Feeding equipment and feeding method

Abstract

The invention discloses feeding equipment and a feeding method. The feeding equipment comprises a base, a material storage assembly, a discharging mechanism, a first positioning mechanism, a second positioning mechanism and a suction mechanism, the material storage assembly is used for loading materials; the discharging mechanism is used for transferring materials in the material storage assembly to the first positioning mechanism. The first positioning mechanism is used for carrying out primary positioning on transferred materials; the suction mechanism is used for sucking materials in the first positioning mechanism and transferring the materials to the second positioning mechanism. And the second positioning mechanism is used for carrying out secondary positioning on the transferred materials. According to the automatic feeding device, in the automatic feeding process of the materials, matching of the material suction structure and the secondary positioning structure is designed, accurate positioning after the materials are fed is achieved, and feeding abnormities caused by inaccurate feeding positioning are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and in particular to a feeding device and a feeding method. Background Art

[0002] With the development of industrial automation, the efficiency and accuracy of manual loading operations in the production process of some materials such as intelligent power devices can no longer meet the requirements of large-scale and high-efficiency production. Therefore, the development of automatic loading devices has become one of the key technologies to improve production efficiency and reduce costs.

[0003] The existing automatic feeding device generally has the functions of feeding, transporting and positioning, which can replace manual work to complete the automatic feeding process. The positioning function is a very important link in the feeding process, ensuring that the material can reach the correct position after feeding, which is the basis for subsequent production and processing. However, the positioning function of the existing automatic feeding device is not accurate enough, and feeding anomalies caused by inaccurate positioning function often occur. Summary of the invention

[0004] The purpose of the present invention is to provide a feeding device and a feeding method, aiming to solve the problem that inaccurate material positioning may occur in the existing feeding device during the feeding and unloading process.

[0005] In order to solve the above technical problems, the object of the present invention is achieved through the following technical solutions: providing a feeding device, comprising: a base and a material storage assembly arranged on the base, a discharge mechanism, a first positioning mechanism, a second positioning mechanism and a suction mechanism;

[0006] The material storage component is used for loading materials;

[0007] The material discharge mechanism is used to transfer the material in the material storage assembly to the first positioning mechanism;

[0008] The first positioning mechanism is used to perform a primary positioning of the transferred material;

[0009] The suction mechanism is used to suck the material in the first positioning mechanism and transfer it to the second positioning mechanism;

[0010] The second positioning mechanism is used for performing secondary positioning on the transferred material.

[0011] Furthermore, the material storage assembly comprises:

[0012] A material rack is arranged in an inclined manner and is used to place a plurality of material tubes, wherein the material tubes are used to load materials;

[0013] The driving part is arranged on the base and is used to drive the material rack to move so that each material tube on the material rack can correspond to the discharge port of the discharge mechanism.

[0014] Furthermore, the discharging mechanism comprises:

[0015] A discharge part, with a discharge port, one side of which is in contact with the material storage component and receives the material transported by the material storage component through the discharge port;

[0016] A first material detection component is disposed on a side of the material discharge portion abutting against the material storage component, and is used to detect whether there is material to be dropped in the material storage component;

[0017] A second material detection component is disposed on a side of the material discharge portion away from the material storage component, and is used to detect whether there is material to be transported in the material storage component;

[0018] The material limiting component is arranged on a side of the discharge portion away from the material storage component, and is used to block or release the material at the discharge port.

[0019] Furthermore, the first positioning mechanism comprises:

[0020] A first positioning frame, fixedly mounted on the base;

[0021] A first docking platform is slidably mounted on the first positioning frame in a vertical direction, and a first docking position adapted for placing the material is provided on the top of the first docking platform;

[0022] A first material sensing photoelectric device is disposed on the first docking position and is used to detect whether there is material on the first docking position;

[0023] The first lifting assembly is arranged on the base or the first positioning frame and connected to the first docking platform, and is used to drive the first docking platform to slide upward to the material suction position of the suction mechanism.

[0024] Furthermore, the suction mechanism comprises:

[0025] A fixing frame, fixedly mounted on the base;

[0026] A translation assembly is arranged on a base or a fixed frame and can move in a horizontal direction;

[0027] A suction component, mounted on the translation component and used to suck the material on the first positioning mechanism;

[0028] The translation assembly is used to drive the suction assembly to move horizontally to above the second positioning mechanism.

[0029] Furthermore, the second positioning mechanism comprises:

[0030] A second positioning frame, fixedly mounted on the base;

[0031] A second docking platform is slidably mounted on the second positioning frame in a vertical direction, and a second docking position adapted for placing the material is provided on the top of the second docking platform;

[0032] The second material sensing photoelectric device is arranged at the second connection position;

[0033] A second lifting assembly is disposed on the base or the second positioning frame and connected to the second docking platform, and is used to drive the second docking platform to slide upward to the discharge position of the suction mechanism;

[0034] The shaping part is located at one side of the second docking platform and can extend along the moving direction of the suction mechanism to shape and correct the material placed on the second docking platform.

[0035] The embodiment of the present invention further provides a feeding method, which is applied to the feeding device as described above, and the feeding method comprises:

[0036] The material is slid down to the material discharge mechanism through the material storage component;

[0037] Controlling the materials to be transferred to the first positioning mechanism in sequence through the material discharge mechanism;

[0038] Positioning the transferred material once by using the first positioning mechanism;

[0039] The material in the first positioning mechanism is sucked by the suction mechanism and transferred to the second positioning mechanism;

[0040] The transferred material is secondarily positioned by the second positioning mechanism.

[0041] Furthermore, the step of positioning the transferred material once by the first positioning mechanism includes:

[0042] In response to the material presence sensing information of the first material sensing photoelectric sensor, determining that there is material at the first docking position of the first docking station;

[0043] Controlling the first lifting assembly to drive the first docking platform to slide upward to the material suction position of the suction mechanism;

[0044] In response to the photoelectric material-free sensing information of the first material sensing device, determining that the material on the first docking position of the first docking station has been taken away by the suction mechanism;

[0045] The first lifting assembly is controlled to drive the first docking platform to slide downward and reset, and wait for new material sensing information.

[0046] Furthermore, the step of sucking the material in the first positioning mechanism by the suction mechanism and transferring it to the second positioning mechanism includes:

[0047] Controlling the first positioning mechanism to slide upward to the material suction position of the suction component, and sucking the material through the suction force of the suction component;

[0048] Controlling the translation assembly to drive the suction assembly to move the material horizontally to above the second positioning mechanism;

[0049] The suction component is controlled to place the material on the second positioning mechanism.

[0050] Furthermore, the step of performing secondary positioning on the transferred material by the second positioning mechanism includes:

[0051] When the suction mechanism is located above the second positioning mechanism, the second lifting assembly is controlled to drive the second docking platform to slide upward to the discharge position of the suction mechanism;

[0052] Controlling the suction mechanism to put down the material, and moving and resetting to the suction position of the suction mechanism after putting down the material;

[0053] In response to the material presence sensing information of the second material sensing photoelectric sensor, determining that there is material at the second docking position of the second docking station;

[0054] Controlling the second lifting assembly to drive the second docking platform to slide downward and reset;

[0055] The shaping part is controlled to extend along the moving direction of the suction mechanism and to shape and correct the material placed on the second docking table so that the material is accurately positioned in the second docking position.

[0056] The beneficial effects of the embodiments of the present invention are as follows: in the process of automatic material feeding, the material suction structure and the secondary positioning structure are designed to cooperate to achieve accurate positioning of the material after feeding, thereby reducing feeding anomalies caused by inaccurate feeding positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0058] Figure 1 A schematic diagram of the overall structure of the feeding equipment provided in an embodiment of the present invention.

[0059] Figure 2The embodiment of the present invention provides Figure 1 Schematic diagram of the structure of local A in the figure.

[0060] Figure 3 A schematic structural diagram of a material storage assembly provided in an embodiment of the present invention.

[0061] Figure 4 A schematic diagram of the top structure of a feeding device provided in an embodiment of the present invention.

[0062] Figure 5 The embodiment of the present invention provides Figure 4 Schematic diagram of the structure of part B in the figure.

[0063] Figure 6 A schematic diagram of a first positioning mechanism and a suction mechanism provided in an embodiment of the present invention.

[0064] Figure 7 A schematic structural diagram of a second positioning mechanism provided in an embodiment of the present invention.

[0065] Figure 8 A schematic flow chart of a feeding method provided in an embodiment of the present invention.

[0066] Fig. 9 A schematic diagram of a sub-process of a feeding method provided in an embodiment of the present invention.

[0067] Fig.10 A schematic diagram of another sub-process of the feeding method provided in an embodiment of the present invention.

[0068] Fig.11 A schematic diagram of another sub-process of the feeding method provided in an embodiment of the present invention.

[0069] Description of the symbols in the figure:

[0070] 1. Base;

[0071] 2. Material storage assembly; 21. Material rack; 22. Material pipe; 211. Material; 23. Support frame; 24. Horizontal moving part; 25. Tilt moving part;

[0072] 3. Discharging mechanism; 31. Discharging part; 311. Discharging port; 32. First optical fiber sensor; 33. Second optical fiber sensor; 34. Third optical fiber sensor; 35. Fourth optical fiber sensor; 36. Material pressing cylinder; 37. Material blocking cylinder;

[0073] 4. First positioning mechanism; 41. First positioning frame; 42. First docking station; 43. First material induction photoelectric; 44. First lifting assembly;

[0074] 5. Second positioning mechanism; 51. Second positioning frame; 52. Second docking station; 53. Second material induction photoelectric; 54. Second lifting assembly; 55. Shaping unit;

[0075] 6. Suction mechanism; 61. Fixed frame; 62. Translation assembly; 63. Vacuum assembly; 64. Suction nozzle. DETAILED DESCRIPTION

[0076] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0077] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or mechanisms, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, mechanisms and / or combinations thereof.

[0078] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0079] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0080] like Figure 1 , Figure 2 and Figure 3 , an embodiment of the present invention provides a feeding device, comprising: a base 1 and a material storage assembly 2 arranged on the base 1, a discharge mechanism 3, a first positioning mechanism 4, a second positioning mechanism 5 and a suction mechanism 6;

[0081] The material storage component 2 is used to load materials 211;

[0082] The material discharge mechanism 3 is used to transfer the material 211 in the material storage assembly 2 to the first positioning mechanism 4;

[0083] The first positioning mechanism 4 is used to position the transferred material 211 once;

[0084] The suction mechanism 6 is used to suck the material 211 in the first positioning mechanism 4 and transfer it to the second positioning mechanism 5;

[0085] The second positioning mechanism 5 is used for performing secondary positioning on the transferred material 211 .

[0086] In this embodiment, the material storage component 2 can transport the material 211 to the discharge mechanism 3 by sliding or transporting. The discharge mechanism 3 is used to discharge the material 211 one by one onto the first positioning mechanism 4. The first positioning mechanism 4 is used to receive the material 211 placed by the discharge mechanism 3 and perform a positioning once to ensure the accuracy of the position of the material 211 on the first positioning mechanism 4, and then the material 211 is sucked from the first positioning mechanism 4 by the suction mechanism 6. At this time, the material 211 positioned on the first positioning mechanism 4 is more easily and stably sucked away, and it is also ensured that the suction mechanism 6 can maintain stability during the process of transferring the material 211 to the second positioning mechanism 5; after the suction mechanism 6 transfers the material 211 to the second positioning mechanism 5, it is positioned again by the second positioning mechanism 5. The material 211 positioned on the second positioning mechanism 5 is also easier to be taken away by subsequent links (i.e., subsequent processing links). At this point, the loading link of this embodiment is completed.

[0087] In this embodiment, during the automatic feeding process of the material 211, the material 211 suction structure and the secondary positioning structure are designed to cooperate, so as to achieve accurate positioning of the material 211 after feeding, thereby reducing feeding abnormalities caused by inaccurate feeding positioning.

[0088] like Figure 3 As shown, the material storage component 2 of the present application is described in detail below.

[0089] In one embodiment, the material storage assembly 2 includes:

[0090] The material rack 21 is arranged in an inclined manner and is used to place a plurality of material tubes 22, and the material tubes 22 are used to load materials 211;

[0091] The driving unit is disposed on the base 1 and is used to drive the material rack 21 to move so that each material tube 22 on the material rack 21 can correspond to the discharge port 311 of the discharge mechanism 3 .

[0092] In this embodiment, the material rack 21 is composed of multiple wall panels to form a material storage tank, and the material storage tank can hold multiple material tubes 22 stacked in a matrix arrangement, and the material tubes 22 are placed at an angle, and the materials 211 in the material tubes 22 can slide down by gravity. When loading, the material rack 21 is driven by the driving part to move, so that the material tube 22 that needs to be loaded corresponds to the discharge port 311 of the discharge mechanism 3, so as to load the material. It can be understood that in the connection and matching relationship between the discharge mechanism 3 and the material storage assembly 2, the discharge mechanism 3 can limit the material 211 of each material tube 22 from sliding down, and the discharge port 311 can correspond to one of the material tubes 22, so that the material 211 of one of the material tubes 22 can slide down.

[0093] Specifically, the driving part includes a support frame 23, a horizontal moving member 24 and an inclined moving member 25, the horizontal moving member 24 is installed on the base 1, the support frame 23 is installed on the horizontal moving member 24, the inclined moving member 25 is installed on the support frame 23, and the material rack 21 is installed on the support frame 23; based on this, the horizontal moving member 24 can drive the support frame 23, the inclined moving member 25 and the material rack 21 to move in the horizontal direction at the same time, and the inclined moving member 25 can drive the material rack 21 to move in the inclined direction (perpendicular to the placement direction of the material rack 21), that is, the material rack 21 can be driven to drive each material pipe 22 to move, so that different material pipes 22 can correspond to the discharge port 311, so as to realize the demand of switching from empty material pipes 22 to material pipes 22.

[0094] Specifically, the horizontal moving member 24 may adopt a motor screw drive structure, and the tilting moving member 25 may adopt a cylinder lifting structure.

[0095] Combination Figures 2 to 5 In one embodiment, the material discharging mechanism 3 comprises:

[0096] The discharge part 31 is provided with a discharge port 311, one side of the discharge part 31 abuts against the material storage assembly 2 and receives the material 211 transported by the material storage assembly 2 through the discharge port 311;

[0097] The first material detection component is arranged on a side of the material discharge portion 31 abutting against the material storage component 2, and is used to detect whether there is material 211 to be dropped in the material storage component 2 (referring to the material pipe 22 currently dropping material);

[0098] A second material detection component is disposed on a side of the discharge portion 31 away from the material storage component 2, and is used to detect whether there is material 211 in the material storage component 2;

[0099] The material 211 limiting component is arranged on a side of the discharge portion 31 away from the material storage component 2 , and is used to block or release the material 211 at the discharge port 311 .

[0100] In this embodiment, the discharge portion 31 can be a plate-like structure, serving as a blocking plate of the material rack 21. The plate surface of the discharge portion 31 is perpendicular to the inclination angle of the material rack 21, and each material tube 22 on the material rack 21 abuts against the plate surface of the discharge portion 31, thereby preventing the material 211 in the material tube 22 from slipping. Only one discharge port 311 is opened on the discharge portion 31 to correspond to one of the material tubes 22 to enable the material 211 in the material tube 22 to slip.

[0101] In this embodiment, the first material detection component includes a first optical fiber sensor 32 and a second optical fiber sensor 33, and the first optical fiber sensor 32 and the second optical fiber sensor 33 are both arranged on one side of the discharge part 31 abutting against the material rack 21; the first optical fiber sensor 32 corresponds to the material tube 22 and is used to detect whether the current material tube 22 corresponds to the discharge port 311, so as to ensure that the material 211 in the current material tube 22 can continue to slide to the discharge port 311; the second optical fiber sensor 33 corresponds to the inside of the current material tube 22 and is used to detect whether there is any material 211 remaining in the inside of the current material tube 22. When it is detected that there is no material 211 in the current material tube 22, the material tube 22 switching information is triggered, and the driving part drives the material rack 21 to move, so that the next material tube 22 with material corresponds to the discharge port 311.

[0102] In this embodiment, the second material detection component includes a third optical fiber sensor 34 and a fourth optical fiber sensor 35, and the third optical fiber sensor 34 and the fourth optical fiber sensor 35 are both arranged on the side of the discharge part 31 away from the material rack 21; the material 211 limiting component includes a material pressing cylinder 36 and a material blocking cylinder 37; the second material detection component and the material 211 limiting component can cooperate and realize that the material 211 slides from the discharge port 311 to the first positioning mechanism 4 in an orderly manner. The specific process is as follows: the material 211 slides down from the discharge port 311, and the third optical fiber sensor 34 and the fourth optical fiber sensor 35 detect that there is material. At this time, the material pressing cylinder 36 extends out and presses the second material 211 that is about to fall, and the material blocking cylinder 37 retreats and causes the first material 211 to slide onto the first positioning mechanism 4. After the first material 211 slides down, the third optical fiber sensor 34 detects that there is no material, and the fourth optical fiber sensor 35 detects that there is material. At this time, the material blocking cylinder 37 extends out, and the material pressing cylinder 36 retracts. The second material 211 will slide down and be blocked by the material blocking cylinder 37, and then the third material 211 will continue to slide down from the material pipe 22; this reciprocating process can realize orderly material dropping; until the first material detection component detects that there is no material 211 in the current material pipe 22, that is, the third optical fiber sensor 34 and the fourth optical fiber sensor 35 both detect that there is no material 211, then the next material pipe 22 can be switched.

[0103] Combination Figure 6 As shown, in one embodiment, the first positioning mechanism 4 includes:

[0104] The first positioning frame 41 is fixedly mounted on the base 1;

[0105] The first docking platform 42 is slidably mounted on the first positioning frame 41 along the vertical direction, and a first docking position adapted for placing the material 211 is provided on the top of the first docking platform 42;

[0106] The first material sensing photoelectric sensor 43 is disposed on the first docking position and is used to detect whether there is a material 211 on the first docking position;

[0107] The first lifting assembly 44 is disposed on the base 1 or the first positioning frame 41 and connected to the first docking platform 42 , and is used to drive the first docking platform 42 to slide upward to the material suction position of the suction mechanism 6 .

[0108] In this embodiment, the first positioning frame 41 can be a column structure, which is fixed on the base 1 by screws. The first docking platform 42 is a block structure. The shape of the first docking position on the top of the first docking platform 42 is adapted to the shape of the bottom of the material 211. After the material 211 falls on the first docking position, it can be positioned and matched to ensure that the position of the material 211 is accurate after it falls; the first material sensing photoelectric 43 is embedded in the first docking position. When the material 211 falls on the first docking position, the material 211 can block the first material sensing photoelectric 43, thereby triggering a signal that the material 211 has fallen; after the signal that the material 211 has fallen is triggered, the first docking platform 42 is driven by the first lifting component 44 to slide upward to the suction position of the suction mechanism 6, so that the suction mechanism 6 can absorb and continue to circulate.

[0109] In this embodiment, the first positioning mechanism 4 can receive the material 211 dropped from the discharge port 311 , and the shape design of the first docking position enables the material 211 to fall to an accurate position, thereby ensuring the stability of subsequent suction by the suction mechanism 6 .

[0110] Combination Figure 6 As shown, in one embodiment, the suction mechanism 6 includes:

[0111] A fixing frame 61 is fixedly mounted on the base 1;

[0112] The translation assembly 62 is disposed on the base 1 or the fixed frame 61 and can move in the horizontal direction;

[0113] A suction assembly, mounted on the translation assembly 62 and used to suck the material 211 on the first positioning mechanism 4;

[0114] The translation assembly 62 is used to drive the suction assembly to move horizontally to above the second positioning mechanism 5 .

[0115] In this embodiment, the fixing frame 61 can be a column structure, which is fixed on the base 1 by screws; the translation component 62 can adopt a cylinder or screw drive structure, which can drive the suction component to move horizontally back and forth above the first positioning mechanism 4 and the second positioning mechanism 5; the suction component can include a suction nozzle 64 and a vacuum component 63, and the suction nozzle 64 and the vacuum component 63 are installed on the translation component 62 through a mounting frame, and the vacuum component 63 is used to provide suction to the suction nozzle 64.

[0116] When the suction component is located above the first positioning mechanism 4, the position of the suction nozzle 64 is the material suction position; the first docking platform 42 is driven to slide upward by the first lifting component 44 to reach the material suction position, and the material 211 on the first docking platform 42 is sucked by the suction nozzle 64; after the suction nozzle 64 sucks the material 211, the suction component is driven by the translation component 62 to move horizontally to above the second positioning mechanism 5. At this time, the suction nozzle 64 can reach the discharge position of the suction mechanism 6 for discharge, so that the material 211 falls to the second positioning mechanism 5.

[0117] Combination Figure 7 As shown, in one embodiment, the second positioning mechanism 5 includes:

[0118] The second positioning frame 51 is fixedly mounted on the base 1;

[0119] The second docking platform 52 is slidably mounted on the second positioning frame 51 along the vertical direction, and a second docking position adapted for placing the material 211 is provided on the top of the second docking platform 52;

[0120] The second material sensing photoelectric device 53 is disposed at the second connection position;

[0121] The second lifting assembly 54 is disposed on the base 1 or the second positioning frame 51 and connected to the second docking platform 52, and is used to drive the second docking platform 52 to slide upward to the discharge position of the suction mechanism 6;

[0122] The shaping portion 55 is located at one side of the second docking platform 52 , and can extend along the moving direction of the suction mechanism 6 to shape and correct the material 211 placed on the second docking platform 52 .

[0123] In this embodiment, the second positioning frame 51 can be a column structure, which is fixed on the base 1 by screws; the second docking platform 52 is a block structure, and the shape of the second docking position on the top of the second docking platform 52 is adapted to the shape of the bottom of the material 211. After the material 211 falls on the second docking position, it can be positioned and matched to ensure that the position of the material 211 is accurate after it falls; the second material sensing photoelectric 53 is set on the second docking position and is used to detect whether there is material 211 in the second docking position; the second lifting assembly 54 can drive the second docking platform 52 to slide upward to the discharge position of the suction mechanism 6 for material reception.

[0124] Specifically, when the suction mechanism 6 drives the material 211 to move above the second positioning mechanism 5, the second lifting assembly 54 drives the second docking platform 52 to slide upward to the discharge position of the suction mechanism 6, and then controls the suction force of the suction nozzle 64 of the suction mechanism 6 to pause, so that the material 211 is released and falls into the second docking position of the second docking platform 52, and the second material sensing photoelectric 53 detects that there is material on the second docking position, and then the second lifting assembly 54 drives the second docking platform 52 to slide downward and reset. More specifically, in order to further ensure the position accuracy of the material 211 at the second docking position, a protrusion is set on the side of the second docking position away from the shaping part 55, and the shaping part 55 extends along the moving direction of the suction mechanism 6 and shapes and corrects the material 211 placed on the second docking platform 52, so that the material 211 is accurately positioned between one side of the shaping part 55 and the protrusion. The shaping part 55 may adopt a cylinder telescopic structure, and the shape of the telescopic end of the shaping part 55 is adapted to the shape of the material 211 , so that the material 211 can be shaped and corrected better.

[0125] In this embodiment, the material 211 on the suction mechanism 6 can be received by the second positioning mechanism 5, and the material 211 can be accurately positioned on the second docking position through the shape design of the second docking position and the design of the shaping part 55, thereby completing the entire loading process, so that the subsequent links can accurately obtain the material 211 on the second docking position.

[0126] In one embodiment, a plurality of camera modules (not shown in the figure) may be disposed on the base 1 , and the plurality of camera modules may perform visual detection on the loading process of the material 211 , and issue an alarm when the loading of the material 211 is abnormal.

[0127] In this embodiment, two camera modules may be provided, one camera module is used to detect the material 211 on the first docking position and obtain a picture of the first material 211, compare the picture of the first material 211 with the first preset picture and output the position accuracy of the material 211, and when the position accuracy of the material 211 reaches the preset value, it is determined that the material 211 is accurately positioned. The other camera module is used to detect the material 211 on the second docking position and obtain a picture of the second material 211, compare the picture of the second material 211 with the second preset picture and output the position accuracy of the material 211, and when the position accuracy of the material 211 reaches the preset value, it is determined that the material 211 is accurately positioned.

[0128] See also Figure 8 The embodiment of the present invention further provides a feeding method, which is applied to the above feeding device. The feeding method includes steps S801 to S805:

[0129] S801, slide the material 211 to the material discharge mechanism 3 through the material storage component 2;

[0130] S802, controlling the material 211 to be transferred to the first positioning mechanism 4 in sequence through the material discharge mechanism 3;

[0131] S803, positioning the transferred material 211 once by the first positioning mechanism 4;

[0132] S804, the material 211 in the first positioning mechanism 4 is sucked by the suction mechanism 6 and transferred to the second positioning mechanism 5;

[0133] S805 , performing secondary positioning on the transferred material 211 through the second positioning mechanism 5 .

[0134] In this embodiment, based on the process of steps S801 to S805, automated loading is achieved, and through the designed material 211 suction structure and secondary positioning structure, accurate positioning of the material 211 after loading is achieved, reducing loading abnormalities caused by inaccurate loading positioning.

[0135] See also Fig. 9 , step S803 includes:

[0136] S901, in response to the material sensing information of the first material sensing photoelectric 43, it is determined that there is a material 211 at the first docking position of the first docking station 42;

[0137] S902, controlling the first lifting assembly 44 to drive the first docking platform 42 to slide upward to the suction position of the suction mechanism 6;

[0138] S903, in response to the material-free sensing information of the first material sensing photoelectric 43, it is determined that the material 211 on the first docking position of the first docking station 42 has been taken away by the suction mechanism 6;

[0139] S904, control the first lifting assembly 44 to drive the first docking platform 42 to slide downward to reset, and wait for new material sensing information.

[0140] In this embodiment, based on the process of steps S901 to S904, the first positioning mechanism 4 receives the material 211 dropped from the discharge port 311, and the shape design of the first docking position enables the material 211 to fall to the correct position, thereby ensuring the stability of the subsequent suction mechanism 6.

[0141] See also Fig.10 , step S804 includes:

[0142] S101, controlling the first positioning mechanism 4 to slide upward to the suction position of the suction component, and sucking the material 211 through the suction force of the suction component;

[0143] S102, controlling the translation assembly 62 to drive the suction assembly to drive the material 211 to move horizontally to above the second positioning mechanism 5;

[0144] S103 , controlling the suction component to place the material 211 on the second positioning mechanism 5 .

[0145] In this embodiment, based on the process of steps S101 to S103 , the material 211 can be stably transported from the first positioning mechanism 4 to the second positioning mechanism 5 .

[0146] See also Fig.11 , step S805 includes:

[0147] S1101, when the suction mechanism 6 is located above the second positioning mechanism 5, the second lifting assembly 54 is controlled to drive the second docking platform 52 to slide upward to the discharge position of the suction mechanism 6;

[0148] S1102, controlling the suction component to put down the material 211, and after putting down, moving and resetting to the suction position of the suction mechanism 6;

[0149] S1103, in response to the material sensing information of the second material sensing photoelectric 53, determining that there is material 211 at the second docking position of the second docking station 52;

[0150] S1104, controlling the second lifting assembly 54 to drive the second docking platform 52 to slide downward and reset;

[0151] S1105 , control the shaping part 55 to extend along the moving direction of the suction mechanism 6 and shape and correct the material 211 placed on the second docking platform 52 , so that the material 211 is accurately positioned in the second docking position.

[0152] In this embodiment, based on the process of steps S1101 to S1105, the material 211 on the suction mechanism 6 can be received by the second positioning mechanism 5, and the material 211 can be accurately positioned on the second docking position through the shape design of the second docking position and the design of the shaping part 55, thereby completing the entire loading process, so that the subsequent links can accurately obtain the material 211 on the second docking position.

[0153] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the method described above can refer to the corresponding process in the aforementioned device embodiment, and will not be repeated here.

[0154] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0155] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

[0156] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A feeding device, characterized in that: include: A base and a material storage assembly, a material discharge mechanism, a first positioning mechanism, a second positioning mechanism and a suction mechanism arranged on the base; The material storage component is used for loading materials; The material discharge mechanism is used to transfer the material in the material storage assembly to the first positioning mechanism; The first positioning mechanism is used to perform a primary positioning of the transferred material; The suction mechanism is used to suck the material in the first positioning mechanism and transfer it to the second positioning mechanism; The second positioning mechanism is used for performing secondary positioning on the transferred material.

2. The feeding equipment according to claim 1, characterized in that: The material storage assembly comprises: A material rack is arranged in an inclined manner and is used to place a plurality of material pipes, wherein the material pipes are used to load the materials; The driving part is arranged on the base and is used to drive the material rack to move so that each material tube on the material rack can correspond to the discharge port of the discharge mechanism.

3. The feeding equipment according to claim 1, characterized in that: The unloading mechanism comprises: A discharge part, with a discharge port, one side of which is in contact with the material storage component and receives the material transported by the material storage component through the discharge port; A first material detection component is disposed on a side of the material discharge portion abutting against the material storage component, and is used to detect whether there is material to be dropped in the material storage component; A second material detection component is disposed on a side of the material discharge portion away from the material storage component, and is used to detect whether there is material to be transported in the material storage component; The material limiting component is arranged on a side of the discharge portion away from the material storage component, and is used to block or release the material at the discharge port.

4. The feeding equipment according to claim 1, characterized in that: The first positioning mechanism comprises: A first positioning frame, fixedly mounted on the base; A first docking platform is slidably mounted on the first positioning frame in a vertical direction, and a first docking position adapted for placing the material is provided on the top of the first docking platform; A first material sensing photoelectric device is disposed on the first docking position and is used to detect whether there is material on the first docking position; The first lifting assembly is arranged on the base or the first positioning frame and connected to the first docking platform, and is used to drive the first docking platform to slide upward to the material suction position of the suction mechanism.

5. The feeding equipment according to claim 1, characterized in that: The suction mechanism comprises: A fixing frame, fixedly mounted on the base; A translation assembly is arranged on a base or a fixed frame and can move in a horizontal direction; A suction component, mounted on the translation component and used to suck the material on the first positioning mechanism; The translation assembly is used to drive the suction assembly to move horizontally to above the second positioning mechanism.

6. The feeding equipment according to claim 1, characterized in that: The second positioning mechanism comprises: A second positioning frame, fixedly mounted on the base; A second docking platform is slidably mounted on the second positioning frame in a vertical direction, and a second docking position adapted for placing the material is provided on the top of the second docking platform; The second material sensing photoelectric device is arranged at the second connection position; A second lifting assembly is disposed on the base or the second positioning frame and connected to the second docking platform, and is used to drive the second docking platform to slide upward to the discharge position of the suction mechanism; The shaping part is located at one side of the second docking platform and can extend along the moving direction of the suction mechanism to shape and correct the material placed on the second docking platform.

7. A feeding method, applied to the feeding equipment according to any one of claims 1 to 6, characterized in that: The feeding method comprises: The material is slid down to the material discharge mechanism through the material storage component; Controlling the materials to be transferred to the first positioning mechanism in sequence through the material discharge mechanism; Positioning the transferred material once by using the first positioning mechanism; The material in the first positioning mechanism is sucked by the suction mechanism and transferred to the second positioning mechanism; The transferred material is secondarily positioned by the second positioning mechanism.

8. The feeding method according to claim 7, applied to the feeding equipment according to claim 4, characterized in that: The step of positioning the transferred material once by the first positioning mechanism comprises: In response to the material presence sensing information of the first material sensing photoelectric sensor, determining that there is material at the first docking position of the first docking station; Controlling the first lifting assembly to drive the first docking platform to slide upward to the material suction position of the suction mechanism; In response to the photoelectric material-free sensing information of the first material sensing device, determining that the material on the first docking position of the first docking station has been taken away by the suction mechanism; The first lifting assembly is controlled to drive the first docking platform to slide downward and reset, and wait for new material sensing information.

9. The feeding method according to claim 7, applied to the feeding equipment according to claim 5, characterized in that: The step of sucking the material in the first positioning mechanism by the suction mechanism and transferring it to the second positioning mechanism comprises: Controlling the first positioning mechanism to slide upward to the material suction position of the suction component, and sucking the material through the suction force of the suction component; Controlling the translation assembly to drive the suction assembly to move the material horizontally to above the second positioning mechanism; The suction component is controlled to place the material on the second positioning mechanism.

10. The feeding method according to claim 7, applied to the feeding equipment according to claim 6, characterized in that: The step of performing secondary positioning on the transferred material by the second positioning mechanism comprises: When the suction mechanism is located above the second positioning mechanism, the second lifting assembly is controlled to drive the second docking platform to slide upward to the discharge position of the suction mechanism; Controlling the suction mechanism to put down the material, and moving and resetting to the suction position of the suction mechanism after putting down the material; In response to the material presence sensing information of the second material sensing photoelectric sensor, determining that there is material at the second docking position of the second docking station; Controlling the second lifting assembly to drive the second docking platform to slide downward and reset; The shaping part is controlled to extend along the moving direction of the suction mechanism and to shape and correct the material placed on the second docking table so that the material is accurately positioned in the second docking position.

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