Clamping mechanism, automatic feeding device and automatic feeding method

Abstract

The invention relates to the technical field of feeding equipment, and particularly discloses a clamping mechanism, an automatic feeding device and an automatic feeding method.The clamping mechanism comprises a lifting module, a transferring module and a clamping module, and the lifting module comprises a lifting platform and a lifting driving part which are in transmission connection; the transferring module comprises a transferring driving part and a transferring support which are in transmission connection, the transferring support is arranged on the lifting platform in a sliding mode, the clamping module is arranged on the transferring support and comprises a positioning part and a plurality of clamping parts, the clamping parts are arranged on the two sides of the positioning part respectively, the positioning part can be used for abutting and positioning a to-be-clamped part, and the clamping parts can be used for clamping the to-be-clamped part. The clamping piece can clamp the piece to be clamped, manual taking and placing operation is avoided, and the production efficiency is improved. And the positioning piece can position the clamping position of the to-be-clamped piece by the clamping piece, so that the to-be-clamped piece can be accurately clamped and conveyed by the clamping piece, and the conveying error is reduced. The clamping module exerts uniform and stable force on the to-be-clamped piece, and the relative displacement of the clamping module and the to-be-clamped piece is reduced.

Description

Technical Field

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

[0002] During the chip packaging process, the surface of the package needs to be sputtered to protect the product. Usually, one side of the chip needs to be connected to the external circuit and cannot be covered with sputtered metal. Therefore, the chip needs to be attached to the tape on the square ring and a pressure-maintaining process is performed to make the chip and the tape fit tightly to avoid bubbles between the chip and the tape.

[0003] In the related art, the square ring has a relatively large hole in the middle, and the ring plate of the square ring is small in width and thin in thickness. Workers are required to take the square ring out of the material frame and put it into the pressure-holding equipment, which results in low production efficiency and high labor costs. Although suction cup manipulators and other loading and unloading structures are used in the chip production process, if a suction cup manipulator is used to shift and transport the square ring, it is difficult to provide enough fulcrums for the suction cup due to the small width of the ring edge of the square ring. Insufficient adsorption force can easily cause the square ring to fall or be misplaced, and the suction cup needs to exert a large force to suck up the square ring as a whole before shifting it, and the position accuracy of the square ring during the shifting process is difficult to guarantee. Summary of the invention

[0004] The purpose of the present invention is to provide a clamping mechanism, an automatic loading device and an automatic loading method to solve the problems in the related technology that manual picking and placing is required, the labor intensity is high, the production efficiency is low, and the loading and unloading structure is difficult to apply to square ring shifting and conveying, and the square ring shifting position accuracy is low.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] In a first aspect, the present invention provides a clamping mechanism for clamping a piece to be clamped, the clamping mechanism comprising:

[0007] The lifting module comprises a lifting platform and a lifting driving member which are connected to each other in a transmission manner, and the lifting driving member is configured to drive the lifting platform to move up and down in a first direction;

[0008] The transfer module comprises a transfer drive member and a transfer bracket which are transmission-connected with each other, the transfer bracket can be slidably arranged on the lifting platform, and the transfer drive member is configured to drive the transfer bracket to move in a second direction, and the first direction intersects with the second direction;

[0009] The clamping module is arranged on the transfer bracket, and the clamping module includes a positioning member and a plurality of clamping members, and the plurality of clamping members are arranged on both sides of the positioning member. The positioning member is configured to abut and position the member to be clamped, and the clamping member is configured to clamp the member to be clamped.

[0010] In one embodiment, the piece to be clamped is an annular sheet structure, and the clamping mechanism further includes a conveying module, which includes:

[0011] At least two conveyor belt structures, the conveyor belt structures are arranged on the lifting platform, and at least two conveyor belt structures are arranged on both sides of the clamping module;

[0012] The conveying driving member is transmission-connected with the conveying belt structure, and the conveying driving member is configured to drive the conveying belt structure to perform conveying movement along the second direction. The bottom two sides of the annular sheet structure clamped by the clamping member are configured to be conveyed on the conveying belt structure.

[0013] In one embodiment, a protrusion is provided on the annular sheet structure, the protrusion is provided to protrude outward from the side edge of the annular sheet structure along its own conveying direction, and the protrusion is configured to be clamped by the clamping member;

[0014] The clamping member includes:

[0015] A support frame, the support frame is fixedly arranged on the transfer bracket;

[0016] Two clamping jaws, each of which has a connected clamping plate and a connecting arm, the connecting arm is slidably connected to the support frame, and the clamping plates of the two clamping jaws are configured to clamp on both sides of the protrusion;

[0017] The clamping cylinder is arranged on the support frame, and the two clamping jaws are both drivingly connected with the clamping cylinder, and the clamping cylinder is configured to drive the two clamping jaws to approach each other or move away from each other in a first direction.

[0018] In one embodiment, the positioning member includes:

[0019] A positioning and adjusting cylinder, which is fixedly arranged on the transfer bracket;

[0020] The positioning block is arranged on the positioning adjustment cylinder, the positioning block is configured to abut against the to-be-clamped piece, and the positioning adjustment cylinder is configured to drive the positioning block to move in the second direction.

[0021] In one of the embodiments, a plurality of limiting protrusions are provided on the positioning block, and the plurality of limiting protrusions are arranged at intervals on the surface of the positioning block, and the limiting protrusions are configured to abut against the piece to be clamped.

[0022] In one embodiment, the lifting drive member includes:

[0023] A support, on which the lifting platform can be slidably arranged;

[0024] A lead screw, which is rotatably arranged on a support and extends along a first direction;

[0025] A lifting motor, the lifting motor is connected to the lead screw in a transmission manner, and the lifting motor can drive the lead screw to rotate;

[0026] The lifting slider is arranged on the lead screw, and the lifting slider is fixedly connected with the lifting platform. The rotation of the lead screw can drive the lifting slider and the lifting platform to move in the first direction.

[0027] In one of the embodiments, the lifting drive member further includes a first guide assembly and / or a second guide assembly;

[0028] The first guide assembly includes a first guide rail and a first slider which are slidably connected. The first guide rail is fixedly arranged on the support, and the first slider is fixedly arranged on the lifting platform. The first slider can slide along the first guide rail. The first guide assembly is provided with at least two groups, and the first guide assemblies are arranged on both sides of the lead screw.

[0029] The second guide assembly includes:

[0030] A stand, the stand is fixedly arranged on the support, the bracket is arranged on the circumference of the lead screw, a guide groove is arranged on the stand, and the side of the lifting slide block is slidably connected with the guide groove;

[0031] A connecting ring frame penetrates the vertical frame and is slidably connected to the vertical frame. The wall surface of the connecting ring frame located inside the vertical frame is fixedly connected to the lifting slider. The wall surface of the connecting ring frame located outside the vertical frame is fixedly connected to the lifting platform.

[0032] In one embodiment, the transfer drive comprises:

[0033] A transfer conveyor belt, the transfer conveyor belt can be rotatably arranged on the lifting platform, and the transfer bracket can be slidably arranged on the lifting platform and fixedly arranged on the transfer conveyor belt;

[0034] The transfer motor is fixedly arranged on the lifting platform, the transfer motor is transmission-connected with the transfer conveyor belt, and the transfer motor is configured to drive the transfer conveyor belt to perform a conveying movement in the second direction to drive the transfer bracket to move.

[0035] In one embodiment, the lifting module further includes a lifting position detection component, and the lifting position detection component is used to detect the lifting position of the lifting platform in the first direction; and / or,

[0036] The transfer module further includes a transfer position detection member, which is used to detect the transfer position of the transfer bracket in the second direction; and / or,

[0037] The clamping module also includes a clamping position detection member, which is used to detect the clamping position of the to-be-clamped member on the clamping member.

[0038] In a second aspect, the present invention provides an automatic feeding device, comprising:

[0039] frame;

[0040] A working buffer mechanism, which is arranged on the frame and is used to place a plurality of pieces to be clamped;

[0041] An output mechanism, which is arranged on the frame and is used for outputting the piece to be clamped;

[0042] The clamping mechanism in any of the above schemes is arranged between the working buffer mechanism and the output mechanism, and the clamping mechanism is configured to shift the to-be-clamped member on the working buffer mechanism to the output mechanism.

[0043] In one embodiment, the automatic loading device also includes a backup cache mechanism, the backup cache mechanism and the working cache mechanism are arranged at intervals along the first direction, and the lifting module is configured to drive the clamping module to switch positions between the working cache mechanism and the backup cache mechanism.

[0044] In one embodiment, the working cache mechanism includes a first material frame, the first material frame is provided with a plurality of first storage slots, and the plurality of first storage slots are spaced apart along a first direction; and / or,

[0045] The standby cache mechanism comprises a second material frame, on which a plurality of second storage slots are arranged, and the plurality of second storage slots are arranged at intervals along the first direction.

[0046] In one embodiment, the backup cache mechanism further includes:

[0047] A pull-out guide rail, the pull-out guide rail is fixedly arranged on the frame, and the second material frame is slidably connected to the pull-out guide rail;

[0048] A limiter, which is disposed on the sliding path of the second material frame and is configured to limit the sliding position of the second material frame on the drawer guide rail;

[0049] The telescopic member is arranged on the frame, the second material frame is provided with an abutment member, and the telescopic member is configured to abut against the abutment member to limit the second material frame to the position of the limiting member.

[0050] In a third aspect, the present invention provides an automatic loading method, based on the automatic loading device in any of the above schemes, the automatic loading method comprises:

[0051] Obtaining the placement information of the to-be-clipped piece on the working buffer mechanism;

[0052] According to the placement position information of the to-be-clamped object, the position of the clamping module in the first direction is adjusted by the lifting module so that the clamping module and the to-be-clamped object are in the same position in the first direction;

[0053] According to the placement position information of the to-be-clamped piece, the position of the clamping module in the second direction is adjusted by the transfer module, so that the clamping module clamps the to-be-clamped piece and takes the to-be-clamped piece out from the working buffer mechanism, shifts the to-be-clamped piece to the output mechanism, and the output mechanism outputs the to-be-clamped piece;

[0054] When the transfer module is shifted to the point where the piece to be clamped contacts the positioning member, the clamping member clamps the piece to be clamped.

[0055] In one embodiment, the piece to be clamped is an annular sheet structure, and the clamping module clamps the piece to be clamped and takes the piece to be clamped out from the working buffer mechanism, including:

[0056] Providing a conveying module, the conveying module includes a conveying belt structure and a conveying driving member which are connected to each other in a transmission manner;

[0057] After the clamping member clamps the object to be clamped, the transfer module drives the clamping module and the object to be clamped to move away from the working buffer mechanism in the second direction, and the conveyor belt structure supports and conveys the object to be clamped on both sides of the bottom.

[0058] In one embodiment, the automatic feeding method further comprises:

[0059] Providing a backup cache mechanism;

[0060] When the working buffer mechanism fails, the lifting module is used to adjust the clamping module to switch the position in the first direction, so that the clamping module is configured to clamp the to-be-clamped part on the standby buffer mechanism;

[0061] After the clamping member clamps the object to be clamped, the output mechanism is kept in position, and the clamping module and the object to be clamped are driven to move as a whole to the output mechanism through the lifting module;

[0062] When the piece to be clamped is aligned with the input end of the output mechanism, the clamping module is driven by the transfer module to move in the second direction to shift the piece to be clamped onto the output mechanism.

[0063] The beneficial effects of the present invention are:

[0064] The present invention provides a clamping mechanism, an automatic feeding device and an automatic feeding method. The clamping mechanism includes a lifting module, a transfer module and a clamping module. The lifting drive drives the lifting platform to perform lifting movement in the first direction to drive the transfer module and the clamping module to lift together, so as to adjust the clamping member to be aligned with the position of the member to be clamped in the first direction. The transfer drive drives the transfer bracket to move close to the placement position of the member to be clamped, until the edge of the member to be clamped abuts on the positioning member to perform initial position positioning of the member to be clamped, thereby ensuring the accuracy of the clamping position of the member to be clamped by the clamping member. The clamping member is configured to clamp and fix the member to be clamped, and the mobile drive drives the mobile bracket to move away from the placement position of the member to be clamped in the second direction, thereby taking the member to be clamped out from the placement position, avoiding manual pick-up and placement operations, reducing labor intensity, and improving production efficiency. The positioning member is configured to position the clamping position of the member to be clamped, so that the clamping member can accurately clamp and transport the member to be clamped, thereby reducing transportation errors. Multiple clamping members are arranged at intervals on both sides of the positioning member and are configured to form multiple clamping points. Multiple clamping members are configured to be dispersedly arranged at the edge of the workpiece to be clamped, which is suitable for clamping materials such as square rings. The clamping module applies force to the workpiece to be clamped evenly and stably, reducing the relative displacement between the clamping module and the workpiece to be clamped. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 It is a schematic diagram of the position of the clamping mechanism in the automatic feeding device in an embodiment of the present invention;

[0066] Figure 2 It is a structural schematic diagram of a clamping mechanism in an embodiment of the present invention;

[0067] Figure 3 It is a structural schematic diagram of a clamping module in a clamping mechanism in an embodiment of the present invention;

[0068] Figure 4 It is a structural schematic diagram of a transfer module in a clamping mechanism in an embodiment of the present invention;

[0069] Figure 5 It is a structural schematic diagram of a lifting module in a clamping mechanism in an embodiment of the present invention;

[0070] Figure 6 It is a structural schematic diagram of a first guide assembly and a second guide assembly in a clamping mechanism in an embodiment of the present invention;

[0071] Figure 7 A cross-sectional view of a first guide assembly and a second guide assembly in a lifting module according to an embodiment of the present invention;

[0072] Figure 8 A schematic diagram of the structure of a backup cache mechanism in an embodiment of the present invention;

[0073] Fig. 9A schematic diagram of the structure of a rack in an embodiment of the present invention;

[0074] Fig.10 Schematic diagram of the process of the automatic feeding method in an embodiment of the present invention.

[0075] In the figure:

[0076] 1. Lifting module;

[0077] 11. Lifting platform;

[0078] 12. lifting drive member; 121. support; 122. lead screw; 123. lifting motor; 124. lifting slide block;

[0079] 13. First guide assembly; 131. First guide rail; 132. First slide block;

[0080] 14, second guide assembly; 141, stand; 1411, guide groove; 1412, through hole; 142, connecting ring frame;

[0081] 15. Lifting position detection parts;

[0082] 2. Transfer module; 21. Transfer driving member; 211. Transfer conveyor belt; 212. Transfer motor; 22. Transfer bracket; 23. Transfer position detection member; 24. Transfer guide rail;

[0083] 3. Clamping module;

[0084] 31. Positioning member; 311. Positioning adjustment cylinder; 312. Positioning block; 313. Limiting protrusion;

[0085] 32. Clamping member; 321. Support frame; 322. Clamping claw; 3221. Clamping plate; 3222. Connecting arm; 323. Clamping cylinder; 33. Clamping position detection member;

[0086] 4. Conveying module; 41. Conveying belt structure; 42. Conveying driving part;

[0087] 5. Part to be clamped; 51. Protruding portion;

[0088] 6. Frame; 61. Support frame; 62. Protective housing;

[0089] 7. Working buffer mechanism; 71. First material frame; 711. First storage slot;

[0090] 8. Output mechanism;

[0091] 9. Backup buffer mechanism; 91. Second material frame; 911. Second storage slot; 92. Pull-out guide rail; 93. Limiting member; 94. Telescopic member; 95. Abutting member. DETAILED DESCRIPTION

[0092] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0093] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0094] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0095] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0096] like Figures 1 to 3 As shown, the Z direction shown in the figure is a schematic diagram of the first direction, the X direction shown in the figure is a schematic diagram of the second direction, and the Y direction shown in the figure is a schematic diagram of the third direction. The embodiment of the first aspect of the present invention provides a clamping mechanism for clamping a to-be-clamped part 5. Specifically, the clamping mechanism includes a lifting module 1, a transfer module 2, and a clamping module 3. The lifting module 1 includes a lifting platform 11 and a lifting drive 12 that are connected to each other in a transmission manner. The lifting drive 12 is configured to drive the lifting platform 11 to lift and lower in a first direction. A plurality of to-be-clamped parts 5 can be placed at intervals in the first direction. The lifting module 1 is configured to drive the clamping module 3 to clamp different to-be-clamped parts 5.

[0097] The transfer module 2 includes a transfer drive member 21 and a transfer bracket 22 which are transmission-connected to each other. The transfer bracket 22 can be slidably arranged on the lifting platform 11. The transfer drive member 21 is configured to drive the transfer bracket 22 to move in a second direction. The first direction intersects with the second direction, that is, the first direction and the second direction are different directions with an angle. For example, the first direction can be a vertical direction, and the second direction can be a horizontal direction. The first direction and the second direction are perpendicular to each other. Of course, the first direction can also have a preset vertical offset angle with the vertical direction, and the second direction can also have a preset horizontal offset angle with the horizontal direction. The first direction and the second direction can also be in a non-vertical state.

[0098] The clamping module 3 is arranged on the transfer bracket 22, and the clamping module 3 includes a positioning member 31 and a plurality of clamping members 32. Both the positioning member 31 and the plurality of clamping members 32 can be arranged on the transfer bracket 22 and move together with the transfer bracket 22. The plurality of clamping members 32 are arranged on both sides of the positioning member 31, and the positioning member 31 is configured to be abutted and positioned by the member to be clamped 5, and the clamping member 32 is configured to clamp the member to be clamped 5, and the positioning member 31 is configured to locate the clamping position of the member to be clamped 5 by the clamping member 32. The plurality of clamping members 32 are arranged at intervals on both sides of the positioning member 31, and are configured to form a plurality of clamping points. For example, the plurality of clamping members 32 and the positioning member 31 can be arranged at intervals along a third direction, and the third direction intersects with the first direction and the second direction in pairs, and optionally, the third direction is perpendicular to the first direction and the second direction in pairs.

[0099] With such arrangement, when it is necessary to clamp the to-be-clamped part 5 at a certain position, the lifting drive 12 drives the lifting platform 11 to perform lifting movement in the first direction, so as to drive the transfer module 2 and the clamping module 3 to lift together, so as to adjust the clamping member 32 to be aligned with the to-be-clamped part 5 in the first direction. The transfer drive 21 drives the transfer bracket 22 to move close to the placement position of the to-be-clamped part 5, until the edge of the to-be-clamped part 5 abuts against the positioning member 31 to perform initial position positioning of the to-be-clamped part 5, so as to ensure the accuracy of the clamping position of the to-be-clamped part 5 by the clamping member 32.

[0100] The clamping member 32 is configured to clamp and fix the part to be clamped 5, and the mobile driving member drives the mobile bracket to move away from the placement position of the part to be clamped 5 in the second direction, so as to remove the part to be clamped 5 from the placement position. The lifting driving member 12 drives the lifting platform 11 to rise and fall in the first direction, and is also configured to adjust the clamping module 3 and the part to be clamped 5 as a whole to a variety of conveying heights, so as to facilitate the re-export of the part to be clamped 5 to different positions, avoid manual pick-up and placement operations, reduce labor intensity, improve production efficiency, and reduce manual misoperation. Multiple parts to be clamped 5 are loaded in sequence, avoiding the situation of mixed work orders.

[0101] The positioning member 31 is configured to position the clamping position of the clamping member 32 on the member to be clamped 5, so that the clamping member 32 can accurately clamp and convey the member to be clamped 5, thereby reducing conveying errors. Multiple clamping members 32 are arranged at intervals on both sides of the positioning member 31, and are configured to form multiple clamping points. Multiple clamping members 32 are configured to be dispersedly arranged at the edge of the member to be clamped 5, which is suitable for clamping materials such as square rings. The clamping module 3 applies force to the member to be clamped 5 evenly and stably, reducing the relative displacement of the clamping module 3 and the member to be clamped 5, and solving the problems in the related art of manual picking and placing, high labor intensity, low production efficiency, and the difficulty of loading and unloading structures in adapting to square ring displacement conveying, and low square ring displacement position accuracy.

[0102] In this embodiment, the part to be clamped 5 can be, but not limited to, a ring-shaped sheet structure such as a square ring, or a non-ring-shaped sheet structure. For example, the non-ring-shaped sheet structure can be a round sheet or a square sheet. The overall outer contour of the part to be clamped 5 can be, but not limited to, a polygon such as a square or a rectangle, or a circle, and can be configured to be clamped by the clamping module 3. The part to be clamped 5 can be used as a carrier, and one side of the part to be clamped 5 is affixed with an adhesive layer such as a tape, which is used to attach products such as chips and perform a sputtering process.

[0103] like Figures 1 to 3 As shown, in some embodiments, the piece to be clamped 5 is an annular sheet structure, and the clamping mechanism further includes a conveying module 4, which includes at least two conveyor belt structures 41 and a conveying driving member 42. The conveyor belt structure 41 is arranged on the lifting platform 11, and at least two conveyor belt structures 41 are arranged on both sides of the clamping module 3. The conveying driving member 42 is connected to the conveyor belt structure 41 in a transmission manner, and the conveying driving member 42 is configured to drive the conveyor belt structure 41 to perform a conveying movement along the second direction. The piece to be clamped 5 clamped by the clamping member 32 is configured to be conveyed on the conveyor belt structure 41. The position of the conveyor belt structure 41 in the first direction is configured to be flush with the position of the clamping member 32. In the process of the clamping member 32 taking out the annular sheet structure, the conveyor belt structure 41 is configured to be supported on both sides of the bottom of the annular sheet structure, so that the annular sheet structure is configured to be taken out smoothly and reduce deformation.

[0104] Taking the square ring as an example, the clamping module 3 is configured to be positioned and clamped on one side plate of the square ring, and the two adjacent side plates of the side plate on the square ring are configured to be laid flat on the corresponding conveyor belt structure 41 to facilitate smooth transportation of the square ring.

[0105] Optionally, one conveying drive member 42 may be provided, and multiple conveyor belt structures 41 may be connected to the same conveying drive member 42 in transmission, and the same conveying drive member 42 provides driving force, and is configured to improve the synchronization of the conveying motions of multiple conveyor belt structures 41. Alternatively, multiple conveying drive members 42 may be provided, and the conveying drive members 42 are connected to the conveyor belt structures 41 in a one-to-one corresponding transmission manner. The conveying drive member 42 and the conveyor belt structure 41 are arranged on the same side of the clamping module 3, and are configured to avoid the position of the clamping module 3, shorten the setting length of the conveyor belt structure 41, and make the conveying more stable.

[0106] In this embodiment, a conveying bracket can be fixedly installed on the lifting platform 11, and the conveyor belt structure 41 is connected to the conveying bracket. The conveying bracket is configured to support the conveyor belt structure 41 from the lifting platform 11 to a position close to the clamping member 32, so as to facilitate the laying of the to-be-clamped member 5 on the conveyor belt structure 41. The conveying bracket supports the conveyor belt structure 41 on both sides of the clamping module 3, and is configured to avoid the clamping module 3 to reduce the position interference between the clamping module 3 and the conveyor belt structure 41.

[0107] like Figures 1 to 3 As shown, in some embodiments, a protrusion 51 is provided on the annular sheet structure, and the protrusion 51 is provided to protrude outward from the side edge of the annular sheet structure along its own conveying direction, and the protrusion 51 is configured to be clamped by the clamping member 32, that is, the annular sheet structure is configured to increase the clamping action area between itself and the clamping member 32 by providing the protrusion 51, reduce the relative movement or separation with the clamping member 32, so that the clamping member 32 clamps the annular sheet structure more stably, thereby improving the accuracy of the clamping and conveying position.

[0108] The clamping member 32 includes a support frame 321, two clamping claws 322 and a clamping cylinder 323. The support frame 321 is fixedly arranged on the transfer bracket 22. The support frame 321 is supported by the transfer bracket 22 and has a stable position. Each clamping claw 322 has a clamping plate 3221 and a connecting arm 3222 connected to the support frame 321. The connecting arm 3222 is slidably connected to the support frame 321. The clamping plates 3221 of the two clamping claws 322 are configured to clamp on both sides of the protrusion 51. The clamping plates 3221 are flat plate structures, so that the two clamping claws 322 are configured to clamp and fix the annular sheet structure over a large area. The connecting arm 3222 is slidably connected to the support frame 321, so that the connecting arm 3222 can reciprocate in a directional manner along its own sliding path in the first direction, thereby improving the clamping accuracy of the clamping plate 3221 on the annular sheet structure.

[0109] The clamping cylinder 323 is arranged on the support frame 321, and the two clamping jaws 322 are both connected to the clamping cylinder 323 in transmission. The clamping cylinder 323 is configured to drive the two clamping jaws 322 to move closer to or away from each other in a first direction, that is, the clamping cylinder 323 can have two force-applying ends, each force-applying end drives a clamping jaw 322 to move, and the clamping cylinder 323 can drive the clamping jaws 322 to move closer to or away from each other by pressurizing or depressurizing the clamping cylinder 323. The clamping cylinder 323 is used to drive the clamping jaws 322 to move, which has high precision, stable gripping force, and is flexible and convenient to use.

[0110] In some other embodiments, the clamping wall of the clamping plate 3221 that contacts the to-be-clamped piece 5 may be provided with anti-slip grooves to increase the friction between the to-be-clamped piece 5 and the clamping plate 3221 for easy displacement and disengagement. The clamping wall of the clamping plate 3221 may also be provided with a buffer layer, and the material of the buffer layer may be, but is not limited to, elastic materials such as rubber or silicone, so that the clamping plate 3221 and the to-be-clamped piece 5 can be flexibly matched.

[0111] like Figures 2 to 4 As shown, in some embodiments, the positioning member 31 includes a positioning block 312 and a positioning adjustment cylinder 311, the positioning adjustment cylinder 311 is fixedly set on the transfer bracket 22, the positioning block 312 is set on the positioning adjustment cylinder 311, and is transmission-connected to the positioning adjustment cylinder 311, and the positioning adjustment cylinder 311 is configured to drive the positioning block 312 to move in the second direction, thereby adjusting the relative position of the positioning block 312 and the clamping member 32 in the second direction, so as to adjust the clamping position of the clamping member 32 on the member 5 to be clamped.

[0112] like Figures 2 to 4 As shown, in some other embodiments, a plurality of limiting protrusions 313 are provided on the positioning block 312, and the plurality of limiting protrusions 313 are spaced apart on the surface of the positioning block 312, and the limiting protrusions 313 are configured to abut against the part to be clamped 5, that is, the arrangement path of the limiting protrusions 313 is the same as the edge contour of the part to be clamped 5, and the purpose of providing the plurality of limiting protrusions 313 on the positioning block 312 is to form multi-point limiting on the edge of the part to be clamped 5 to increase the overall positioning range, while reducing the contact area between the positioning block 312 and the part to be clamped 5, so that the positioning block 312 and the clamping part are more closely fitted.

[0113] In this embodiment, the limiting protrusion 313 may be, but is not limited to, cylindrical, square or hemispherical, and is configured to reduce the contact area between the positioning block 312 and the to-be-clamped component 5 .

[0114] like Figures 4 to 6As shown, in some embodiments, the lifting drive member 12 includes a support 121, a lead screw 122, a lifting motor 123 and a lifting slider 124. The lifting platform 11 is slidably arranged on the support 121. The support 121 is configured to provide a slidable erection support for the lifting platform 11 to improve the erection stability. The lead screw 122 is rotatably arranged on the support 121, and the lead screw 122 is extended along the first direction. The lifting motor 123 is in transmission connection with the lead screw 122, and the lifting motor 123 can drive the lead screw 122 to rotate. The lifting slider 124 is arranged on the lead screw 122, and the lifting slider 124 is fixedly connected to the lifting platform 11. The rotation of the lead screw 122 can drive the lifting slider 124 and the lifting platform 11 to move in the first direction. In this way, the lifting motor 123 is started to drive the lead screw 122 to rotate forward or reverse, which can drive the lifting slider 124 to rise or fall in the first direction. The lifting slider 124 drives the lifting platform 11 to move synchronously, so that the lifting platform 11 switches its position on the support 121. The lifting platform 11 is configured to drive the transfer module 2 and the clamping module 3 to perform stable lifting and lowering movements in the first direction.

[0115] In this embodiment, one or more lifting sliders 124 may be provided, and multiple lifting sliders 124 may be arranged at circumferential intervals on the screw 122 to provide multiple connection points and disperse the stress between the lifting platform 11 and the screw 122.

[0116] like Figures 5 to 7 As shown, in some embodiments, the lifting drive member 12 also includes a first guide assembly 13, the first guide assembly 13 includes a first guide rail 131 and a first slider 132 that are slidably connected, the first guide rail 131 is fixedly arranged on the support 121, the first slider 132 is fixedly arranged on the lifting platform 11, the first slider 132 can slide along the first guide rail 131, and the first guide assembly 13 is provided with at least two groups, and the first guide assembly 13 is arranged on both sides of the lead screw 122. In this way, the first guide assembly 13 is configured to slide and guide the lifting platform 11 on both sides of the lead screw 122, and is not only configured to disperse the stress between the lifting platform 11 and the lead screw 122, but also the first slider 132 slides smoothly along the first guide rail 131 and is configured to make the lifting platform 11 move accurately and directionally along the first guide rail 131, thereby improving the accuracy of the movement of the lifting platform 11 in the first direction.

[0117] In this embodiment, two groups of first guide assemblies 13 may be provided, and the two groups of first guide assemblies 13 may be symmetrically arranged about the lead screw 122, so that the two first guide assemblies 13 can guide and force the lifting platform 11 and the slider more evenly. The lifting platform 11 may be a right-angled triangular prism frame structure, and a first slider 132 is arranged on the surface where a right angle side of the right-angled triangular prism frame structure is located, so that it is configured to be slidably connected with the support 121 through the first guide rail 131. The transfer module 2 and the clamping module 3 are arranged on the surface where another right angle side of the right-angled triangular prism frame structure is located, and the two modules thereof are driven to move together. The lifting platform 11 is configured to increase the setting area of ​​the first slider 132 by being designed as a right-angled triangular prism frame structure. When the lifting platform 11 has a large area, the support 121 and the lead screw 122 can also stably support it, thereby reducing the excessive torque between the lifting platform 11 and the support 121 or between the lifting platform 11 and the lead screw 122, which causes the connection position to be deformed by force.

[0118] like Figures 5 to 7 As shown, in some embodiments, the lifting drive member 12 also includes a second guide assembly 14, the second guide assembly 14 includes a stand 141 and a connecting ring frame 142, the stand 141 is fixedly arranged on the support 121, the bracket is arranged on the circumference of the lead screw 122, a guide groove 1411 is arranged on the stand 141, and the side of the lifting slider 124 is slidingly connected with the guide groove 1411, that is, the stand 141 is arranged on the circumference of the lead screw 122 and is configured to support and protect the lead screw 122, the lifting slider 124 is slidingly connected with the guide groove 1411, and is configured to slide accurately along the guide groove 1411, thereby reducing the rotation or shaking displacement of the lifting slider 124 in its own circumferential direction, and improving the accuracy of the movement of the lifting slider 124 on the lead screw 122.

[0119] The connecting ring frame 142 passes through the vertical frame 141 and is slidably connected to the vertical frame 141. The wall surface of the connecting ring frame 142 located inside the vertical frame 141 is fixedly connected to the lifting slider 124, and the wall surface of the connecting ring frame 142 located outside the vertical frame 141 is fixedly connected to the lifting platform 11, that is, the vertical frame 141 may be provided with a through hole 1412 for the connecting ring frame 142 to pass through and slide. The through hole 1412 can extend to the two end positions of the vertical frame 141 in the first direction. The connecting ring frame 142 is penetrated by the through hole 1412 and slides in the through hole 1412. The connecting ring frame 142 is configured to fix the lifting slider 124 and the lifting platform 11, and the connecting ring frame 142 slides relative to the vertical frame 141, and is also configured to use the vertical frame 141 as a sliding frame support to form multiple sliding guides, thereby increasing the stability and accuracy of the lifting slider 124 driving the lifting platform 11 to move.

[0120] In this embodiment, the cross-sectional dimension of the vertical frame 141 is larger than the cross-sectional dimension of the lifting slider 124, the cross-sectional dimension of the connecting ring frame 142 is larger than the cross-sectional dimension of the vertical frame 141, and the cross-sectional dimension of the lifting platform 11 is larger than the cross-sectional dimension of the connecting ring frame 142. By setting the connecting ring frame 142 between the lifting slider 124 and the lifting platform 11, it is also configured to be oversized to avoid excessive size difference between the lifting slider 124 and the lifting platform 11, which may easily cause excessive torque stress and cause deformation or fracture damage.

[0121] like Figures 2 to 4 As shown, in some embodiments, the transfer drive member 21 includes a transfer conveyor belt 211 and a transfer motor 212. The transfer conveyor belt 211 is rotatably arranged on the lifting platform 11, and the transfer bracket 22 is slidably arranged on the lifting platform 11, and the transfer bracket 22 is fixedly arranged on the transfer conveyor belt 211, that is, the transfer bracket 22 moves synchronously with the transfer conveyor belt 211. The transfer motor 212 is fixedly arranged on the lifting platform 11, and the transfer motor 212 is transmission-connected with the transfer conveyor belt 211, that is, the output shaft of the transfer motor 212 is connected with the pulley of the transfer conveyor belt 211 to drive the transfer conveyor belt 211 to rotate. In this way, when the clamping module 3 needs to approach or move away from the placement position of the to-be-clamped component 5, the transfer motor 212 is configured to drive the transfer conveyor belt 211 to perform a conveying movement in the second direction to drive the transfer bracket 22 to move closer to or away from the placement position of the to-be-clamped component 5, thereby accurately adjusting the position of the clamping module 3 in the second direction.

[0122] In this embodiment, the transfer conveyor belt 211 is a conveyor belt of a closed ring structure, which is erected by two pulleys, and the transfer bracket 22 is fixed to one side of the conveyor belt. The lifting platform 11 may be provided with a transfer guide rail 24, which is extended along the second direction, and the transfer bracket 22 may be provided with a transfer slider, which is slidably connected to the transfer guide rail 24, so as to guide the transfer bracket 22, reduce the sliding displacement of the transfer bracket 22, and improve the accuracy of the movement of the transfer bracket 22 along the second direction.

[0123] like Figure 6 to Figure 7 As shown, in some embodiments, the lifting module 1 also includes a lifting position detection component 15, which is used to detect the lifting position of the lifting platform 11 in the first direction, so as to obtain the position of the lifting platform 11 and the clamping module 3 in the first direction, thereby obtaining the relative position of the clamping module 3 and the part to be clamped 5, which is convenient for accurately clamping and conveying the part to be clamped 5.

[0124] In this embodiment, the lifting position detection member 15 can be, but is not limited to, a displacement sensor or a travel switch, which is configured to be selected according to the use requirements and configured to detect the lifting position of the lifting platform 11 in the first direction. The lifting position detection member 15 can be set on the support 121, or it can be set up with a floor stand.

[0125] like Figure 1 to Figure 2 As shown, in some embodiments, the transfer module 2 also includes a transfer position detection component 23, which is used to detect the transfer position of the transfer bracket 22 in the second direction, so as to obtain the position of the transfer bracket 22 and the clamping module 3 in the second direction, thereby obtaining the relative position of the clamping module 3 and the part to be clamped 5, which is convenient for accurate clamping and transportation of the part to be clamped 5.

[0126] In this embodiment, the transfer position detection member 23 can be, but is not limited to, a displacement sensor, a travel switch, or an ultrasonic sensor, etc., and is configured to be selected according to the use requirements. The transfer position detection member 23 can be set on the lifting platform 11. For example, the transfer position detection member 23 can be set at one end or both ends of the transfer guide rail 24. The side of the transfer bracket 22 can be provided with an extended baffle. The position of the baffle and other components on the transfer bracket 22 and the clamping module 3 is fixed. By detecting the position of the baffle, the position of the transfer bracket 22 and the clamping module 3 can be indirectly obtained.

[0127] like Figures 2 to 3 As shown, in some embodiments, the clamping module 3 also includes a clamping position detection member 33, which is used to detect the clamping position of the to-be-clamped member 5 on the clamping member 32, so as to determine whether the clamping operation of the clamping member 32 on the to-be-clamped member 5 is in place, and is configured to improve the clamping and conveying accuracy of the clamping member 32 on the to-be-clamped member 5.

[0128] In this embodiment, the clamping position detection member 33 can be, but is not limited to, an ultrasonic sensor or a pressure position sensor, and is configured to be selected according to the use requirements. The clamping position detection member 33 can be set on the clamping member 32, can also be set on the positioning member 31, and of course can also be set on the transfer bracket 22, and is configured to detect the position between the to-be-clamped member 5 and the clamping member 32.

[0129] like Figures 8 to 9As shown, an embodiment of the second aspect of the present invention provides an automatic feeding device, including a frame 6, a working buffer mechanism 7, an output mechanism 8 and a clamping mechanism in any of the above embodiments, wherein the working buffer mechanism 7 is arranged on the frame 6 for placing a plurality of parts to be clamped 5. The output mechanism 8 is arranged on the frame 6 for outputting the parts to be clamped 5, that is, the output mechanism 8 is configured to output the parts to be clamped 5 to a subsequent process for further processing. For example, the output mechanism 8 can transport the square ring parts to be clamped 5 to a subsequent pressure-maintaining device for pressure-maintaining operation. The clamping mechanism is arranged between the working buffer mechanism 7 and the output mechanism 8, and the clamping mechanism is configured to shift the parts to be clamped 5 on the working buffer mechanism 7 to the output mechanism 8. With such an arrangement, the automatic feeding device performs clamping and conveying of the parts to be clamped 5 through the clamping mechanism, thereby avoiding manual pick-up and placement operations, reducing labor intensity, and improving production efficiency. Moreover, the positioning member 31 of the clamping mechanism is configured to position the clamping position of the clamping member 32 on the member to be clamped 5, so that the clamping member 32 can accurately clamp and convey the member to be clamped 5, thereby reducing conveying errors. A plurality of clamping members 32 are arranged at intervals on both sides of the positioning member 31, and are configured to form a plurality of clamping points. The plurality of clamping members 32 are configured to be dispersedly arranged at the edge of the member to be clamped 5, which is suitable for clamping materials such as square rings. The clamping module 3 applies force to the member to be clamped 5 evenly and stably, thereby reducing the relative displacement between the clamping module 3 and the member to be clamped 5.

[0130] Since the above-mentioned clamping mechanism is included, the automatic loading device of the embodiment of the present invention has all the advantages and beneficial effects of the above-mentioned embodiments, which will not be described in detail here.

[0131] like Figures 8 to 9 As shown, in this embodiment, the frame 6 may include a support frame 61, and the support frame 61 is configured to be connected and erected for the lifting module 1. The frame 6 may also include a protective shell 62, and the protective shell 62 is covered on the outside of the support frame 61 to protect the clamping mechanism, the working buffer mechanism 7 and the output mechanism 8 arranged on the support frame 61. The output mechanism 8 may include one or more conveyor belt assemblies, and the input port of the conveying mechanism is connected to the output port of the conveying module 4 of the clamping mechanism, so as to facilitate the smooth transportation of the part 5 to be clamped.

[0132] like Figure 1 as well as Figures 8 to 9As shown, in some embodiments, the automatic feeding device also includes a backup cache mechanism 9, and the backup cache mechanism 9 and the working cache mechanism 7 are spaced apart along the first direction. The lifting module 1 is configured to drive the clamping module 3 to switch positions between the working cache mechanism 7 and the backup cache mechanism 9. With such a configuration, during normal operation, the lifting module 1 is configured to fine-tune the position of the clamping module 3 in the first direction, and clamp and convey the to-be-clamped parts 5 in the working cache mechanism 7 one by one. When the working cache mechanism 7 fails, for example, the material is exhausted or damaged, the lifting module 1 is configured to adjust the clamping module 3 to the backup cache mechanism 9 to clamp the material, so as to ensure the continuous conveyance of the to-be-clamped parts 5 and reduce downtime.

[0133] In this embodiment, one or more backup cache mechanisms 9 may be provided, and the plurality of backup cache mechanisms 9 are configured to be spaced apart from the working cache mechanism 7 in the first direction.

[0134] like Figure 1 as well as Figures 8 to 9 As shown, in some embodiments, the working cache mechanism 7 includes a first material frame 71, and a plurality of first storage slots 711 are arranged on the first material frame 71. The plurality of first storage slots 711 are arranged at intervals along a first direction so as to allow a plurality of to-be-clamped parts 5 to be placed at intervals. The first storage slots 711 are configured to separate and limit the to-be-clamped parts 5, and in the process of clamping the to-be-clamped parts 5 by the clamping module 3, the first storage slots 711 are configured to guide the to-be-clamped parts 5.

[0135] like Figure 1 and Figure 8 As shown, in some other embodiments, the backup cache mechanism 9 includes a second material frame 91, and a plurality of second storage slots 911 are arranged on the second material frame 91, and the plurality of second storage slots 911 are spaced apart along the first direction. Similarly, the plurality of second storage slots 911 are configured to accommodate a plurality of to-be-clamped parts 5 to be spaced apart, and the second storage slots 911 are configured to separate and limit the to-be-clamped parts 5, and in the process of clamping the to-be-clamped parts 5 by the clamping module 3, the second storage slots 911 are also configured to guide the to-be-clamped parts 5.

[0136] like Figure 1 and Figure 8As shown, in some embodiments, the standby cache mechanism 9 further includes a drawer rail 92, a stopper 93 and a telescopic member 94. The drawer rail 92 is fixedly arranged on the frame 6, the second material frame 91 is slidably connected to the drawer rail 92, the stopper 93 is arranged on the sliding path of the second material frame 91, and the stopper 93 is configured to limit the sliding position of the second material frame 91 on the drawer rail 92. The telescopic member 94 is arranged on the frame 6, and the second material frame 91 is provided with an abutment member 95, and the telescopic member 94 is configured to abut against the abutment member 95 to limit the second material frame 91 to the position of the stopper 93, so as to fix the second material frame 91.

[0137] When the spare cache mechanism 9 needs to replenish the waiting piece 5, the telescopic piece 94 contracts, and the abutting effect of the telescopic piece 94 on the abutting piece 95 disappears. The spare cache mechanism 9 is configured to be freely pulled and moved along the pull-out guide rail 92 under the action of external force. After the spare cache mechanism 9 is pulled out, the waiting piece 5 can be replenished. After the replenishment is completed, the spare cache mechanism 9 can be moved back to a position close to the limit piece 93 under the action of external force, and the telescopic piece 94 extends and abuts against the abutting piece 95, thereby re-limiting the second material frame 91 to the position of the limit piece 93.

[0138] In this embodiment, the pull-out guide rail 92 can be extended along the second direction so that the standby cache mechanism 9 is configured to be pulled from the second direction to supplement the parts 5 to be clamped. Alternatively, the extension direction of the pull-out guide rail 92 is perpendicular to the second direction and perpendicular to the first direction, so that the standby cache mechanism 9 is configured to be pulled vertically from the second direction to supplement the parts 5 to be clamped. The limiter 93 can be, but is not limited to, a block structure or a frame. The limiter 93 can be set on the pull-out guide rail 92. The telescopic member 94 can be, but is not limited to, a cylinder, a hydraulic cylinder or an electric push rod. The abutment member 95 can be a block structure with an inclined surface. The inclined surface of the abutment member 95 faces the telescopic member 94 and is configured to be abutted by the telescopic member 94.

[0139] like Figure 1 and Figure 8 as well as Fig.10 As shown, an embodiment of the third aspect of the present invention provides an automatic loading method. Based on the automatic loading device in any of the above embodiments, the automatic loading method specifically includes the following steps:

[0140] Step S100, obtaining the placement position information of the to-be-clamped component 5 on the working buffer mechanism 7;

[0141] The position of the working buffer mechanism 7 on the frame 6 is fixed, and the position coordinates of the plurality of to-be-clamped parts 5 can be obtained by obtaining the position of the first storage slot 711 on the working buffer mechanism 7 through a detection method such as a position sensor. The placement position information of the to-be-clamped parts 5 on the working buffer mechanism 7 may include the distance between the to-be-clamped parts 5 and the clamping part 32 in the first direction, and the distance between the to-be-clamped parts 5 and the clamping part 32 in the second direction.

[0142] Step S200, adjusting the position of the clamping module 3 in the first direction by the lifting module 1 according to the placement position information of the to-be-clamped object 5, so that the clamping module 3 and the to-be-clamped object 5 are in the same position in the first direction;

[0143] Among them, the clamping module 3 and the part to be clamped 5 can be aligned in the first direction first to avoid the position of the clamping module 3 and the part to be clamped 5 being interfered with and caused to collide when the distance between the clamping module 3 and the part to be clamped 5 is close.

[0144] Step S300, according to the placement position information of the to-be-clamped piece 5, the position of the clamping module 3 in the second direction is adjusted by the transfer module 2, so that the clamping module 3 clamps the to-be-clamped piece 5 and takes the to-be-clamped piece 5 out of the working buffer mechanism 7, and shifts the to-be-clamped piece 5 to the output mechanism 8, and the output mechanism 8 outputs the to-be-clamped piece 5;

[0145] When the transfer module 2 is shifted to the position where the part 5 to be clamped contacts the positioning member 31, the clamping member 32 clamps the part 5 to be clamped. The positioning member 31 is configured to position the clamping position of the part 5 to be clamped by the clamping member 32, so that the clamping member 32 can accurately clamp and transport the part 5 to be clamped, thereby reducing the transport error. A plurality of clamping members 32 are arranged at intervals on both sides of the positioning member 31, and are configured to form a plurality of clamping points. The plurality of clamping members 32 are configured to be dispersedly arranged at the edge of the part 5 to be clamped, which is suitable for clamping materials such as square rings. The clamping module 3 applies force to the part 5 to be clamped evenly and stably, thereby reducing the relative displacement between the clamping module 3 and the part 5 to be clamped.

[0146] After obtaining the placement information of the part 5 to be clamped on the working buffer mechanism 7, the present embodiment adjusts the position of the clamping module 3 in the first direction through the lifting module 1, and adjusts the position of the clamping module 3 in the second direction through the transfer module 2, and is configured to efficiently and accurately pick up and deliver the part 5 to be clamped, avoiding manual pick-up and placement operations, reducing labor intensity, and improving production efficiency. Moreover, during clamping, the clamping member 32 is positioned at the clamping position of the part 5 to be clamped through the positioning member 31, and is configured to enable the clamping member 32 to accurately clamp and deliver the part 5 to be clamped, thereby reducing delivery errors.

[0147] In some embodiments, the object to be clamped 5 is an annular sheet structure, and the clamping module 3 clamps the object to be clamped 5 and takes the object to be clamped 5 out of the working buffer mechanism 7, including:

[0148] A conveying module 4 is provided, and the conveying module 4 includes a conveying belt structure 41 and a conveying driving member 42 which are connected to each other in a transmission manner;

[0149] After the clamping member 32 clamps the piece to be clamped 5, the transfer module 2 drives the clamping module 3 and the piece to be clamped 5 to move away from the working buffer mechanism 7 in the second direction, and the conveyor belt structure 41 supports and transports the piece to be clamped 5 on both sides of the bottom. The clamping member clamps and pulls the front end middle of the piece to be clamped 5, and supports both sides of the bottom of the piece to be clamped 5 through the conveyor belt structure 41, and is configured to provide targeted support for the annular sheet structure to reduce deformation.

[0150] In this embodiment, the conveying speed of the conveyor belt structure 41 for the clamped part 5 is the same as the transfer speed of the transfer module 2 for the clamping module 3 and the clamped part 5, so as to reduce the relative sliding between the clamped part 5 and the conveyor belt structure 41, thereby reducing the wear of the clamped part 5.

[0151] In some embodiments, the automatic loading method further comprises:

[0152] Providing a backup cache mechanism 9;

[0153] When the working buffer mechanism 7 fails, the lifting module 1 adjusts the clamping module 3 to switch its position in the first direction, so that the clamping module 3 is configured to clamp the object 5 to be clamped on the standby buffer mechanism 9, so that the object 5 to be clamped is configured to be continuously conveyed.

[0154] After the clamping member 32 clamps the object 5 to be clamped, the output mechanism 8 is kept in position, and the clamping module 3 and the object 5 to be clamped are driven by the lifting module 1 to move as a whole to the output mechanism 8, which is configured to maintain the alignment accuracy of the output mechanism 8 and the subsequent process equipment, so as to facilitate the accurate delivery of the object 5 to be clamped. Moreover, the lifting module 1 performs adjustment movement independently, has a small size, is flexible and convenient, and has high position accuracy.

[0155] When the piece 5 to be clamped is aligned with the input end of the output mechanism 8, the transfer module 2 drives the clamping module 3 to move in the second direction to shift the piece 5 to the output mechanism 8, that is, when the working buffer mechanism 7 fails, it is configured to grab the piece 5 to be clamped on the standby buffer mechanism 9 through the cooperation of the lifting module 1, the transfer module 2 and the clamping module 3 to ensure the continuous transportation of the piece 5 to be clamped and reduce the downtime. Moreover, the clamping and transportation are flexible and convenient.

[0156] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A clamping mechanism for clamping a piece to be clamped (5), characterized in that: The clamping mechanism comprises: A lifting module (1) comprises a lifting platform (11) and a lifting drive member (12) which are connected to each other in a transmission manner, wherein the lifting drive member (12) is configured to drive the lifting platform (11) to lift in a first direction; A transfer module (2), comprising a transfer drive member (21) and a transfer bracket (22) which are transmission-connected to each other, wherein the transfer bracket (22) is slidably arranged on the lifting platform (11), and the transfer drive member (21) is configured to drive the transfer bracket (22) to move in a second direction, wherein the first direction intersects with the second direction; A clamping module (3), wherein the clamping module (3) is arranged on the transfer bracket (22), and the clamping module (3) comprises a positioning member (31) and a plurality of clamping members (32), wherein the plurality of clamping members (32) are arranged on both sides of the positioning member (31), the positioning member (31) is configured to be abutted and positioned by the member to be clamped (5), and the clamping member (32) is configured to clamp the member to be clamped (5).

2. The clamping mechanism according to claim 1, characterized in that: The to-be-clamped piece (5) is an annular sheet structure, and the clamping mechanism further comprises a conveying module (4), and the conveying module (4) comprises: at least two conveyor belt structures (41), the conveyor belt structures (41) being arranged on the lifting platform (11), and at least two conveyor belt structures (41) being arranged on both sides of the clamping module (3); A conveying drive member (42), the conveying drive member (42) is transmission-connected to the conveying belt structure (41), the conveying drive member (42) is configured to drive the conveying belt structure (41) to perform a conveying movement along the second direction, and the bottom two sides of the annular sheet structure clamped by the clamping member (32) are configured to be conveyed on the conveying belt structure (41).

3. The clamping mechanism according to claim 2, characterized in that: The annular sheet structure is provided with a protrusion (51), the protrusion (51) is provided to protrude outwards from the side edge of the annular sheet structure along its own conveying direction, and the protrusion (51) is configured to be clamped by the clamping member (32); Wherein, the clamping member (32) comprises: A support frame (321), wherein the support frame (321) is fixedly arranged on the transfer support (22); Two clamping jaws (322), each of the clamping jaws (322) having a clamping plate (3221) and a connecting arm (3222) connected to each other, the connecting arm (3222) being slidably connected to the support frame (321), and the clamping plates (3221) of the two clamping jaws (322) being configured to clamp on both sides of the protruding portion (51); A clamping cylinder (323), wherein the clamping cylinder (323) is arranged on the support frame (321), and the two clamping jaws (322) are both transmission-connected to the clamping cylinder (323), and the clamping cylinder (323) is configured to drive the two clamping jaws (322) to move closer to or farther away from each other in the first direction.

4. The clamping mechanism according to claim 1, characterized in that: The positioning member (31) comprises: A positioning and adjusting cylinder (311), wherein the positioning and adjusting cylinder (311) is fixedly arranged on the transfer bracket (22); A positioning block (312), wherein the positioning block (312) is arranged on the positioning adjustment cylinder (311), the positioning block (312) is configured to abut against the to-be-clamped piece (5), and the positioning adjustment cylinder (311) is configured to drive the positioning block (312) to move in the second direction.

5. The clamping mechanism according to claim 4, characterized in that: The positioning block (312) is provided with a plurality of limiting protrusions (313), the plurality of limiting protrusions (313) are arranged at intervals on the surface of the positioning block (312), and the limiting protrusions (313) are configured to abut against the to-be-clamped piece (5).

6. The clamping mechanism according to claim 1, characterized in that: The lifting drive member (12) comprises: A support (121), on which the lifting platform (11) can be slidably arranged; A lead screw (122), the lead screw (122) being rotatably disposed on the support (121), and the lead screw (122) being extended along the first direction; A lifting motor (123), the lifting motor (123) being drivingly connected to the lead screw (122), and the lifting motor (123) being capable of driving the lead screw (122) to rotate; A lifting slider (124), wherein the lifting slider (124) is arranged on the lead screw (122), and the lifting slider (124) is fixedly connected to the lifting platform (11), and the rotation of the lead screw (122) can drive the lifting slider (124) and the lifting platform (11) to move in the first direction.

7. The clamping mechanism according to claim 6, characterized in that: The lifting module (1) further comprises a first guide assembly (13) and / or a second guide assembly (14); The first guide assembly (13) comprises a first guide rail (131) and a first slider (132) which are slidably connected, the first guide rail (131) is fixedly arranged on the support (121), the first slider (132) is fixedly arranged on the lifting platform (11), the first slider (132) can slide along the first guide rail (131), and the first guide assembly (13) is provided with at least two groups, and the first guide assembly (13) is arranged on both sides of the lead screw (122); The second guide assembly (14) comprises: A stand (141), the stand (141) is fixedly arranged on the support (121), the stand (141) is arranged in the circumferential direction of the lead screw (122), a guide groove (1411) is arranged on the stand (141), and the side of the lifting slider (124) is slidably connected to the guide groove (1411); A connecting ring frame (142), the connecting ring frame (142) passes through the vertical frame (141) and is slidably connected to the vertical frame (141), the wall surface of the connecting ring frame (142) located inside the vertical frame (141) is fixedly connected to the lifting slider (124), and the wall surface of the connecting ring frame (142) located outside the vertical frame (141) is fixedly connected to the lifting platform (11).

8. The clamping mechanism according to claim 1, characterized in that: The transfer drive member (21) comprises: A transfer conveyor belt (211), wherein the transfer conveyor belt (211) is rotatably arranged on the lifting platform (11), and the transfer bracket (22) is slidably arranged on the lifting platform (11) and fixedly arranged on the transfer conveyor belt (211); A transfer motor (212), wherein the transfer motor (212) is fixedly arranged on the lifting platform (11), the transfer motor (212) is transmission-connected to the transfer conveyor belt (211), and the transfer motor (212) is configured to drive the transfer conveyor belt (211) to perform a conveying movement in the second direction, so as to drive the transfer bracket (22) to move.

9. The clamping mechanism according to any one of claims 1 to 8, characterized in that: The lifting module (1) further comprises a lifting position detection component (15), wherein the lifting position detection component (15) is used to detect the lifting position of the lifting platform (11) in the first direction; and / or, The transfer module (2) further comprises a transfer position detection member (23), wherein the transfer position detection member (23) is used to detect the transfer position of the transfer bracket (22) in the second direction; and / or, The clamping module (3) further comprises a clamping position detection member (33), wherein the clamping position detection member (33) is used to detect the clamping position of the to-be-clamped member (5) on the clamping member (32).

10. An automatic feeding device, characterized in that: include: Rack (6); A working buffer mechanism (7), the working buffer mechanism (7) being arranged on the frame (6) and being used for placing a plurality of parts (5) to be clamped; An output mechanism (8), the output mechanism (8) being arranged on the frame (6) and being used for outputting the to-be-clamped part (5); The clamping mechanism described in any one of claims 1 to 9 is arranged between the working buffer mechanism (7) and the output mechanism (8), and the clamping mechanism is configured to shift the to-be-clamped member (5) on the working buffer mechanism (7) to the output mechanism (8).

11. The automatic feeding device according to claim 10, characterized in that: The automatic loading device further comprises a backup buffer mechanism (9), wherein the backup buffer mechanism (9) and the working buffer mechanism (7) are arranged at intervals along the first direction, and the lifting module (1) is configured to drive the clamping module (3) to switch positions between the working buffer mechanism (7) and the backup buffer mechanism (9).

12. The automatic feeding device according to claim 11, characterized in that: The working buffer mechanism (7) comprises a first material frame (71), the first material frame (71) is provided with a plurality of first storage slots (711), and the plurality of first storage slots (711) are arranged at intervals along the first direction; and / or, The standby buffer mechanism (9) comprises a second material frame (91), and a plurality of second storage slots (911) are arranged on the second material frame (91), and the plurality of second storage slots (911) are arranged at intervals along the first direction.

13. The automatic feeding device according to claim 12, characterized in that: The backup cache mechanism (9) further comprises: A drawer guide rail (92), the drawer guide rail (92) being fixedly arranged on the frame (6), and the second material frame (91) being slidably connected to the drawer guide rail (92); a limiting member (93), the limiting member (93) being arranged on a sliding path of the second material frame (91), the limiting member (93) being configured to limit a sliding position of the second material frame (91) on the drawer guide rail (92); A telescopic member (94), wherein the telescopic member (94) is arranged on the frame (6), and an abutment member (95) is arranged on the second material frame (91), and the telescopic member (94) is configured to abut against the abutment member (95) to limit the second material frame (91) to the position of the limiting member (93).

14. An automatic feeding method, characterized in that: Based on the automatic loading device according to any one of claims 10 to 13, the automatic loading method comprises: Acquiring placement information of the to-be-clipped component (5) on the working buffer mechanism (7); According to the placement position information of the to-be-clamped object (5), the position of the clamping module (3) in the first direction is adjusted by the lifting module (1), so that the clamping module (3) and the to-be-clamped object (5) are in the same position in the first direction; According to the placement position information of the object (5) to be clamped, the position of the clamping module (3) in the second direction is adjusted by the transfer module (2), so that the clamping module (3) clamps the object (5) to be clamped and takes the object (5) to be clamped out from the working buffer mechanism (7), shifts the object (5) to the output mechanism (8), and the object (5) to be clamped is output by the output mechanism (8); When the transfer module (2) is shifted to the point where the part to be clamped (5) contacts the positioning member (31), the clamping member (32) clamps the part to be clamped (5).

15. The automatic feeding method according to claim 14, characterized in that: The to-be-clamped part (5) is an annular sheet structure, and the clamping module (3) clamps the to-be-clamped part (5) and takes the to-be-clamped part (5) out of the working buffer mechanism (7), comprising: A conveying module (4) is provided, wherein the conveying module (4) comprises a conveying belt structure (41) and a conveying driving member (42) which are connected to each other in a transmission manner; After the clamping member (32) clamps the object to be clamped (5), the transfer module (2) drives the clamping module (3) and the object to be clamped (5) to move away from the working buffer mechanism (7) in the second direction, and supports and transports the object to be clamped (5) on both sides of the bottom through the conveyor belt structure (41).

16. The automatic feeding method according to claim 14, characterized in that: The automatic feeding method also includes: Providing a backup cache mechanism (9); When the working buffer mechanism (7) fails, the lifting module (1) adjusts the clamping module (3) to switch its position in the first direction, so that the clamping module (3) is configured to clamp the to-be-clamped component (5) on the standby buffer mechanism (9); After the clamping member (32) clamps the object to be clamped (5), the position of the output mechanism (8) is kept unchanged, and the clamping module (3) and the object to be clamped (5) are driven by the lifting module (1) to move as a whole to the output mechanism (8); When the object to be clamped (5) is aligned with the input end of the output mechanism (8), the transfer module (2) drives the clamping module (3) to move in the second direction to shift the object to be clamped (5) onto the output mechanism (8).

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