A feeding device and a feeding system

Abstract

The application provides a feeding equipment and a feeding system, and relates to the technical field of mechanical automation. The feeding equipment comprises a stock bin, a transfer mechanism and a tray. The transfer mechanism is used for transferring parts in the stock bin to the tray. The tray is arranged on the outer surface of the first side wall of the stock bin. The tray is provided with a discharging mechanism. The discharging mechanism is used for adjusting the pose of the parts on the tray. In actual application, when the parts transferred to the tray do not meet the preset posture, the discharging mechanism arranged on the tray can be directly used to adjust the pose (including position and / or direction) of the parts on the tray that do not meet the preset posture. Thus, in the structural design process of the feeding equipment, a separate space needs not to be reserved to make the parts that do not meet the preset posture fall back into the stock bin, the space utilization of the feeding equipment is improved, the structural design of the feeding equipment is simplified, and the structural design of the feeding equipment is more compact.

Description

Technical Field

[0001] This application relates to the field of mechanical automation technology, and in particular to a feeding device and feeding system. Background Technology

[0002] With the continuous development of mechanical automation, feeding equipment has become one of the common pieces of equipment on automated machining production lines. Common feeding equipment mainly uses push plates to eject parts from the hopper onto a conveyor belt, which then transports the parts to the next workstation. For parts with incorrect orientation or those stacked together, blocks are installed above the conveyor belt to prevent them from falling back into the hopper as they pass over the blocks during transport. The structural design of feeding equipment requires reserving a certain amount of space for parts to fall back from the conveyor belt into the hopper, thus reducing space utilization. Summary of the Invention

[0003] This application provides a feeding device and feeding system, which to some extent solves the problem of low space utilization of existing feeding devices.

[0004] To achieve the above objectives, this application adopts the following technical solution:

[0005] In a first aspect, this application provides a feeding device, which includes: a hopper, a transfer mechanism and a tray, wherein the transfer mechanism is used to transfer parts in the hopper to the tray;

[0006] The material tray is disposed on the outer surface of the first side wall of the hopper, and a feeding mechanism is provided on the material tray for adjusting the position of the parts on the material tray.

[0007] The feeding equipment provided in this application includes a hopper, a transfer mechanism, and a tray disposed on the outer surface of the first side wall of the hopper. The transfer mechanism transfers parts from the hopper to the tray, which is equipped with a discharging mechanism. In practical applications, when a part transferred to the tray does not meet a preset posture, the discharging mechanism can be used to adjust the position of the part. For example, the discharging mechanism can be used to adjust the position and / or orientation of the part transferred to the tray, or it can be used to move the part from the tray back into the hopper. The feeding equipment provided in this application eliminates the need for a conveyor belt and a drop space, allowing parts that do not meet the preset posture to slide back into the hopper. This reduces the design space of the feeding equipment, improves its space utilization, and makes its structural design more compact.

[0008] In one possible implementation, the feeding mechanism includes a first driving mechanism. A pressure relief hole is provided on the first side plate of the material tray away from the hopper. The first driving mechanism outputs high-pressure gas through the pressure relief hole. The output high-pressure gas can blow parts on the material tray into the hopper or change the posture (including the position and orientation) of the parts on the material tray, thus adjusting the position and orientation of the parts on the material tray. Furthermore, this method is easy to implement, simple to design, and can save on manufacturing costs. In practical use, multiple first driving mechanisms can be selected, making the application range of this design more extensive.

[0009] Optionally, the first drive mechanism is an air compressor.

[0010] In one possible implementation, the feeding mechanism includes a first pusher plate disposed on a first side plate of the tray away from the hopper.

[0011] In one possible implementation, the feeding mechanism includes a tilting device for tilting the tray toward the hopper.

[0012] In one possible implementation, the feeding mechanism includes a shaking device for shaking the material tray.

[0013] The design of the first pusher, tilting device and shaking device enriches the design scheme of the unloading structure. In the actual manufacturing process, unloading structures corresponding to different parts to be transferred can also be manufactured separately. The unloading structure can be used to blow the parts on the tray into the hopper or change the posture of the parts on the tray (including the position and direction of the parts) to achieve the purpose of adjusting the position and posture of the parts on the tray.

[0014] In one possible implementation, the unloading mechanism further includes a lifting device for adjusting the relative height of the material tray on the outer surface of the first sidewall. By providing the lifting device, the position and orientation of the part on the material tray can also be adjusted during the part's descent, providing more diverse position and orientation adjustment methods.

[0015] Optionally, the tray can be detachably connected to the hopper.

[0016] Optionally, a socket is provided on the outer surface of the first sidewall, and a plug is provided on the tray, the plug being detachably connected to the socket.

[0017] The material tray and the hopper are fixed by plugging in, making the assembly of the material tray and the hopper more stable. By setting a socket, the plug of the material tray can be conveniently and efficiently plugged into the outer surface of the hopper, which facilitates the disassembly and assembly of the material tray and can further improve the assembly efficiency of the material tray.

[0018] In one possible implementation, the tray includes a first receiving groove for supporting the parts. The first receiving groove includes a first base plate and at least one inclined sidewall connected to the edge of the first base plate, each inclined sidewall forming an obtuse angle with the first base plate. The design of the inclined sidewalls in the first receiving groove facilitates the sliding of parts transferred to the tray by the transfer mechanism onto the first base plate along the inclined sidewalls, further facilitating subsequent transfer of parts on the tray.

[0019] Optionally, the projection of the first base plate along its gravity direction can be a circle, rectangle, square, or polygon, etc., and the first receiving groove can include multiple inclined sidewalls.

[0020] Optionally, the first base plate is a limiting base plate, used to stabilize the parts transferred to the tray at a preset position on the tray. The limiting base plate design not only quickly stabilizes the parts transferred to the tray at the preset position on the tray, but also prevents the parts from impacting the first side plate of the tray, ensuring the reliability and stability of the tray structure design and extending the service life of the tray.

[0021] Optionally, the limiting base plate can be any structural component capable of restricting the movement of parts transferred to the tray on the first base plate. For example, the limiting base plate can be a base plate composed of multiple support beams arranged at intervals, such as cylinders or prisms; the limiting base plate can also be a rectangular base plate with high surface friction.

[0022] In one possible implementation, the transfer mechanism includes a second drive mechanism and a second push plate connected to the second drive mechanism. The second push plate is disposed within the hopper, and the second drive mechanism is used to drive the second push plate to move within the hopper to transfer parts within the hopper onto the tray.

[0023] In one possible implementation, the hopper includes a first sidewall, a second sidewall, a third sidewall, a fourth sidewall, and a second bottom plate, wherein the first sidewall and the third sidewall are opposite to each other, the second sidewall and the fourth sidewall are opposite to each other, and the second bottom plate is fixedly connected to the second sidewall, the third sidewall, and the fourth sidewall.

[0024] The second push plate is located between the second base plate and the first side wall, and is in contact with the second base plate and the first side wall respectively. The second side wall, the third side wall, the fourth side wall, the second base plate and the second push plate form a first cavity with an opening, and the first cavity is used to place the parts.

[0025] In this possible implementation, not only can the second push plate have better mechanical strength, reduce the processing steps of the second push plate, and improve production efficiency, but also each reciprocating movement of the second push plate in the hopper will transfer at least one part to the tray, which can also speed up the transfer speed of parts in the hopper and improve the transfer rate of parts.

[0026] In one possible implementation, the second base plate is inclined, and the second push plate is inclined toward the first sidewall on its first upper surface toward the opening direction.

[0027] When the second drive mechanism drives the second push plate to the first position, the first upper surface and the second bottom plate form the same plane.

[0028] When the second drive mechanism drives the second push plate to the second position, the first upper surface and the second upper surface of the first sidewall facing the opening direction form the same plane.

[0029] Based on the above possible implementation methods, the inclined arrangement of the first upper surface of the second base plate and the second push plate not only makes it easier for the parts placed in the first cavity to slide onto the first upper surface of the second push plate, so that the second push plate can push the parts in the first cavity into the material tray during the movement process; but also enables the adjustment of the position of the parts during the transfer process, reduces the number of times the unloading mechanism adjusts the position of the parts on the material tray, speeds up the transfer of parts, and improves the transfer rate of parts.

[0030] Optionally, the inclination of the second upper surface of the second push plate toward the opening of the first cavity can be the same as or different from the inclination of the second bottom plate.

[0031] Optionally, the second push plate is made into a single structure using an integral molding process, which improves the processing efficiency of the second push plate and reduces the process cost.

[0032] In one possible implementation, the second bottom plate is inclined, and the hopper further includes a fifth sidewall, which is disposed between the second sidewall and the fourth sidewall. The third upper surface of the fifth sidewall facing the opening direction is lower than the second upper surface of the first sidewall facing the opening direction, and the third upper surface is inclined toward the first sidewall.

[0033] The second push plate includes a third base plate and a first sub-push plate and a second sub-push plate disposed on the third base plate; the fifth side wall is located between the first sub-push plate and the second sub-push plate, the second sub-push plate is located between the fifth side wall and the first side wall, the first sub-push plate is inclined toward the fifth side wall with its fourth upper surface facing the opening direction, and the second push plate is inclined toward the first side wall with its fifth upper surface facing the opening direction.

[0034] When the second driving mechanism drives the second push plate to the first position, the fourth upper surface and the second bottom plate form the same plane, and the third upper surface and the fifth upper surface form the same plane;

[0035] When the second driving mechanism drives the second push plate to the second position, the fourth upper surface and the third upper surface form the same plane, and the fifth upper surface and the second upper surface form the same surface.

[0036] In this possible implementation, the inclined arrangement of the second base plate, the third upper surface of the fifth side wall, the fourth upper surface of the first sub-push plate, and the fifth upper surface of the second sub-push plate can adjust the position of the parts during the transfer process, reduce the number of times the unloading mechanism adjusts the position of the parts on the tray, and speed up the transfer of the parts. In addition, by cooperating with the first sub-push plate, the second sub-push plate, and the fifth side wall to gradually transfer the parts in the hopper to the tray, it can not only effectively reduce the driving force consumed by the second drive mechanism to drive the second push plate to a higher position, but also the arrangement of the fifth side wall can control the movement distance of the second push plate in the hopper and limit the movement of the second push plate.

[0037] In one possible implementation, the second base plate has an array of through holes, and the second push plate has an array of bosses corresponding to the array of through holes. When the second drive mechanism drives the second push plate to the second position, the array of bosses passes through the array of through holes and protrudes from the second base plate. The array of through holes and the array of bosses can adjust the posture of the parts placed in the hopper during the transfer of parts by the transfer mechanism, which facilitates the transfer of parts and improves the transfer efficiency of parts.

[0038] In one possible implementation, the boss array includes multiple rows of first bosses, wherein in two adjacent rows of first bosses, the height of the first boss closer to the first sidewall is lower than the height of the first boss farther from the first sidewall. In this way, as the second pusher plate repeatedly moves within the hopper, the orientation of parts that have not been transferred to the tray by the second pusher plate is adjusted, thereby improving the efficiency of part orientation adjustment.

[0039] In one possible implementation, a first channel is provided on the second sidewall and / or the fourth sidewall, and the second driving mechanism includes a driving member and a connecting member connected to the driving member. The connecting member is fixedly connected to the second push plate through the first channel. The driving member is used to drive the connecting member to move within the first channel so that the connecting member drives the second push plate to move.

[0040] By placing the second drive mechanism outside the hopper, a reasonable spatial design effectively avoids mutual interference between the connecting parts and the second push plate during their corresponding movements. Furthermore, the simple structural design prevents the heat generated when the second drive mechanism drives the second push plate to move within the hopper from accumulating inside, ensuring the transfer mechanism can operate stably for extended periods and thus extending the service life of the hopper and the second push plate. On the other hand, it allows for real-time monitoring of the second drive mechanism's operation, facilitating the installation and maintenance of the transfer mechanism.

[0041] In one possible implementation, the driving component is a push rod motor, and the connecting component includes a second boss, a third boss, and a connecting rod connecting the second boss and the third boss;

[0042] The second protrusion is provided with a stepped hole, and the push rod motor is fixedly connected to the connector through the stepped hole;

[0043] The third protrusion is fixedly connected to the second push plate through the first channel.

[0044] The design of the second drive mechanism using driving components and connecting components is simple and easy to implement, which can reduce the design difficulty of the second drive mechanism. In addition, the push rod motor is a relatively common driving component, which also makes it easy to select materials.

[0045] Optionally, the transfer mechanism further includes a first fixed base for fixing the transfer mechanism. The first fixed base prevents the transfer mechanism from shaking during the actual transfer of parts, ensuring the stable operation of the second drive mechanism.

[0046] Optionally, the hopper further includes a second fixing seat for fixing the hopper. Under the action of the second fixing seat, the hopper cannot move to the surroundings, nor will it shake due to the movement of the second push plate within the hopper. This achieves better positioning and gives the hopper greater structural stability.

[0047] Optionally, multiple second fixing bases may be included; for example, four second fixing bases may be provided according to actual application requirements.

[0048] Secondly, this application provides a feeding system, which includes the feeding equipment described in the first aspect and any one of the first aspects above.

[0049] Optionally, the feeding system further includes a robotic arm, a vision mechanism, and a communication control module, wherein the vision mechanism is used to acquire images of the parts on the tray;

[0050] The communication control module is used to control the feeding mechanism to adjust the position and posture of parts on the material tray that do not meet the preset posture.

[0051] Optionally, the vision mechanism includes an acquisition device, a light source panel, and a bracket for fixing the acquisition device and the light source panel. The acquisition device is used to acquire image / video data of the parts on the tray.

[0052] Optionally, the feeding system also includes a mounting base plate on which the feeding equipment, robotic arm, and vision mechanism are mounted.

[0053] Optionally, the robotic arm can be slidably mounted on the mounting base plate to facilitate the robotic arm's gripping of parts on the material tray of the feeding equipment.

[0054] Since the above-mentioned feeding system adopts the feeding equipment provided in the first aspect and any possible design of the first aspect, the feeding system also has the technical effects corresponding to the feeding equipment, which will not be elaborated here. Attached Figure Description

[0055] Figure 1 This is a top view schematic diagram of a common feeding device provided in the embodiments of this application;

[0056] Figure 2 This is a front view schematic diagram of a common feeding device provided in the embodiments of this application;

[0057] Figure 3 A schematic diagram illustrating an application scenario of a feeding device provided in an embodiment of this application;

[0058] Figure 4 This is a schematic diagram of the overall structure of a feeding device provided in an embodiment of this application;

[0059] Figure 5 This is a schematic diagram of the disassembled structure of a feeding device provided in an embodiment of this application;

[0060] Figure 6 A schematic diagram of the structure of the first feeding mechanism provided in the embodiments of this application;

[0061] Figure 7 A schematic diagram of the structure of the second feeding mechanism provided in the embodiments of this application;

[0062] Figure 8 This is a schematic diagram of the structure of the third feeding mechanism provided in the embodiments of this application;

[0063] Figure 9 A schematic diagram illustrating the connection of a material tray to a silo, provided as an embodiment of this application;

[0064] Figure 10 This is a schematic diagram illustrating another connection of a material tray to a silo, provided as an embodiment of this application.

[0065] Figure 11 This is an enlarged structural schematic diagram of a material tray provided in an embodiment of this application;

[0066] Figure 12 This is an enlarged structural schematic diagram of a silo provided in an embodiment of this application;

[0067] Figure 13 This is a schematic diagram of the structure of a second pusher plate provided in an embodiment of this application;

[0068] Figure 14 A cross-sectional view showing that the upper surface of the second push plate and the upper surface of the second base plate are on the same plane, as provided in the embodiments of this application;

[0069] Figure 15 A cross-sectional view showing that the upper surface of the second push plate and the upper surface of the first sidewall are on the same plane in an embodiment of this application;

[0070] Figure 16 This is a schematic diagram of another second pusher plate provided in an embodiment of this application;

[0071] Figure 17 A cross-sectional view showing that the upper surface of the first sub-push plate and the upper surface of the second base plate are on the same plane, as provided in the embodiments of this application;

[0072] Figure 18 A cross-sectional view showing that the upper surface of the second sub-push plate and the upper surface of the first sidewall are on the same plane in an embodiment of this application;

[0073] Figure 19 This is a schematic diagram of the overall structure of a second drive mechanism provided in an embodiment of this application;

[0074] Figure 20 This is a schematic diagram of a connector provided in an embodiment of this application.

[0075] Figure label:

[0076] 100. Feeding equipment; 10. Material tray; 101. First side plate; 1011. Pressure relief hole; 1012. First push plate; 1013. Tilting device; 1014. Shaking device; 1015. Lifting device; 102. Plug; 103. First receiving groove; 1031. First bottom plate; 1032. Inclined side wall;

[0077] 20. Transfer mechanism; 201. Second drive mechanism; 2011. Drive component; 2012. Connecting component; 2012a. Second boss; 2012b. Third boss; 2012c. Connecting rod; 2013. First fixed seat; 202. Second push plate; 2021. Third base plate; 2022. First sub-push plate; 2023. Second sub-push plate; 2024. First boss;

[0078] 30. Hopper; 301. First side wall; 3011. Socket; 302. Second side wall; 303. Third side wall; 304. Fourth side wall; 305. Second base plate; 3051. Through hole array; 306. Fifth side wall; 307. First channel; 308. Second fixing seat;

[0079] 200. Robotic arm;

[0080] 300. Visual mechanisms;

[0081] 400. Install the base plate. Detailed Implementation

[0082] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0083] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0084] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between the components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0085] In the description of this application, it should be understood that the terms "upper", "lower", "side", "front", "rear", etc., indicate the orientation or positional relationship based on the installation orientation or positional relationship, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0086] In the description of this application, it should be noted that the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0087] It should also be noted that in the embodiments of this application, the same reference numerals are used to represent the same component or part. For the same part in the embodiments of this application, the reference numerals may only be used to mark one part or component as an example. It should be understood that the reference numerals are also applicable to other identical parts or components.

[0088] With the continuous development of mechanical automation, feeding equipment has become one of the common pieces of equipment on automated mechanical processing production lines. For example... Figure 1 The image shown is a top view of a common feeding device provided in an embodiment of this application, as follows: Figure 2 The image shown is a front view schematic diagram of a common feeding device provided in an embodiment of this application, wherein, as... Figure 1 , Figure 2 As shown, a unidirectional arrow indicates the direction of movement of the workpiece (hereinafter referred to as part); a double-directional arrow indicates the direction of movement of the pusher plate; a thick dashed line represents the conveyor belt, whose direction of movement is the same as that of the workpiece; a thin dashed line represents the pusher plate, used to push the workpiece onto the conveyor belt; a solid line represents the hopper, used to store workpieces, and the hopper is also equipped with a baffle for workpieces that do not conform to the preset posture to fall back, wherein the workpieces that do not conform to the preset posture can be workpieces with incorrect posture or workpieces stacked together; a solid line block represents a workpiece; a thick dashed line block represents a block set on the conveyor belt path, used to block the continued conveying of workpieces that do not conform to the preset posture on the conveyor belt, that is, to make the parts that do not conform to the preset posture fall off the conveyor belt to the baffle, and then fall back into the hopper used to store the workpieces.

[0089] The working principle of common feeding equipment is as follows: a pusher plate pushes parts from the hopper onto the conveyor belt. The conveyor belt then transports the parts to the next station. For parts with incorrect posture or parts stacked together, corresponding blocks are set above the conveyor belt path. When parts with incorrect posture or parts stacked together pass the blocks, the blocks obstruct them, causing them to deviate from the conveyor belt's direction and fall off the conveyor belt to the baffle. The baffle then returns the fallen parts to the hopper.

[0090] In the structural design process of the above-mentioned feeding equipment, a certain space needs to be reserved on the hopper to install baffles so that parts that do not conform to the preset posture fall off the conveyor belt and eventually fall back into the hopper using the baffles on the hopper. This makes the structural design of the feeding equipment relatively loose, requires a large space, reduces the space utilization rate, and affects the practicality of the feeding equipment.

[0091] Therefore, to address the problem of low space utilization in common feeding equipment, this application provides a feeding device comprising a hopper, a transfer mechanism, and a tray disposed on the outer surface of the first side wall of the hopper. The transfer mechanism transfers parts from the hopper to the tray, which is equipped with a discharging mechanism. In practical applications, when parts transferred to the tray do not meet a preset posture, the discharging mechanism can be used to adjust the position of the parts on the tray. That is, the discharging mechanism can be used to adjust the position and / or orientation of the parts transferred to the tray, or to move the parts on the tray back into the hopper. This avoids the need to reserve space in the structural design of the feeding device to allow parts that do not meet the preset posture to slide back into the hopper, thus reducing the design space of the feeding device, improving its space utilization, and making its structural design more compact.

[0092] The feeding device provided in this application embodiment can be applied to various feeding systems. For example, such as... Figure 3 The diagram shown illustrates an application scenario of a feeding device provided in an embodiment of this application. See also... Figure 3 The feeding system includes a feeding device 100, a robotic arm 200, and a vision mechanism 300.

[0093] The loading device 100 is used to place parts in a preset posture on the material tray 10 to facilitate subsequent transfer of the parts by the robotic arm 200. For example, as shown... Figure 4 The diagram shown is an overall structural schematic of a feeding device 100 provided in an embodiment of this application. Figure 5 The diagram shown is a disassembled structural schematic of a feeding device 100 provided in an embodiment of this application. See also... Figure 4 , Figure 5 The feeding device 100 provided in this application embodiment includes a material tray 10, a transfer mechanism 20, and a hopper 30, wherein the hopper 30 is used to store parts; the transfer mechanism 20 is used to transfer the parts in the hopper 30 to the material tray 10; the material tray 10 is used to support parts; the material tray 10 is disposed on the outer surface of the first side wall 301 of the hopper 30, and a feeding mechanism is provided on the material tray 10. Figure 3 , Figure 4 (Not shown in the image), the feeding mechanism is used to adjust the position of the parts on the feed tray 10.

[0094] It should be understood that the pose of a part includes, but is not limited to, the position and orientation of the part. The position of the part refers to both its specific location on the tray 10 and its position when it falls from the tray 10 back into the hopper 30. In other words, the orientation and / or position of the part on the tray 10 can be directly adjusted using the unloading mechanism so that the adjusted part's pose meets a preset pose. Alternatively, the unloading mechanism can be used to move the part transferred from the transfer mechanism 20 to the tray 10 into the hopper 30, and then the transfer mechanism 20 can transfer the part back onto the tray 10 to change the part's pose on the tray 10.

[0095] It is easy to understand that the preset posture is related to the actual application scenario, so the preset posture can be set according to the actual application requirements. This application does not impose any restrictions on the preset posture.

[0096] The robotic arm 200 is used to grip the parts placed on the tray 10 and transfer the gripped parts to the target position; the vision mechanism 300 is used to acquire the pose of the parts placed on the tray 10 so that the robotic arm 200 can grip the parts.

[0097] By way of example and not limitation, the vision mechanism 300 may include an acquisition device, a light source panel, and a support. The light source panel is configured to provide sufficient light for the acquisition device. Both the acquisition device and the light source panel are fixedly mounted on the support. The light source panel has a first through hole, which corresponds one-to-one with the positions of the acquisition device and the material tray 10 in the feeding device 100, so that the acquisition device can acquire image / video data of the parts in the material tray 10.

[0098] For example, the acquisition device can be a charge-coupled device (CCD) camera; the acquisition device can also be other image acquisition devices, such as mobile phones; of course, the acquisition device can also be a video acquisition device, such as a camera, etc., and the embodiments of this application do not limit it in this way.

[0099] Optionally, the above-mentioned feeding system also includes a mounting base plate 400, on which the feeding equipment 100, the robotic arm 200 and the vision mechanism 300 are all mounted.

[0100] Optionally, in order to facilitate the robotic arm 200 to hold the parts on the material tray 10 of the feeding device 100, the robotic arm 200 can be slidably mounted on the mounting base plate 400.

[0101] Optionally, the vision mechanism 300 can be detachably connected to the mounting base plate 400. For example, the vision mechanism 300 is slidably mounted on the mounting base plate 400 via a slide rail, which facilitates flexible adjustment of the installation position of the vision mechanism 300 when the installation position of the feeding equipment 100 changes.

[0102] In one possible embodiment, the above-described feeding system further includes a communication control module (not shown in the figure). This communication control module is used to control the vision mechanism 300 to acquire image data of the parts in the tray 10, and to process the image data acquired by the vision mechanism 300 to obtain the position and / or orientation of each part in the tray 10. It is also used to control the movement direction of the robotic arm 200 according to the position and / or orientation of each part in the tray 10, or to forward the obtained position and / or orientation information of each part in the tray 10 to the robotic arm 200, which then clamps the parts on the tray 10 according to the received position and / or orientation information. In this embodiment, the communication control module is also used to control the unloading mechanism provided on the tray 10 to adjust the pose of parts on the tray 10 that do not meet a preset posture.

[0103] It should be understood that this feeding system is applicable to the automated production process of shaft-type parts, wherein the shaft-type parts can be parts with a radial cross-section of a circle, a matrix, or a polygon. In other words, the feeding process of shaft-type parts can be completed using the feeding equipment 100 provided in this application embodiment, i.e., transferring the shaft-type parts to the target workstation according to the actual usage scenario. This application does not impose any limitations on the specific shape of the shaft-type parts or the application scenario of the feeding system.

[0104] The feeding device 100 provided in this application will be described in detail below with reference to specific embodiments.

[0105] In one possible implementation, the feeding mechanism may include a first drive mechanism, exemplarily, see [link to example]. Figure 4 , Figure 5 As shown, a pressure relief hole 1011 is provided on the first side plate 101 of the material tray 10 away from the material bin 30, and the first drive mechanism can output high pressure gas through the pressure relief hole 1011.

[0106] Taking the first drive mechanism as an air compressor as an example, in practical applications, a hose is used to connect the air compressor and the pressure relief hole 1011. That is, one end of the hose is connected to the air compressor and the other end is connected to the pressure relief hole 1011 of the first side plate 101 of the material tray 10. The air compressor is started, so that the air compressor outputs high-pressure gas at a preset pressure to change the position and / or direction of the parts supported on the material tray 10, or the high-pressure gas output from the pressure relief hole 1011 is used to blow the parts supported on the material tray 10 into the hopper 30.

[0107] It should be understood that the first drive mechanism can be an air compressor or other equipment for outputting high-pressure gas. This application does not limit the specific form of the first drive mechanism, the connection method with the pressure relief hole 1011, or the materials required to connect the first drive mechanism and the pressure relief hole 1011.

[0108] In another possible implementation, the unloading mechanism may further include a first push plate 1012, which is disposed on a first side plate 101 of the tray 10 away from the hopper 30. The first push plate 1012 is used to adjust the position of the parts transferred by the transfer mechanism 20 to the tray 10.

[0109] For example, such as Figure 6 The diagram shown is a structural schematic of the first type of feeding mechanism provided in this application embodiment. See also... Figure 6 A first push plate 1012 is provided on the first side plate 101 of the tray 10. A driving force is provided to the first push plate 1012 in the direction of the hopper 30 by a driving mechanism (e.g., a push rod motor), so that the first push plate 1012 pushes the parts on the tray 10 to change the position and / or orientation of the parts supported on the tray 10, or pushes the parts supported on the tray 10 into the hopper 30 by the first push plate 1012.

[0110] In one possible implementation, the feeding mechanism may further include a tilting device 1013 for tilting the tray 10 toward the hopper 30.

[0111] As an example, not a limitation, such as Figure 7 The diagram shown is a structural schematic of the second type of feeding mechanism provided in an embodiment of this application. See also... Figure 7 The material tray 10 is rotatably connected to the outer surface of the first side wall 301 of the hopper 30. The tilting device 1013 includes a support rod and a drive mechanism. The support rod is rotatably connected to the first side plate 101 of the material tray 10. The support rod is fixedly connected to the drive mechanism. The drive mechanism is used to provide driving force to drive the support rod to move up and down, so that the material tray 10 tilts towards the hopper 30, so as to change the position and / or orientation of the parts supported on the material tray 10 by tilting the material tray 10, or to tilt the parts supported on the material tray 10 into the hopper 30 by tilting the material tray 10.

[0112] In another possible implementation, the feeding mechanism may also include a shaking device 1014 for shaking the material tray 10.

[0113] For example, such as Figure 8 The diagram shown is a structural schematic of the third type of feeding mechanism provided in this application embodiment. (See also...) Figure 8A groove is provided on the outer surface of the first side wall 301 of the hopper 30. The hopper 10 is slidably connected in the groove. The shaking device 1014 includes a support rod and a drive mechanism. The support rod is fixedly connected to the first side plate 101 of the hopper 10. The support rod is also fixedly connected to the drive mechanism. The drive mechanism is used to provide vibration driving force so that the support rod drives the hopper 10 to vibrate, so as to change the position and / or orientation of the parts supported on the hopper 10 by shaking (or vibrating) the hopper 10, or to shake the parts supported on the hopper 10 into the hopper 30 by shaking (or vibrating) the hopper 10.

[0114] As one possible approach, the drive mechanism can be a vibration motor or a push rod motor. If the motor is a push rod motor, the frequency of the push rod's extension and retraction can be changed to provide vibration driving force.

[0115] Based on the above possible implementation methods, in order to meet different practical needs, this application does not limit the setting height of the material tray 10 on the outer surface of the first side wall 301 of the hopper 30. In another possible implementation method, the above-mentioned feeding mechanism further includes a lifting device 1015, which is used to adjust the relative height of the material tray 10 on the outer surface of the first side wall 301.

[0116] As an example, not a limitation, such as Figure 9 The diagram shown is a schematic representation of a material tray 10 disposed on a material hopper 30 according to an embodiment of this application. (See attached diagram.) Figure 9 The lifting device 1015 includes a support frame and a drive mechanism. The support frame is fixedly connected to the drive mechanism and the support frame is fixedly connected to the tray 10. The drive mechanism is used to provide driving force to adjust the relative height of the tray 10 on the outer surface of the first side wall 301.

[0117] To save on the manufacturing cost of the feeding equipment 100 and to facilitate its processing, in this embodiment of the application, as follows: Figure 10 The diagram shown is a schematic representation of another connection structure of the material tray 10 on the hopper 30 according to an embodiment of this application. See also... Figure 10 A socket 3011 is provided on the outer surface of the first side wall 301 of the hopper 30, and a plug 102 is provided on the tray 10. The plug 102 is inserted into the socket 3011 so that the tray 10 can be detachably connected to the outer surface of the first side wall 301 of the hopper 30.

[0118] The tray 10 and the hopper 30 provided in this application embodiment are fixed by plugging in, making the assembly of the tray 10 and the hopper 30 more stable. By setting the socket 3011, the plug 102 of the tray 10 can be conveniently and efficiently plugged into the outer surface of the hopper 30, which facilitates the disassembly and assembly of the tray 10 and can further improve the assembly efficiency of the tray 10.

[0119] It should be understood that, in order to facilitate the subsequent transfer or clamping of parts transferred to the tray 10 by the transfer mechanism 20, in one possible implementation, such as Figure 11 The diagram shown is an enlarged structural schematic of the material tray 10 provided in an embodiment of this application. See also... Figure 11 The aforementioned tray 10 includes a first receiving groove 103 for supporting parts. The first receiving groove 103 includes a first base plate 1031 and at least one inclined sidewall 1032 connected to the edge of the first base plate 1031. Each inclined sidewall 1032 forms an obtuse angle or a right angle with the first base plate 1031.

[0120] The projection of the first base plate 1031 along its gravity direction can be circular, rectangular, square, or polygonal, etc. The first receiving groove 103 may include two inclined sidewalls 1032, four inclined sidewalls 1032, or other numbers of inclined sidewalls 1032. The projection of the first base plate 1031 along its gravity direction, the number of inclined sidewalls 1032, and their length can be designed according to actual applications, and this application does not limit them.

[0121] The design structure of the inclined sidewall 1032 in the first receiving groove 103 facilitates the parts transferred by the transfer mechanism 20 to the material tray 10 to slide along the inclined sidewall 1032 onto the first base plate 1031, further facilitating the subsequent transfer of parts on the material tray 10, for example, facilitating the robotic arm 200 to clamp parts from the material tray 10 and transfer them to the target workstation.

[0122] In this embodiment, the tray 10 is detachably connected to the outer surface of the first side wall 301 of the hopper 30. At the same time, the tray 10, which is disposed opposite to the first side plate 101, is provided with a first opening so that the tray 10 is snapped onto the first side wall 301 of the hopper 30. The upper surface of the first side wall 301 of the hopper 30 facing the vertical direction contacts the first bottom plate 1031 in which the parts are placed in the tray 10 and can form a right angle or an obtuse angle, so that the parts transferred by the transfer mechanism 20 can slide down along the upper surface of the first side wall 301 of the hopper 30 facing the vertical direction onto the first bottom plate 1031.

[0123] In order to quickly stabilize the parts transferred to the tray 10 on the first base plate 1031, in one possible embodiment, the first base plate 1031 is a limiting base plate, which is used to stabilize the parts transferred to the tray 10 at a preset position on the tray 10. The limiting base plate can be a base plate composed of multiple support structures arranged at intervals, such as cylinders or prisms; the limiting base plate can also be a rectangular base plate with high surface friction; the limiting base plate can also be any structural component capable of restricting the movement of the parts transferred to the tray 10 on the first base plate 1031. This application does not limit the specific structural design of the limiting base plate.

[0124] By using the design of the limiting base plate, the parts transferred to the material tray 10 can be quickly and stably positioned in the preset position of the material tray 10. It can also prevent the parts transferred to the material tray 10 from hitting the first side plate 101 of the material tray 10, thus ensuring the reliability and stability of the material tray 10 structure design and extending the service life of the material tray 10.

[0125] In practical applications, in addition to the above-mentioned possible implementation methods, the setting position and setting method of the material tray 10 on the outer surface of the first side wall 301 of the hopper 30, as well as the setting method of the corresponding feeding mechanism, can be designed according to actual application requirements, and this application does not impose any limitations on this.

[0126] See Figure 5 The transfer mechanism 20 includes a second drive mechanism 201 and a second push plate 202 connected to the second drive mechanism 201. The second push plate 202 is disposed in the hopper 30. The second drive mechanism 201 is used to drive the second push plate 202 to move within the hopper 30 to transfer the parts in the hopper 30 to the tray 10.

[0127] like Figure 12 The diagram shown is an enlarged structural schematic of a hopper 30 provided in an embodiment of this application. See also... Figure 12 The hopper 30 includes a first side wall 301, a second side wall 302, a third side wall 303, a fourth side wall 304, and a second bottom plate 305. The first side wall 301 and the third side wall 303 are opposite each other, and the second side wall 302 and the fourth side wall 304 are opposite each other. The second bottom plate 305 is fixedly connected to the second side wall 302, the third side wall 303, and the fourth side wall 304. The second push plate 202 is located between the second bottom plate 305 and the first side wall 301 and is in contact with the second bottom plate 305 and the first side wall 301 respectively. The second side wall 302, the third side wall 303, the fourth side wall 304, the second bottom plate 305, and the second push plate 202 in the transfer mechanism 20 form a first cavity with an opening, which is used to place parts.

[0128] By adopting the above configuration, not only can the second push plate 202 have better mechanical strength, reduce the processing steps of the second push plate 202, and improve production efficiency, but also the second push plate 202 can transfer at least one part to the material tray 10 with each reciprocating movement in the material bin 30, which can also speed up the transfer speed of parts in the material bin 30 and improve the transfer rate of parts.

[0129] In one possible implementation, the second base plate 305 is inclined, and the second push plate 202 is inclined toward the first sidewall 301 on the first upper surface facing the opening direction.

[0130] Due to the inclined arrangement of the second base plate 305 and the first upper surface of the second push plate 202, the parts placed in the first cavity can slide more easily onto the first upper surface of the second push plate 202, facilitating the second push plate 202 to push the parts in the first cavity into the tray 10 during movement. Furthermore, the orientation of the parts can be adjusted during the transfer process, reducing the number of times the unloading mechanism adjusts the orientation of the parts on the tray 10, accelerating the transfer of parts, and increasing the transfer rate. The inclination angle of the second base plate 305 and its height on the second side wall 302, third side wall 303, and fourth side wall 304 can be designed according to the actual application scenario, and this application does not limit this.

[0131] like Figure 13 The diagram shown is a structural schematic of a second pusher plate 202 provided in an embodiment of this application. See also... Figure 13 The second push plate 202 can be made into an integral structure by an integral molding process; or it can be spliced ​​(e.g., welded) by a first sub-push plate 2022 that is a parallelogram and a third base plate 2021; the second push plate 202 can also include a third base plate 2021 and a first sub-push plate 2022 disposed on the third base plate 2021, wherein the lower surface of the first sub-push plate 2022 that is fixedly connected to the third base plate 2021 is rectangular (e.g., a rectangle), and the upper surface opposite to the lower surface is an inclined rectangle.

[0132] When the second drive mechanism 201 drives the second push plate 202 to the first position, the first upper surface and the second base plate 305 form the same plane. (See below) Figure 14 The cross-sectional schematic diagram shown; when the second drive mechanism 201 drives the second push plate 202 to the second position, the first upper surface and the second upper surface of the first sidewall 301 facing the opening direction form the same plane, see [reference]. Figure 15 The cross-sectional schematic diagram shown.

[0133] It should be understood that the inclination of the first upper surface of the second push plate 202 towards the opening of the first cavity can be the same as or different from the inclination of the second base plate 305. For example, the inclination of the first upper surface of the second push plate 202 may be less than the inclination of the second base plate 305. Similarly, the inclination of the first upper surface of the second push plate 202 towards the opening of the first cavity can also be the same as or different from the inclination of the second upper surface of the first sidewall 301 towards the opening of the first cavity. For example, the inclination of the first upper surface of the second push plate 202 may be greater than the inclination of the second upper surface of the first sidewall 301 towards the opening of the first cavity.

[0134] For example, suppose as follows Figure 13Taking the example of the second pusher plate 202 transferring part A from the first cavity of the hopper 30 to the tray 10, the transfer process of part A is as follows: First, part A placed in the hopper 30 is moved to the first upper surface of the second pusher plate 202 facing the opening of the first cavity due to the inclined setting of the second base plate 305 and the inclination of the upper surface of the second pusher plate 202. Figure 14 As shown; then, driven by the second drive mechanism 201, the second push plate 202 moves vertically upward within the hopper 30, and part A is lifted along with the upward movement of the second push plate 202 until the first upper surface of the second push plate 202 facing the opening of the first cavity and the second upper surface of the first sidewall 301 facing the opening of the first cavity form the same plane, and part A is pushed into the tray 10, as shown. Figure 15 As shown.

[0135] In another possible implementation, see Figure 12 The second bottom plate 305 is inclined. The aforementioned hopper 30 also includes a fifth side wall 306, which is disposed between the second side wall 302 and the fourth side wall 304. The third upper surface of the fifth side wall 306 facing the opening direction is lower than the second upper surface of the first side wall 301 facing the opening direction, and the third upper surface is inclined toward the first side wall 301. Correspondingly, see [link to relevant documentation]. Figure 16 The second push plate 202 includes a third base plate 2021 and a first sub-push plate 2022 and a second sub-push plate 2023 disposed on the third base plate 2021. The fifth side wall 306 is located between the first sub-push plate 2022 and the second sub-push plate 2023. The second sub-push plate 2023 is located between the fifth side wall 306 and the first side wall 301. The fourth upper surface of the first sub-push plate 2022 in the opening direction is inclined toward the fifth side wall 306, and the fifth upper surface of the second sub-push plate 2023 in the opening direction is inclined toward the first side wall 301.

[0136] In the above configuration, the inclined arrangement of the second base plate 305, the third upper surface of the fifth side wall 306, the fourth upper surface of the first sub-push plate 2022, and the fifth upper surface of the second sub-push plate 2023 can adjust the position of the parts during the transfer process, reduce the number of times the unloading mechanism adjusts the position of the parts on the tray 10, and speed up the transfer of the parts. In addition, by cooperating with the first sub-push plate 2022, the second sub-push plate 2023, and the fifth side wall 306 to gradually transfer the parts in the hopper 30 to the tray 10, it can not only effectively reduce the driving force consumed by the second drive mechanism 201 to drive the second push plate 202 to a higher position, but also the arrangement of the fifth side wall 306 can control the movement distance of the second push plate 202 in the hopper 30, and limit the movement of the second push plate 202.

[0137] When the second drive mechanism 201 drives the second push plate 202 to the first position, the fourth upper surface and the second bottom plate 305 form a plane, and the third upper surface and the fifth upper surface form a plane. (See below) Figure 17 The cross-sectional schematic diagram shown; when the second drive mechanism 201 drives the second push plate 202 to the second position, the fourth upper surface and the third upper surface form the same plane, and the fifth upper surface and the second upper surface form the same surface, see [reference]. Figure 18 The cross-sectional schematic diagram shown.

[0138] For example, taking the transfer process of part A as an example, part A first moves to the fourth upper surface of the first sub-push plate 2022 facing the opening of the first cavity due to the inclined setting of the second base plate 305 and the inclination of the fourth upper surface of the first sub-push plate 2022. Figure 17 As shown, at this time, the fifth upper surface of the second sub-push plate 2023 and the third upper surface of the fifth side wall 306 form the same plane; when the second drive mechanism 201 drives the second push plate 202 to the second position, part A is pushed to the third upper surface of the fifth side wall 306 as the first sub-push plate 2022 moves upward. If the second push plate 202 is driven by the second drive mechanism 201 to move up and down repeatedly in the hopper 30, when the second push plate 202 moves downward, the fifth upper surface of the second sub-push plate 2023... When the fifth upper surface and the third upper surface of the fifth side wall 306 form the same plane, part A will move to the fifth upper surface of the second sub-push plate 2023 due to the inclined setting of the third upper surface of the fifth side wall 306. As the second push plate 202 moves upward again, part A is lifted up with the upward movement of the second push plate 202 until the fifth upper surface of the second sub-push plate 2023 and the second upper surface of the first side wall 301 in the direction of the opening of the first cavity form the same plane, and is pushed into the material tray 10.

[0139] It should be understood that the two ends of the fifth side wall 306 are fixed to the second side wall 302 and the fourth side wall 304 of the hopper 30, respectively. The height of the fifth side wall 306 on the second side wall 302 and the fourth side wall 304 can be set according to the actual use scenario, as long as it can cooperate with the second push plate 202 to transfer the parts in the hopper 30 to the tray 10. This application does not limit its specific height.

[0140] Furthermore, this application does not impose any limitations on the thickness and / or material of the first side wall 301, second side wall 302, third side wall 303, fourth side wall 304, fifth side wall 306 and second bottom plate 305 in the hopper 30, or on the thickness, and / or shape, and / or material of the third bottom plate 2021, first sub-push plate 2022 and second sub-push plate 2023 in the second push plate 202.

[0141] In order to adjust the posture of the parts placed in the hopper 30, facilitate the transfer of multiple parts, and improve the transfer efficiency of the parts, in one possible implementation, the second bottom plate 305 of the hopper 30 is provided with a through hole array 3051, and the second push plate 202 is provided with a boss array corresponding to the through hole array 3051. When the second drive mechanism 201 drives the second push plate 202 to the second position, the boss array passes through the through hole array 3051 and protrudes from the second bottom plate 305 to adjust the posture of the parts placed in the first cavity.

[0142] The boss array includes multiple rows of first bosses 2024, with each row of first bosses 2024 comprising a plurality of first bosses 2024 spaced apart. To reduce the adjustment of the position of parts transferred to the material tray 10, optionally, in two adjacent rows of first bosses 2024, the height of the first boss 2024 closer to the first sidewall 301 is lower than the height of the first boss 2024 farther from the first sidewall 301. This allows for dynamic adjustment of the first position of the parts placed in the first cavity as the second pusher plate 202 moves repeatedly within the material hopper 30.

[0143] It should be understood that during the repeated movement of the second pusher 202, to better protect the parts and avoid scratching their surfaces when adjusting their position within the hopper 30, the portion of the first boss 2024 that contacts the part is designed as a smooth surface. For example, the first boss 2024 may consist of a cylinder and a semicircle fixedly connected to the cylinder, with the radial diameter of the cylinder being equal to the diameter of the semicircle. The structure of the first boss 2024 can be designed according to different practical application requirements, and this application does not impose any limitations on this design.

[0144] In this embodiment of the application, a first channel 307 is provided on the second side wall 302 and / or the fourth side wall 304 of the hopper 30. The first channel 307 is used to connect the second drive mechanism 201 and the second push plate 202 so that the second push plate 202 can move in the hopper 30, thereby transferring the parts in the hopper 30 to the tray 10.

[0145] By placing the second drive mechanism 201 outside the hopper 30, the reasonable space design effectively avoids mutual interference between the connecting parts and the second push plate 202 during their corresponding movement. Furthermore, the simple structural design prevents the heat generated when the second drive mechanism 201 drives the second push plate 202 to move within the hopper 30 from accumulating inside the hopper 30, ensuring that the transfer mechanism 20 can operate stably for a long time and extending the service life of the hopper 30 and the second push plate 202. On the other hand, the working status of the second drive mechanism 201 can be checked at any time, facilitating the installation and maintenance of the transfer mechanism 20.

[0146] In one possible implementation, such as Figure 19The diagram shown is a schematic representation of the overall structure of a second drive mechanism 201 according to an embodiment of this application. See also... Figure 19 The second drive mechanism 201 includes a drive member 2011 and a connector 2012 connected to the drive member 2011. The connector 2012 passes through the first channel 307 and is fixedly connected to the second push plate 202. The drive member 2011 is used to drive the connector 2012 to move within the first channel 307, so that the connector 2012 drives the second push plate 202 to move, so as to transfer the parts in the hopper 30 to the tray 10.

[0147] Among them, see Figure 20 The connector 2012 includes a second boss 2012a, a third boss 2012b, and a connecting rod 2012c. One end of the connecting rod 2012c is fixedly connected to the second boss 2012a, and the other end is fixedly connected to the third boss 2012b. The second boss 2012a has a stepped hole. When the driving component 2011 is a push rod motor, the push rod of the push rod motor passes through the stepped hole and is fixedly connected to the connector 2012. The third boss 2012b passes through the first channel 307 and is fixedly connected to the second push plate 202. In actual use, after the push rod of the push rod motor passes through the stepped hole, fasteners can be set on the push rod to fix the push rod of the push rod motor to the connector 2012. The fasteners include, but are not limited to, screws, bolts, and rivets.

[0148] The design of the second drive mechanism 201 using the drive component 2011 and the connecting component 2012 reduces the design difficulty of the second drive mechanism 201. It should be understood that different second drive mechanisms 201 can also be used to provide driving force for the normal movement of the second push plate 202. The above embodiment is only one design scheme of the second drive mechanism 201 provided by this application. For example, the above second drive mechanism 201 can be designed in conjunction with belts, hydraulic power or elevators. This application does not limit it in this way.

[0149] To ensure the stability of the second drive mechanism 201, in one possible implementation, the transfer mechanism 20 further includes a first fixed base 2013 for fixing the transfer mechanism 20. In actual design, one end of the first fixed base 2013 can be fixedly connected to the transfer mechanism 20, and the other end can be fixed to the ground; or one end of the first fixed base 2013 can be fixedly connected to the transfer mechanism 20, and the other end can be fixedly connected to the hopper 30 through an adapter plate, etc.

[0150] In one possible implementation, the hopper 30 further includes a second fixing seat 308 for fixing the hopper 30. Under the action of the second fixing seat 308, the hopper 30 cannot move to the surroundings, nor will it shake due to the movement of the second push plate 202 within the hopper 30. This achieves better positioning, gives the hopper 30 stronger torsional stiffness, and improves the structural stability of the hopper 30. In actual design, multiple second fixing seats 308 can be provided on multiple side walls of the hopper 30. The specific locations and number of these seats can be designed according to actual application requirements, and this application does not impose any limitations on this.

[0151] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A feeding device, characterized in that, It includes a hopper, a transfer mechanism, and a tray, wherein the transfer mechanism is used to transfer parts from the hopper to the tray; The material tray is disposed on the outer surface of the first side wall of the hopper. The material tray is provided with a feeding mechanism, which includes a tilting device. The tilting device includes a support rod and a driving mechanism. The support rod is rotatably connected to the first side plate of the material tray. The support rod is fixedly connected to the driving mechanism. The driving mechanism is used to provide driving force to drive the support rod to move up and down, so that the material tray tilts towards the hopper. This is to change the position and / or orientation of the parts supported on the material tray by tilting the material tray, and also to tilt the parts supported on the material tray into the hopper by tilting the material tray. The tray includes a first receiving groove, which includes a first base plate and at least one inclined sidewall connected to the edge of the first base plate. Each inclined sidewall forms an obtuse angle or a right angle with the first base plate. The first base plate is a limiting base plate, which is used to limit the movement of parts transferred to the tray on the first base plate. The transfer mechanism includes a second drive mechanism and a second push plate connected to the second drive mechanism. The second push plate is disposed in the hopper. The second drive mechanism is used to drive the second push plate to move in the hopper so as to transfer the parts in the hopper to the tray. The hopper includes a first sidewall, a second sidewall, a third sidewall, a fourth sidewall, and a second bottom plate. The first sidewall and the third sidewall are opposite to each other, and the second sidewall and the fourth sidewall are opposite to each other. The second bottom plate is fixedly connected to the second sidewall, the third sidewall, and the fourth sidewall. The second push plate is located between the second bottom plate and the first sidewall and is in contact with the second bottom plate and the first sidewall respectively. The second sidewall, the third sidewall, the fourth sidewall, the second bottom plate, and the second push plate form a first cavity with an opening, which is used to place parts. The second base plate is inclined, and the first upper surface of the second push plate in the opening direction is inclined toward the first side wall; When the second drive mechanism drives the second push plate to the first position, the first upper surface and the second bottom plate form the same plane. When the second driving mechanism drives the second push plate to the second position, the first upper surface and the second upper surface of the first sidewall facing the opening direction form the same plane; The second base plate is provided with an array of through holes, and the second push plate is provided with an array of bosses corresponding to the array of through holes. When the second drive mechanism drives the second push plate to the second position, the array of bosses passes through the array of through holes and protrudes out of the second base plate. The protrusion array includes multiple rows of first protrusions. In two adjacent rows of first protrusions, the height of the first protrusion closer to the first sidewall is lower than the height of the first protrusion farther from the first sidewall.

2. The device according to claim 1, characterized in that, The feeding mechanism also includes a lifting device, which is used to adjust the relative height of the material tray on the outer surface of the first side wall.

3. The device according to claim 1 or 2, characterized in that, The second bottom plate is inclined, and the hopper also includes a fifth side wall, which is disposed between the second side wall and the fourth side wall. The third upper surface of the fifth side wall facing the opening direction is lower than the second upper surface of the first side wall facing the opening direction, and the third upper surface is inclined toward the first side wall. The second push plate includes a third base plate and a first sub-push plate and a second sub-push plate disposed on the third base plate; the fifth side wall is located between the first sub-push plate and the second sub-push plate, the second sub-push plate is located between the fifth side wall and the first side wall, the first sub-push plate is inclined toward the fifth side wall with its fourth upper surface facing the opening direction, and the second push plate is inclined toward the first side wall with its fifth upper surface facing the opening direction. When the second driving mechanism drives the second push plate to the first position, the fourth upper surface and the second bottom plate form the same plane, and the third upper surface and the fifth upper surface form the same plane; When the second driving mechanism drives the second push plate to the second position, the fourth upper surface and the third upper surface form the same plane, and the fifth upper surface and the second upper surface form the same surface.

4. The device according to claim 3, characterized in that, A first channel is provided on the second sidewall and / or the fourth sidewall. The second driving mechanism includes a driving member and a connecting member connected to the driving member. The connecting member is fixedly connected to the second push plate through the first channel. The driving component is used to drive the connector to move within the first channel, so that the connector drives the second push plate to move.

5. The device according to claim 4, characterized in that, The driving component is a push rod motor, and the connecting component includes a second boss, a third boss, and a connecting rod connecting the second boss and the third boss; The second protrusion is provided with a stepped hole, and the push rod motor is fixedly connected to the connector through the stepped hole; The third protrusion is fixedly connected to the second push plate through the first channel.

6. A feeding system, characterized in that, The feeding system includes the feeding equipment as described in any one of claims 1-5.

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