feeding bracket is taken away, the feeding bracket can be retracted to reduce the space occupied and facilitate the continued taking of other materials on the feeding bracket. Attached Figure Description

[0021] The disclosure of this invention will become more readily understood by referring to the accompanying drawings. It should be understood that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings:

[0022] Figure 1 This is a schematic diagram of a feeding device in one embodiment of the present invention;

[0023] Figure 2 for Figure 1 An enlarged view at point A;

[0024] Figure 3 for Figure 1 An enlarged view at point B;

[0025] Figure 4 This is a schematic diagram of a transport vehicle, a material rack, and a material unloading support in one embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the material feeding bracket in the unfolded state according to an embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram of the feeding bracket in the retracted state according to an embodiment of the present invention;

[0028] Figure 7This is a schematic diagram of a transport vehicle and a material rack in one embodiment of the present invention;

[0029] Figure 8 This is a schematic diagram of a mechanical gripper, controller, drive unit, and sensor unit in one embodiment of the present invention.

[0030] Reference table for attached figures:

[0031] Feeding device 10

[0032] Transport vehicle 1, Material rack 2, Positioning slot 21, First roller 22

[0033] Second roller 23, positioning bracket 3, parking space 31, base 32

[0034] Base plate 321, mounting bracket 33, positioning block 34, material feeding bracket 4

[0035] Support body 41, Second connecting seat 411, Support rod 42, Linkage mechanism 43

[0036] Slide rod 431, linkage rod 432, first connecting seat 433, telescopic spring 434

[0037] Drive component 5, Limiting mechanism 6, Limiting seat 61, Telescopic cylinder 62

[0038] Linkage 63, Limiting plate 64, Guide component 7, Guide support 71

[0039] Guide rail 72, first guide surface 721, second guide surface 722, fixed feeding rack 8

[0040] 20 mechanical grippers, 30 controllers, 40 sensors Detailed Implementation

[0041] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0042] It is readily understood that, based on the technical solution of this invention, various structural and implementation methods can be interchanged by those skilled in the art without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of the invention.

[0043] The directional terms such as up, down, left, right, front, back, front, back, top, and bottom mentioned or possibly used in this specification are defined relative to the structures shown in the accompanying drawings. They are relative concepts and may therefore vary depending on their location and usage. Therefore, these or other directional terms should not be interpreted as restrictive.

[0044] like Figure 1 and Figure 4-6 As shown, a feeding device 10 according to an embodiment of the present invention includes a transport vehicle 1, a material rack 2 and a positioning frame 3. The material rack 2 is connected to the transport vehicle 1, and the positioning frame 3 is provided with a parking space 31 for parking the transport vehicle 1.

[0045] The material rack 2 is provided with at least one material feeding bracket 4 that can be retracted and extended, and the material rack 2 is provided with a driving component 5.

[0046] The material feeding bracket 4 has an unfolded state and a retracted state.

[0047] When the transport vehicle 1 is in parking space 31, the drive unit 5 is connected to the material feeding bracket 4, and the drive unit 5 can drive the material feeding bracket 4 to switch from the unfolded state to the retracted state.

[0048] The feeding device 10 is used on the vehicle production line to transport materials, which improves the efficiency of material transportation.

[0049] The feeding device 10 includes a transport vehicle 1, a material rack 2, a positioning frame 3, a feeding bracket 4, and a drive unit 5. The transport vehicle 1 is an existing feeding machine trolley, having a supporting body and wheels connected to the supporting body. The material rack 2 is mounted on the transport vehicle 1 and moves with the transport vehicle 1. The feeding bracket 4 is mounted on the material rack 2, and relevant materials can be placed on the feeding bracket 4. The feeding bracket 4 has an unfolded and a retracted state. The space occupied by the feeding bracket 4 in the unfolded state is larger than that in the retracted state, so materials can be placed in the unfolded state.

[0050] The positioning frame 3 is placed in the corresponding working area, such as next to the robotic arm. A parking space 31 is provided on the positioning frame 3; the parking space 31 is a through space located at the bottom of the positioning frame 3, which connects to the outside, allowing the transport vehicle 1 to enter. The drive unit 5 is connected to the positioning frame 3 and is used in conjunction with the material unloading bracket 4.

[0051] The feeding device 10 operates as follows: the material rack 2 is placed on the transport vehicle 1, and the material dispensing bracket 4 is in an unfolded state, with material placed on the dispensing bracket 4. The transport vehicle 1 carries the material rack 2 to the parking space 31. After the transport vehicle 1 is fully in the parking space 31, the material on the dispensing bracket 4 begins to be unloaded. After the material on the dispensing bracket 4 is emptied, the drive unit 5 starts, driving the dispensing bracket 4 to move from the unfolded state to the retracted state. This reduces the space occupied by the dispensing bracket 4, does not obstruct the unloading of other materials on the material rack 2, and improves work efficiency.

[0052] In one embodiment, such as Figure 1 and Figure 4-6As shown, the material rack 2 is equipped with at least two material feeding brackets 4, and the positioning frame 3 is equipped with at least two drive components 5. When the transport vehicle 1 is in the parking space 31, all the drive components 5 can be activated in sequence, causing all the material feeding brackets 4 to switch from the unfolded state to the retracted state in sequence.

[0053] Specifically, the number of feeding brackets 4 is the same as the number of driving components 5. For ease of explanation, we will take the example of having two feeding brackets 4. The two feeding brackets 4 are arranged vertically and spaced apart on the material rack 2. The feeding bracket 4 located at the top is defined as the first feeding bracket, and the feeding bracket 4 located at the bottom is defined as the second feeding bracket.

[0054] The positioning frame 3 is equipped with two driving components 5. The driving component 5 that can be connected to the first feeding bracket is defined as the first driving component, and the driving component 5 that can be connected to the second feeding bracket is defined as the second driving component 5. Both the first feeding bracket and the second feeding bracket are loaded with materials. After the material on the first feeding bracket is unloaded, the first driving component is activated, causing the first feeding bracket to retract, thereby facilitating the unloading of materials from the second feeding bracket.

[0055] Optionally, the material rack 2 is provided with three or more material feeding brackets 4, and the multiple material feeding brackets 4 can be retracted from top to bottom in sequence, so as to facilitate the unloading of materials from top to bottom in sequence.

[0056] Optionally, the material rack 2 is also provided with a fixed material feeding rack 8, which is fixedly connected to the material rack 2, and the material feeding bracket 4 is located above the fixed material feeding rack 8.

[0057] The difference between the fixed feeding rack 8 and the feeding support 4 is that the fixed feeding rack 8 cannot be unfolded or retracted. The fixed feeding rack 8 is arranged at the bottom of all the feeding supports 4, so the material on the fixed feeding rack 8 is unloaded last, thus eliminating the need for additional retraction. This improves the efficiency of unloading materials.

[0058] In one embodiment, such as Figure 4-6 As shown, the material feeding bracket 4 includes a bracket body 41, a support rod 42, and a linkage mechanism 43. The support rod 42 is rotatably connected to the bracket body 41, and the linkage mechanism 43 is movably connected to the bracket body 41 and connected to the support rod 42. When the transport vehicle 1 is in parking space 31, the drive component 5 can be connected to the linkage mechanism 43.

[0059] Specifically, the support body 41 is mounted on the material rack 2, and the support rod 42 and the linkage mechanism 43 are mounted on the support body 41. The support rod 42 is used to place materials and is rotatably connected to the support body 41. The linkage mechanism 43 is used to drive the support rod 42 to rotate and is movably connected to the support body 41 and connected to the support rod 42. When the drive component 5 is activated, the drive component 5 connects to the linkage mechanism 43, driving the linkage mechanism 43 to move. The linkage mechanism 43 then drives the support rod 42 to rotate, allowing the support rod 42 to rotate in both directions, thereby realizing the unfolding and retraction of the material feeding bracket 4. When the support rod 42 rotates away from the support body 41, it is in the unfolded state of the material feeding bracket 4; when the support rod 42 rotates towards the support body 41, it is in the retracted state of the material feeding bracket 4. The material feeding bracket 4 with this configuration has a simple structure and is not easily damaged.

[0060] Optionally, the support body 41 includes a first main rod and two second main rods. The two second main rods are respectively connected to both ends of the first main rod, forming an I-shape with the first main rod. Each second main rod is connected to the first main rod by a reinforcing rod, thus ensuring the stability of the support body 41 structure.

[0061] In one embodiment, such as Figure 4-6 As shown, the linkage mechanism 43 includes a slide rod 431 and a linkage rod 432. The slide rod 431 is slidably connected to the support body 41. One end of the linkage rod 432 is hinged to the slide rod 431, and the other end is hinged to the support rod 42.

[0062] Specifically, the linkage mechanism 43 consists of a slide rod 431 and a linkage rod 432. Two connecting plates are spaced apart on the support body 41, and the connecting plates have connecting holes. The slide rod 431 passes through the two connecting holes and is clearance-fitted with them, allowing it to slide. A connecting block is provided on the slide rod 431. One end of the linkage rod 432 is hinged to the connecting block, and the other end is hinged to the support rod 42. When the slide rod 431 slides, it drives the linkage rod 432 to move, and the linkage rod 432 drives the support rod 42 to rotate. This arrangement provides good transmission effect and can quickly drive the support rod 42 to rotate.

[0063] Optionally, the driving component 5 is a drive motor, with a gear connected to the motor shaft, and a connecting tooth provided on the slide rod 431, with the gear meshing with the connecting tooth. The slide rod 431 is driven to slide by the forward and reverse rotation of the motor shaft. Of course, the driving component 5 can also be other structures, as long as it can cooperate with the slide rod 431 and drive the slide rod 431 to slide.

[0064] In one embodiment, such as Figure 4-6As shown, a first connecting seat 433 is provided on the slide rod 431, and a second connecting seat 411 is provided on the bracket body 41. The linkage mechanism 43 also includes a telescopic spring 434, which is sleeved on the slide rod 431 and connected between the first connecting seat 433 and the second connecting seat 411.

[0065] Specifically, a telescopic spring 434 is fitted onto the slide rod 431, and a first connecting seat 433 is connected to the slide rod 431. A second connecting seat 411 is connected to the support body 41, with the first connecting seat 433 and the second connecting seat 411 spaced apart. One end of the telescopic spring 434 is connected to the first connecting seat 433, and the other end is connected to the second connecting seat 411. The telescopic spring 434 enables the support rod 42 to return to its original position. The specific process is as follows: The driving component 5 pushes the slide rod 431 to slide in the first direction, and the linkage rod 432 drives the support rod 42 to rotate towards the support body 41, causing the material feeding bracket 4 to retract. At this time, the telescopic spring 434 is compressed, generating elastic potential energy. When the driving component 5 returns to its original position, the telescopic spring 434 extends, and the elastic potential energy is converted into a force that drives the slide rod 431 to slide in the second direction opposite to the first direction. The linkage rod 432 drives the support rod 42 to rotate away from the support body 41, causing the material feeding bracket 4 to unfold.

[0066] Optionally, the driving component 5 is a driving cylinder, which has a fixed cylinder barrel and a push rod. The fixed cylinder barrel is connected to the positioning frame 3, and the push rod is slidably connected to the fixed cylinder barrel. When the push rod extends, it contacts the slide rod 431 and pushes the slide rod 431 to slide.

[0067] Optionally, the material feeding bracket 4 includes two support rods 42, each of which is connected to a sliding rod 432 via a linkage rod 432. The two support rods 42 are symmetrically arranged on the left and right sides of the bracket body 41, and materials are symmetrically fed on the left and right sides of the bracket body 41. When the materials on the left and right sides of the bracket body 41 are unloaded, the driving component 5 drives the material feeding bracket 4 to retract.

[0068] Optionally, at least two support rods 42 are provided on the left and right sides of the main body of the support.

[0069] Optionally, two baffles are connected to the bracket body 41. The two baffles are spaced apart and located on both sides of the telescopic spring 434 to protect the telescopic spring 434.

[0070] In one embodiment, such as Figure 1-2 , Figure 4 and Figure 7As shown, the positioning frame 3 includes a base 32 and a mounting frame 33. The parking space 31 is set on the base 32, and the mounting frame 33 is connected to the base 32 and located in front of the parking space 31. The drive unit 5 is connected to the mounting frame 33. A positioning block 34 is connected to the mounting frame 33, and a positioning groove 21 is provided on the material rack 2. When the transport vehicle 1 is located in the parking space 31, the positioning block 34 cooperates with the positioning groove 21.

[0071] Specifically, the base 32 consists of two spaced-apart base plates 321, each U-shaped, with the space between them forming a parking space 31. The mounting bracket 33 is connected to both base plates 321 and is located in front of the parking space 31. The drive unit 5 and the positioning block 34 are both connected to the mounting bracket 33, with the positioning block 34 located below the drive unit 5. A positioning groove 21 is provided on the material rack 2 to mate with the positioning block 34, with the opening of the positioning groove 21 facing the positioning block 34. When the transport vehicle 1 enters the parking space 31, the positioning block 34 engages with the positioning groove 21, achieving positioning. This ensures that the position of the transport vehicle 1 is fixed each time it enters the parking space 31.

[0072] In one embodiment, such as Figure 1 and Figure 3 As shown, a limiting mechanism 6 is provided on the base 32. The limiting mechanism 6 includes a limiting seat 61, a telescopic cylinder 62, a connecting rod 63, and a limiting plate 64 for blocking the movement of the transport vehicle 1. The limiting seat 61 is connected to the base 32, the telescopic cylinder 62 is connected to the limiting seat 61, and the limiting plate 64 is rotatably connected to the limiting seat 61. One end of the connecting rod is connected to the limiting plate 64, and the other end is connected to the output end of the telescopic cylinder 62.

[0073] Specifically, the limiting mechanism 6 cooperates with the positioning block 34 on the mounting frame 33 to clamp and fix the material rack 2. The limiting mechanism 6 includes a limiting seat 61, a telescopic bar, a connecting rod 63, and a limiting plate 64. The limiting seat 61 is connected to the base 32, the telescopic bar is connected to the limiting seat 61, the limiting plate 64 is rotatably connected to the limiting seat 61, and the connecting rod 63 connects the telescopic bar and the limiting plate 64. The telescopic bar is a telescopic cylinder or a telescopic hydraulic cylinder. The telescopic bar extends and retracts, driving the limiting plate 64 to rotate through the connecting rod 63. When the transport vehicle 1 enters the parking space 31, the telescopic bar drives the limiting plate 64 to rotate to the rear of the transport vehicle 1, and the limiting plate 64 abuts against the material rack 2, thus clamping the material rack 2 between the positioning block 34 and the limiting plate 64, keeping the material rack 2 stable when unloading materials.

[0074] Optionally, the connecting member 63 is composed of multiple connecting rods, which are hinged sequentially.

[0075] In one embodiment, such as Figure 1 , Figure 4 and Figure 7As shown, a guide member 7 is provided on the base 32. The guide member 7 includes a guide support 71 and a guide rail 72. The guide support 71 is connected to the base 32, and the guide rail 72 is connected to the guide support 71. The guide rail 72 includes a first guide surface 721 facing the parking space 31 and a second guide surface 722 perpendicular to the first guide surface 721. A first roller 22 and a second roller 23 are connected to the material rack 2. When the transport vehicle 1 moves to the parking space 31, the first roller 22 is slidably connected to the first guide surface 721, and the second roller 23 is slidably connected to the second guide surface 722.

[0076] Specifically, the guide member 7 guides the transport vehicle 1 into the parking space 31. Each base plate 321 of the base 32 is connected to a guide member 7, which includes a guide support 71 and a guide rail 72. The guide support 71 is located on the left and right sides of the parking space 31, and the guide rail 72 is connected to the guide support 71. The side of the guide rail 72 facing the parking space 31 is the first guide surface 721, and the top surface of the guide rail 72 is the second guide surface 722. The material rack 2 has a supporting base plate and a supporting frame. The supporting frame is connected to the supporting base plate, and the material feeding bracket 4 is connected to the supporting frame. A first roller 22 and a second roller 23 are connected to the supporting base plate, located on the outside of the transport vehicle 1. The first roller 22 is rotatably connected to the supporting base plate via a first rotating shaft, and the second roller 23 is rotatably connected to the supporting base plate via a second rotating shaft. The extension direction of the first rotating shaft is perpendicular to the extension direction of the second rotating shaft. As the transport vehicle 1 enters the parking space 31, the first roller 22 contacts the first guide surface 721 and rotates on it, while the second roller 23 contacts the second guide surface 722 and rotates on it. This adjusts the movement trajectory of the transport vehicle 1, allowing it to smoothly enter the parking space 31.

[0077] Optionally, the rack 2 also includes a protective net, which is connected to the support base plate and located at the rear of the support rack.

[0078] like Figure 1-8 As shown, the feeding system provided in this application includes a mechanical gripper 20, a controller 30, and a feeding device 10 of any of the above. The mechanical gripper 20 is disposed on one side of the positioning frame 3.

[0079] The mechanical gripper 20 is connected to the controller 30 via communication, and the drive unit 5 is also connected to the controller 30 via communication.

[0080] This feeding system is used to transport materials into the next manufacturing process. The feeding system includes a mechanical gripper 20, a controller 30, and a feeding device 10. For the specific structure and function of the feeding device 10, please refer to the relevant structures mentioned above, and it will not be repeated here.

[0081] The mechanical gripper 20 consists of a 6-axis robotic arm and a gripper fixture, which is connected to the robotic arm. The mechanical gripper 20 is located on one side of the positioning frame 3 for easy material gripping. The controller 30 can be an internal electronic device installed inside the mechanical gripper 20 or an external electronic device installed outside the mechanical gripper 20. The controller 30 is communicatively connected to the mechanical gripper 20 and the drive unit 5.

[0082] After the transport vehicle 1 enters the parking space 31, the controller 30 controls the mechanical gripper 20 to start moving and unload the material on the unloading bracket 4. After all the material on the unloading bracket 4 is cleared, the controller 30 controls the drive unit 5 to start, and the drive unit 5 retracts the unloading bracket 4.

[0083] In an embodiment with multiple material feeding brackets 4, after the uppermost material feeding bracket 4 is retracted, the controller 30 controls the mechanical gripper 20 to unload the material from the next material feeding bracket 4. After emptying, the controller 30 controls the drive unit 5 corresponding to that material feeding bracket 4 to start, causing that material feeding bracket 4 to retract. Then, the mechanical gripper 20 continues to unload the material from the next material feeding bracket 4. In this way, the material on each material feeding bracket 4 is unloaded one by one.

[0084] In one embodiment, such as Figure 1 and Figure 8 As shown, the positioning frame 3 is equipped with a sensor 40 for sensing the position of the transport vehicle 1, and the sensor 40 is communicatively connected to the controller 30. When the transport vehicle 1 is in the parking space 31, the sensor 40 is triggered, and the controller 30 controls the mechanical gripper 20 to move.

[0085] Specifically, the sensor 40 is mounted on the mounting bracket 33 of the positioning frame 3, and the sensor 40 is communicatively connected to the controller 30. When the sensor 40 detects that the transport vehicle 1 has stopped in the parking space 31, the sensor 40 sends a signal to the controller 30, and then the controller 30 begins to control the mechanical gripper 20 and the drive unit 5. This setup improves the level of automation.

[0086] The present application provides a feeding method, which includes a feeding step using the above-mentioned feeding system.

[0087] When the transport vehicle 1 moves the material rack 2 to the parking space 31, the sensor 40 senses that the transport vehicle 1 is in the parking space 31, the controller 30 controls the mechanical gripper 20 to grab the material on the material feeding bracket 4 and remove the material.

[0088] After all the material on the feeding bracket 4 has been removed, the controller 30 controls the drive unit 5 to start, and the drive unit 5 causes the feeding bracket 4 to switch from the unfolded state to the retracted state.

[0089] This feeding method employs a feeding system. The specific structure of the feeding system is detailed in the preceding sections and will not be repeated here. During the feeding process, after material is loaded onto the material rack 2, the transport vehicle 1 moves the material rack 2 to the positioning frame 3, where the mechanical gripper 20 unloads the material. This achieves automatic unloading and improves the level of production intelligence. After the material on the unloading bracket 4 is emptied, the drive unit 5 can drive the unloading bracket 4 to retract, reducing the space occupied by the unloading bracket 4 and facilitating the further emptying of material from other positions on the material rack 2.

[0090] In one embodiment, the method further includes the step of grasping material from at least two feeding brackets 4. When the feeding bracket 4 arranged at the top of two adjacent feeding brackets 4 is in a retracted state, the controller 30 controls the robotic arm to remove the material from the next feeding bracket 4.

[0091] Specifically, all the feeding brackets 4 on the material rack 2 are arranged from top to bottom, and the mechanical gripper 20 clears each feeding bracket 4 in turn from top to bottom. In two adjacent feeding brackets 4, the feeding bracket 4 arranged above is cleared and then retracted, so that the mechanical gripper 20 can continue to clear the feeding bracket 4 arranged below.

[0092] In one embodiment, the step of limiting the transport vehicle 1 is also included. When the transport vehicle 1 moves to the parking space 31, the limiting mechanism 6 on the positioning frame 3 is activated, and the limiting plate 64 of the limiting mechanism 6 moves to the rear of the transport vehicle 1.

[0093] Specifically, in order to ensure that the material rack 2 remains stable during the unloading process, a limiting mechanism 6 is provided on the positioning frame 3. When the transport vehicle 1 enters the parking space 31, the limiting mechanism 6 is activated, and the limiting plate 64 moves to the rear of the transport vehicle 1 to restrict the movement of the material rack 2.

[0094] Optionally, the telescopic cylinder 62 of the limit mechanism 6 is communicatively connected to the controller 30. After the sensor 40 senses that the transport vehicle 1 has stopped in the parking space 31, the controller 30 controls the limit mechanism 6 to start.

[0095] In summary, this application provides a feeding device 10, a feeding system, and a feeding method. The feeding device 10 includes a transport vehicle 1, a material rack 2, and a positioning frame 3. The material rack 2 is connected to the transport vehicle 1, and the positioning frame 3 is provided with a parking space 31 for parking the transport vehicle 1. The material rack 2 is provided with at least one retractable material release bracket 4, and a driving component 5 is provided on the material rack 2. The material release bracket 4 has an extended state and a retracted state. When the transport vehicle 1 is located in the parking space 31, the driving component 5 is connected to the material release bracket 4, and the driving component 5 can drive the material release bracket 4 to switch from the extended state to the retracted state. The material release bracket 4 on the feeding device 10 can be extended and retracted. After the material on the material release bracket is removed, the material release bracket can be retracted, reducing the space occupied and facilitating the continued removal of other materials from the material rack 2. The feeding system provided by this feeding device 10 can improve work efficiency, and the feeding method using this feeding system is more intelligent than traditional methods, reducing labor intensity.

[0096] As needed, the above technical solutions can be combined to achieve the best technical effect.

[0097] The above description is merely the principle and preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several other modifications can be made based on the principle of the present invention, and these modifications should also be considered within the scope of protection of the present invention.

Claims

1. A feeding device, characterized in that, It includes a transport vehicle (1), a material rack (2) and a positioning frame (3), wherein the material rack (2) is connected to the transport vehicle (1) and the positioning frame (3) is provided with a parking space (31) for the transport vehicle (1) to be parked; The material rack (2) is provided with at least one material feeding bracket (4) that can be retracted and extended, and the positioning frame (3) is provided with a driving component (5); The material feeding bracket (4) is provided with an unfolded state and a retracted state; When the transport vehicle (1) is located in the parking space (31), the drive unit (5) is connected to the material feeding bracket (4), and the drive unit (5) can drive the material feeding bracket (4) to switch from the unfolded state to the retracted state; The feeding bracket (4) includes a bracket body (41), a support rod (42), and a linkage mechanism (43); The support rod (42) is rotatably connected to the bracket body (41), and the linkage mechanism (43) is movably connected to the bracket body (41) and connected to the support rod (42); The linkage mechanism (43) includes a slide rod (431) and a linkage rod (432). The slide rod (431) is slidably connected to the support body (41). One end of the linkage rod (432) is hinged to the slide rod (431), and the other end is hinged to the support rod (42). The slide bar (431) is provided with a first connecting seat (433), and the support body (41) is provided with a second connecting seat (411); The linkage mechanism (43) also includes a telescopic spring (434), which is sleeved on the slide rod (431) and connected between the first connecting seat (433) and the second connecting seat (411); When the transport vehicle (1) is located in the parking space (31), the drive member (5) pushes the slide bar (431) to slide in the first direction, the linkage rod (432) drives the support rod (42) to rotate in the direction closer to the support body (41), so that the material feeding bracket (4) is retracted and the telescopic spring (434) is compressed. When the drive component (5) is reset, the telescopic spring (434) extends, and the telescopic spring (434) drives the slide rod (431) to slide in a second direction opposite to the first direction. The linkage rod (432) drives the support rod (42) to rotate in a direction away from the support body (41), so that the feeding bracket (4) unfolds.

2. The feeding device according to claim 1, characterized in that, The material rack (2) is provided with at least two material feeding brackets (4), and the positioning frame (3) is provided with at least two driving components (5); When the transport vehicle (1) is located in the parking space (31), all the drive components (5) can be started in sequence, so that all the material feeding brackets (4) can be switched from the unfolded state to the retracted state in sequence.

3. The feeding device according to claim 1, characterized in that, The positioning frame (3) includes a base (32) and a mounting frame (33). The parking space (31) is set on the base (32). The mounting frame (33) is connected to the base (32) and located in front of the parking space (31). The driving component (5) is connected to the mounting frame (33). The mounting bracket (33) is connected to a positioning block, and the material rack (2) is provided with a positioning groove (21); When the transport vehicle (1) is located in the parking space (31), the positioning block cooperates with the positioning groove (21).

4. The feeding device according to claim 3, characterized in that, The base (32) is provided with a limiting mechanism (6), which includes a limiting seat (61), a telescopic cylinder (62), a connecting rod (63), and a limiting plate (64) for blocking the movement of the transport vehicle (1). The limiting seat (61) is connected to the base (32), the telescopic cylinder (62) is connected to the limiting seat (61), the limiting plate (64) is rotatably connected to the limiting seat (61), one end of the connecting rod (63) is connected to the limiting plate (64), and the other end is connected to the output end of the telescopic cylinder (62).

5. The feeding device according to claim 3, characterized in that, The base (32) is provided with a guide (7), the guide (7) includes a guide support (71) and a guide rail (72), the guide support (71) is connected to the base (32), and the guide rail (72) is connected to the guide support (71); The guide rail (72) includes a first guide surface (721) facing the parking space (31) and a second guide surface (722) perpendicular to the first guide surface (721); The material rack (2) is connected to a first roller (22) and a second roller (23). When the transport vehicle (1) moves to the parking space (31), the first roller (22) is slidably connected to the first guide surface (721), and the second roller (23) is slidably connected to the second guide surface (722).

6. A feeding system, characterized in that, It includes a mechanical gripper (20), a controller (30), and a feeding device according to any one of claims 1-5, wherein the mechanical gripper (20) is disposed on one side of the positioning frame (3); The mechanical gripper (20) is communicatively connected to the controller (30), and the drive unit (5) is communicatively connected to the controller (30).

7. The feeding system according to claim 6, characterized in that, The positioning frame (3) is provided with a sensor (40) for sensing the position of the transport vehicle (1), and the sensor (40) is communicatively connected to the controller (30); When the transport vehicle (1) is located in the parking space (31), the sensor (40) is triggered, and the controller (30) controls the movement of the mechanical gripper (20).

8. A feeding method, characterized in that, The feeding step includes feeding using the feeding system described in any one of claims 6-7; The transport vehicle (1) moves the material rack (2) to the parking space (31). When the sensor (40) on the positioning frame (3) senses that the transport vehicle (1) is in the parking space (31), the controller (30) controls the mechanical gripper (20) to grab the material on the material feeding bracket (4) and remove the material. After all the material on the feeding bracket (4) is removed, the controller (30) controls the drive (5) to start, and the drive (5) causes the feeding bracket (4) to switch from the unfolded state to the retracted state.

9. The feeding method according to claim 8, characterized in that, It also includes the step of grabbing material from at least two feeding racks (4); When the uppermost material feeding bracket (4) in two adjacent feeding brackets (4) is in a retracted state, the controller (30) controls the robotic arm to remove the material from the next feeding bracket (4).

10. The feeding method according to claim 8, characterized in that, It also includes the step of limiting the transport vehicle (1); When the transport vehicle (1) moves to the parking space (31), the limiting mechanism (6) on the positioning frame (3) is activated, and the limiting plate (64) of the limiting mechanism (6) moves to the rear of the transport vehicle (1).

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