Automatic feeding device

Abstract

The invention discloses an automatic feeding device. The automatic feeding device comprises a rack, a feeding mechanism and a grabbing robot. A mounting table is arranged on the rack; the feeding mechanism comprises a material frame and a material pushing module, the material frame is arranged above the mounting table, the material pushing module is arranged on the mounting table and adjacent to the material frame, the material frame is used for containing a plurality of materials, and the material pushing module is used for pushing the materials in the material frame to a preset height in the vertical direction; the grabbing robot is adjacent to the feeding mechanism and used for grabbing the materials located at the preset height and transferring the materials to a preset assembling area. According to the automatic feeding device, manual work can be replaced to complete automatic feeding, the labor intensity of workers is reduced, and the feeding efficiency is improved.

Description

Technical Field

[0001] The invention relates to the field of automation technology, and in particular to an automatic feeding device. Background Art

[0002] With the development of automation technology, air conditioners and related products have now achieved automated production and assembly. In the production of air conditioner wire controllers, machines can assemble the wire controller's panel, mounting plate, buttons, control panel, frame, back panel and other materials together. Currently, before the machine assembles the product, it still needs to be manually loaded. Since the product is mass-produced, workers need to correctly place the materials stacked in the material frame one by one on the machine's mold. Not only is the loading efficiency low, but there may also be problems such as missing or crooked placement, which affects the production efficiency of the product. Summary of the invention

[0003] The embodiment of the present invention provides an automatic feeding device to solve the problem of low efficiency of manual feeding.

[0004] An embodiment of the present invention provides an automatic feeding device, which includes:

[0005] a frame having a mounting platform thereon;

[0006] A feeding mechanism, comprising a material frame and a material pushing module, wherein the material frame is arranged above the mounting platform, and the material pushing module is arranged on the mounting platform and adjacent to the material frame, wherein the material frame is used to accommodate a plurality of materials, and the material pushing module is used to push the materials in the material frame to a preset height along a vertical direction;

[0007] A material grabbing robot is arranged adjacent to the feeding mechanism, and is used for grabbing the material at the preset height and moving it to a preset assembly area.

[0008] In the automatic loading device provided in an embodiment of the present invention, a accommodating cavity is formed on the inner side of the material frame and extends vertically through the upper and lower sides thereof, and the accommodating cavity is used for stacking a plurality of the materials in a vertical direction, and the pushing module is arranged below the material frame, wherein the pushing module extends into the accommodating cavity from bottom to top to push the material in the vertical direction to the preset height.

[0009] In the automatic loading device provided in an embodiment of the present invention, the pushing module includes a push rod and a lifting drive assembly, the push rod is vertically arranged below the material frame and vertically aligned with the accommodating cavity, the lifting drive assembly is arranged on the mounting platform and connected to the push rod, wherein the lifting drive assembly is used to drive the push rod to move up and down in the vertical direction so that the push rod extends into the accommodating cavity from bottom to top to push the material to the preset height.

[0010] In the automatic loading device provided in an embodiment of the present invention, the lifting drive assembly includes a guide rail, a slider and a lifting drive member, the guide rail is vertically arranged below the material frame, the slider is slidably arranged on the guide rail and is connected to the push rod, the lifting drive member is arranged on the guide rail and is transmission-connected to the slider, wherein the lifting drive member is used to drive the slider to slide along the guide rail to drive the push rod to move up and down in the vertical direction.

[0011] In the automatic loading device provided in an embodiment of the present invention, the feeding mechanism also includes a material changing module, which is arranged above the mounting table, and there are multiple material frames, each of which is arranged on the material changing module, wherein the material changing module is used to drive the multiple material frames to move one by one to the top of the pushing module.

[0012] In the automatic loading device provided in an embodiment of the present invention, the material changing module includes a turntable and a rotation driving assembly, the turntable is horizontally arranged above the mounting platform, the rotation driving assembly is arranged on the mounting platform and is transmission-connected to the turntable, a plurality of material frames are arranged on the turntable at intervals along the circumference of the turntable, the material pushing module is arranged below the turntable and horizontally alternate with the center of the turntable, wherein the rotation driving assembly is used to drive the turntable to rotate horizontally to move the plurality of material frames one by one to the top of the material pushing module.

[0013] In the automatic loading device provided in an embodiment of the present invention, the turntable is provided with a plurality of pushing ports at intervals along its circumference, the pushing module is provided below the pushing port, the material frame is detachably provided on the upper side of the turntable and is located above the pushing port, the accommodating cavity is vertically connected with the pushing port, and the upper side of the turntable is provided with limiting members protruding from the edges surrounding the pushing port, and the limiting members abut against the edges surrounding the horizontal direction of the material frame to limit the horizontal movement of the material frame.

[0014] In the automatic loading device provided in an embodiment of the present invention, the automatic loading device also includes a clamping assembly, a clamping portion is protruded horizontally from the outer side of the bottom of the material frame, and the clamping assembly is arranged on the upper side of the turntable and adjacent to the pushing port, wherein the clamping assembly is used to press the clamping portion against the upper side of the turntable to limit the vertical movement of the material frame.

[0015] In the automatic loading device provided in an embodiment of the present invention, the automatic loading device also includes a positioning mechanism, which includes a base and a propulsion module. The base is horizontally arranged above the mounting table and adjacent to the material grabbing robot, and a positioning block matching the side shape of the material is convexly provided on the upper side of the base. The propulsion module is arranged on the base and horizontally alternated with the positioning block to define a positioning area for placing the material, wherein the propulsion module is used to push the material in the positioning area horizontally toward the positioning block so that the side of the material abuts against the positioning block.

[0016] In the automatic loading device provided in an embodiment of the present invention, the pushing module includes a telescopic driving component and a positioning push plate, the positioning push plate is arranged on the upper side of the base and is horizontally spaced with the positioning block, the positioning area is arranged between the positioning push plate and the positioning block, the telescopic driving component is arranged on the base and is transmission-connected with the positioning push plate, the side of the positioning push plate facing the positioning block is consistent with the side shape of the material, wherein the telescopic driving component is used to drive the positioning push plate to push the material in the positioning area to move horizontally toward the positioning block so that the side of the material abuts against the positioning block.

[0017] The embodiment of the present invention provides an automatic feeding device, which includes a frame, a feeding mechanism and a grasping robot; the frame is provided with a mounting platform; the feeding mechanism includes a material frame and a pushing module, the material frame is provided above the mounting platform, the pushing module is provided on the mounting platform and adjacent to the material frame, wherein the material frame is used to accommodate multiple materials, and the pushing module is used to push the materials in the material frame to a preset height in the vertical direction; the grasping robot is provided adjacent to the feeding mechanism, and the grasping robot is used to grasp the materials at the preset height and move them to a preset assembly area. The automatic feeding device provided in the embodiment of the present application is provided with a material frame on the mounting platform to accommodate multiple materials at the same time, and a pushing module is provided to push the materials in the material frame to a preset height in the vertical direction, and the grasping robot grasps the materials at the preset height and moves them to the preset assembly area to realize automatic feeding, thereby reducing the manual labor and effectively improving the feeding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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.

[0019] Figure 1 A three-dimensional diagram of an automatic loading device provided by an embodiment of the present invention;

[0020] Figure 2 An application scenario diagram of the automatic feeding device provided by an embodiment of the present invention;

[0021] Figure 3 A side view of an automatic loading device provided by an embodiment of the present invention;

[0022] Figure 4 Another side view of the automatic loading device provided by the embodiment of the present invention;

[0023] Figure 5 A top view of an automatic loading device provided by an embodiment of the present invention;

[0024] Figure 6 A three-dimensional diagram of a material grabbing robot provided in an embodiment of the present invention;

[0025] Figure 7 An application scenario diagram of a material frame provided by an embodiment of the present invention;

[0026] Figure 8 A three-dimensional diagram of a material frame provided by an embodiment of the present invention;

[0027] Fig. 9 A top view of a material frame provided by an embodiment of the present invention;

[0028] Fig.10 A three-dimensional diagram of the material provided by the embodiment of the present invention;

[0029] Fig.11 A three-dimensional diagram of a material pushing module provided in an embodiment of the present invention;

[0030] Fig.12 A side view of a pusher module provided in an embodiment of the present invention;

[0031] Fig.13 A side view of a material changing module provided by an embodiment of the present invention;

[0032] Fig.14 A three-dimensional diagram of a material pushing module provided in an embodiment of the present invention;

[0033] Fig.15 A top view of a material pushing module provided in an embodiment of the present invention;

[0034] Fig.16 for Fig.14 A magnified view of part A;

[0035] Fig.17 A three-dimensional diagram of a clamping assembly provided in an embodiment of the present invention;

[0036] Fig.18 A cross-sectional view of a material pushing module provided by an embodiment of the present invention;

[0037] Fig.19 A three-dimensional diagram of a positioning mechanism provided by an embodiment of the present invention;

[0038] The reference numerals in the figures are:

[0039] 100, automatic feeding device; 10, frame; 11, mounting table; 20, feeding mechanism; 21, material frame; 210, accommodating chamber; 211, pressing part; 22, pushing module; 221, push rod; 222, lifting drive assembly; 2221, guide rail; 2222, slider; 2223, lifting drive member; 23, material changing module; 231, turntable; 2311, pushing port; 2312, limiter; 232, rotating drive Component; 30, material grabbing robot; 31, robotic arm; 32, adsorption component; 40, positioning mechanism; 41, base; 4101, positioning area; 410, positioning block; 42, propulsion module; 421, telescopic drive component; 422, positioning push plate; 50, clamping component; 51, positioning pin; 52, pressure block; 520, through hole; 53, spring; 200, material; 300, assembly equipment; 301, preset assembly area. DETAILED DESCRIPTION

[0040] 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.

[0041] The directional terms mentioned in the present invention, such as "upper", "lower", "front", "back", "left", "right", "inner", "outer", "side", etc., are only referenced to the directions of the attached drawings. Therefore, the directional terms used are used to illustrate and understand the present invention, but are not used to limit the present invention. In addition, in the drawings, structures with similar or identical structures are represented by the same reference numerals.

[0042] Reference Figures 1 to 19 For details, please refer to Figures 1 to 6, which shows an embodiment of the automatic loading device 100 provided by the present invention. The structure and working principle of the automatic loading device 100 are described in detail below in conjunction with the drawings of the specification. The automatic loading device 100 includes a frame 10, a feeding mechanism 20 and a grasping robot 30; the frame 10 is provided with a mounting table 11; the feeding mechanism 20 includes a material frame 21 and a pushing module 22, the material frame 21 is arranged above the mounting table 11, the pushing module 22 is arranged on the mounting table 11 and is adjacent to the material frame 21, wherein the material frame 21 is used to accommodate a plurality of materials 200, and the pushing module 22 is used to push the materials 200 in the material frame 21 to a preset height in the vertical direction; the grasping robot 30 is arranged adjacent to the feeding mechanism 20, and the grasping robot 30 is used to grasp the materials 200 at the preset height and move them to the preset assembly area 301.

[0043] In a specific implementation, the automatic loading device 100 is mainly used to load materials for the assembly equipment 300, such as Figure 2As shown, taking the assembly equipment 300 for assembling the wire controller as an example, the assembly equipment 300 can assemble materials 200 such as the wire controller panel, mounting plate, button, control panel, frame and back plate together. The preset assembly area 301 is an area on the assembly equipment 300, specifically the receiving slot area on the mold, and the assembly equipment 300 performs assembly operations on the material 200 in the assembly area. The automatic feeding device 100 of this embodiment continuously and cyclically provides the materials 200 to be assembled to the preset assembly area 301 on the assembly equipment 300. The automatic feeding device 100 mainly includes three parts: a frame 10, a feeding mechanism 20 and a grasping robot 30. The frame 10 is the main frame of the device, which is mainly used for the installation and connection of various mechanism components. A mounting table 11 is provided on the frame 10. The mounting table 11 is a platform structure, and its upper side is a plane, which can support the installation of various components. The feeding mechanism 20 includes a material frame 21 and a material pushing module 22. The material frame 21 is arranged above the mounting platform 11 as a whole. The material frame 21 is mainly used to accommodate multiple materials 200. The material frame 21 can accommodate multiple materials 200 at the same time. The material pushing module 22 is arranged on the mounting platform 11 and adjacent to the material frame 21. The material pushing module 22 is used to push the materials 200 in the material frame 21 to a preset height in the vertical direction. The preset height here is a set height, which is the height relative to the upper side of the mounting platform 11 or the height relative to the ground. The material pushing module 22 pushes the materials 200 one by one to the preset height by pushing the materials 200, so that the materials 200 are in a suitable position for the grasping robot 30 to grasp. The grasping robot 30 is arranged adjacent to the feeding mechanism 20. The grasping robot 30 can be directly arranged on the mounting platform 11, or it can be independently arranged outside the frame 10, which is not limited here. The material grabbing robot 30 is a robot with a multi-axis structure. The specific number of axes is not limited. A four-axis or six-axis robot can be used. The material grabbing robot 30 is controlled by programming. The loading program set by the material grabbing robot 30 is to grab the material 200 at a preset height and move the material 200 to the preset assembly area 301. The coordinates of the grabbing position and the material placing position are set in the loading program and the corresponding trajectory planning is formed. The robot grabs the material 200 above the material frame 21. The grabbing position coordinates can be set to the coordinates of the preset height position on the axis of the material frame 21, and the material placing position coordinates can be set to the coordinates of the location of the preset assembly area 301. The device will set a photoelectric or infrared sensor at the preset height to obtain whether the material 200 has reached the preset height to prevent the material grabbing robot 30 from running empty. In actual applications, the pushing module 22 pushes the material 200 in the material frame 21 to a preset height. The grabbing robot 30 senses that the material 200 has reached the preset height through a sensor set at the preset height. The grabbing robot 30 will accurately grab the material 200 at the preset height above the material frame 21 according to the set program. The robot can grab the material 200 by adsorption or clamping.After the robot grabs the material 200, it will accurately move the material 200 to the preset assembly area 301 on the assembly equipment 300, so that the material 200 enters the assembly process and the automatic loading is completed. Every time the pushing module 22 pushes a material 200 in the material frame 21 to a preset height, the grasping robot 30 grabs the material 200 at the preset height and moves it to the preset assembly area 301 of the device equipment for assembly on the assembly equipment 300, and thus the continuous cycle operation is realized, thereby realizing efficient automatic loading, and there is no need to manually place the materials 200 into the assembly equipment 300 one by one, thereby reducing the amount of manual labor.

[0044] The automatic loading device of this embodiment sets a material frame on the mounting table to accommodate multiple materials at the same time, and sets a pushing module to push the materials in the material frame to a preset height in the vertical direction. The material grabbing robot grabs the materials at the preset height and moves them to the preset assembly area to realize automatic loading, which reduces manual labor and effectively improves loading efficiency.

[0045] In one embodiment, referring to Figure 3 and Figure 4 as well as Figures 7 to 9A accommodating cavity 210 is formed on the inner side of the material frame 21 and extends vertically through the upper and lower sides thereof. The accommodating cavity 210 is used for stacking a plurality of the materials 200 in the vertical direction. The pushing module 22 is arranged below the material frame 21, wherein the pushing module 22 extends into the accommodating cavity 210 from bottom to top to push the materials 200 in the vertical direction to the preset height. In a specific implementation, a receiving cavity 210 is formed inside the material frame 21. The receiving cavity 210 extends vertically inside the material frame 21 and passes through the upper and lower sides of the material frame 21, that is, the top and bottom of the material frame 21 are transparent and open. The receiving cavity 210 can accommodate multiple materials 200 for stacking in the vertical direction, that is, the materials 200 are loaded into the receiving cavity 210 inside the material frame 21 by stacking in the vertical direction. The top opening of the material frame 21 is larger than the overall size of the material 200. The materials 200 can be stacked one by one from the top opening of the material frame 21 directly into the receiving cavity 210, and the bottom opening of the material frame 21 is smaller than the overall size of the material 200, so that the materials 200 will not fall. After the materials 200 are stacked in the receiving cavity 210, the side of the materials 200 in the horizontal direction is blocked by the side wall of the receiving cavity 210, and the materials 200 cannot move in the horizontal direction. The position of the materials 200 in the horizontal direction remains unchanged, and the materials 200 can only move in the vertical direction. The pushing module 22 is arranged below the material frame 21. The pushing module 22 extends from the bottom of the material frame 21 to the top into the accommodating chamber 210 inside the material frame 21, and pushes the materials 200 stacked in the material frame 21 in the vertical direction to a preset height. When the pushing module 22 pushes the materials 200, all the materials 200 move upward in the vertical direction at the same time. The material 200 stacked at the top in the accommodating chamber 210 reaches the preset height first, and the grasping robot 30 will grasp the material 200 at the preset height and move it to the preset assembly area 301. After the material 200 stacked at the top is taken away by the robot, the pushing module 22 continues to push up the materials 200 stacked below in the accommodating chamber 210 at the same time, so that the next material 200 is pushed to the preset height for the grasping robot 30 to grasp next time, thereby completing efficient automatic loading.

[0046] Further, refer to Figure 3 and Figure 4The pushing module 22 includes a pushing rod 221 and a lifting drive assembly 222. The pushing rod 221 is vertically arranged below the material frame 21 and vertically aligned with the accommodating chamber 210. The lifting drive assembly 222 is arranged on the mounting platform 11 and connected to the pushing rod 221. The lifting drive assembly 222 is used to drive the pushing rod 221 to move up and down in the vertical direction so that the pushing rod 221 extends from bottom to top into the accommodating chamber 210 to push the material 200 to the preset height. In a specific implementation, the pushing module 22 mainly includes a pushing rod 221 and a lifting drive assembly 222. The pushing rod 221 is a straight long rod structure. The pushing rod 221 is vertically arranged at the lower position of the material frame 21 as a whole, and is vertically aligned with the accommodating cavity 210 on the inner side of the material frame 21. The radial width of the pushing rod 221 is smaller than the radial width of the accommodating cavity 210. The pushing rod 221 can be extended into the accommodating cavity 210 and can be retracted up and down relative to the accommodating cavity 210. The lifting drive assembly 222 is arranged on the mounting platform 11 and is connected to the push rod 221. The lifting drive assembly 222 is used to drive the push rod 221 to move up and down in the vertical direction. Driven by the lifting drive assembly 222, the push rod 221 extends from the bottom of the material frame 21 to the accommodating chamber 210 from bottom to top to push the material 200 to a preset height. The push rod 221 supports the material 200 through the top and pushes it up. In order to push the material 200 so that the material 200 can remain stable, the top of the push rod 221 is designed as a planar structure to support the material 200. Driven by the lifting drive component 222, the push rod 221 pushes the material 200 stacked at the top in the accommodating chamber 210 to a preset height, and the grasping robot 30 grasps the material 200 at the preset height and moves it to the preset assembly area 301. After the material 200 stacked at the top is taken away by the robot, the lifting drive component 222 drives the push rod 221 to continue to push up the material 200 stacked at the bottom in the accommodating chamber 210, so that the next material 200 is pushed to the preset height for the grasping robot 30 to grasp next time, thereby completing efficient automatic loading.

[0047] Furthermore, refer to Fig.11 and Fig.12The lifting drive assembly 222 includes a guide rail 2221, a slider 2222 and a lifting drive member 2223. The guide rail 2221 is vertically arranged below the material frame 21. The slider 2222 is slidably arranged on the guide rail 2221 and connected to the push rod 221. The lifting drive member 2223 is arranged on the guide rail 2221 and is in transmission connection with the slider 2222. The lifting drive member 2223 is used to drive the slider 2222 to slide along the guide rail 2221 to drive the push rod 221 to move up and down in the vertical direction. In the specific implementation, the lifting drive assembly 222 includes a guide rail 2221, a slider 2222 and a lifting drive member 2223. The guide rail 2221 is a straight track structure. The guide rail 2221 is vertically arranged below the material frame 21 and is fixed to the frame 10. The slider 2222 is slidably arranged on the guide rail 2221 and is connected to the push rod 221. The lifting drive member 2223 is arranged on the guide rail 2221 and is in transmission connection with the slider 2222. The lifting drive member 2223 and the slider 2222 are specifically in transmission connection through a screw rod, and the lifting drive member 2223 specifically adopts a motor. Driven by the lifting drive member 2223, the slider 2222 can slide back and forth between the two ends of the guide rail 2221 along the axial direction of the guide rail 2221. The sliding of the slider 2222 drives the push rod 221 to realize lifting and moving in the vertical direction, so that the push rod 221 can extend from the bottom of the material frame 21 to the top into the accommodating chamber 210 to push the material 200 to a preset height.

[0048] In one embodiment, referring to Figure 1 , Figure 3 , Figure 4, the feeding mechanism 20 also includes a material changing module 23, the material changing module 23 is arranged above the mounting platform 11, and there are multiple material frames 21, each of which is arranged on the material changing module 23, wherein the material changing module 23 is used to drive multiple material frames 21 to move one by one to the top of the pushing module 22. In a specific implementation, the feeding mechanism 20 also includes a material changing module 23, the material changing module 23 is arranged above the mounting platform 11 as a whole, and there are multiple material frames 21, and the specific number of material frames 21 is not limited, each material frame 21 is connected and arranged on the material changing module 23, and the material changing module 23 is used to move multiple material frames 21 one by one to the top of the pushing module 22, and the pushing module 22 pushes the material 200 in the material frame 21 above it to a preset height, and cooperates with the material grabbing robot 30 to move the material 200 at the preset height to the preset assembly area 301. Since the amount of material 200 that can be accommodated in each material frame 21 is limited, when all the materials 200 in a material frame 21 full of materials 200 are completely removed with the cooperation of the pushing module 22 and the grasping robot 30, it is necessary to switch the material frame 21. The material changing module 23 can be used to move another material frame 21 full of materials 200 to the top of the pushing module 22 to complete the material frame 21 and switch. The pushing module 22 will then push the material 200 in the material frame 21 just moved and switched above it to a preset height, and cooperate with the grasping robot 30 to move the material 200 at the preset height to the preset assembly area 301, thereby completing the automatic material replacement of the material frame 21 and achieving efficient loading.

[0049] Further, refer to Fig.13 and Fig.14The material changing module 23 includes a turntable 231 and a rotation driving assembly 232, the turntable 231 is horizontally arranged above the mounting platform 11, the rotation driving assembly 232 is arranged on the mounting platform 11 and is transmission-connected to the turntable 231, a plurality of material frames 21 are arranged on the turntable 231 at intervals along the circumference of the turntable 231, the material pushing module 22 is arranged below the turntable 231 and horizontally alternate with the center of the turntable 231, wherein the rotation driving assembly 232 is used to drive the turntable 231 to rotate horizontally to move the plurality of material frames 21 one by one to the top of the material pushing module 22. In a specific implementation, the material changing module 23 includes a turntable 231 and a rotating drive member. The turntable 231 is a flat disc structure. The turntable 231 is horizontally arranged above the mounting platform 11 as a whole, and the rotating drive assembly 232 is arranged on the mounting platform 11 and is connected to the turntable 231 by transmission. The rotating drive assembly 232 can drive the turntable 231 to rotate clockwise or counterclockwise in the horizontal direction. A plurality of material frames 21 are arranged on the turntable 231 at intervals along the circumferential direction of the turntable 231. The material frames 21 are kept at an equal distance from each other, and the distance from each material frame 21 to the center of the disc is kept equal. The material pushing module 22 is arranged below the turntable 231 as a whole and keeps a certain distance from the center of the turntable 231 in the horizontal direction. In actual application, the pushing module 22 is located at a fixed position on the mounting table 11 and is adjacent to a material frame 21 on the turntable 231 above and below. The pushing module 22 pushes the material 200 in the material frame 21 above it to a preset height, and cooperates with the grabbing robot 30 to move the material 200 at the preset height to the preset assembly area 301. When all the materials 200 in a material frame 21 located above the pushing module 22 are loaded, the turntable 231 is driven to rotate in the horizontal direction by the rotating drive component 232. The movement of the turntable 231 drives the material frame 21 set on the turntable 231 to move synchronously, and all the material frames 21 move along the same circumferential direction, so that the material frame 21 above the pushing module 22 that has been loaded with materials 200 moves forward and is misaligned with the pushing module 22, and then a material frame 21 full of materials 200 moves forward to the top of the pushing module 22 and aligns with the pushing module 22. The pushing module 22 cooperates with the grabbing robot 30 to continue to complete the loading, thereby realizing automatic cycle switching of the material frame 21 and higher loading efficiency.

[0050] Further, refer to Fig.14 and Fig.15The turntable 231 is provided with a plurality of pushing ports 2311 at intervals along its circumference, the pushing module 22 is provided below the pushing port 2311, the material frame 21 is detachably provided on the upper side of the turntable 231 and above the pushing port 2311, the accommodating cavity 210 is vertically connected with the pushing port 2311, and a limiting member 2312 is protruded from the edges surrounding the pushing port 2311 on the upper side of the turntable 231, and the limiting member 2312 abuts against the edges surrounding the horizontal direction of the material frame 21 to limit the horizontal movement of the material frame 21. In a specific implementation, the turntable 231 is provided with a plurality of push openings 2311 at intervals along its circumference. The push openings are opening structures that penetrate the upper and lower sides of the turntable 231. The spacing between the push openings 2311 is equal and the distance to the center of the turntable 231 is equal. The push module 22 is disposed as a whole below the push openings 2311 and is aligned with the push openings 2311 in the vertical direction. The material frame 21 corresponding to the number of the push openings 2311 is detachably disposed on the upper side of the turntable 231 and above the push openings 2311. The accommodating cavity 210 inside the material frame 21 is vertically connected with the push openings 2311. The material frame 21 can be removed from the turntable 231 to fill the material 200. The upper side of the turntable 231 is provided with a stopper 2312 protruding around the edges of the push port 2311. The stopper 2312 is arranged around the push port 2311. The stopper 2312 abuts against the edges of the material frame 21 in the horizontal direction, forming a stopper for the material frame 21, and can limit the horizontal movement of the material frame 21 on the upper side of the turntable 231. In actual application, the pusher module 22 passes through the push port 2311 and extends into the accommodating cavity 210 inside the material frame 21, and pushes the material 200 stacked in the material frame 21 in the vertical direction to a preset height in the vertical direction. When the empty material frame 21 needs to be removed from the turntable 231, the material frame 21 can be pulled up in the vertical direction to move it to a height that is out of the stopper 2312, and then it can be removed from the turntable 231. When the material frame 21 filled with materials 200 needs to be loaded onto the turntable 231 , the material frame 21 is placed on the material pushing port 2311 along the vertical direction, and the side of the material frame 21 in the horizontal direction is kept consistent with the limiter 2312 to achieve the installation of the material frame 21 .

[0051] Furthermore, refer to Figures 13 to 15The automatic loading device 100 further includes a clamping assembly 50. The outer side of the bottom of the material frame 21 is provided with a clamping portion 211 protruding in the horizontal direction. The clamping assembly 50 is arranged on the upper side of the rotating disk 231 and is adjacent to the pushing port 2311. The clamping assembly 50 is used to press the clamping portion 211 on the upper side of the rotating disk 231 to limit the vertical movement of the material frame 21. In a specific implementation, the outer side of the bottom of the material frame 21 is provided with a clamping portion 211 protruding in the horizontal direction. The clamping portion 211 is a protruding structure on the outer side of the bottom of the material frame 21. The automatic loading device 100 also includes a clamping assembly 50, which is arranged on the upper side of the turntable 231 and adjacent to the push port 2311. The clamping assembly 50 can press the protruding clamping portion 211 on the outer edge of the bottom of the material frame 21 against the upper side of the turntable 231, thereby limiting the overall vertical movement of the material frame 21 and keeping the material frame 21 stable after being connected to the turntable 231.

[0052] Specifically, refer to Figures 16 to 18The clamping assembly 50 includes a positioning pin 51, a pressing block 52 and a spring 53. The positioning pin 51 is vertically fixed to the upper side of the rotating disk 231 and is adjacent to the pushing port 2311. The pressing block 52 is provided with a through hole 520. The pressing block 52 is sleeved on the positioning pin 51 through the through hole 520. The spring 53 is sleeved on the positioning pin 51 and one end abuts against the top of the positioning pin 51, and the other end abuts against the upper side of the pressing block 52. The lower side of the pressing block 52 elastically presses against the clamping portion 211. In a specific implementation, the clamping assembly 50 includes a positioning pin 51, a pressing block 52 and a spring 53. The positioning pin 51 is vertically fixed to the upper side of the rotating disk 231 and is adjacent to the pushing port 2311 as a whole. The top of the positioning pin 51 is a nail cap, and its radial width is wider than other parts. The pressure block 52 is a block-shaped structure with flat upper and lower sides. A through hole 520 is provided on the pressure block 52. The through hole 520 runs through the upper and lower sides of the pressure block 52 and has a diameter slightly larger than the diameter of the main part of the positioning pin 51. The pressure block 52 is sleeved on the positioning pin 51 through the through hole 520 thereon, so that the pressure block 52 can move up and down along the axial direction of the positioning pin 51. The spring 53 is integrally sleeved on the main part of the positioning pin 51, between the pressure block 52 and the nail cap at the top of the positioning pin 51. The diameter of the spring 53 is slightly larger than the diameter of the through hole 520. One end of the spring 53 abuts against the nail cap at the top of the positioning pin 51, and the other end abuts against the upper side of the pressure block 52. The elastic force generated by the compression of the spring 53 causes the lower side of the pressure block 52 to elastically press against the pressing portion 211 raised on the outer side of the bottom of the material frame 21, so that the pressure The tightening portion 211 is elastically pressed to the upper side of the turntable 231, so as to fix the material frame 21 and the turntable 231. When the material frame 21 needs to be removed from the turntable 231, it is only necessary to apply force to move the pressing block 52 upward along the axial direction of the positioning pin 51. The pressing block 52 leaves the clamping portion 211, and the material frame 21 loses the pressure of the pressing block 52 and can move vertically. At this time, the material frame 21 can be removed as a whole, and the installation and disassembly of the material frame 21 is very convenient.

[0053] In one embodiment, referring to Figures 1 to 6, the material grabbing robot 30 includes a mechanical arm 31 and an adsorption component 32, the mechanical arm 31 is arranged on the mounting platform 11 and adjacent to the material frame 21, the adsorption component 32 is arranged on the mechanical arm 31, wherein the adsorption component 32 is used to adsorb the material 200 to grab the material 200, and the mechanical arm 31 is used to drive the adsorption component 32 to move. In a specific implementation, the material grabbing robot 30 includes a mechanical arm 31 and an adsorption component 32, the mechanical arm 31 is arranged on the mounting platform 11 and adjacent to the material frame 21, the mechanical arm 31 is composed of a plurality of arm segments, and can realize movement in any direction. The adsorption component 32 is arranged on the mechanical arm 31, and the adsorption component 32 is mainly composed of a suction cup and an air supply pipeline. The adsorption component 32 adsorbs the material 200 at a preset height through the principle of suction pressure, and can be moved to any position driven by the mechanical arm 31. In actual applications, the grabbing robot 30 runs the loading program, and the robotic arm 31 drives the adsorption component 32 to move to the corresponding position above the material frame 21. The adsorption component 32 adsorbs the material 200 at a preset height through suction pressure, and then the robotic arm 31 drives the adsorption component 32 to move to the preset assembly area 301 of the assembly equipment 300 to accurately place the material 200, thereby completing the loading. During the entire loading process, the adsorption component 32 grabs the material 200 by adsorption, which effectively avoids scratches on the surface of the material 200, and the reliability of automatic loading is higher.

[0054] In one embodiment, referring to Figures 1 to 5The automatic loading device 100 also includes a positioning mechanism 40, which includes a base 41 and a pushing module 42. The base 41 is horizontally arranged above the mounting table 11 and adjacent to the grabbing robot 30. A positioning block 410 that matches the side of the material 200 is convexly provided on the upper side of the base 41. The pushing module 42 is arranged on the base 41 and horizontally alternated with the positioning block 410 to define a positioning area 4101 for placing the material 200, wherein the pushing module 42 is used to horizontally push the material 200 in the positioning area 4101 toward the positioning block 410 so that the side of the material 200 abuts against the positioning block 410. In a specific implementation, the automatic feeding device 100 also includes a positioning mechanism 40, and the positioning mechanism 40 is mainly composed of a base 41 and a propulsion module 42. The base 41 is a small platform structure. The base 41 is horizontally arranged above the mounting table 11 and adjacent to the material grabbing robot 30. The height is arbitrary and can be designed according to actual needs. The upper side of the base 41 is a plane, and a positioning block 410 is convexly provided on the upper side of the base 41. The positioning block 410 is consistent with the side shape of the material 200, specifically, the side of the positioning block 410 in the horizontal direction is consistent with the side shape of the material 200. For example, when the side shape of the material 200 is a straight line, the side of the positioning block 410 in the horizontal direction is a straight line side that matches it. When the side shape of the material 200 is an arc, the side of the positioning block 410 in the horizontal direction is an arc side that matches it. The propulsion module 42 is disposed as a whole on the base 41 and horizontally alternates with the positioning block 410 to define a positioning area 4101 for placing the material 200. The positioning area 4101 is specifically an area on the base 41 between the propulsion module 42 and the positioning block 410. The material 200 on the assembly equipment 300 has a high feeding accuracy requirement. The material 200 needs to be accurately placed in the preset assembly area 301 with a correct posture. If the material 200 is skewed when it is moved to the preset assembly area 301, it will affect the assembly of the assembly equipment 300. Therefore, a positioning program for the material 200 can be added to the control program of the grasping robot 30. The coordinates of the positioning area 4101 are designed and added in the program, so that the grasping robot 30 adds a process of placing the material 200 in the positioning area 4101 on the base 41 and grasping the material 200.In actual applications, the grasping robot 30 grasps the material 200 at a preset height from above the material frame 21, and then accurately moves the material 200 to the positioning area 4101 according to the positioning procedure. The propulsion module 42 horizontally propels the material 200 in the positioning area 4101 toward the positioning block 410, so that the side of the material 200 gradually abuts against the positioning block 410. As the side of the material 200 abuts against the positioning block 410 that matches the shape of its side, the posture of the positioning block 410 is adjusted to a standard posture. The grasping robot 30 grasps the material 200 with the adjusted posture and moves it to the preset assembly area 301 of the assembly equipment 300 to complete the loading. The possibility of the material 200 being skewed or offset in the preset assembly area 301 is reduced, and the loading is more accurate and efficient.

[0055] Further, refer to Fig.19The pushing module 42 includes a telescopic driving component 421 and a positioning push plate 422, the positioning push plate 422 is arranged on the upper side of the base 41 and is horizontally spaced with the positioning block 410, the positioning area 4101 is arranged between the positioning push plate 422 and the positioning block 410, the telescopic driving component 421 is arranged on the base 41 and is transmission-connected with the positioning push plate 422, the positioning push plate 422 faces the side of the positioning block 410 and is consistent with the side shape of the material 200, wherein the telescopic driving component 421 is used to drive the positioning push plate 422 to push the material 200 in the positioning area 4101 to move horizontally toward the positioning block 410, so that the side of the material 200 abuts against the positioning block 410. In a specific implementation, the propulsion module 42 includes a telescopic drive assembly 421 and a positioning push plate 422. The positioning push plate 422 is arranged on the upper side of the base 41 and is horizontally spaced with the positioning block 410. The positioning area 4101 is the area between the positioning push plate 422 and the positioning block 410 on the base 41. The telescopic drive assembly 421 is arranged as a whole on the base 41 and is transmission-connected with the positioning push plate 422. The telescopic drive assembly 421 can drive the positioning push plate 422 to push the material 200 in the positioning area 4101 to move horizontally toward the positioning block 410. The telescopic drive assembly 421 can be designed with a telescopic cylinder. The side of the positioning push plate 422 facing the limit block is designed to match the side shape of the material 200. Specifically, the side of the positioning push plate 422 facing the positioning block 410 in the horizontal direction matches the side shape of the material 200. The positioning block 410 matches the shape of the side in one direction of the material 200, and the positioning push plate 422 matches the side shape in the other opposite direction of the material 200. In actual application, when the telescopic drive component 421 drives the positioning push plate 422 to push the material 200 in the positioning area 4101 to move horizontally toward the positioning block 410, the material 200 The side edge in one direction of the material 200 abuts against the positioning push plate 422 for positioning, and the side edge in the other opposite direction abuts against the positioning block 410 for positioning. The material 200 is clamped as a whole by the positioning push plate 422 and the limiting hole, forcing the material 200 to form a predetermined standard posture in the positioning area 4101. The grasping robot 30 grasps the material 200 in the standard posture and moves it to the preset assembly area 301 of the assembly equipment 300 to complete the loading. The possibility of the material 200 being skewed or offset in the preset assembly area 301 is greatly reduced, and the loading is accurate and efficient.

[0056] 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. An automatic feeding device, characterized in that: include: a frame having a mounting platform thereon; A feeding mechanism, comprising a material frame and a material pushing module, wherein the material frame is arranged above the mounting platform, and the material pushing module is arranged on the mounting platform and adjacent to the material frame, wherein the material frame is used to accommodate a plurality of materials, and the material pushing module is used to push the materials in the material frame to a preset height along a vertical direction; A material grabbing robot is arranged adjacent to the feeding mechanism, and is used for grabbing the material at the preset height and moving it to a preset assembly area.

2. The automatic feeding device according to claim 1, characterized in that: A accommodating cavity is formed on the inner side of the material frame and extends vertically through the upper and lower sides thereof. The accommodating cavity is used for stacking a plurality of the materials in a vertical direction. The material pushing module is arranged below the material frame, wherein the material pushing module extends into the accommodating cavity from bottom to top to push the materials in a vertical direction to the preset height.

3. The automatic feeding device according to claim 2, characterized in that: The pushing module includes a pushing rod and a lifting drive assembly, wherein the pushing rod is vertically arranged below the material frame and vertically aligned with the accommodating chamber, and the lifting drive assembly is arranged on the mounting platform and connected to the pushing rod, wherein the lifting drive assembly is used to drive the pushing rod to move up and down in the vertical direction so that the pushing rod extends into the accommodating chamber from bottom to top to push the material to the preset height.

4. The automatic feeding device according to claim 3, characterized in that: The lifting drive assembly includes a guide rail, a slider and a lifting drive member, wherein the guide rail is vertically arranged below the material frame, the slider is slidably arranged on the guide rail and is connected to the push rod, and the lifting drive member is arranged on the guide rail and is transmission-connected to the slider, wherein the lifting drive member is used to drive the slider to slide along the guide rail to drive the push rod to move up and down in the vertical direction.

5. The automatic feeding device according to any one of claims 2 to 4, characterized in that: The feeding mechanism also includes a material changing module, which is arranged above the mounting platform. There are multiple material frames, each of which is arranged on the material changing module, wherein the material changing module is used to drive the multiple material frames to move one by one to the top of the pushing module.

6. The automatic feeding device according to claim 5, characterized in that: The material changing module includes a turntable and a rotating drive assembly, wherein the turntable is horizontally arranged above the mounting platform, the rotating drive assembly is arranged on the mounting platform and is transmission-connected to the turntable, a plurality of material frames are arranged on the turntable at intervals along the circumference of the turntable, and the material pushing module is arranged below the turntable and horizontally spaced with the center of the turntable, wherein the rotating drive assembly is used to drive the turntable to rotate horizontally so as to move the plurality of material frames one by one to the top of the material pushing module.

7. The automatic feeding device according to claim 6, characterized in that: The turntable is provided with a plurality of pushing ports at intervals along its circumference, the pushing module is provided below the pushing port, the material frame is detachably provided on the upper side of the turntable and above the pushing port, the accommodating cavity is vertically connected with the pushing port, and the upper side of the turntable is provided with a limiting member protruding from the edges around the pushing port, the limiting member abuts against the edges around the horizontal direction of the material frame to limit the horizontal movement of the material frame.

8. The automatic feeding device according to claim 7, characterized in that: The automatic loading device also includes a clamping assembly, a clamping portion protruding from the outer side of the bottom of the material frame in the horizontal direction, the clamping assembly is arranged on the upper side of the turntable and adjacent to the pushing port, wherein the clamping assembly is used to press the clamping portion against the upper side of the turntable to limit the vertical movement of the material frame.

9. The automatic feeding device according to any one of claims 1 to 4, characterized in that: The automatic loading device also includes a positioning mechanism, which includes a base and a propulsion module. The base is horizontally arranged above the mounting table and adjacent to the material grabbing robot. A positioning block matching the side shape of the material is convexly provided on the upper side of the base. The propulsion module is arranged on the base and horizontally alternated with the positioning block to define a positioning area for placing the material, wherein the propulsion module is used to horizontally push the material in the positioning area toward the positioning block so that the side of the material abuts against the positioning block.

10. The automatic feeding device according to claim 9, characterized in that: The propulsion module includes a telescopic drive component and a positioning push plate, the positioning push plate is arranged on the upper side of the base and is horizontally spaced with the positioning block, the positioning area is arranged between the positioning push plate and the positioning block, the telescopic drive component is arranged on the base and is transmission-connected with the positioning push plate, the side of the positioning push plate facing the positioning block is consistent with the side shape of the material, wherein the telescopic drive component is used to drive the positioning push plate to push the material in the positioning area to move horizontally toward the positioning block so that the side of the material abuts against the positioning block.

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