Automatic feeding device with flexible contact function

Abstract

The invention discloses an automatic feeding device with a flexible contact function, and relates to the technical field of automatic feeding, the automatic feeding device comprises a supporting column, a two-axis moving device, a lifting device, a camera module, a material box and a cleaning device, and the camera module can recognize the position of a workpiece in the material box; the two-axis moving device can drive the lifting device to move to the position above a workpiece to be taken, in the material taking process of the lifting device, a vibration reduction structure is used for the material box, the pressure of a suction cup on the workpiece is relieved, the contact face of the cleaning device and the workpiece is made of a flexible material, and friction and scratches possibly caused to the surface of the workpiece in the cleaning process are reduced; meanwhile, the adhesive tape and the cleaning cloth are combined, the surface of the workpiece is cleaned, the cleaning efficiency is improved, the adhesive tape can automatically clean the surface of the cleaning cloth in the pulling process, the cleaning cloth can be recycled, the requirement for frequently replacing the cleaning cloth is reduced, and after the workpiece is cleaned, the workpiece enters the next procedure.

Description

Technical Field

[0001] The invention relates to the technical field of automatic feeding, in particular to an automatic feeding device with a flexible contact function. Background Art

[0002] In the process of industrial production, materials often need to be loaded. Traditional production lines require a lot of manual operation, which is not only inefficient, but also prone to quality problems due to human factors. The design of automated loading and unloading equipment makes the production process automated, intelligent, and efficient. The automated loading system can realize the automation of mass production, reduce manual intervention, reduce the error rate, and improve production efficiency. The existing technology has defects: when the existing material-retrieving equipment contacts the workpiece, it is easy to cause indentations on the surface of some precision workpieces due to the lack of buffering, which damages the function of the workpiece; during the loading process of the existing loading equipment, the surface of the workpiece will be sticky with dust and stains, affecting the use of subsequent processes. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic feeding device with a flexible contact function to solve the problems raised in the prior art.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: the automatic loading device includes a pillar, a two-axis moving device is installed at one end of the pillar, a lifting device is slidably connected to the two-axis moving device, a material box is installed below the lifting device, a camera module is installed on one side of the material box, and a cleaning device is installed at the other end of the material box. When working, the control system controls the camera module to identify the position of the workpiece in the material box, controls the two-axis moving device to drive the lifting device to move to the top of the workpiece to be taken, controls the lifting device to descend to the position of the workpiece to be taken, adsorbs the workpiece, controls the two-axis moving device to move the workpiece to the cleaning device, and after the workpiece is cleaned, enters the next process.

[0005] The two-axis moving device includes an X-axis linear module, which is installed at one end of the support, a first servo motor is installed at one end of the X-axis linear module, a first slider is slidably connected to the X-axis linear module, a Y-axis linear module is installed on one side of the first slider, a second servo motor is installed at one end of the Y-axis linear module, the lifting device slides on the Y-axis linear module, and the first servo motor and the second servo motor are connected to the control system. The first servo motor is controlled to start, the first servo motor drives the first slider to slide on the X-axis linear module, the first slider drives the Y-axis linear module to move, and the second servo motor is controlled to start, and the second servo motor drives the second slider to slide on the Y-axis linear module.

[0006] The lifting device includes a second slider, which slides on the Y-axis linear module, a T-block is installed at one end of the second slider, a Z-axis linear module is installed at one end of the T-block, a third servo motor is installed at one end of the Z-axis linear module, a third slider is slidably connected to the Z-axis linear module, an adapter plate is installed at one side of the third slider, a digital pressure switch and a connecting plate are installed at one side of the adapter plate, the connecting plate is installed below the digital pressure switch, a material picking device is installed at one end of the connecting plate, and the third servo motor and the digital pressure switch are connected to the control system.

[0007] The material picking device includes an L-shaped plate, which is installed at one end of the connecting plate, a support plate is installed on one side of the L-shaped plate, a fourth servo motor is installed at one end of the L-shaped plate, a coupling is installed on the output shaft of the fourth servo motor, a first fixed plate and a second fixed plate are installed on one side of the L-shaped plate, a U-shaped photoelectric sensor is installed between the first fixed plate and the second fixed plate, a suction cup is installed at one end of the coupling, a shift block is installed on the suction cup, and the shift block is located in the U-shaped photoelectric sensor, an air intake block is installed on one side of the support plate, the suction cup rotates in the first fixed plate, the second fixed plate and the air intake block, a micro joint is installed at one end of the air intake block, a vacuum generator is installed at one end of the micro joint, and the fourth servo motor, the U-shaped photoelectric sensor and the air source are connected to the control system. The second slider drives the T-block to move on the Y-axis linear module, and the T-block drives the Z-axis linear module to move, and the third servo motor is controlled to start, and the third servo motor drives the third slider to slide on the Z-axis linear module, and the third slider drives the adapter plate to move, and the adapter plate drives the connecting plate to move, and the digital display pressure switch detects the pressure during operation, and the connecting plate drives the L-shaped plate to move. When the suction cup moves to the top of the workpiece to be taken, the vacuum generator is controlled to start, and the vacuum generator forms a negative pressure in the suction cup, and the suction cup adsorbs the workpiece, and the fourth servo motor is controlled to start, and the fourth servo motor drives the coupling to rotate, and the coupling drives the suction cup to rotate in the air intake block, and the suction cup drives the workpiece and the shift block to rotate. When the U-shaped photoelectric sensor senses that the shift block blocks the light path, the fourth servo motor is controlled to stop rotating.

[0008] The material box includes a material box, the material box is located below the lifting device, a pad is installed on one side of the material box, a control box is installed on one side of the pad, a damping spring and an anti-deviating device are installed on one side of the pad, a fixing block is installed on the other end of the damping spring, the fixing block and the anti-deviating device are installed on the inner wall of the control box, and a support block is installed on one side of the control box. When the suction cup is pressed on the workpiece, the material box drives the pad to descend, and the pad drives the damping spring to compress, thereby alleviating the pressure of the suction cup.

[0009] The anti-deviating device comprises a fixed column, a mounting block is installed on one side of the fixed column, a protrusion is rotatably connected between the two mounting blocks, a vertical plate is installed on one side of the pad, the protrusion rotates on one side of the vertical plate, and a connecting rod is rotatably connected to one side of the protrusion. When the suction cup is pressed on one end of the material box, the material box drives one end of the pad to descend, and one end of the pad drives the corresponding vertical plate to descend. The vertical plate drives the protrusion to rotate, and the protrusion rotates in the direction close to the vertical plate, and the protrusion drives the connecting rod to move in the direction close to the vertical plate, and the vertical plate drives the protrusion at the other end to rotate, and the protrusion at the other end rotates in the direction close to the vertical plate at the other end, and the protrusion at the other end drives the vertical plate at the other end to descend, so that both ends of the pad are descended at the same time, the pad is kept balanced, and the workpieces in the material box are prevented from being piled up together due to tilting, which affects the recognition of the camera module.

[0010] The cleaning device includes a linear guide rail, a fifth servo motor is installed at one end of the linear guide rail, a fourth slider is slidably connected to the linear guide rail, a mounting plate is installed on one side of the fourth slider, a discharging device and a recovery device are rotatably connected to the mounting plate, a tensioning device is slidably connected to the mounting plate, a cross plate is installed on one side of the mounting plate, a cylinder is installed at one end of the cross plate, a pressure block is installed on the cylinder rod of the cylinder, the pressure block slides on the mounting plate, a U-shaped block is installed on one side of the pressure block, and the fifth servo motor and the cylinder are connected to the control system. When the suction cup drives the workpiece to move to the recovery device, the control system controls the cylinder rod of the cylinder to extend, and the cylinder rod drives the pressure block to move away from the cylinder, and the pressure block presses the tape between the first tape reel and the roller onto the workpiece, and the tape drives the first tape roll to rotate. When the cylinder rod of the cylinder drives the pressure block to approach the initial position, the tensioning device starts, and the tensioning device tears the tape on the workpiece and the cleaning cloth, and the tape removes dust and stains on one end of the workpiece and the cleaning cloth. The recovery device starts, and the recovery device recycles the tape and drives the cleaning cloth to rotate at the same time, and the cleaning cloth wipes off the dust and stains on the other end of the workpiece.

[0011] The discharging device includes a discharging roller, which rotates on a mounting plate, a first tape roll is installed at one end of the discharging roller, a first ratchet is installed at the other end of the discharging roller, a first rack is installed on one side of the U-shaped block, a first rotating shaft, a guide rail and a limit block are installed on one side of the mounting plate, a first gear is rotatably connected to the first rotating shaft, a second rack is slidably connected to the guide rail, a first pawl is installed at one end of the second rack, the first gear is meshed with the first rack, the first gear is meshed with the second rack, and the first pawl cooperates with the first ratchet. When the U-shaped block drives the first rack to move away from the cylinder, the first rack drives the first gear to rotate, the first gear drives the second rack to slide on the guide rail away from the limit block, and the second rack drives the first pawl away from the first ratchet; when the U-shaped block drives the first rack to move toward the cylinder, the first rack drives the first gear to reverse, the first gear drives the second rack to slide on the guide rail away from the limit block, and the second rack drives the first pawl toward the first ratchet; when the first rack is disengaged from the first gear, the second rack falls on the limit block, and at this time the first pawl presses against the first ratchet.

[0012] The tensioning device includes a tensioning roller, one end of the tensioning roller is installed with a roller, the other end of the tensioning roller is installed with a convex rod and a guide rod, one side of the mounting plate is installed with a vertical block and a second rotating shaft, the guide rod slides in the vertical block, a cylindrical spring is sleeved on the outer surface of the guide rod, one end of the cylindrical spring is installed on the tensioning roller, the other end of the cylindrical spring is installed on the vertical block, a third rack is installed at one end of the U-shaped block, a cylinder is rotatably connected to the second rotating shaft, a second pawl is installed on the cylinder, a compression spring is installed between the second pawl and the cylinder, a cam is installed at one end of the cylinder, the cam cooperates with the convex rod, and a second gear is rotatably connected to the cylinder, a second ratchet is arranged inside the second gear, the second pawl and the second ratchet cooperate, and the second gear is meshed with the third rack. When the U-shaped block drives the third rack to move in the direction away from the cylinder, the third gear drives the second gear to rotate, and the second gear drives the second ratchet to rotate. At this time, the second ratchet slides on the second pawl. When the U-shaped block drives the third rack to move in the direction close to the cylinder, until the first rack is disengaged from the first gear, the third rack engages with the second gear, and the third rack drives the second gear to reverse, and the second gear drives the second ratchet to reverse. At this time, the second pawl resists the second ratchet, and the second ratchet drives the cylinder to rotate, and the cylinder drives the cam to rotate. When the flange of the cam contacts the convex rod, the cam drives the convex rod to move in the direction close to the vertical block, and the convex rod drives the tensioning roller to move. When the base circle of the cam contacts the convex rod, the cylindrical spring stretches and drives the tensioning roller to move in the direction away from the vertical block.

[0013] The recycling device includes a stepper motor, which is installed on one side of the mounting plate. A recycling roller is installed on the output shaft of the stepper motor, and a second tape roll is installed on the recycling roller. A driving roller is rotatably connected to the mounting plate, and belts are installed on the driving roller and the recycling roller. A third rotating shaft is installed on one side of the mounting plate, and a sensing cylinder is rotatably connected to the third rotating shaft. The outer surface of the sensing cylinder is a flexible material, and a cleaning cloth is provided on the driving roller and the sensing cylinder. The tape on the first tape roll is installed on the second tape roll through a roller, and the tape between the roller and the second tape roll rests on the cleaning cloth. The interior of the sensing cylinder is filled with gas, and an air pressure sensor is installed inside the sensing cylinder. The stepper motor and the air pressure sensor are connected to the control system. When the workpiece is pressed on the sensing cylinder, the air pressure sensor in the sensing cylinder senses a change in gas pressure and controls the cylinder to start. When the pressure block moves close to the initial position, the stepper motor is controlled to start. The stepper motor drives the recovery roller to rotate, the recovery roller drives the second tape reel to rotate, the recovery roller drives the belt to rotate, the belt drives the drive roller to rotate, the drive roller drives the cleaning cloth to rotate, and the cleaning cloth drives the sensing cylinder to rotate.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The automatic feeding device of the present invention adopts flexible contact. During the material picking process, a vibration reduction structure is used to reduce the pressure of the suction cup on the workpiece. During the cleaning process, the contact surface between the workpiece and the cleaning device is a flexible material, which can reduce the friction and scratches on the workpiece surface that may be caused during the cleaning process. During the feeding process, the damage or deformation of the workpiece caused by traditional hard contact is avoided, thereby protecting the appearance and quality of the workpiece to the greatest extent and reducing the loss caused by damage to the workpiece; 2. When the material box has a tendency to deviate, the anti-deviation device of the present invention can stabilize the material box, ensure that the material box is always in a horizontal state, and prevent the material box from deviating and causing the workpieces in the material box to move and pile up. When the camera module performs visual recognition, the clarity and accuracy of the image can be ensured, thereby improving the recognition efficiency and accuracy, avoiding production shutdowns caused by camera module recognition errors, and improving work efficiency and product quality stability; 3. The cleaning device of the present invention uses a combination of tape and cleaning cloth to clean the surface of the workpiece, thereby improving the cleaning efficiency and sustainability of the device. During the cleaning process, the cleaning device can automatically pull and recycle the tape, so that the tape is always in an effective working state and can flexibly perform surface cleaning. At the same time, the tape will also automatically clean the surface of the cleaning cloth during the pulling process, ensuring that the cleaning cloth does not accumulate dirt and maintains the cleaning effect, so that the cleaning cloth can be recycled, reducing the need for frequent replacement of the cleaning cloth, thereby saving costs and improving the overall operating efficiency of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A three-dimensional diagram of the automatic feeding device of the present invention; Figure 2 It is a three-dimensional diagram of the two-axis moving device of the present invention; Figure 3 is a three-dimensional diagram of the lifting device of the present invention; Figure 4 It is a three-dimensional diagram of the material taking device of the present invention; Figure 5 An exploded view of the material box of the present invention; Figure 6 is an internal schematic diagram of the anti-deviating device of the present invention; Figure 7 The three-dimensional cleaning device of the present invention Figure 1 ; Figure 8 The three-dimensional cleaning device of the present invention Figure 2 .

[0016] In the figure: 1. pillar; 2. two-axis moving device; 21. X-axis linear module; 22. first servo motor; 23. first slider; 24. Y-axis linear module; 25. second servo motor; 3. lifting device; 31. T-block; 32. Z-axis linear module; 33. third servo motor; 34. third slider; 35. adapter plate; 36. digital pressure switch; 37. connecting plate; 38. material picking device; 381. L-shaped plate; 382. fourth servo motor; 383. first fixed plate; 384. second fixed plate; 385. coupling; 386. suction cup; 387. U-shaped photoelectric sensor; 388. air intake block; 389. micro connector; 4. camera module; 5. material box; 51. material box; 52. pad; 53. control box; 54. damping spring; 55. anti-deviating device; 551. fixed column ; 552, vertical plate; 553, mounting block; 554, protrusion; 555, connecting rod; 56, supporting block; 6, cleaning device; 61, linear guide rail; 62, fifth servo motor; 63, mounting plate; 64, discharging device; 641, discharging roller; 642, first ratchet; 643, first rack; 644, first gear; 645, second rack; 646, limit block; 647, first ratchet; 65. Tensioning device; 651. Tensioning roller; 652. Third rack; 653. Cylinder; 654. Cam; 655. Second gear; 656. Protruding rod; 657. Guide rod; 658. Cylindrical spring; 66. Recovery device; 661. Stepper motor; 662. Driving roller; 663. Induction cylinder; 664. Belt; 665. Recovery roller; 67. Cylinder; 68. Pressure block; 69. U-shaped block. DETAILED DESCRIPTION

[0017] 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 only 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.

[0018] Example: Figure 1-Figure 8 As shown, the present invention provides a technical solution, the automatic loading device includes a pillar 1, a two-axis moving device 2 is installed at one end of the pillar 1, a lifting device 3 is slidably connected to the two-axis moving device 2, a material box 5 is installed below the lifting device 3, a camera module 4 is installed on one side of the material box 5, and a cleaning device 6 is installed at the other end of the material box 5. When working, the control system controls the camera module 4 to identify the position of the workpiece in the material box 5, controls the two-axis moving device 2 to drive the lifting device 3 to move to the top of the workpiece to be taken, controls the lifting device 3 to descend to the position of the workpiece to be taken, adsorbs the workpiece, controls the two-axis moving device 2 to move the workpiece to the cleaning device 6, and after the workpiece is cleaned, enters the next process.

[0019] The two-axis moving device 2 includes an X-axis linear module 21, which is installed at one end of the support 1. A first servo motor 22 is installed at one end of the X-axis linear module 21. A first slider 23 is slidably connected to the X-axis linear module 21. A Y-axis linear module 24 is installed on one side of the first slider 23. A second servo motor 25 is installed at one end of the Y-axis linear module 24. The lifting device 3 slides on the Y-axis linear module 24. The first servo motor 22 and the second servo motor 25 are connected to the control system. The first servo motor 22 is controlled to start, and the first servo motor 22 drives the first slider 23 to slide on the X-axis linear module 21. The first slider 23 drives the Y-axis linear module 24 to move. The second servo motor 25 is controlled to start, and the second servo motor 25 drives the second slider to slide on the Y-axis linear module 24.

[0020] The lifting device 3 includes a second slider, which slides on the Y-axis linear module 24. A T-block 31 is installed at one end of the second slider, a Z-axis linear module 32 is installed at one end of the T-block 31, a third servo motor 33 is installed at one end of the Z-axis linear module 32, and a third slider 34 is slidably connected to the Z-axis linear module 32. An adapter plate 35 is installed on one side of the third slider 34, a digital pressure switch 36 and a connecting plate 37 are installed on one side of the adapter plate 35, the connecting plate 37 is installed below the digital pressure switch 36, and a material picking device 38 is installed at one end of the connecting plate 37. The third servo motor 33 and the digital pressure switch 36 are connected to the control system.

[0021] The material taking device 38 comprises an L-shaped plate 381, which is mounted on one end of the connecting plate 37, a support plate is mounted on one side of the L-shaped plate 381, a fourth servo motor 382 is mounted on one end of the L-shaped plate 381, a coupling 385 is mounted on the output shaft of the fourth servo motor 382, ​​a first fixing plate 383 and a second fixing plate 384 are mounted on one side of the L-shaped plate 381, a U-shaped photoelectric sensor 387 is mounted between the first fixing plate 383 and the second fixing plate 384, and a coupling 386 is mounted on the output shaft of the fourth servo motor 382. A suction cup 386 is installed at one end of 85, and a shift block is installed on the suction cup 386, which is located in the U-shaped photoelectric sensor 387. An air intake block 388 is installed on one side of the support plate. The suction cup 386 rotates in the first fixed plate 383, the second fixed plate 384 and the air intake block 388. A micro connector 389 is installed at one end of the air intake block 388, and a vacuum generator is installed at one end of the micro connector 389. The fourth servo motor 382, ​​the U-shaped photoelectric sensor 387 and the air source are connected to the control system. The second slider drives the T-block 31 to move on the Y-axis linear module 24, and the T-block 31 drives the Z-axis linear module 32 to move, and the third servo motor 33 is controlled to start, and the third servo motor 33 drives the third slider 34 to slide on the Z-axis linear module 32, and the third slider 34 drives the adapter plate 35 to move, and the adapter plate 35 drives the connecting plate 37 to move, and the digital display pressure switch 36 detects the pressure of the device during operation, and the connecting plate 37 drives the L-shaped plate 381 to move. When the suction cup 386 moves to the top of the workpiece to be taken, the vacuum generator is controlled to start, and the vacuum generator forms a negative pressure in the suction cup 386, and the suction cup 386 adsorbs the workpiece, and the fourth servo motor 382 is controlled to start, and the fourth servo motor 382 drives the coupling 385 to rotate, and the coupling 385 drives the suction cup 386 to rotate in the air intake block 388, and the suction cup 386 drives the workpiece and the shift block to rotate. When the U-shaped photoelectric sensor 387 senses that the shift block blocks the light path, the fourth servo motor 382 is controlled to stop rotating.

[0022] The material box 5 includes a material box 51, which is located below the lifting device 3. A pad 52 is installed on one side of the material box 51, a control box 53 is installed on one side of the pad 52, a damping spring 54 and an anti-deviating device 55 are installed on one side of the pad 52, a fixing block is installed on the other end of the damping spring 54, the fixing block and the anti-deviating device 55 are installed on the inner wall of the control box 53, and a support block 56 is installed on one side of the control box 53. When the suction cup 386 is pressed on the workpiece, the material box 51 drives the pad 52 to descend, and the pad 52 drives the damping spring 54 to compress, thereby reducing the pressure of the suction cup 386.

[0023] The anti-deviating device 55 includes a fixed column 551, a mounting block 553 is installed on one side of the fixed column 551, a protrusion 554 is rotatably connected between the two mounting blocks 553, a vertical plate 552 is installed on one side of the pad 52, the protrusion 554 rotates on one side of the vertical plate 552, and a connecting rod 555 is rotatably connected to one side of the protrusion 554. When the suction cup 386 is pressed on one end of the material box 51, the material box 51 drives one end of the pad 52 to descend, and one end of the pad 52 drives the corresponding vertical plate 552 to descend. The vertical plate 552 drives the protrusion 554 to rotate, and the protrusion 554 rotates in the direction close to the vertical plate 552. The protrusion 554 drives the connecting rod 555 to move in the direction close to the vertical plate 552, and the vertical plate 552 drives the protrusion 554 at the other end to rotate, and the protrusion 554 at the other end rotates in the direction close to the vertical plate 552 at the other end, and the protrusion 554 at the other end drives the vertical plate 552 at the other end to descend, so that both ends of the pad 52 descend at the same time, keep the balance of the pad 52, and prevent the workpieces in the material box 51 from being tilted and piled up, affecting the recognition of the camera module 4.

[0024] The cleaning device 6 includes a linear guide rail 61, one end of which is equipped with a fifth servo motor 62, a fourth slider is slidably connected to the linear guide rail 61, a mounting plate 63 is mounted on one side of the fourth slider, a discharging device 64 and a recovery device 66 are rotatably connected to the mounting plate 63, a tensioning device 65 is slidably connected to the mounting plate 63, a cross plate is mounted on one side of the mounting plate 63, a cylinder 67 is mounted on one end of the cross plate, a pressure block 68 is mounted on the cylinder rod of the cylinder 67, the pressure block 68 slides on the mounting plate 63, a U-shaped block 69 is mounted on one side of the pressure block 68, and the fifth servo motor 62 and the cylinder 67 are connected to the control system. When the suction cup 386 drives the workpiece to move to the recovery device 66, the control system controls the cylinder rod of the cylinder 67 to extend, and the cylinder rod drives the pressure block 68 to move away from the cylinder 67, and the pressure block 68 presses the tape between the first tape reel and the roller onto the workpiece, and the pressure block 68 drives the U-shaped block 69 to move, and the tape drives the first tape roll to rotate. When the cylinder rod of the cylinder 67 drives the pressure block 68 to approach the initial position, the tensioning device 65 is started, and the tensioning device 65 tears the tape on the workpiece and the cleaning cloth, and the tape removes dust and stains on one end of the workpiece and the cleaning cloth. The recovery device 66 is started, and the recovery device 66 recycles the tape and drives the cleaning cloth to rotate at the same time, and the cleaning cloth wipes off the dust and stains on the other end of the workpiece.

[0025] The discharging device 64 includes a discharging roller 641, which rotates on the mounting plate 63. A first tape roll is installed at one end of the discharging roller 641, and a first ratchet 642 is installed at the other end of the discharging roller 641. A first rack 643 is installed on one side of the U-shaped block 69, and a first rotating shaft, a guide rail and a limit block 646 are installed on one side of the mounting plate 63. A first gear 644 is rotatably connected to the first rotating shaft, and a second rack 645 is slidably connected to the guide rail. A first pawl 647 is installed at one end of the second rack 645. The first gear 644 and the first rack 643 are meshed, the first gear 644 and the second rack 645 are meshed, and the first pawl 647 and the first ratchet 642 cooperate with each other. When the U-shaped block 69 drives the first rack 643 to move in the direction away from the cylinder 67, the first rack 643 drives the first gear 644 to rotate, the first gear 644 drives the second rack 645 to slide on the guide rail away from the limit block 646, and the second rack 645 drives the first pawl 647 away from the first ratchet 642. When the U-shaped block 69 drives the first rack 643 to move in the direction close to the cylinder 67, the first rack 643 drives the first gear 644 to reverse, the first gear 644 drives the second rack 645 to slide on the guide rail away from the limit block 646, and the second rack 645 drives the first pawl 647 close to the first ratchet 642. When the first rack 643 is disengaged from the first gear 644, the second rack 645 falls on the limit block 646, and at this time the first pawl 647 is against the first ratchet 642.

[0026] The tensioning device 65 includes a tensioning roller 651, one end of which is equipped with a roller, the other end of which is equipped with a protruding rod 656 and a guide rod 657, one side of the mounting plate 63 is equipped with a vertical block and a second rotating shaft, the guide rod 657 slides in the vertical block, a cylindrical spring 658 is sleeved on the outer surface of the guide rod 657, one end of the cylindrical spring 658 is installed on the tensioning roller 651, the other end of the cylindrical spring 658 is installed on the vertical block, and one end of the U-shaped block 69 is installed There is a third rack 652, a cylinder 653 is rotatably connected to the second rotating shaft, a second pawl is installed on the cylinder 653, a compression spring is installed between the second pawl and the cylinder 653, a cam 654 is installed at one end of the cylinder 653, the cam 654 cooperates with the protruding rod 656, a second gear 655 is rotatably connected to the cylinder 653, a second ratchet is arranged inside the second gear 655, the second pawl and the second ratchet cooperate, and the second gear 655 is meshed with the third rack 652. When the U-shaped block 69 drives the third rack 652 to move away from the cylinder 67, the third rack 652 drives the second gear 655 to rotate, and the second gear 655 drives the second ratchet to rotate. At this time, the second ratchet slides on the second pawl. When the U-shaped block 69 drives the third rack 652 to move toward the cylinder 67, until the first rack 643 is out of mesh with the first gear 644, the third rack 652 and the second gear 655 enter into meshing, and the third rack 652 drives the second gear 655 to rotate. 5 reverses, the second gear 655 drives the second ratchet to reverse, at this time the second pawl abuts against the second ratchet, the second ratchet drives the cylinder 653 to rotate, the cylinder 653 drives the cam 654 to rotate, when the flange of the cam 654 contacts the protruding rod 656, the cam 654 drives the protruding rod 656 to move toward the direction of the vertical block, the protruding rod 656 drives the tensioning roller 651 to move, when the base circle of the cam 654 contacts the protruding rod 656, the cylindrical spring 658 stretches and drives the tensioning roller 651 to move away from the vertical block.

[0027] The recovery device 66 includes a stepper motor 661, which is installed on one side of the mounting plate 63. A recovery roller 665 is installed on the output shaft of the stepper motor 661, and a second tape roll is installed on the recovery roller 665. A driving roller 662 is rotatably connected to the mounting plate 63, and a belt 664 is installed on the driving roller 662 and the recovery roller 665. A third rotating shaft is installed on one side of the mounting plate 63, and a sensing cylinder 663 is rotatably connected to the third rotating shaft. The outer surface of the sensing cylinder 663 is a flexible material, and cleaning cloths are provided on the driving roller 662 and the sensing cylinder 663. The tape on the first tape roll is installed on the second tape roll through a roller, and the tape between the roller and the second tape roll rests on the cleaning cloth. The interior of the sensing cylinder 663 is filled with gas, and an air pressure sensor is installed inside the sensing cylinder 663. The stepper motor 661 and the air pressure sensor are connected to the control system. When the workpiece is pressed on the sensing cylinder 663, the air pressure sensor in the sensing cylinder 663 senses a change in gas pressure, and controls the cylinder 67 to start. When the pressure block 68 moves close to the initial position, the stepper motor 661 is controlled to start, and the stepper motor 661 drives the recovery roller 665 to rotate, and the recovery roller 665 drives the second tape reel to rotate, and the recovery roller 665 drives the belt 664 to rotate, and the belt 664 drives the drive roller 662 to rotate, and the drive roller 662 drives the cleaning cloth to rotate, and the cleaning cloth drives the sensing cylinder 663 to rotate.

[0028] Working principle of the present invention: During operation, the control system controls the camera module 4 to identify the position of the workpiece in the material box 5, controls the first servo motor 22 to start, the first servo motor 22 drives the first slider 23 to slide on the X-axis linear module 21, the first slider 23 drives the Y-axis linear module 24 to move, controls the second servo motor 25 to start, the second servo motor 25 drives the second slider to slide on the Y-axis linear module 24, the second slider drives the T-block 31 to move on the Y-axis linear module 24, the T-block 31 drives the Z-axis linear module 32 to move, so that the suction cup 386 moves to the top of the workpiece to be taken.

[0029] When the suction cup 386 moves to the top of the workpiece to be taken, the third servo motor 33 is controlled to start, the third servo motor 33 drives the third slider 34 to slide on the Z-axis linear module 32, the third slider 34 drives the adapter plate 35 to move, the adapter plate 35 drives the connecting plate 37 to move, the digital display pressure switch 36 detects the pressure during the operation of the device, and the connecting plate 37 drives the L-shaped plate 381 to move. When the suction cup 386 moves to the top of the workpiece to be taken, the vacuum generator is controlled to start, the vacuum generator forms a negative pressure in the suction cup 386, and the suction cup 386 adsorbs the workpiece, and the fourth servo motor 382 is controlled to start, the fourth servo motor 382 drives the coupling 385 to rotate, the coupling 385 drives the suction cup 386 to rotate in the air intake block 388, the suction cup 386 drives the workpiece and the shift block to rotate, and when the U-shaped photoelectric sensor 387 senses that the shift block blocks the light path, the fourth servo motor 382 is controlled to stop rotating.

[0030] When the suction cup 386 is pressed on the workpiece, the material box 51 drives one end of the pad 52 to descend, and one end of the pad 52 drives the corresponding vertical plate 552 to descend. The vertical plate 552 drives the protrusion 554 to rotate, and the protrusion 554 rotates in the direction close to the vertical plate 552. The protrusion 554 drives the connecting rod 555 to move in the direction close to the vertical plate 552. The vertical plate 552 drives the protrusion 554 at the other end to rotate, and the protrusion 554 at the other end rotates in the direction close to the vertical plate 552 at the other end. The protrusion 554 at the other end drives the vertical plate 552 at the other end to descend, so that both ends of the pad 52 descend at the same time, keep the balance of the pad 52, prevent the workpieces in the material box 51 from being tilted and stacked together, affecting the recognition of the camera module 4, and the pad 52 drives the vibration-damping spring 54 to compress, thereby reducing the pressure of the suction cup 386.

[0031] When the material is taken, the two-axis moving device 2 and the lifting device 3 are controlled to start, so that the suction cup 386 drives the workpiece to move to the cleaning cloth on the sensing cylinder 663. When the air pressure sensor in the sensing cylinder 663 senses a change in gas pressure, the control cylinder 67 is started, the cylinder rod of the cylinder 67 extends, the cylinder rod drives the pressure block 68 to move away from the cylinder 67, and the pressure block 68 drives the U-shaped block 69 to move away from the cylinder 67. The first rack 643 drives the first gear 644 to rotate, and the first gear 644 drives the second rack 645 to slide on the guide rail away from the limit block 646. The second rack 645 drives the first pawl 647 away from the first ratchet 642. At the same time, the third rack 652 drives the second gear 655 to rotate, and the second gear 655 drives the second ratchet to rotate. At this time, the second ratchet slides on the second pawl. When the pressure block 68 presses the tape between the first tape reel and the roller toward the workpiece, the tape drives the first tape roll to rotate.

[0032] When the pressure block 68 presses the tape onto the workpiece, the cylinder rod of the control cylinder 67 is retracted, and the cylinder rod drives the pressure block 68 to move toward the cylinder 67, and the pressure block 68 drives the U-shaped block 69 to move toward the cylinder 67, and the first rack 643 drives the first gear 644 to reverse, and the first gear 644 drives the second rack 645 to slide on the guide rail in the direction away from the limit block 646, and the second rack 645 drives the first pawl 647 to approach the first ratchet 642, and when the first rack 643 is disengaged from the first gear 644, the second rack 645 falls on the limit block 646, and the first pawl 647 is against the first ratchet 642, and the third rack 652 is engaged with the second gear 644. 55 enters into meshing, the third rack 652 drives the second gear 655 to reverse, the second gear 655 drives the second ratchet to reverse, at this time the second pawl resists the second ratchet, the second ratchet drives the cylinder 653 to rotate, the cylinder 653 drives the cam 654 to rotate, when the flange of the cam 654 contacts the convex rod 656, the cam 654 drives the convex rod 656 to move toward the direction close to the vertical block, the convex rod 656 drives the tensioning roller 651 to move, tearing off the tape on the workpiece and the cleaning cloth, the tape removes dust and stains on one end of the workpiece and the cleaning cloth, when the base circle of the cam 654 contacts the convex rod 656, the cylindrical spring 658 stretches and drives the tensioning roller 651 to move away from the vertical block.

[0033] When the cylindrical spring 658 stretches and drives the tensioning roller 651 to move away from the vertical block, the stepper motor 661 is controlled to start, the stepper motor 661 drives the recovery roller 665 to rotate, the recovery roller 665 drives the second tape reel to rotate, the recovery roller 665 drives the belt 664 to rotate, the belt 664 drives the driving roller 662 to rotate, the driving roller 662 drives the cleaning cloth to rotate, the cleaning cloth drives the induction cylinder 663 to rotate, the cleaning cloth wipes off the dust and stains on the other end of the workpiece, the two-axis moving device 2 is controlled to start, the two-axis moving device 2 drives the lifting device 3 to move, and the lifting device 3 moves the workpiece to the next process.

[0034] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. An automatic feeding device with flexible contact function, characterized in that: The automatic loading device comprises a support (1), a two-axis moving device (2) is installed at one end of the support (1), a lifting device (3) is slidably connected to the two-axis moving device (2), a material box (5) is installed below the lifting device (3), a camera module (4) is installed on one side of the material box (5), and a cleaning device (6) is installed at the other end of the material box (5).

2. The automatic feeding device with flexible contact function according to claim 1, characterized in that: The two-axis moving device (2) comprises an X-axis linear module (21), the X-axis linear module (21) is mounted on one end of the support (1), a first servo motor (22) is mounted on one end of the X-axis linear module (21), a first slider (23) is slidably connected to the X-axis linear module (21), a Y-axis linear module (24) is mounted on one side of the first slider (23), a second servo motor (25) is mounted on one end of the Y-axis linear module (24), the lifting device (3) slides on the Y-axis linear module (24), and the first servo motor (22) and the second servo motor (25) are connected to a control system.

3. The automatic feeding device with flexible contact function according to claim 2, characterized in that: The lifting device (3) comprises a second slider, the second slider slides on the Y-axis linear module (24), a T-block (31) is installed at one end of the second slider, a Z-axis linear module (32) is installed at one end of the T-block (31), a third servo motor (33) is installed at one end of the Z-axis linear module (32), a third slider (34) is slidably connected to the Z-axis linear module (32), an adapter plate (35) is installed at one side of the third slider (34), a digital pressure switch (36) and a connecting plate (37) are installed at one side of the adapter plate (35), the connecting plate (37) is installed below the digital pressure switch (36), a material removal device (38) is installed at one end of the connecting plate (37), and the third servo motor (33) and the digital pressure switch (36) are connected to the control system.

4. The automatic feeding device with flexible contact function according to claim 3, characterized in that: The material taking device (38) comprises an L-shaped plate (381), wherein the L-shaped plate (381) is mounted at one end of the connecting plate (37), a support plate is mounted on one side of the L-shaped plate (381), a fourth servo motor (382) is mounted at one end of the L-shaped plate (381), a coupling (385) is mounted on the output shaft of the fourth servo motor (382), a first fixing plate (383) and a second fixing plate (384) are mounted on one side of the L-shaped plate (381), a U-shaped photoelectric sensor (387) is mounted between the first fixing plate (383) and the second fixing plate (384), and the coupling A suction cup (386) is installed at one end of (385), a shifting block is installed on the suction cup (386), and the shifting block is located in the U-shaped photoelectric sensor (387); an air intake block (388) is installed on one side of the support plate; the suction cup (386) rotates in the first fixed plate (383), the second fixed plate (384) and the air intake block (388); a micro joint (389) is installed at one end of the air intake block (388); a vacuum generator is installed at one end of the micro joint (389); and the fourth servo motor (382), the U-shaped photoelectric sensor (387) and the vacuum generator are connected to the control system.

5. The automatic feeding device with flexible contact function according to claim 4, characterized in that: The material box (5) comprises a material box (51), wherein the material box (51) is located below the lifting device (3), a pad (52) is installed on one side of the material box (51), a control box (53) is installed on one side of the pad (52), a damping spring (54) and an anti-deviating device (55) are installed on one side of the pad (52), a fixing block is installed on the other end of the damping spring (54), the fixing block and the anti-deviating device (55) are installed on the inner wall of the control box (53), and a supporting block (56) is installed on one side of the control box (53).

6. The automatic feeding device with flexible contact function according to claim 5, characterized in that: The anti-deviating device (55) comprises a fixed column (551), a mounting block (553) is mounted on one side of the fixed column (551), a protrusion (554) is rotatably connected between the two mounting blocks (553), a vertical plate (552) is mounted on one side of the pad (52), the protrusion (554) is rotatably connected on one side of the vertical plate (552), and a connecting rod (555) is rotatably connected to one side of the protrusion (554).

7. The automatic feeding device with flexible contact function according to claim 6, characterized in that: The cleaning device (6) comprises a linear guide rail (61), one end of which is mounted a fifth servo motor (62), a fourth slider being slidably connected to the linear guide rail (61), a mounting plate (63) being mounted on one side of the fourth slider, a discharging device (64) and a recovery device (66) being rotatably connected to the mounting plate (63), a tensioning device (65) being slidably connected to the mounting plate (63), a transverse plate being mounted on one side of the mounting plate (63), a cylinder (67) being mounted on one end of the transverse plate, a pressure block (68) being mounted on the cylinder rod of the cylinder (67), the pressure block (68) sliding on the mounting plate (63), a U-shaped block (69) being mounted on one side of the pressure block (68), and the fifth servo motor (62) and the cylinder (67) being connected to a control system.

8. The automatic feeding device with flexible contact function according to claim 7, characterized in that: The discharging device (64) comprises a discharging roller (641), the discharging roller (641) rotates on the mounting plate (63), a first tape roll is mounted on one end of the discharging roller (641), a first ratchet (642) is mounted on the other end of the discharging roller (641), a first rack (643) is mounted on one side of the U-shaped block (69), a first rotating shaft, a guide rail and a limit block (646) are mounted on one side of the mounting plate (63), a first gear (644) is rotatably connected to the first rotating shaft, a second rack (645) is slidably connected to the guide rail, a first pawl (647) is mounted on one end of the second rack (645), the first gear (644) and the first rack (643) are meshed, the first gear (644) and the second rack (645) are meshed, and the first pawl (647) and the first ratchet (642) cooperate with each other.

9. The automatic feeding device with flexible contact function according to claim 8, characterized in that: The tensioning device (65) comprises a tensioning roller (651), one end of which is mounted with a roller, the other end of which is mounted with a protruding rod (656) and a guide rod (657), one side of the mounting plate (63) is mounted with a vertical block and a second rotating shaft, the guide rod (657) slides in the vertical block, a cylindrical spring (658) is sleeved on the outer surface of the guide rod (657), one end of the cylindrical spring (658) is mounted on the tensioning roller (651), the other end of the cylindrical spring (658) is mounted on the vertical block, and one end of the U-shaped block (69) is mounted on the vertical block. A third rack (652) is installed, a cylinder (653) is rotatably connected to the second rotating shaft, a second pawl is installed on the cylinder (653), a compression spring is installed between the second pawl and the cylinder 653, a cam (654) is installed at one end of the cylinder (653), the cam (654) cooperates with the protruding rod (656), a second gear (655) is rotatably connected to the cylinder (653), a second ratchet is arranged inside the second gear (655), the second pawl and the second ratchet cooperate, and the second gear (655) and the third rack (652) are meshed.

10. The automatic feeding device with flexible contact function according to claim 9, characterized in that: The recycling device (66) comprises a stepper motor (661), the stepper motor (661) being mounted on one side of the mounting plate (63), a recycling roller (665) being mounted on the output shaft of the stepper motor (661), a second adhesive tape roll being mounted on the recycling roller (665), a driving roller (662) being rotatably connected to the mounting plate (63), a belt (664) being mounted on the driving roller (662) and the recycling roller (665), a third rotating shaft being mounted on one side of the mounting plate (63), and the third rotating shaft being mounted on the output shaft of the stepper motor (661). A sensing cylinder (663) is rotatably connected to the three rotating shafts, the outer surface of the sensing cylinder (663) is made of a flexible material, a cleaning cloth is arranged on the driving roller (662) and the sensing cylinder (663), the adhesive tape on the first adhesive tape roll is mounted on the second adhesive tape roll via a roller, the adhesive tape between the roller and the second adhesive tape roll rests on the cleaning cloth, the interior of the sensing cylinder (663) is filled with gas, an air pressure sensor is installed inside the sensing cylinder (663), and the stepping motor (661) and the air pressure sensor are connected to a control system.

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