Circulating feeding method

Abstract

The invention relates to a circulating feeding method which comprises the steps that a first feeding disc is transferred to the position above a work waiting area, and a second feeding disc or the second feeding disc and a feeding disc above the second feeding disc move upwards to bear the first feeding disc transferred to the position above the work waiting area; the feeding discs in the machining area move upwards, one feeding disc is moved to the feeding area, the third feeding disc located in the second containing area is clamped, and the third feeding disc is transferred to the machining area; the first clamping mechanism clamps the second feeding disc, and the second feeding disc moves downwards to a second containing area below the first containing area. Thus, by means of the method, the feeding discs can circulate, the feeding discs carrying the workpieces can circulate to the feeding area for feeding, the feeding discs used for feeding can circulate to other positions, circulation of the feeding discs can be achieved through a mechanical mechanism, and operation is convenient.

Description

Technical Field

[0001] The present application relates to the field of intelligent manufacturing technology, and in particular to a cyclic feeding method. Background Art

[0002] The loading of the production line is generally done by placing a loading tray at the loading position manually, taking out the workpieces in the loading tray through a robot or other mechanism, and replacing the empty loading tray manually after the workpieces in the loading tray are loaded. This method requires manual loading and unloading, and each time a loading tray is loaded, it needs to be replaced, which is troublesome to operate. Summary of the invention

[0003] The purpose of the present application is to provide a cyclic loading method that can realize automatic cyclic loading of multiple loading trays.

[0004] A cyclic feeding method comprises the following steps:

[0005] The first clamping mechanism clamps the second loading tray in the first accommodating area of ​​the waiting area, the second loading tray moves upward, and the second loading tray or the second loading tray and the loading tray above it are transferred to the first loading tray above the waiting area;

[0006] The first clamping mechanism clamps the second loading tray, and the second loading tray moves downward to the second accommodating area of ​​the waiting area.

[0007] The above technical solution has the following advantages:

[0008] After the first loading tray in the loading area has finished loading the materials, it is transferred to the top of the waiting area. The second loading tray in the first accommodating area of ​​the waiting area is clamped by the first clamping mechanism, and the second loading tray or the second loading tray and the loading tray above move upward to receive the first loading tray transferred to the top of the waiting area.

[0009] The loading tray of the processing area located below the loading area moves upward, and a loading tray of the processing area is moved to the loading area, and a new loading tray is provided in the loading area for loading.

[0010] Clamp the third loading tray located in the second accommodating area and transfer the third loading tray to the processing area; the first clamping mechanism clamps the second loading tray, and the second loading tray moves downward to the second accommodating area below the first accommodating area, so that all loading trays in the processing area and the waiting area, except for the loading area, are returned to their positions. In this way, through the above method, the loading trays can be circulated, and the loading trays carrying workpieces can be circulated to the loading area for loading, and the loading trays that have been used for loading can be circulated to other positions. In this way, the circulation of the loading trays can be achieved through a mechanical mechanism, and the operation is convenient.

[0011] A cyclic feeding method comprises the following steps:

[0012] Clamp the second loading tray in the first accommodating area of ​​the waiting area, and clamp the fourth loading tray in the third accommodating area of ​​the processing area;

[0013] The positioning tool moves downward, the third loading tray of the second accommodating area below the first accommodating area moves downward, and the third loading tray is moved horizontally to below the third accommodating area;

[0014] Move the fourth loading tray and the fifth loading tray above the fourth loading tray upward, and move the fifth loading tray horizontally to above the sixth loading tray in the waiting area;

[0015] The positioning tool moves upward, moves the third loading tray upward to the third accommodating area, and moves the second loading tray downward to the second accommodating area below the first accommodating area.

[0016] The above technical solution has the following advantages:

[0017] After the fifth loading tray completes loading, it clamps the second loading tray located in the first accommodating area of ​​the waiting area, and clamps the fourth loading tray located in the third accommodating area of ​​the processing area;

[0018] The positioning tool moves downward, the third loading tray of the second accommodating area below the first accommodating area moves downward, the second loading tray and the third loading tray are separated, and then the third loading tray is moved horizontally to below the third accommodating area;

[0019] Move the fourth loading tray and the fifth loading tray above the fourth loading tray upward, move the fifth loading tray horizontally to above the sixth loading tray in the waiting area, remove the fifth loading tray that has completed processing above, and add a new loading tray;

[0020] The positioning tool moves upward, moves the third loading tray upward to the third accommodating area, and moves the second loading tray downward to the second accommodating area below the first accommodating area.

[0021] The above method can circulate the fifth loading tray that has completed loading to the waiting area, and at the same time replenish the loading trays that have not been loaded. In this way, through the above method, the loading trays can be circulated, and the loading tray carrying workpieces can be circulated to the fourth accommodating area for loading, and the loading tray that has been used for loading can be circulated to other locations. In this way, the circulation of the loading trays can be achieved through a mechanical mechanism, and the operation is convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of an implementation method of a circulating feeding device.

[0023] Figure 2 for Figure 1 Schematic diagram of the structure of the blanking assembly used in.

[0024] Figure 3 for Figure 1 Schematic diagram of the structure of the feeding assembly used.

[0025] Figure 4 for Figure 1 Schematic diagram of the structure of the front vertical shift assembly used in.

[0026] Figure 5 for Figure 1 Schematic diagram of the structure of the rear vertical shift assembly used in.

[0027] Figure 6 A schematic structural diagram of another embodiment.

[0028] Figure 7 This is a schematic diagram of the structure for placing the loading tray assembly and positioning tooling.

[0029] Figure 8 for Figure 7 Schematic diagram of the structure of the loading tray group and positioning tooling used in.

[0030] Fig. 9 It is a schematic diagram of the structure of the loading tray.

[0031] Fig.10 Schematic diagram of the positional relationship of each accommodation area.

[0032] Fig.11 The figure is a schematic diagram of the structure of another circulating feeding device.

[0033] Fig.12 for Figure 1 A partially enlarged structural schematic diagram of the embodiment in FIG.

[0034] Reference numerals:

[0035] 1 rack, 10 frame, 12 loading area, 1311 first loading sensor, 1312 second loading sensor, 1321 first unloading sensor, 1322 second unloading sensor, 1331 first layer number sensor, 1332 second layer number sensor, 14 guide frame

[0036] 2 positioning tooling, 21 processing area, 22 waiting area, 25 material change port,

[0037] 41 first clamping mechanism, 411 first clamping member, 42 second clamping mechanism, 421 second clamping member, 43 third clamping mechanism, 431 third clamping member, 44 fourth clamping mechanism, 441 fourth clamping member, 45 fifth clamping mechanism, 451 fifth clamping member

[0038] 51 first vertical movement cylinder, 52 second vertical movement cylinder, 53 third vertical movement cylinder,

[0039] 61 first transverse movement mechanism, 611 first transverse movement cylinder, 62 second transverse movement mechanism, 621 second transverse movement cylinder,

[0040] 71 first lifting cylinder, 72 second lifting cylinder, 73 third lifting cylinder

[0041] 801 upper matching part, 802 lower matching part, 81 third loading tray, 82 second loading tray, 83 sixth loading tray, 84 fourth loading tray, 85 fifth loading tray, 86 first loading tray,

[0042] 91 second storage area, 92 first storage area, 93 fifth storage area, 94 third storage area, 95 fourth storage area, 96 seventh storage area, 98 sixth storage area DETAILED DESCRIPTION

[0043] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0044] It should be clear that the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application. The up and down, front and back in the following description are based on the height direction and length direction marked in the figure.

[0045] The circulating loading device of the present invention is used for loading on a production line. The loading tray can circulate in the circulating loading device, so that after the workpieces in a certain loading tray are loaded, it can circulate to other positions, and another loading tray with workpieces continues to be used for loading. The entire circulating loading device can be used for loading multiple loading trays. After multiple loading trays are loaded, the loading trays can be replaced once. The loading is convenient and simple, the number of times the loading trays are replaced is small, and the loading efficiency is saved.

[0046] One embodiment, referring to Figure 1 , Fig.12The circulating feeding device includes a frame 1, a first clamping mechanism 41, a first vertical cylinder 51, and a second vertical cylinder 52. The frame 1 is used to fix various components. The circulating feeding device has a second accommodating area 91 and a first accommodating area 92. In the height direction of the circulating feeding device, the first accommodating area 92 is located above the second accommodating area 91. The second accommodating area 91 is used to accommodate a loading tray, and the first accommodating area 92 is used to accommodate a loading tray. Part of the first vertical cylinder 51 is fixed to the frame 1, and the action part of the first vertical cylinder 51 is fixed to the first clamping mechanism 41. The first vertical cylinder 51 can drive the first clamping mechanism 41 to move. The first clamping mechanism 41 is used to clamp the loading tray placed in the first accommodating area 92. When the first clamping mechanism 41 clamps the loading tray, the action part of the first vertical cylinder 51 can drive the first clamping mechanism 41 to move, thereby indirectly driving the loading tray to move.

[0047] The moving part of the second vertical cylinder 52 is directly or indirectly fixed to the first clamping mechanism 41, and the moving part of the second vertical cylinder 52 can drive the first clamping mechanism 41 to move. When the first clamping mechanism 41 clamps the loading tray, the second vertical cylinder 52 can drive the first clamping mechanism 41 to move, thereby indirectly driving the loading tray to move.

[0048] The action stroke of the action component of the second vertical cylinder 52 at least includes the downward movement distance from the first accommodating area 92 to the second accommodating area 91, and the action stroke of the action component of the first vertical cylinder 51 at least includes the movement distance of the upward movement from the first accommodating area 92, that is, the movement stroke of the action component of the second vertical cylinder driving the first clamping mechanism to move at least includes the downward movement distance from the first accommodating area to the second accommodating area, and the movement stroke of the action component of the first vertical cylinder driving the first clamping mechanism to move at least includes the movement distance of the upward movement from the first accommodating area. The first vertical cylinder 51 can drive the first clamping mechanism 41 to move upward from the height corresponding to the first accommodating area 92, and the second vertical cylinder 52 can drive the first clamping mechanism 41 to move to the height corresponding to the second accommodating area 91. The first vertical cylinder 51 and the second vertical cylinder 52 can form three working positions through the cooperation of the first vertical cylinder 51 and the second vertical cylinder 52, complete the separation of the loading tray in the second accommodating area 91 and the loading tray in the first accommodating area 92, and can place the loading tray in the first accommodating area 92 at the position of the second accommodating area 91, and use the cylinder to replace the function of the electric cylinder, which reduces the cost.

[0049] In this article, direct or indirect fixing includes that the two are fixed directly by screws or welding, etc., and also includes that there are other parts between the two, such as mounting plates and other structures to achieve indirect fixing.

[0050] Herein, "the movement stroke of the moving part of the second vertical cylinder driving the first clamping mechanism to move at least includes the downward movement distance from the first accommodating area to the second accommodating area, and the movement stroke of the moving part of the first vertical cylinder driving the first clamping mechanism to move at least includes the upward movement distance from the first accommodating area" includes: the moving part of the first vertical cylinder 51 and the first clamping member 411 of the first clamping mechanism 41 are at the same height, and the moving part of the second vertical cylinder 52 and the first clamping member 411 of the first clamping mechanism 41 are at the same height. At this time, the moving part of the first vertical cylinder 51, the moving part of the second vertical cylinder 52 and the first clamping member 411 are at the same height, and the moving path of the first clamping member 411 is the movement path of the moving part; when the moving part of the first vertical cylinder 51 and the first clamping member 411 are at different heights or the moving part of the second vertical cylinder 52 and the first clamping member 411 are at different heights, the movement path of the first clamping member 411 is used as the movement path of the moving parts of the first vertical cylinder 51 and the second vertical cylinder 52. The movement stroke of the actuating part of the second vertical moving cylinder driving the first clamping mechanism to move at least includes the downward movement distance from the first accommodating area to the second accommodating area, including the upper dead point of the movement stroke of the actuating part of the second vertical moving cylinder being the first accommodating area, and the lower dead point being the second accommodating area, and also includes the one-way movement distance of the actuating part of the second vertical moving cylinder exceeding the maximum distance from the first accommodating area to the second accommodating area. The movement stroke of the first vertical moving cylinder is also explained similarly.

[0051] Reference Figure 2 , Figure 5 The frame 1 includes a frame body 10 and a guide frame 14. The frame body 10 and the guide frame 14 are limitedly arranged, and the guide frame 14 can move relative to the frame body 10. Figure 5 Part of the first clamping mechanism 41 is limited by the guide frame 14, part of the second vertical cylinder 52 is fixed to the guide frame 14, and the guide frame 14 can drive the second vertical cylinder 52 and the first clamping mechanism 41 to move, the moving part of the first vertical cylinder 51 is fixed to the guide frame 14, and the first vertical cylinder 51 can drive the guide frame 14 to move in the height direction, the moving part of the second vertical cylinder 52 is fixed to the first clamping mechanism 41, and the second vertical cylinder 52 can drive the first clamping mechanism 41 to move, through the two-level cooperation of the first vertical cylinder 51 and the second vertical cylinder 52, the first cooperation component has three working positions, which can replace the electric cylinder to complete the corresponding function.

[0052] When the actuating component of the first vertical moving cylinder 51 is at the upper dead center, the first clamping component 411 is located above the first accommodating area 92; when the actuating component of the first vertical moving cylinder 51 is at the lower dead center, the first clamping component 411 is located in the first accommodating area 92; when the actuating component of the second vertical moving cylinder 52 is at the upper dead center, the first clamping component 411 is located above the first accommodating area 92; when the actuating component of the second vertical moving cylinder 52 is at the lower dead center, the first clamping component 411 is located in the second accommodating area 91; the position control of the first clamping component 411 is completed by the different stop points of the actuating component of the first vertical moving cylinder 51 and the actuating component of the second vertical moving cylinder 52, thereby replacing the function of the electric cylinder and reducing costs.

[0053] The movement process is as follows: the initial position of the first clamping member 411 is at the height corresponding to the first accommodating area 92, the first clamping mechanism 41 clamps the loading tray in the first accommodating area 92, and the operating component of the first vertical cylinder 51 drives the first clamping mechanism 41 to move upward, and the loading tray in the second accommodating area 91 is separated from the loading tray in the first accommodating area 92. After waiting for the loading tray in the second accommodating area 91 to be removed, the first clamping mechanism 41 is driven back to the position of the first accommodating area 92 by the operating component of the first vertical cylinder 51, and the operating component of the second vertical cylinder 52 then drives the first clamping mechanism 41 to move, and the first clamping member 411 moves to the position corresponding to the second accommodating area 91, thereby completing the separation of the loading tray in the second accommodating area 91 and the loading tray in the first accommodating area 92, and the loading tray located in the first accommodating area 92 can be placed in the position of the second accommodating area 91, and the function of the air cylinder replaces the electric cylinder, thereby reducing the cost.

[0054] Combined with reference Figure 1 , Fig.12 , Figure 2 The circulating feeding device includes a second clamping mechanism 42, a first transverse movement mechanism 61, and a first lifting cylinder 71; part of the first transverse movement mechanism 61 is fixed to the frame 1, the first transverse movement mechanism 61 includes a first transverse movement cylinder 611, the second clamping mechanism 42 is fixed to the action part of the first transverse movement cylinder 611, the second clamping mechanism 42 is used to clamp the feeding tray placed in the second accommodating area 91, the first transverse movement mechanism 61 and the first lifting cylinder 71 are used for the lateral transfer of the feeding tray in the second accommodating area 91.

[0055] Part of the first lifting cylinder 71 is fixed to the actuating part of the first transverse movement cylinder 611, and the distance from the upper dead point to the lower dead point of the actuating part of the first lifting cylinder 71 is smaller than the height of the second accommodating area 91, and the upper dead point height of the actuating part of the first lifting cylinder 71 is smaller than the lower dead point height of the actuating part of the second vertical movement cylinder 52. Such an arrangement can reduce the probability of collision between the first clamping member and the second clamping member, thereby improving the stability of the circulating feeding device.

[0056] After the first clamping mechanism 41 lifts the loading tray in the first accommodating area 92, the second clamping mechanism 42 includes a second clamping member 421, and the second clamping member 421 is located at a height corresponding to the second accommodating area 91. Then the second clamping mechanism 42 clamps the loading tray in the second accommodating area 91, and the actuating component of the first lifting cylinder 71 drives the second clamping mechanism 42 to move, and the actuating component of the first transverse movement cylinder 611 moves the second clamping mechanism 42 transversely to other positions. In this way, the loading tray in the second accommodating area 91 can be transferred, and then the first clamping mechanism 41 can put down the loading tray in the first accommodating area 92.

[0057] The upward moving distance of the actuating part of the first lifting cylinder 71 is less than the height of the second accommodating area 91, and the upper dead point height of the actuating part of the first lifting cylinder 71 is less than the lower dead point height of the actuating part of the second vertical movement cylinder 52. In this way, the first lifting cylinder 71 is hardly collided with the second vertical movement cylinder 52, thus avoiding collision between the two when a program error occurs, thereby improving the reliability of the circulating feeding device.

[0058] Herein, the height of the second accommodating area refers to the height of the stacked loading trays placed in the second accommodating area and the first accommodating area, for example Figure 7 shown.

[0059] like Figure 1 , Fig.12 , Figure 8 As shown, the circulating feeding device includes a feeding area 12, a processing area 21 and a waiting area 22. Along the height direction of the circulating feeding device, the feeding area 12 corresponds to the processing area 21, and the feeding area 12 is located above the processing area 21. The feeding area is located above the waiting area. Along the length direction of the circulating feeding device, the processing area 21 is located in front of the waiting area 22. The feeding area is used to accommodate a feeding tray, and the feeding area is used to load the workpieces of the circulating device. The processing area and the waiting area can be used to accommodate more than two feeding trays for cyclic replenishment of the feeding trays in the feeding area.

[0060] The second accommodating area 91 and the first accommodating area 92 are located in the waiting area 22, the waiting area 22 includes the fifth accommodating area 93, and the fifth accommodating area 93 is located at the uppermost side of the waiting area 22. The processing area 21 includes the third accommodating area 94 and the fourth accommodating area 95, the third accommodating area 94 is located at the lowermost side of the processing area 21, and the fourth accommodating area 95 is located at the uppermost side of the processing area 21. The loading area 12 includes the seventh accommodating area 96.

[0061] If the number of loading trays in the processing area 21 and the waiting area 22 is greater than four, the positions of the various accommodating areas in the processing area 21 and the waiting area 22 still follow the corresponding rules. The second accommodating area 91 and the first accommodating area 92 are located in the waiting area 22. The waiting area 22 includes the fifth accommodating area 93, and the fifth accommodating area 93 is located at the uppermost side of the waiting area 22. The processing area 21 includes the third accommodating area 94 and the fourth accommodating area 95, and the third accommodating area 94 is located at the lowermost side of the processing area 21, and the fourth accommodating area 95 is located at the uppermost side of the processing area 21. The loading area 12 includes the seventh accommodating area 96, and the corresponding accommodating areas accommodate the corresponding loading trays, and the remaining loading trays are located between the accommodating areas.

[0062] The loading area 12, the processing area 21 and the waiting area 22 can all be used to accommodate loading trays. In the height direction of the circulating loading device, the heights of the loading trays placed in the processing area 21 and the waiting area 22 are lower than the height of the loading trays in the loading area 12. The above “the loading area 12 is located above the waiting area 22” means that in the height direction of the circulating loading device, the loading area 12 is actually above the processing area 21, that is, diagonally above the waiting area 22.

[0063] Combined with reference Figure 1 , Figure 8 and Fig.10 In the following, 4 loading trays are placed in the processing area and 4 loading trays are placed in the waiting area. In order to describe each loading tray more clearly, they are distinguished by "first, second", etc.

[0064] The circulating loading device includes a third loading tray 81, a second loading tray 82, a sixth loading tray 83, a fourth loading tray 84, a fifth loading tray 85, and a first loading tray 86. The third loading tray 81 is located in the second accommodating area 91, the second loading tray 82 is located in the first accommodating area 92, the sixth loading tray 83 is located in the fifth accommodating area 93, the fourth loading tray 84 is located in the third accommodating area 94, the fifth loading tray 85 is located in the fourth accommodating area 95, and the first loading tray 86 is located in the seventh accommodating area 96. The loading trays of the processing area 21 and the waiting area 22 are stacked respectively, and the loading tray of the loading area 12 is located above the processing area 21 and does not contact the processing area 21. As shown in the figure, the processing area 21 and the waiting area 22 each have four loading trays. The number of loading trays can be adjusted according to actual conditions, and the versatility is strong.

[0065] The circulating loading device has a material changing port 25, which is located on the side of the frame 1. The material changing port 25 can be below or on the side of the frame 1. When located on the side of the frame 1, the material changing port 25 is located in the front side of the processing area 21 or the rear side of the waiting area 22. Specifically, along the length direction of the circulating loading device, in the embodiment shown in the figure, the material changing port 25 is located on the rear side of the waiting area 22. After all workpieces are processed, the loading trays located in the processing area 21 and the waiting area 22 can be replaced from the material changing port 25. During replacement, the loading trays in the loading area 12 continue to be processed, thereby realizing the replacement of workpieces without stopping the machine and improving production efficiency.

[0066] When in use, the circulating loading device includes a loading tray, and the workpiece is located in the loading tray. The loading tray has an upper matching portion 801 and a lower matching portion 802. The length and width directions marked in the figure are the same as the length and width directions in the figure and the figure, and the placed loading tray is the same as the placement direction in the figure. Along the width direction, the upper matching portion 801 is located on the upper side of the two side surfaces of the loading tray, and the lower matching portion 802 is located on the lower side of the two side surfaces of the loading tray, which is used to cooperate with the clamping member. After cooperation, the loading tray can move with the clamping mechanism.

[0067] As an implementation method of the loading tray, Fig. 9 As shown, in this embodiment, the upper and lower sides of the loading tray are respectively provided with an upper mating portion 801 and a lower mating portion 802 for insertion, and the clamping member is inserted into the mating portion to clamp the loading tray, thereby moving it horizontally and in height.

[0068] Specifically, in this embodiment, the loading tray is a turnover box that can be stacked, the turnover boxes can be stacked and have an upper mating portion 801 and a lower mating portion 802 for insertion. Directly using the transferred turnover boxes for feeding can reduce the process of transferring the workpieces in the turnover boxes to a loading tray that is separately used for loading, thereby improving production efficiency.

[0069] Or in other embodiments, the clamping member is an inward groove, the upper mating part 801 and the lower mating part 802 are protrusions along the width direction, and the protrusions of the upper mating part 801 or the lower mating part 802 are deeply inserted into the groove of the clamping member. The clamping mechanism can clamp the loading tray and thus move it in the horizontal and height directions.

[0070] The loading tray placed in the second accommodating area 91 is defined as the third loading tray 81, and the third loading tray 81 includes an upper matching portion 801 and a lower matching portion 802. The loading tray placed in the first accommodating area 92 is defined as the second loading tray 82, and the second loading tray 82 includes an upper matching portion 801 and a lower matching portion 802. The first clamping mechanism 41 includes a first clamping member 411, and the second clamping mechanism 42 includes a second clamping member 421. The first clamping member 411 is used to extend into the upper matching portion 801 or the lower matching portion 802, and the second clamping member 421 is used to extend into the upper matching portion 801 or the lower matching portion 802; when the second vertical movement cylinder 52 is at the upper dead center and the first vertical movement cylinder 51 is at the lower dead center, the first clamping member 411 corresponds to the upper matching portion 801 of the third loading tray 81, and when the first lifting cylinder 71 is at the upper dead center, the second clamping member 421 corresponds to the lower matching portion 802 of the third loading tray 81.

[0071] During the movement, even if the moving part of the first lifting cylinder 71 is still above the second accommodating area 91 when the second clamping member returns to the position below the waiting area 22, the height of the second clamping mechanism 42 is still lower than the height of the first clamping mechanism 41, thereby avoiding collision between the two and improving the stability of the circulating feeding mechanism.

[0072] refer to Figure 1 , Fig.12 , Figure 8 In this embodiment, the circulating loading device includes a positioning tool 2, which is limited by the frame 10. The loading trays in the processing area 21 and the waiting area 22 are stacked on the positioning tool 2. After all the loading trays in the waiting area 22 and the processing area 21 are loaded, the AGV car or other mobile equipment can move the positioning tool 2 to replace all the loading trays at one time.

[0073] As another embodiment, the general structure and Figure 1 Similar, reference Figure 6 , Figure 6 The positions of the first vertical movement cylinder 51, the second vertical movement cylinder 52, the first clamping mechanism 41, the fifth clamping mechanism 45, etc. are briefly shown. Figure 1 , Figure 6 The circulating feeding device comprises: a first vertical moving cylinder 51, a second vertical moving cylinder 52, a first clamping mechanism 41, and a fifth clamping mechanism 45. The frame 1 has a second accommodating area 91 and a first accommodating area 92. Along the height direction of the circulating feeding device, the first accommodating area 92 is located above the second accommodating area 91. The second accommodating area 91 is used to accommodate a feeding tray, and the first accommodating area 92 is used to accommodate a feeding tray.

[0074] Part of the first vertical cylinder 51 is fixed to the frame 1, and parts of the first vertical cylinder 51 are fixed to the first clamping mechanism 41, and the action parts of the first vertical cylinder 51 can drive the first clamping mechanism 41 to move in the height direction; part of the second vertical cylinder 52 is fixed to the frame 1, and parts of the second vertical cylinder 52 are fixed to the frame 1, and parts of the second vertical cylinder 52 are fixed to the fifth clamping mechanism 45, and the action parts of the first vertical cylinder 51 can drive the fifth clamping mechanism 45 to move in the height direction;

[0075] The movement stroke of the fifth clamping mechanism 45 driven by the actuating part of the second vertical cylinder 52 at least includes the downward movement distance from the first accommodating area 92 to the second accommodating area 91, and the movement stroke of the first clamping mechanism 41 driven by the actuating part of the first vertical cylinder 51 at least includes the upward movement distance from the first accommodating area 92.

[0076] In this embodiment, when the actuating part of the first vertical moving cylinder 51 is at the upper dead center, the first clamping mechanism 41 includes a first clamping member 411, and the first clamping member 411 is located above the first accommodating area 92; when the actuating part of the first vertical moving cylinder 51 is at the lower dead center, the first clamping member 411 is located in the first accommodating area 92; the fifth clamping mechanism 45 includes a fifth clamping member 451, and when the actuating part of the second vertical moving cylinder 52 is at the upper dead center, the fifth clamping member 451 is located above the first accommodating area 92; when the actuating part of the second vertical moving cylinder 52 is at the lower dead center, the fifth clamping member 451 is located in the second accommodating area 91.

[0077] The specific movement process is as follows: the initial position of the first clamping member 411 is located at the height corresponding to the first accommodating area 92, the first clamping mechanism 41 clamps the loading tray in the first accommodating area 92, and the operating component of the first vertical cylinder 51 drives the first clamping mechanism 41 to move upward, and the loading tray in the second accommodating area 91 is separated from the loading tray in the first accommodating area 92. After waiting for the loading tray in the second accommodating area 91 to be removed, the fifth clamping member 451 is located at the same height as the first clamping member 411 or other height that can clamp the loading tray at this time, the fifth clamping mechanism 45 clamps the loading tray, and the first clamping mechanism 41 releases the loading tray. The operating component of the second vertical cylinder 52 drives the fifth clamping mechanism 45 to move, and the fifth clamping member 451 moves to the position of the first accommodating area 92, thereby completing the separation of the loading tray in the second accommodating area 91 and the loading tray in the first accommodating area 92, and the loading tray located in the first accommodating area 92 can be placed in the position of the second accommodating area 91, and the function of the electric cylinder is replaced by the cylinder, which reduces the cost.

[0078] In this embodiment, in combination with reference Figure 1 , Fig.12 , Figure 2The circulating feeding device includes a second clamping mechanism 42, a first transverse movement mechanism 61, and a first lifting cylinder 71; part of the first transverse movement mechanism 61 is fixed to the frame 1, the first transverse movement mechanism 61 includes a first transverse movement cylinder 611, the second clamping mechanism 42 is fixed to the action part of the first transverse movement cylinder 611, the second clamping mechanism 42 is used to clamp the feeding tray placed in the second accommodating area 91, the first transverse movement mechanism 61 and the first lifting cylinder 71 are used for the lateral transfer of the feeding tray in the second accommodating area 91.

[0079] Part of the first lifting cylinder 71 is fixed to the actuating part of the first transverse movement cylinder 611, and the distance from the upper dead point to the lower dead point of the actuating part of the first lifting cylinder 71 is smaller than the height of the second accommodating area 91, and the upper dead point height of the actuating part of the first lifting cylinder 71 is smaller than the lower dead point height of the actuating part of the second vertical movement cylinder 52. Such an arrangement can reduce the probability of collision between the first clamping member and the second clamping member, thereby improving the stability of the circulating feeding device.

[0080] After the first clamping mechanism 41 lifts the loading tray in the first accommodating area 92, the second clamping mechanism 42 includes a second clamping member 421, and the second clamping member 421 is located at a height corresponding to the second accommodating area 91. Then the second clamping mechanism 42 clamps the loading tray in the second accommodating area 91, and the actuating component of the first lifting cylinder 71 drives the second clamping mechanism 42 to move, and the actuating component of the first transverse movement cylinder 611 moves the second clamping mechanism 42 transversely to other positions. In this way, the loading tray in the second accommodating area 91 can be transferred, and then the first clamping mechanism 41 can put down the loading tray in the first accommodating area 92.

[0081] The upward moving distance of the actuating part of the first lifting cylinder 71 is less than the height of the second accommodating area 91, and the upper dead point height of the actuating part of the first lifting cylinder 71 is less than the lower dead point height of the actuating part of the second vertical movement cylinder 52. In this way, the first lifting cylinder 71 will not collide with the second vertical movement cylinder 52, thereby avoiding collision between the two when a program error occurs, thereby improving the reliability of the circulating feeding device.

[0082] like Figure 1 , Fig.12 , Figure 8The circulating loading device includes a loading area 12, a processing area 21 and a waiting area 22. Along the height direction of the circulating loading device, the loading area 12 corresponds to the processing area 21, and the loading area 12 is located above the processing area 21. Along the length direction of the circulating loading device, the processing area 21 is located in front of the waiting area 22. The second accommodating area 91 and the first accommodating area 92 are located in the waiting area 22. The waiting area 22 includes a fifth accommodating area 93, and the fifth accommodating area 93 is located at the uppermost side of the waiting area 22. The processing area 21 includes a third accommodating area 94 and a fourth accommodating area 95. The third accommodating area 94 is located at the lowermost side of the processing area 21, and the fourth accommodating area 95 is located at the uppermost side of the processing area 21. The loading area 12 includes a seventh accommodating area 96.

[0083] If the number of loading trays in the processing area 21 and the waiting area 22 is greater than four, the positions of the various accommodating areas in the processing area 21 and the waiting area 22 still follow the corresponding rules. The second accommodating area 91 and the first accommodating area 92 are located in the waiting area 22. The waiting area 22 includes the fifth accommodating area 93, and the fifth accommodating area 93 is located at the uppermost side of the waiting area 22. The processing area 21 includes the third accommodating area 94 and the fourth accommodating area 95, and the third accommodating area 94 is located at the lowermost side of the processing area 21, and the fourth accommodating area 95 is located at the uppermost side of the processing area 21. The loading area 12 includes the seventh accommodating area 96, and the corresponding accommodating areas accommodate the corresponding loading trays, and the remaining loading trays are located between the accommodating areas.

[0084] Combined with reference Figure 1 , Figure 8 The circulating loading device includes a third loading tray 81, a second loading tray 82, a sixth loading tray 83, a fourth loading tray 84, a fifth loading tray 85, and a first loading tray 86. The third loading tray 81 is located in the second accommodating area 91, the second loading tray 82 is located in the first accommodating area 92, the sixth loading tray 83 is located in the fifth accommodating area 93, the fourth loading tray 84 is located in the third accommodating area 94, the fifth loading tray 85 is located in the fourth accommodating area 95, and the first loading tray 86 is located in the seventh accommodating area 96. The loading trays of the processing area 21 and the waiting area 22 are stacked respectively, and the loading tray of the loading area 12 is located above the processing area 21 and does not contact the processing area 21. As shown in the figure, the processing area 21 and the waiting area 22 each have four loading trays. The number of loading trays can be adjusted according to actual conditions, and the versatility is strong.

[0085] The circulating loading device has a material changing port 25, which is located on the side of the frame 1. The material changing port 25 can be below or on the side of the frame 1. When located on the side of the frame 1, the material changing port 25 is located in the front side of the processing area 21 or the rear side of the waiting area 22. Specifically, along the length direction of the circulating loading device, in the embodiment shown in the figure, the material changing port 25 is located on the rear side of the waiting area 22. After all workpieces are processed, the loading trays located in the processing area 21 and the waiting area 22 can be replaced from the material changing port 25. During replacement, the loading trays in the loading area 12 continue to be processed, thereby realizing the replacement of workpieces without stopping the machine and improving production efficiency.

[0086] When in use, the circulating loading device includes a loading tray, and the workpiece is located in the loading tray. The loading tray has an upper matching portion 801 and a lower matching portion 802. The length and width directions marked in the figure are the same as the length and width directions in the figure and the figure, and the placed loading tray is the same as the placement direction in the figure. Along the width direction, the upper matching portion 801 is located on the upper side of the two side surfaces of the loading tray, and the lower matching portion 802 is located on the lower side of the two side surfaces of the loading tray, which is used to cooperate with the clamping member. After cooperation, the loading tray can move with the clamping mechanism.

[0087] As an implementation method of the loading tray, Fig. 9 As shown, in this embodiment, the upper and lower sides of the loading tray are respectively provided with an upper mating portion 801 and a lower mating portion 802 for insertion, and the clamping member is inserted into the mating portion to clamp the loading tray, thereby moving it horizontally and in height.

[0088] Specifically, in this embodiment, the loading tray is a turnover box that can be stacked, the turnover boxes can be stacked and have an upper mating portion 801 and a lower mating portion 802 for insertion. Directly using the transferred turnover boxes for feeding can reduce the process of transferring the workpieces in the turnover boxes to a loading tray that is separately used for loading, thereby improving production efficiency.

[0089] Or in other embodiments, the clamping member is an inward groove, the upper mating part 801 and the lower mating part 802 are protrusions along the width direction, and the protrusions of the upper mating part 801 or the lower mating part 802 are deeply inserted into the groove of the clamping member. The clamping mechanism can clamp the loading tray and thus move it in the horizontal and height directions.

[0090] The loading tray placed in the second accommodating area 91 is defined as the third loading tray 81, and the third loading tray 81 includes an upper matching portion 801 and a lower matching portion 802. The loading tray placed in the first accommodating area 92 is defined as the second loading tray 82, and the second loading tray 82 includes an upper matching portion 801 and a lower matching portion 802. The first clamping mechanism 41 includes a first clamping member 411, and the second clamping mechanism 42 includes a second clamping member 421. The first clamping member 411 is used to extend into the upper matching portion 801 or the lower matching portion 802, and the second clamping member 421 is used to extend into the upper matching portion 801 or the lower matching portion 802; when the second vertical movement cylinder 52 is at the upper dead center and the first vertical movement cylinder 51 is at the lower dead center, the first clamping member 411 corresponds to the upper matching portion 801 of the third loading tray 81, and when the first lifting cylinder 71 is at the upper dead center, the second clamping member 421 corresponds to the lower matching portion 802 of the third loading tray 81.

[0091] During the movement, even if the moving part of the first lifting cylinder 71 is still above the second accommodating area 91 when the second clamping member returns to the position below the waiting area 22, the height of the second clamping mechanism 42 is still lower than the height of the first clamping mechanism 41, thereby avoiding collision between the two and improving the stability of the circulating feeding mechanism.

[0092] refer to Figure 1 , Fig.12 , Figure 8 In this embodiment, the circulating loading device includes a positioning tool 2, which is limited by the frame 10. The loading trays in the processing area 21 and the waiting area 22 are stacked on the positioning tool 2. After all the loading trays in the waiting area 22 and the processing area 21 are loaded, the AGV car or other mobile equipment can move the positioning tool 2 to replace all the loading trays at one time.

[0093] The following takes 4 loading trays placed in the processing area and 4 loading trays placed in the waiting area as an example to describe the cyclic loading method in detail. In order to more clearly describe each loading tray, "first, second, etc." are used to distinguish them. For the convenience of description, the following names are defined only at the beginning of a cycle. In a cycle, the third loading tray 81, the second loading tray 82, the sixth loading tray 83, the fourth loading tray 84, the fifth loading tray 85, and the first loading tray 86 do not change their names after their positions change.

[0094] The cyclic feeding method of the cyclic feeding device comprises the following steps:

[0095] The processed loading tray is transferred to the top of the waiting area 22, and the loading tray of the waiting area 22 is lifted to receive the transferred loading tray;

[0096] Lift the loading tray of the processing area 21 and add a loading tray to the loading area 12;

[0097] Transfer the bottom material tray of the waiting area 22 to the bottom of the processing area 21;

[0098] Put down the other loading trays in the processing area 21, and put down the other loading trays in the waiting area 22.

[0099] After the workpieces on the loading tray of the loading area 12 are loaded, another cycle is performed to transfer the loading tray with the workpieces to the loading area 12. This cyclic loading method allows the loading trays to be stacked to improve space utilization.

[0100] like Figure 1 , Fig.12 The specific cyclic motion process of this embodiment is as follows:

[0101] In the state of the cycle start, the first clamping member 411 is located at a height corresponding to the first accommodating area 92, the second clamping member 421 is located at a position corresponding to the second accommodating area 91, the third clamping member 431 is located at a position corresponding to the third accommodating area 94, and the fourth clamping member 441 is located at a position corresponding to the seventh accommodating area 96, and four loading trays are stacked in the processing area and the waiting area 22 on the positioning tool 2;

[0102] The fourth clamping mechanism 44 clamps the first loading tray 86, and after the first loading tray 86 completes loading, the action component of the second transverse cylinder 621 drives the fourth clamping mechanism 44 to move horizontally above the waiting area 22;

[0103] The first clamping mechanism 41 clamps the second loading tray 82, and the action component of the first vertical movement cylinder 51 drives the first clamping mechanism 41 to move upward from the position corresponding to the first accommodating area 92, and the first loading tray 86 will contact the sixth loading tray 83, and the fourth clamping mechanism 44 releases the first loading tray 86, and the first loading tray 86 is stacked on the sixth loading tray 83, and the action component of the second transverse movement cylinder 621 drives the fourth clamping mechanism 44 to move, and the fourth clamping member 441 moves to the position corresponding to the seventh accommodating area 96;

[0104] The third clamping member 431 is at a height corresponding to the third accommodating area 94. After the third clamping mechanism 43 clamps the fourth loading tray 84, the action component of the first vertical movement cylinder 51 drives the third clamping mechanism 43 to move upward, and the fifth loading tray 85 moves into the seventh accommodating area 96. The fourth clamping mechanism 44 clamps the fifth loading tray 85.

[0105] The second clamping mechanism 42 clamps the third loading tray 81, and after the actuating component of the first lifting cylinder 71 drives the second clamping mechanism 42 to move upward, the actuating component of the first transverse cylinder 611 drives the second clamping mechanism 42 to move forward, and the third loading tray 81 moves to the processing area 21, and then the actuating component of the first lifting cylinder 71 drives the second clamping mechanism 42 to move downward, and the second clamping member 421 moves to the height corresponding to the third accommodating area 94, and the second clamping mechanism 42 releases the third loading tray 81, and the third loading tray 81 is placed on the positioning tooling 2;

[0106] The action component of the third vertical moving cylinder 53 drives the third clamping mechanism 43 to move downward, releasing the fourth loading tray 84, and the fourth loading tray 84 is stacked on the second loading tray 82;

[0107] The action component of the first vertical moving cylinder 51 drives the first clamping mechanism 41 to move downward, and the first clamping member 411 moves downward from the first accommodating area 92 to the first accommodating area 92. The action component of the second vertical moving cylinder 52 drives the first clamping mechanism 41 to move, and the first clamping member 411 moves from the first accommodating area 92 to the second accommodating area 91. The first clamping mechanism 41 releases the second loading tray 82, and the second loading tray 82 is placed on the positioning fixture 2.

[0108] The actuating component of the second vertical cylinder 52 drives the first clamping mechanism 41 to move, and the first clamping member 411 returns to the first accommodating area 92. The actuating component of the second horizontal cylinder 621 drives the second clamping mechanism 42 to move back, and the second clamping member 421 reaches the position corresponding to the second accommodating area 91. One cycle ends and the initial state is restored.

[0109] The order of the above steps can be adjusted, and it is only necessary to realize the circulation of the loading tray.

[0110] refer to Figure 6 , Figure 1 , Fig.12 The specific cyclic motion process of this embodiment is as follows:

[0111] In the state of the cycle start, the first clamping member 411 is located at a height corresponding to the first accommodating area 92, the second clamping member 421 is located at a position corresponding to the second accommodating area 91, the third clamping member 431 is located at a position corresponding to the third accommodating area 94, and the fourth clamping member 441 is located at a position corresponding to the seventh accommodating area 96, and four loading trays are stacked in the processing area and the waiting area 22 on the positioning tool 2;

[0112] The fourth clamping mechanism 44 clamps the first loading tray 86, and after the first loading tray 86 completes loading, the action component of the second transverse cylinder 621 drives the fourth clamping mechanism 44 to move horizontally above the waiting area 22;

[0113] The first clamping mechanism 41 clamps the second loading tray 82, and the action component of the first vertical movement cylinder 51 drives the first clamping mechanism 41 to move upward from the position corresponding to the first accommodating area 92, and the first loading tray 86 will contact the sixth loading tray 83, and the fourth clamping mechanism 44 releases the first loading tray 86, and the first loading tray 86 is stacked on the sixth loading tray 83, and the action component of the second transverse movement cylinder 621 drives the fourth clamping mechanism 44 to move, and the fourth clamping member 441 moves to the position corresponding to the seventh accommodating area 96;

[0114] The third clamping member 431 is at a height corresponding to the third accommodating area 94. After the third clamping mechanism 43 clamps the fourth loading tray 84, the action component of the first vertical movement cylinder 51 drives the third clamping mechanism 43 to move upward, and the fifth loading tray 85 moves into the seventh accommodating area 96. The fourth clamping mechanism 44 clamps the fifth loading tray 85.

[0115] The second clamping mechanism 42 clamps the third loading tray 81, and after the actuating component of the first lifting cylinder 71 drives the second clamping mechanism 42 to move upward, the actuating component of the first transverse cylinder 611 drives the second clamping mechanism 42 to move forward, and the third loading tray 81 moves to the processing area 21, and then the actuating component of the first lifting cylinder 71 drives the second clamping mechanism 42 to move downward, and the second clamping member 421 moves to the height corresponding to the third accommodating area 94, and the second clamping mechanism 42 releases the third loading tray 81, and the third loading tray 81 is placed on the positioning tooling 2;

[0116] The action component of the third vertical moving cylinder 53 drives the third clamping mechanism 43 to move downward, releasing the fourth loading tray 84, and the fourth loading tray 84 is stacked on the second loading tray 82;

[0117] The fifth clamping member 451 corresponds to the current height of the second loading tray 82, the fifth clamping mechanism 45 clamps the second loading tray 82, the first clamping mechanism 41 releases the second loading tray 82, the action component of the second vertical movement cylinder 52 drives the fifth clamping mechanism 45 to move, the second loading tray 82 moves from above the first accommodating area 92 to the second accommodating area 91, the fifth clamping mechanism 45 moves to release the second loading tray 82, and the second loading tray 82 is placed on the positioning fixture 2;

[0118] Finally, the actuating component of the second vertical cylinder 52 drives the fifth clamping mechanism 45 to move, and the fifth clamping member 451 returns to the top of the first accommodating area 92. The actuating component of the first vertical cylinder 51 drives the first clamping mechanism 41 to move, and the first clamping member 411 returns to the position corresponding to the first accommodating area 92. The actuating component of the second transverse cylinder 621 drives the second clamping mechanism 42 back to the position corresponding to the second accommodating area 91. One cycle ends and the initial state is restored.

[0119] When all the workpieces in the loading trays in the processing area 21 and the waiting area 22 are taken away, the entire positioning tool 2 can be replaced together with the loading trays. At this time, the loading trays in the seventh accommodating area 96 can continue to load materials. Before the loading trays in the seventh accommodating area 96 complete loading, a new batch of loading trays can be replaced and the cycle process can be repeated without shutting down the equipment, thereby improving production efficiency.

[0120] It should be understood that the number of loading trays can be adjusted according to actual needs. The number of loading trays in the processing area 21 and the waiting area 22 is the same and greater than two layers. The loading trays can be stacked to reduce the required volume and improve space utilization efficiency.

[0121] like Figure 1 As shown, the circulating feeding device also includes:

[0122] A first material unloading sensor 1321 and a second material unloading sensor 1322, wherein the first material unloading sensor 1321 corresponds to the position of the loading area 12, and the second material unloading sensor 1322 corresponds to the position of the rear side of the loading area 12. The first material unloading sensor 1321 is used to detect whether the fourth clamping mechanism 44 is clamping the loading tray in the loading area 12, and the second material unloading sensor 1322 is used to detect whether the fourth clamping mechanism 44 is clamping the loading tray when it is above the processing area 21, so as to avoid accidents such as failure to clamp the loading tray or the clamped loading tray falling, and can also be used to detect whether the fourth clamping mechanism 44 has moved to the correct position;

[0123] The first loading sensor 1311 and the second loading sensor 1312, the first loading sensor 1311 corresponds to the lower side of the processing area 21, and the second loading sensor 1312 corresponds to the lower side of the waiting area 22. The first loading sensor 1311 is used to detect whether the second clamping mechanism 42 clamps the loading tray at the position corresponding to the second accommodating area 91, and the second loading sensor 1312 is used to detect whether the second clamping mechanism 42 clamps the loading tray when it is in the third accommodating area 94, to avoid accidents such as the loading tray not being clamped or the clamped loading tray falling, and can also be used to detect whether the unloading component has moved into place, and if the positioning hole of the positioning tool 2 fails to correctly cooperate with the positioning pin of the frame 1, the sensor will be blocked, thereby avoiding the positioning tool 2 from being incorrectly placed on the frame 1.

[0124] The first layer number sensor 1331 and the second layer number sensor 1332, the first layer number sensor 1331 corresponds to the upper side of the processing area 21, and the second layer number sensor 1332 corresponds to the upper side of the waiting area 22. In this embodiment, the loading tray has four layers. The first layer number sensor 1331 can detect whether the loading tray of the processing area 21 has four layers, and the second layer number sensor 1332 can detect whether the loading tray of the waiting area 22 has four layers to avoid insufficient layers.

[0125] As another embodiment, refer to Fig.11 , Fig.10 The circulating feeding device includes a frame 1, a first clamping mechanism 41, a first vertical movement cylinder 51, a positioning tool 2, and a first lifting cylinder 71:

[0126] The frame 1 is used to install components and accommodate the loading tray. The frame 1 has a second accommodating area 91 and a first accommodating area 92. In the height direction of the circulating loading device, the first accommodating area 92 is located above the second accommodating area 91. The second accommodating area 91 is used to accommodate a loading tray. The first accommodating area 92 is used to accommodate a loading tray. The first clamping member 411 is located in the second accommodating area 91, and the second accommodating area 91 is located below the first accommodating area 92.

[0127] Part of the first clamping mechanism 41 is fixed to the action part of the first vertical cylinder 51, and part of the first vertical cylinder 51 is fixed to the frame 1. The first clamping mechanism 41 includes a first clamping member 411. When the action part of the first vertical cylinder 51 is located at the top dead center, the first clamping member 411 is located in the first accommodating area 92. When the action part of the first vertical cylinder 51 is located at the bottom dead center, the first clamping member 411 is located in the second accommodating area 91.

[0128] The loading tray is placed above the positioning fixture 2, and part of the first lifting cylinder 71 is fixed to the frame 1, and the positioning fixture 2 is fixed to the actuating component of the first lifting cylinder 71, and the actuating component of the first lifting cylinder 71 can drive the positioning fixture 2 to move. When the actuating component of the first lifting cylinder 71 moves to the upper dead center, the third loading tray 81 corresponds to the second accommodating area 91, and when the actuating component of the first lifting cylinder 71 moves to the lower dead center, the third loading tray 81 corresponds to the lower part of the second accommodating area 91, and the separation of the loading tray is completed by the cooperation of the first lifting cylinder 71 and the positioning fixture 2, and the vertical movement of the loading tray is completed by the cooperation of the first clamping mechanism 41 and the first vertical movement cylinder 51, so as to complete the separation of the loading tray in the second accommodating area 91 and the loading tray in the first accommodating area 92, and the loading tray located in the first accommodating area 92 can be placed in the position of the second accommodating area 91, and the function of using the cylinder instead of the electric cylinder is reduced, thereby reducing the cost.

[0129] like Fig.11The circulating feeding device includes a first transverse moving member, a second lifting cylinder 72, and a second clamping mechanism 42. Part of the first transverse moving member is fixed to the frame 1, and the first transverse moving member includes a first transverse moving cylinder 611. The actuating part of the first transverse moving cylinder 611 is fixed to the second clamping mechanism 42. Part of the lifting cylinder is fixed to the frame 1, and the actuating part of the lifting cylinder is fixed to the second clamping mechanism 42. The actuating part of the first transverse moving cylinder 611 can drive the second clamping mechanism 42 to move in the length direction, and the actuating part of the second lifting cylinder 72 can drive the second clamping mechanism 42 to move in the height direction. The upper dead point and the lower dead point of the actuating part of the second lifting cylinder 72 are both located below the second accommodating area. The actuating part of the second lifting cylinder 72 moves upward. When the second clamping member 421 moves to above the seventh accommodating area, the height is lower than the first accommodating area 92. The movement range of the first clamping mechanism 41 and the second clamping mechanism 42 is set in this way without interference, avoiding collisions caused by program errors, and improving the reliability of the circulating feeding mechanism.

[0130] like Fig.11 The circulating loading device includes a processing area 21 and a waiting area 22. Along the height direction of the circulating loading device and along the length direction of the circulating loading device, the processing area 21 is located at the front side of the waiting area 22, the second accommodating area 91 and the first accommodating area 92 are located in the waiting area 22, the waiting area 22 includes a fifth accommodating area 93, the fifth accommodating area 93 is located at the uppermost side of the waiting area 22, the second accommodating area 91 is located at the lowermost side of the waiting area 22, the first accommodating area 92 is located between the second accommodating area 91 and the fifth accommodating area 93, the processing area 21 includes a third accommodating area 94 and a fourth accommodating area 95, the third accommodating area 94 is located at the lowermost side of the processing area 21, and the fourth accommodating area 95 is located at the uppermost side of the processing area 21, the processing area 21 and the waiting area 22 are used to stack multiple loading trays, and space is saved by the circulating movement of the loading trays.

[0131] like Fig.11 The circulating feeding device includes a third lifting cylinder 73, a third clamping mechanism 43, a second transverse moving member, a third vertical moving member, and a fourth clamping mechanism 44;

[0132] The actuating part of the second lifting cylinder 72 is fixed to the third clamping mechanism 43, and part of the second transverse moving member is fixed to the frame 1. The second transverse moving member includes a second transverse moving cylinder 621. The actuating part of the second transverse moving cylinder 621 is fixed to the third clamping mechanism 43. The actuating part of the second transverse moving cylinder 621 can drive the third clamping mechanism 43 to move along the length direction. The moving position of the second clamping mechanism 42 corresponds to the processing area 21 and the waiting area 22. The actuating part of the third lifting cylinder 73 is located above the fourth accommodating area 95, and can drive the third clamping mechanism 43 to move along the height direction. When the actuating part of the third lifting cylinder 73 is located at the upper dead center, the third clamping member 431 corresponds to above the fourth accommodating area 95. When the actuating part of the second lifting cylinder 72 is at the lower dead center, the third clamping member 431 corresponds to the fourth accommodating area 95.

[0133] Part of the second vertical cylinder 52 is fixed to the frame 1, and the position of the second vertical cylinder 52 in the length direction corresponds to the processing area 21. The moving part of the second vertical cylinder 52 is fixed to the fourth clamping mechanism 44. The moving part of the second vertical cylinder 52 can drive the fourth clamping mechanism 44 to move. The frame 1 includes a sixth accommodating area 98. The sixth accommodating area 98 is higher than the third accommodating area 94 and lower than the seventh accommodating area 96 in the height direction. When the moving part of the second vertical cylinder 52 moves to the upper dead center, the fourth clamping member 441 corresponds to the sixth accommodating area 98. When the moving part of the second vertical cylinder 52 moves to the lower dead center, the fourth clamping member 441 corresponds to the third accommodating area 94. The loading tray can be circulated through the above-mentioned mechanism circulation, and the circulation is realized by the cylinder, and the cost is relatively low.

[0134] like Fig.11 and Fig.10 , the cycle process is as follows:

[0135] After the fifth loading tray 85 completes loading, the third loading tray 81 moves downward to below the second accommodating area, and the third loading tray 81 moves forward to below the fourth loading tray 84. The fourth loading tray 84 and the loading tray above it move upward as a whole. The fifth loading tray 85 moves to above the sixth loading tray 83 and is placed above the sixth loading tray 83. Then the second loading tray 82 moves to the second accommodating area 91, and the third loading tray 81 moves upward to the third accommodating area 94, completing the cycle.

[0136] The specific cycle process is as follows:

[0137] In the initial state, the first clamping member 411 is located at the first accommodating area 92, the second clamping member 421 is located at the seventh accommodating area, the third clamping member 431 is located above the fourth accommodating area 95, and the fourth clamping member 441 is located at the third accommodating area 94;

[0138] After the fifth loading tray 85 is loaded, the first clamping mechanism 41 clamps the second loading tray 82, and the fourth clamping mechanism 44 clamps the fourth loading tray 84;

[0139] The action component of the first vertical movement cylinder 51 drives the positioning fixture 2 to move downward, and the third loading tray 81 is located on the positioning fixture 2. The third loading tray 81 moves with the positioning fixture 2 to below the second accommodating area 91;

[0140] The action component of the third vertical movement cylinder 53 drives the fourth clamping mechanism 44 to move upward, the fourth loading tray 84 moves to the sixth accommodating area 98, and the fifth loading tray 85 moves to above the fourth accommodating area 95;

[0141] The third clamping mechanism 43 clamps the fifth loading tray 85, the action component of the third lifting cylinder 73 drives the third clamping mechanism 43 to move upward, the action component of the second transverse cylinder 621 drives the third clamping mechanism 43 to move backward to above the fifth accommodating area 93, the action component of the third lifting cylinder 73 drives the third clamping mechanism 43 to move downward, the fifth loading tray 85 moves to the fifth accommodating area 93, the fifth loading tray 85 is stacked above the sixth loading tray 83, and the third clamping mechanism 43 releases the fifth loading tray 85;

[0142] The second clamping mechanism 42 clamps the third loading tray 81, the action component of the second lifting cylinder 72 drives the second clamping mechanism 42 to move upward, the second clamping member 421 moves to the bottom of the second accommodating area, the action component of the first transverse cylinder 611 drives the second clamping mechanism 42 to move forward to the bottom of the processing area 21, the action component of the second lifting cylinder 72 drives the second clamping mechanism 42 to move downward, and the third loading tray 81 is placed on the positioning fixture 2;

[0143] The action component of the first lifting cylinder 71 drives the positioning fixture 2 to move upward, the third loading tray 81 moves to the third accommodating area 94, the fourth loading tray 84 is located in the sixth accommodating area 98, the fourth clamping mechanism 44 releases the fourth loading tray 84, the fourth loading tray 84 is stacked on the third loading tray 81, the action component of the first vertical movement cylinder 51 drives the first clamping member 411 to move downward, the second loading tray 82 moves to the second accommodating area 91, the first clamping mechanism 41 releases the second loading tray 82, and the second loading tray 82 is placed on the positioning fixture 2;

[0144] The action component of the third vertical movement cylinder 53 drives the fourth clamping mechanism 44 to move downward, and the fourth clamping member 441 moves to the position corresponding to the third accommodating area 94. The action component of the first vertical movement cylinder 51 drives the first clamping mechanism 41 to move, and the first clamping member 411 moves to the position corresponding to the first accommodating area 92. One cycle is completed and the state is restored to the initial state.

[0145] The above cycle can use a cylinder to achieve movement to multiple positions, and the overall cost of the cylinder is low, so the cost of the cycle feeding device is relatively low.

[0146] Fig.11 The structure of each component in can refer to Figure 1-Figure 9 The structure and function of each component are similar.

[0147] It should be noted that the above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. Although the present invention has been described in detail in this specification with reference to the above embodiments, it should be understood by those skilled in the art that the present invention can still be modified or replaced by equivalents, and all technical solutions and improvements thereof that do not depart from the spirit and scope of the present invention should be covered by the claims of the present invention.

Claims

1. A cyclic feeding method, characterized in that: The following steps are involved: Clamping a first loading tray (86) in the loading area, and laterally transferring the first loading tray (86) to above the waiting area (22); The first clamping mechanism (41) clamps the second loading tray (82) of the first accommodating area (92) of the waiting area (22), and the second loading tray (82) or the second loading tray (82) and the loading tray above move upward to receive the first loading tray (86) transferred to the above the waiting area (22); The loading tray of the processing area (21) located below the loading area moves upward, and a loading tray of the processing area (21) is moved to the loading area; Clamping a third loading tray (81) located in the second accommodating area (91), and transferring the third loading tray (81) to the processing area (21); The first clamping mechanism (41) clamps the second loading tray (82), and the second loading tray (82) moves downward to the second accommodating area (91) below the first accommodating area (92).

2. The cyclic feeding method according to claim 1, characterized in that: The first clamping mechanism (41) clamps the loading tray of the first accommodating area (92) of the waiting area (22) and moves it upward, and the loading tray of the first accommodating area (92) or the loading tray of the first accommodating area (92) and the loading tray above it are transferred to the first loading tray (86) above the waiting area (22) including the following steps: The first clamping mechanism (41) clamps the second loading tray (82) of the first accommodating area (92) of the waiting area (22); The action component of the first driving cylinder drives the first clamping mechanism (41) to move upward, so that the second loading tray (82) or the second loading tray (82) and the loading tray above it are transferred to the first loading tray (86) above the waiting area (22); The fourth clamping mechanism (44) releases the first loading tray (86), and the first loading tray (86) is placed on the second loading tray (82) or on a loading tray above the second loading tray (82); The fourth clamping mechanism (44) moves forward, and the fourth clamping member (441) moves to a position corresponding to the loading area.

3. The cyclic feeding method according to claim 1 or 2, characterized in that: The first clamping mechanism (41) clamps the second loading tray (82) and moves it downward to the second accommodating area (91) of the waiting area (22), comprising the following steps: The first clamping mechanism (41) clamps the second loading tray (82), and the action component of the first vertical movement cylinder (51) drives the first clamping mechanism (41) to move downward, and the second loading tray (82) moves from above the first accommodating area (92) to the first accommodating area (92); The action component of the second vertical movement cylinder (52) drives the first clamping mechanism (41) to move downward, and the second loading tray (82) moves downward from the first accommodating area (92) to the second accommodating area (91); The first clamping mechanism (41) releases the second loading tray (82).

4. The cyclic feeding method according to any one of claims 1 to 3, characterized in that: Clamping the first loading tray (86) of the loading area and laterally transferring the first loading tray (86) to the top of the waiting area (22) comprises the following steps: The fourth clamping mechanism (44) clamps the first loading tray (86), and the actuating component of the second transverse cylinder (621) drives the fourth clamping mechanism (44) to move horizontally, and the first loading tray (86) moves to above the waiting area (22).

5. The cyclic feeding method according to any one of claims 1 to 4, characterized in that: The loading tray of the processing area (21) located below the loading area moves upward, and moving a loading tray of the processing area (21) to the loading area comprises the following steps: The fourth clamping mechanism (43) clamps the fourth loading tray (84), the fourth loading tray (84) and the fifth loading tray (85) above the fourth loading tray (84) move upward, the fifth loading tray (85) moves to the loading area, and the fourth clamping mechanism (44) clamps the fifth loading tray (85).

6. The cyclic feeding method according to any one of claims 1 to 4, characterized in that: Clamping the third loading tray (81) located in the second accommodating area (91) and transferring the third loading tray (81) to the processing area (21) comprises the following steps: The second clamping mechanism (42) clamps the third loading tray (81), and after the actuating component of the first lifting cylinder (71) drives the second clamping mechanism (42) to move upward, the actuating component of the first transverse movement cylinder (611) drives the second clamping mechanism (42) to move transversely, and the third loading tray (81) moves to the processing area (21), and the actuating component of the first lifting cylinder (71) drives the second clamping mechanism (42) to move downward, and the third loading tray (81) moves to the third accommodating area (94) of the processing area (21).

7. The cyclic feeding method according to any one of claims 1 to 4, characterized in that: After the first clamping mechanism (41) clamps the second loading tray (82), and the second loading tray (82) moves downward to the second accommodating area (91) of the waiting area (22), the following steps are included: The fourth clamping mechanism (43) clamps the fourth loading tray (84), the fourth loading tray (84) moves downward, the fourth clamping mechanism (43) releases the fourth loading tray (84), and the fourth loading tray (84) is stacked on the second loading tray (82) located in the third accommodating area (94) of the processing area (21) below.

8. A cyclic feeding method, characterized in that: The following steps are involved: Clamping a second loading tray (82) located in a first accommodating area (92) of a waiting area (22), and clamping a fourth loading tray (84) located in a third accommodating area (94) of a processing area (21); The positioning tool (2) moves downward, the third loading tray (81) of the second accommodating area (91) located below the first accommodating area (92) moves downward, and the third loading tray (81) is moved horizontally to below the third accommodating area (94); Move the fourth loading tray (84) and the fifth loading tray (85) above the fourth loading tray (84) upwards, and move the fifth loading tray (85) horizontally to above the sixth loading tray (83) in the waiting area (22); The positioning tool (2) moves upward, moves the third loading tray (81) upward to the third accommodating area (94), and moves the second loading tray (82) downward to the second accommodating area (91) located below the first accommodating area (92).

9. The cyclic feeding method according to claim 8, characterized in that: The method of moving the fourth loading tray (84) and the fifth loading tray (85) above the fourth loading tray (84) upwards comprises: The fourth clamping mechanism (44) clamps the fourth loading tray (84), and the action component of the second vertical movement cylinder (52) drives the fourth clamping mechanism (44) to move upward, and the fourth loading tray (84) and the fifth loading tray (85) above the fourth loading tray (84) move upward, and the fifth loading tray (85) moves to above the fourth accommodating area (95).

10. The cyclic feeding method according to claim 8 or 9, characterized in that: The positioning tool (2) moves downward, the third loading tray (81) of the second accommodating area (91) moves downward, and the third loading tray (81) is moved horizontally to below the third accommodating area (94) including: The actuating component of the first lifting cylinder (71) drives the positioning tool (2) to move downward, and the third loading tray (81) follows the positioning tool (2) to move below the second accommodating area (91); the second clamping mechanism (42) clamps the third loading tray (81), and the actuating component of the second lifting cylinder (72) drives the second clamping mechanism (42) to move upward, and the third loading tray (81) is separated from the positioning tool (2), and the actuating component of the first transverse movement cylinder (611) drives the second clamping mechanism (42) to move transversely, so as to move the third loading tray (81) below the third accommodating area (94).

11. The cyclic feeding method according to any one of claims 8 to 10, characterized in that: The method of transversely moving the fifth loading tray (85) to above the sixth loading tray (83) includes: The fourth clamping mechanism (43) clamps the fifth loading tray (85), the actuating component of the third lifting cylinder (73) drives the fourth clamping mechanism (43) to move upward, and the fifth loading tray (85) is separated from the loading tray below the fifth loading tray (85), the actuating component of the second transverse movement cylinder (621) drives the fourth clamping mechanism (43) to move transversely, and the fifth loading tray (85) moves to above the fifth accommodating area (93), the actuating component of the third lifting cylinder (73) drives the fourth clamping mechanism (43) to move downward, and the fourth clamping mechanism (43) releases the fifth loading tray (85), and the fifth loading tray (85) is stacked above the sixth loading tray (83).

12. The cyclic feeding method according to any one of claims 8 to 11, characterized in that: The positioning tool (2) moves upward, the third loading tray (81) moves upward, and the second loading tray (82) moves downward to the second accommodating area (91) located below the first accommodating area (92), including: The actuating component of the first lifting cylinder (71) drives the positioning tool (2) to move upward, the third loading tray (81) moves to the third accommodating area (94), the fourth loading tray (84) is located in the sixth accommodating area (98), the fourth clamping mechanism (44) releases the fourth loading tray (84), and the fourth loading tray (84) is stacked on top of the third loading tray (81); the actuating component of the first vertical movement cylinder (51) drives the first clamping member (411) to move downward, the second loading tray (82) moves to the second accommodating area (91), the first clamping mechanism (41) releases the second loading tray (82), and the second loading tray (82) is placed on the positioning tool (2).

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