Feeding device

Abstract

The invention relates to a feeding device which comprises a material distributing disc, a lifting mechanism and a grabbing mechanism, the material distributing disc comprises a supporting face and a bottom face which are back to back, the material distributing disc is provided with a through material distributing position, the material distributing position is used for allowing bolts to be inserted from the supporting face, the supporting face is used for abutting against movable gaskets, and the lifting mechanism comprises a lifting driving piece and a lifting rod; the lifting rod comprises a jacking end penetrating into the material distribution position from the bottom face, the lifting driving piece is in driving connection with the lifting rod, the lifting rod can slide relative to the material distribution disc under driving of the lifting driving piece, the lifting mechanism has a standby state and a working state, and in the standby state, the jacking end is contained in the material distribution position; in the working state, the jacking end penetrates out of the material distributing position from the supporting face, a preset distance is kept between the jacking end and the supporting face, the jacking end abuts against the movable gasket, so that the part, located between the movable gasket and the supporting face, of the screw rod forms a grabbing section, and the grabbing mechanism is used for grabbing the grabbing section and assembling the bolt to a to-be-assembled workpiece. The feeding device can reliably grab the bolts with the movable gaskets.

Description

Technical Field

[0001] The present application relates to the technical field of automatic assembly, and in particular to a feeding device. Background Art

[0002] At present, with the advancement of industrial technology, automation equipment and technology are widely used in the field of automobile engine manufacturing; in the field of assembly, the sorting, loading and installation of cylinder head bolts are still done manually; problems such as low efficiency and high labor intensity are prominent. In some technologies, the loading device can realize the loading, conveying, positioning and assembly of bolts.

[0003] However, when a loading device is used to load bolts with movable washers, not only will the movable washers interfere with the loading device's grasping of the bolts, but the movable washers may also fall off the bolts, which is not conducive to improving the operating efficiency and quality of the loading device. Summary of the invention

[0004] Based on this, it is necessary to provide a feeding device that can reliably grab bolts with movable washers to address the above problems, so as to improve the feeding efficiency and feeding quality of the bolts.

[0005] The technical solution is as follows:

[0006] A feeding device, comprising:

[0007] The material distribution mechanism comprises a material distribution plate, the material distribution plate comprises a supporting surface and a bottom surface opposite to each other, a material distribution position is provided on the material distribution plate, the material distribution position penetrates the supporting surface and the bottom surface, the material distribution position is used for the screw rod of the bolt to be inserted from the supporting surface, the supporting surface is used for abutting against a movable gasket sleeved on the screw rod, so that the movable gasket and the head of the bolt are located on the side of the supporting surface away from the bottom surface;

[0008] The lifting mechanism comprises a lifting drive and a lifting rod, the lifting rod is slidably arranged in the material distribution position, the lifting rod comprises a lifting end, the lifting end penetrates into the material distribution position from the bottom surface, the lifting drive is drivingly connected to the lifting rod, the lifting rod can slide relative to the material distribution plate under the drive of the lifting drive, the lifting mechanism has a standby state and a working state, in the standby state, the lifting end is accommodated in the material distribution position; in the working state, the lifting end passes through the material distribution position from the supporting surface and maintains a predetermined distance between the supporting surface, and the lifting end can abut against the movable gasket, so that the part of the screw rod located between the movable gasket and the supporting surface forms a grabbing section;

[0009] A gripping mechanism is used to grip the gripping section and to assemble the bolt to the mounting hole of a workpiece to be assembled.

[0010] In the above-mentioned feeding device, since the material distribution position is used for the screw rod of the bolt to be inserted from the support surface, and the support surface is used to abut the movable gasket sleeved on the screw rod, so that the movable gasket and the head of the bolt are located on the side of the support surface away from the bottom surface, when the bolt is inserted in the material distribution position and the lifting mechanism is in the standby state, the movable gasket abuts against the opening edge of the material distribution position on the support surface, and the lifting end is located below the movable gasket and the head of the bolt, and then when the lifting end passes through the material distribution position from the support surface under the action of the lifting drive and moves to the side away from the bottom surface to a predetermined spacing, the lifting end can lift the movable gasket so that the movable gasket can fit the head of the bolt, thereby lifting the bolt to a certain height. Among them, since when the bolt is lifted to a certain height, the movable gasket can be maintained in a state of fitting with the head of the bolt under the restriction of the lifting end, so the movable gasket will not slide due to gravity, so the screw rod part between the movable gasket and the support surface is vacated to form a grasping section that can meet the grasping mechanism to be grasped. Therefore, when the grasping mechanism grasps the grasping section of the screw rod, the movable gasket can avoid interference with the grasping mechanism under the action of the jacking end, so that the grasping mechanism can grasp the grasping section of the screw rod stably and firmly, and move the bolt to a position aligned with the mounting hole of the workpiece to be assembled, complete the assembly of the bolt and the workpiece to be assembled, realize the automatic loading and installation of the bolt, and improve the loading efficiency. In addition, in the process of the grasping mechanism clamping the grasping section to assemble the bolt to the mounting hole, since the movable gasket can be restricted between the head of the bolt and the grasping position of the grasping mechanism, the movable gasket will not fall off from the bolt during the process of moving the bolt to load, thereby ensuring the operation quality of the loading device. Therefore, the loading device can reliably grasp the bolt with the movable gasket to improve the loading efficiency and loading quality of the bolt.

[0011] The technical solution is further described below:

[0012] In one of the embodiments, the lifting end is provided with a magnetic attraction member capable of magnetically attracting the movable gasket;

[0013] And / or, the diameter of the lifting rod is configured to be smaller than the diameter of the screw rod.

[0014] In one embodiment, the gripping mechanism includes a moving component, a pick-and-place seat, and a pick-and-place component. The moving component is detachably driven and connected to the pick-and-place seat. The pick-and-place component is movably disposed on the pick-and-place seat. The pick-and-place seat has a gripping position and a release position. In the gripping position, the pick-and-place component can grip the gripping section. In the release position, the pick-and-place component can release the bolt so that the bolt is assembled in the mounting hole of the workpiece to be assembled. The moving component is used to drive the pick-and-place seat to switch between the gripping position and the release position.

[0015] In one embodiment, the pick-and-place assembly includes a pick-and-place drive and a grabbing clamp, the pick-and-place drive is arranged on the pick-and-place seat, and the grabbing clamp includes two clamping members arranged opposite to each other, and the two clamping members are both driven and connected to the pick-and-place drive. In the grabbing position, the two clamping members can move toward each other under the drive of the pick-and-place drive to clamp the grabbing section; in the release position, the two clamping members can move away from each other under the drive of the pick-and-place drive to release the bolt.

[0016] In one embodiment, the two clamping members have a plurality of spacedly arranged clamping teeth protruding from opposite sides thereof, the clamping teeth of the two clamping members are arranged opposite to each other in a one-to-one correspondence, and each clamping tooth has a clamping groove at one end thereof close to the other clamping member, and the width of the clamping groove gradually increases from the bottom of the groove to the notch;

[0017] And / or, the pick-and-place driving member includes two first cylinders, and the first cylinders are drivingly connected to the clamping members in a one-to-one correspondence, and the two clamping members can move toward or away from each other under the drive of the corresponding first cylinders.

[0018] In one of the embodiments, the material distribution tray is provided with a loading position group, the loading position group includes a plurality of the material distribution positions arranged at intervals, the lifting mechanism includes a plurality of the lifting rods, the plurality of the lifting rods are all drivingly connected to the lifting drive member, and the plurality of the lifting rods are slidably arranged in the plurality of the material distribution positions in a one-to-one correspondence; the pick-and-place assembly includes a plurality of the grabbing clamps, the two clamping members of each of the grabbing clamps are drivingly connected to the pick-and-place drive member, and in the grabbing position, the grabbing clamps are arranged in a one-to-one correspondence with the material distribution positions to grab the corresponding grabbing sections; in the release position, the grabbing clamps can correspond one-to-one with the mounting holes of the workpiece to be assembled.

[0019] In one of the embodiments, the number of the loading position groups, the number of the lifting mechanisms and the number of the pick-and-place components are all two, the two loading position groups are respectively opened on opposite sides of the material distribution plate, the two lifting mechanisms are arranged in a one-to-one correspondence with the two loading position groups, and in the grasping position, the two pick-and-place components are arranged in a one-to-one correspondence with the two loading position groups, and the two pick-and-place components are used to be arranged in a one-to-one correspondence with the two lifting mechanisms; in the release position, the grasping clamp of at least one of the pick-and-place components can correspond one-to-one to the mounting hole of the workpiece to be assembled.

[0020] In one of the embodiments, the feeding device further includes a feeding mechanism, and the feeding mechanism is used to push the bolt to the material distribution position.

[0021] In one of the embodiments, the feeding mechanism includes a bolt vibration plate, a bolt guide rail and a pushing assembly, the bolt vibration plate is connected to the feeding end of the bolt guide rail, and the pushing assembly is arranged at the discharging end of the bolt guide rail; the material distribution mechanism also includes a slide and a slide driving component, the slide is connected to the distribution plate, and the slide is driven and connected to the slide driving component, and the distribution plate can move relative to the pushing assembly under the drive of the slide driving component, so that the multiple distribution positions in the upper material position group are matched with the pushing assembly in turn, and the pushing assembly can push the bolts output by the bolt guide rail to the multiple distribution positions in turn.

[0022] In one embodiment, the material distribution position includes a material distribution groove and a lifting hole arranged at intervals, and the material distribution groove and the lifting hole both penetrate the support surface and the bottom surface. The material distribution groove is used for the screw rod of the bolt to be inserted from the support surface, and the lifting end is inserted into the lifting hole from the bottom surface. In the standby state, the lifting end is accommodated in the lifting hole; in the working state, the lifting end is inserted from the support surface;

[0023] And / or, the lifting drive member includes a lifting cylinder and a lifting member, the lifting cylinder is drivingly connected to the lifting member, the lifting rod is arranged on the lifting member, the lifting member and the material distribution tray are arranged opposite to each other, and the lifting member can make reciprocating motion close to or away from the material distribution tray along the extension direction of the lifting rod under the drive of the lifting cylinder to drive the lifting rod to slide relative to the material distribution tray. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic structural diagram of a feeding device in one embodiment.

[0025] Figure 2 It is a schematic structural diagram of a material dividing mechanism, a material pushing mechanism and a lifting mechanism in one embodiment.

[0026] Figure 3 for Figure 2 Schematic diagram of the local enlarged structure at point A in the structure shown.

[0027] Figure 4 It is a structural schematic diagram of a lifting mechanism in a standby state in one embodiment.

[0028] Figure 5 for Figure 4 The structural schematic diagram of the lifting mechanism shown is in working state.

[0029] Figure 6 It is a structural schematic diagram of a pick-and-place seat and a pick-and-place assembly in one embodiment.

[0030] Figure 7 It is a schematic diagram of the local structure of a grabbing clamp clamping a bolt in one embodiment.

[0031] Description of reference numerals:

[0032] 100, feeding device; 1, material distribution mechanism; 11, material distribution plate; 111, support surface; 112, bottom surface; 12, slide; 13, slide drive; 1a, material loading position group; 11a, material distribution position; 111a, material distribution slot; 111b, lifting hole; 2, lifting mechanism; 21, lifting drive; 211, lifting cylinder; 212, lifting member; 22, lifting rod; 221, lifting end; 3, grabbing mechanism; 31, moving assembly; 32, pick-and-place seat; 33, pick-and-place assembly; 331, pick-and-place drive Moving part; 332, grabbing clamp; 3321, clamping part; 3322, clamping teeth; 3323, clamping groove; 4, feeding mechanism; 41, bolt vibration plate; 42, bolt guide rail; 43, guide groove; 44, pushing assembly; 441, pushing driving part; 442, loading block; 442a, pushing groove; 443, pushing block; 5, base frame; 200, bolt; 210, head; 220, screw; 230, grabbing section; 300, movable gasket; 400, workpiece to be assembled; 410, mounting hole. DETAILED DESCRIPTION

[0033] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0034] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0035] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0036] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated 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, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0037] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0038] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0039] See also Figures 1 to 5 , a feeding device 100 provided in one embodiment of the present application includes a material distribution mechanism 1, a lifting mechanism 2 and a grasping mechanism 3, wherein:

[0040] The material distribution mechanism 1 includes a material distribution plate 11, which includes a supporting surface 111 and a bottom surface 112 facing each other. A material distribution position 11a is provided on the material distribution plate 11, and the material distribution position 11a passes through the supporting surface 111 and the bottom surface 112. The material distribution position 11a is used for the screw rod 220 of the bolt 200 to be inserted from the supporting surface 111, and the supporting surface 111 is used to abut against the movable gasket 300 sleeved on the screw rod 220, so that the movable gasket 300 and the head 210 of the bolt 200 are located on the side of the supporting surface 111 away from the bottom surface 112. The lifting mechanism 2 includes a lifting drive 21 and a lifting rod 22. The lifting rod 22 can be slidably penetrated in the material distribution position 11a, and the lifting rod 22 includes a lifting end 221, which penetrates from the bottom surface 112 into the distribution plate. The lifting drive 21 is connected to the lifting rod 22, and the lifting rod 22 can slide relative to the material distribution plate 11 under the drive of the lifting drive 21. The lifting mechanism 2 has a standby state and a working state. In the standby state, the lifting end 221 is accommodated in the material distribution position 11a; in the working state, the lifting end 221 passes through the supporting surface 111 and extends out of the material distribution position 11a and maintains a predetermined distance between the supporting surface 111, and the lifting end 221 can abut against the movable gasket 300, so that the part of the screw rod 220 located between the movable gasket 300 and the supporting surface 111 forms a grabbing section 230, and the grabbing mechanism 3 is used to grab the grabbing section 230, and to assemble the bolt 200 to the mounting hole 410 of the workpiece 400 to be assembled.

[0041] In the above-mentioned feeding device 100, since the material distribution position 11a is used for the screw rod 220 of the bolt 200 to be inserted from the support surface 111, the support surface 111 is used to abut the movable gasket 300 sleeved on the screw rod 220, so that the movable gasket 300 and the head 210 of the bolt 200 are located on the side of the support surface 111 away from the bottom surface 112, when the bolt 200 is inserted into the material distribution position 11a and the lifting mechanism 2 is in the standby state, the movable gasket 300 abuts against the material distribution position 11a. At the opening edge of the support surface 111, the lifting end 221 is located below the movable gasket 300 and the head 210 of the bolt 200, and then when the lifting end 221 passes through the material distribution position 11a from the support surface 111 and moves to the side away from the bottom surface 112 to a predetermined distance under the action of the lifting drive 21, the lifting end 221 can lift the movable gasket 300, so that the movable gasket 300 can fit the head 210 of the bolt 200, thereby lifting the bolt 200 to a certain height. Among them, since the movable gasket 300 can maintain a state of fitting with the head 210 of the bolt 200 under the restriction of the lifting end 221 when the bolt 200 is lifted to a certain height, the movable gasket 300 will not slide down due to gravity, so the part of the screw 220 between the movable gasket 300 and the support surface 111 is vacated to form a grabbing section 230 that can meet the grabbing mechanism 3 to be grabbed. Therefore, when the gripping mechanism 3 grips the gripping section 230 of the screw rod 220, the movable gasket 300 can avoid interference with the gripping mechanism 3 under the action of the lifting end 221, so that the gripping mechanism 3 can stably and firmly grip the gripping section 230 of the screw rod 220, and move the bolt 200 to a position aligned with the mounting hole 410 of the workpiece 400 to be assembled, complete the assembly of the bolt 200 and the workpiece 400 to be assembled, realize the automatic loading and installation operation of the bolt 200, and improve the loading efficiency. In addition, in the process of the gripping mechanism 3 clamping the gripping section 230 to assemble the bolt 200 to the mounting hole 410, since the movable gasket 300 can be restricted between the head 210 of the bolt 200 and the gripping position of the gripping mechanism 3, the movable gasket 300 will not fall off from the bolt 200 during the process of moving the bolt 200 for loading, thereby ensuring the operation quality of the loading device 100. Therefore, the feeding device 100 can reliably grab the bolt 200 with the movable gasket 300 to improve the feeding efficiency and feeding quality of the bolt 200 .

[0042] Illustratively, in the standby state, the lifting end 221 is arranged flush with the supporting surface 111 .

[0043] In one embodiment, in combination Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, the material distribution position 11a includes a material distribution groove 111a and a lifting hole 111b arranged at intervals. The material distribution groove 111a and the lifting hole 111b both penetrate the support surface 111 and the bottom surface 112. The material distribution groove 111a is used for the screw rod 220 of the bolt 200 to be inserted from the support surface 111, and the lifting end 221 penetrates the lifting hole 111b from the bottom surface 112; in the standby state, the lifting end 221 is accommodated in the lifting hole 111b; in the working state, the lifting end 221 passes through the lifting hole 111b from the support surface 111. In this way, when the lifting rod 22 slides relative to the material distribution plate 11 under the drive of the lifting drive member 21, the lifting hole 111b can limit the sliding direction of the lifting rod 22, so as to avoid the bolt 200 from falling out of the material distribution position 11a due to the movement deviation of the lifting rod 22, which is conducive to improving the reliability of the feeding operation. In addition, by setting a spacing between the dividing groove 111a and the lifting hole 111b, it can be ensured that when the bolt 200 is inserted into the dividing groove 111a, the movable gasket 300 can cover the opening of the lifting hole 111b located on the supporting surface 111, so that in the standby state, the lifting end 221 accommodated in the lifting hole 111b can be located under the movable gasket 300, and when the lifting end 221 passes through the lifting hole 111b, the lifting end 221 can abut against the movable gasket 300, so as to ensure that the lifting end 221 can lift the bolt 200 while the movable gasket 300 can maintain a state of being in contact with the head 210 of the bolt 200, thereby ensuring that when the grasping mechanism 3 grasps the bolt 200, the movable gasket 300 will not fall off the bolt 200 and will not interfere with the execution of the grasping action.

[0044] Optionally, the material distribution groove 111a is opened at the edge of the material distribution plate 11; further, the lifting hole 111b can be arranged on the side of the material distribution groove 111a away from the groove opening, or the lifting hole 111b can also be located on the side wall of the material distribution groove 111a.

[0045] In other embodiments, the material distribution position 11a may also be a stepped groove, which includes a receiving portion for cooperating with the screw rod 220 of the bolt 200 and a lifting portion for cooperating with the lifting rod 22, and the receiving portion is communicated with the lifting portion.

[0046] In one embodiment, the lifting end 221 is provided with a magnetic attraction member that can be magnetically attracted to the movable gasket 300. In this way, when the lifting end 221 passes through the material distribution position 11a, the lifting end 221 can reliably attract the movable gasket 300 using the magnetic attraction member, thereby ensuring that the lifting end 221 can effectively abut the movable gasket 300, and drive the movable gasket 300 and the head 210 of the bolt 200 to rise, thereby ensuring that when the grasping mechanism 3 grasps the bolt 200, the movable gasket 300 can remain in a state of being in contact with the head 210 of the bolt 200, avoiding the movable gasket 300 from falling during the grasping process and interfering with the grasping, thereby ensuring the feeding efficiency and feeding quality of the feeding device 100.

[0047] In one embodiment, the diameter of the lifting rod 22 is configured to be smaller than the diameter of the screw rod 220. In this way, when the grasping mechanism 3 grasps the bolt 200, the grasping of the screw rod 220 will not be affected by excessive interference of the lifting rod 22, thereby ensuring the reliability of the feeding device 100.

[0048] In one embodiment, in combination Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the lifting drive member 21 includes a lifting cylinder 211 and a lifting member 212, the lifting cylinder 211 and the lifting member 212 are drivingly connected, the lifting rod 22 is arranged on the lifting member 212, and the lifting member 212 is arranged opposite to the material distribution tray 11. The lifting member 212 can make reciprocating motion close to or away from the material distribution tray 11 along the extension direction of the lifting rod 22 under the drive of the lifting cylinder 211, so as to drive the lifting rod 22 to slide relative to the material distribution tray 11. In this way, when the lifting cylinder 211 is started, the lifting member 212 can, under the drive of the lifting cylinder 211, drive the lifting rod 22 to slide back and forth relative to the material distribution plate 11 along the extension direction of the lifting rod 22, so that the lifting end 221 of the lifting rod 22 can move between the position accommodated in the material distribution groove 111a and the position of passing through the material distribution groove 111a from the supporting surface 111 to lift the movable gasket 300, thereby ensuring that the lifting end 221 can repeatedly perform the lifting operation to ensure the reliability of the grasping mechanism 3 grasping the bolt 200.

[0049] In other embodiments, the lifting drive member 21 may include a motor, a screw and a lifting block, the motor is connected to the screw by driving, the screw is threadedly connected to the lifting block and the extension direction of the screw is consistent with the extension direction of the lifting rod 22, the lifting rod 22 is arranged on the lifting block, the lifting block is arranged relative to the material distribution plate 11, and the lifting member 212 can drive the lifting rod 22 to slide back and forth relative to the material distribution plate 11 along the extension direction of the lifting rod 22 under the drive of the motor. In this way, when the motor drives the screw to rotate, the jacking end 221 can move between the position of being accommodated in the material distribution groove 111a and the position of passing through the material distribution groove 111a from the support surface 111 to lift the movable gasket 300, thereby ensuring that the jacking end 221 can repeatedly perform the lifting operation to ensure the reliability of the grasping mechanism 3 grasping the bolt 200.

[0050] In one embodiment, in combination Figure 1 and Figure 6 As shown, the gripping mechanism 3 includes a moving component 31, a pick-and-place seat 32 and a pick-and-place component 33. The moving component 31 is detachably driven and connected to the pick-and-place seat 32. The pick-and-place component 33 is movably arranged on the pick-and-place seat 32. The pick-and-place seat 32 has a gripping position and a release position. In the gripping position, the pick-and-place component 33 can grip the gripping section 230. In the release position, the pick-and-place component 33 can release the bolt 200 so that the bolt 200 is assembled in the mounting hole 410 of the workpiece 400 to be assembled. The moving component 31 is used to drive the pick-and-place seat 32 to switch between the gripping position and the release position. In this way, when the pick-and-place component 33 grabs the bolt 200 inserted in the dividing groove 111a, the pick-and-place component 33 can, under the drive of the moving component 31, move the bolt 200 from the dividing groove 111a to a position relative to the mounting hole 410 of the workpiece 400 to be assembled, so that when the pick-and-place component 33 releases the bolt 200, the bolt 200 can be assembled in the mounting hole 410 under the action of gravity to complete the loading and installation process of a bolt 200. Among them, since the pick-and-place assembly 33 grabs the grabbing section 230 in the screw 220 in the grabbing position, the movable gasket 300 is restricted between the head 210 of the bolt 200 and the grabbing position of the pick-and-place assembly 33 during the process of the moving assembly 31 moving the pick-and-place assembly 33, which prevents the movable gasket 300 from falling off the screw 220, thereby ensuring that when the pick-and-place assembly 33 releases the bolt 200, the movable gasket 300 and the bolt 200 can be reliably installed in the corresponding position. In addition, since the pick-and-place seat 32 is detachably connected to the moving assembly 31, the pick-and-place assembly 33 can be easily replaced, which makes it possible to easily replace the pick-and-place assembly 33 when the pick-and-place assembly 33 is damaged, so as to shorten the maintenance time and ensure work efficiency. In addition, this also makes it possible to replace the adapted pick-and-place assembly 33 according to the specifications of the bolt 200, so as to ensure that the pick-and-place assembly 33 can effectively grab the bolt 200 and realize the automatic loading and installation operation of the bolt 200.

[0051] Schematically, the moving assembly 31 can be a multi-axis manipulator. In this way, the multi-axis manipulator can be used to realize fully automated and efficient loading of bolts 200. For example, the moving assembly 31 can be a six-axis robot to achieve anthropomorphic flexible operation and coverage of the moving range. Schematically, the multi-axis manipulator can perform operations such as lifting, rotating, and translating. Furthermore, the pick-and-place seat 32 is locked and connected to the moving assembly 31 by means of a cylinder with a lock buckle.

[0052] Furthermore, in one embodiment, in combination Figure 6 and Figure 7 The pick-and-place assembly 33 includes a pick-and-place driving member 331 and a grabbing clamp 332. The pick-and-place driving member 331 is disposed on the pick-and-place seat 32. The grabbing clamp 332 includes two clamping members 3321 disposed opposite to each other. Both clamping members 3321 are drivingly connected to the pick-and-place driving member 331. In the grabbing position, the two clamping members 3321 can move toward each other under the drive of the pick-and-place driving member 331 to clamp the grabbing section 230; in the releasing position, the two clamping members 3321 can move away from each other under the drive of the pick-and-place driving member 331 to release the bolt 200. Thus, in the grasping position, the clamping ends of the two clamping members 3321 of the grasping clamp 332 can be arranged on opposite sides of the grasping section 230 in the bolt 200, so that when the pick-and-place driving member 331 drives the two clamping members 3321 to move synchronously toward each other, the two clamping members 3321 can accurately grasp the grasping section 230 of the bolt 200, thereby ensuring that the bolt 200 can be maintained in a vertical posture after grasping. When the pick-and-place assembly 33 moves the bolt 200 to a position aligned with the mounting hole 410 of the workpiece 400 to be assembled, the two clamping members 3321 can move back to back at the same time under the drive of the pick-and-place driving member 331, which also makes it possible that when the bolt 200 is released, the two clamping members 3321 will not interfere with the falling of the bolt 200, which ensures that the bolt 200 can accurately fall into the mounting hole 410 in a vertical posture to complete the installation of the bolt 200.

[0053] Optionally, in one embodiment, in combination Figure 6 and Figure 7As shown, the opposite sides of the two clamping members 3321 are convexly provided with a plurality of clamping teeth 3322 arranged at intervals, and the clamping teeth 3322 of the two clamping members 3321 are arranged opposite to each other in a one-to-one correspondence, and each clamping tooth 3322 is provided with a clamping groove 3323 at one end close to the other clamping member 3321, and the width of the clamping groove 3323 gradually increases from the bottom of the groove to the groove mouth. In this way, the clamping teeth 3322 in the two clamping members 3321 are opposite to each other in a V shape, so that when the two clamping members 3321 move relative to each other to clamp the bolt 200, the clamping teeth 3322 can use the shape of the clamping groove 3323 to guide the bolt 200 in the center. Since the two clamping members 3321 are both provided with multiple clamping teeth 3322 at intervals, when the grasping clamp 332 clamps the bolt, the multiple clamping teeth 3322 arranged at intervals can ensure the grasping contact with the bolt 200, thereby ensuring that the bolt 200 can be maintained in a vertical posture, and when the bolt 200 is released, the bolt 200 can enter the mounting hole 410 in a vertical posture, thereby ensuring assembly reliability.

[0054] Schematically, the multiple clamping teeth 3322 on the same clamping member 3321 are evenly spaced apart.

[0055] Optionally, in one embodiment, the pick-and-place driving member 331 includes two first cylinders, and the first cylinders are drivingly connected to the clamping members 3321 in a one-to-one correspondence, and the two clamping members 3321 can move toward or away from each other under the drive of the corresponding first cylinders. In this way, when the two first cylinders are started, the two clamping members 3321 can move toward or away from each other synchronously, so that the two clamping members 3321 can accurately grasp the bolt 200, and the bolt 200 is maintained in a vertical posture after grasping.

[0056] In another embodiment, the pick-and-place driving member 331 may also include a motor and a double-threaded rod rotatably connected to the motor, the double-threaded rod including a first thread segment and a second thread segment connected to each other, the first thread segment is provided with a first thread, the second thread segment is provided with a second thread, the first thread and the second thread have opposite rotation directions, and the two clamping members 3321 are respectively threadedly connected to the first thread segment and the second thread segment. In this way, when the motor drives the double-threaded rod to rotate, the double-threaded rod can drive the two clamping members 3321 to move synchronously toward or away from each other, so as to ensure the straightness of the two clamping members 3321 when sliding, and the bolt 200 is maintained in a vertical posture after being clamped.

[0057] In one embodiment, in combination Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, the material distribution plate 11 is provided with a material loading position group 1a, which includes a plurality of material distribution positions 11a arranged at intervals, and the lifting mechanism 2 includes a plurality of lifting rods 22, which are all driven and connected to the lifting driving member 21, and the plurality of lifting rods 22 are slidably arranged in the plurality of material distribution positions 11a in a one-to-one correspondence; the pick-and-place assembly 33 includes a plurality of grabbing clamps 332, and the two clamping members 3321 of each grabbing clamp 332 are all driven and connected to the pick-and-place driving member 331, and in the grabbing position, the grabbing clamps 332 are arranged in a one-to-one correspondence with the material distribution positions 11a to grab the corresponding grabbing sections 230; in the releasing position, the grabbing clamps 332 can correspond to the mounting holes 410 of the workpieces 400 to be assembled in a one-to-one correspondence. In this way, in the process of the grabbing mechanism 3 completing an execution operation, the loading and installation of a plurality of bolts 200 can be completed at the same time, which is conducive to improving the loading efficiency. Specifically, since the lifting rods 22 are slidably arranged in the material distribution positions 11a one by one, in the standby state, each lifting end 221 can be accommodated in the corresponding material distribution position 11a; in the working state, each lifting end 221 can pass through the corresponding material distribution position 11a from the supporting surface 111 and maintain a predetermined distance between the supporting surface 111, and the lifting end 221 can abut against the corresponding movable gasket 300, so that when multiple material distribution positions 11a are all inserted with bolts 200 with movable gaskets 300, in the process of switching the lifting mechanism 2 from the standby state to the working state, multiple lifting ends 221 can simultaneously pass through the corresponding material distribution positions 11a to synchronously lift multiple movable gaskets 300 and multiple bolts 200, so that multiple bolts 200 can simultaneously enter a state where they can be grasped by the pick-up and placement component 33. When the pick-and-place seat 32 is in the grabbing position, the grabbing clamps 332 are arranged one-to-one with the material distribution positions 11a. When the pick-and-place seat 32 is in the grabbing position, the grabbing clamps 332 can correspond one-to-one with the mounting holes 410 of the workpiece 400 to be assembled. Therefore, when the pick-and-place seat 32 is in the grabbing position, the two clamping members 3321 of each grabbing clamp 332 can move toward each other under the drive of the pick-and-place driving member 331, so that the multiple grabbing clamps 332 can accurately grab the corresponding bolts 200 at the same time, ensuring that the grabbing mechanism 3 can be simultaneously When the grabbing clamp 332 moves the corresponding bolt 200 to the release position aligned with the mounting hole 410 of the workpiece 400 to be assembled, the two clamping members 3321 of each grabbing clamp 332 can move in opposite directions under the drive of the pick-and-place driving member 331 to release the corresponding bolt 200, so that the bolt 200 can be assembled in the corresponding mounting hole 410 in a vertical posture when the grabbing clamp 332 is released, thereby completing the synchronous installation of multiple bolts 200.

[0058] Among them, since the two clamping parts 3321 of each grabbing clamp 332 can make synchronous movements towards each other under the drive of the pick-and-place drive part 331, when the pick-and-place component 33 grabs multiple bolts 200, the distance between the bolts 200 and the bolts 200 can be the same as the distance between the corresponding dividing positions 11a and the dividing positions 11a, so that the distance between the bolts 200 after grabbing can meet the distance requirements between the corresponding mounting holes 410, and then when the pick-and-place component 33 releases multiple bolts 200, the bolts 200 can be accurately installed into the mounting holes 410, thereby realizing fully automated and efficient screw loading, thereby improving the operating efficiency and quality of the loading device 100.

[0059] Schematically, the multiple sub-material positions 11a in the upper material position group 1a can be arranged in a straight line or in a non-linear staggered arrangement.

[0060] Schematically, the sizes of the multiple material sub-positions 11a in the material loading position group 1a are the same, so that the size of the bolts 200 inserted in the material sub-positions 11a are the same, so as to ensure that during the same loading operation, multiple bolts 200 of the same type can be assembled on the workpiece 400 to be assembled. Alternatively, the sizes of the multiple material sub-positions 11a in the material loading position group 1a are at least partially different.

[0061] Schematically, the number of the material distribution positions 11a included in the material loading position group 1a can be set as required, for example, it can be two, three or more. Preferably, the material loading position group 1a includes five or six material distribution positions 11a.

[0062] Furthermore, in one embodiment, in combination Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, the number of the material loading position groups 1a, the number of the lifting mechanisms 2, and the number of the pick-and-place components 33 are all two, the two material loading position groups 1a are respectively opened on the opposite sides of the material distribution plate 11, the two lifting mechanisms 2 are arranged in a one-to-one correspondence with the two material loading position groups 1a, and in the grasping position, the two pick-and-place components 33 are arranged in a one-to-one correspondence with the two material loading position groups 1a, and the two pick-and-place components 33 are used to be arranged in a one-to-one correspondence with the two lifting mechanisms 2; in the release position, the grasping clamp 332 of at least one pick-and-place component 33 can correspond to the mounting hole 410 of the workpiece 400 to be assembled. In this way, through the cooperation between the material loading position group 1a, the lifting mechanism 2 and the pick-and-place component 33, the installation of two bolts 200 parts of different specifications can be achieved at one station, thereby improving the flexibility and applicability of the feeding device 100. Among them, since each loading position group 1a includes multiple sub-positions 11a, each lifting mechanism 2 includes multiple lifting rods 22, and each pick-and-place assembly 33 includes multiple grabbing clamps 332, the design can also ensure that during the process of the grabbing mechanism 3 completing one operation, multiple bolts 200 can be loaded and installed at the same time, thereby improving the loading efficiency.

[0063] Specifically, since the grabbing clamp 332 of at least one pick-and-place assembly 33 can correspond one-to-one with the mounting hole 410 of the workpiece 400 to be assembled in the release position, in order to ensure the reliability of the loading and installation of the bolt 200, at least one pick-and-place assembly 33 is a working pick-and-place assembly that can grab the grabbing section 230 corresponding to the corresponding loading position group 1a at the same working time. Therefore, at the same working time, the lifting mechanism 2 corresponding to the working pick-and-place assembly 33 should be able to switch between the standby state and the working state. Among them, if the grabbing clamp 332 of only one pick-and-place assembly 33 can correspond one-to-one with the mounting hole 410 of the workpiece 400 to be assembled in the release position, the lifting mechanism 2 that does not correspond to the working pick-and-place assembly in the two lifting mechanisms 2 can switch between the standby state and the working state, or can also be maintained in the standby state or the working state.

[0064] Illustratively, the material distribution positions 11a in the two material loading position groups 1a can be of different sizes and different spacings, so that the material distribution plate 11 can be compatible with two different specifications of bolts 200, thereby realizing the rapid loading of bolts 200 of different specifications.

[0065] Schematically, the numbers of the sub-material positions 11 a in the two material loading position groups 1 a may also be different.

[0066] Furthermore, in one embodiment, in combination Figure 1 , Figure 2 and Figure 3As shown, the feeding device 100 further includes a feeding mechanism 4, which is used to push the bolts 200 to the material distribution position 11a. In this way, the bolts 200 can be quickly inserted into the material distribution position 11a through the feeding mechanism 4 to improve the automation and feeding efficiency of the feeding device 100.

[0067] Furthermore, in one embodiment, in combination Figure 1 , Figure 2 and Figure 3 As shown, the feeding mechanism 4 includes a bolt vibration plate 41, a bolt guide rail 42 and a pushing assembly 44, the bolt vibration plate 41 is connected to the feeding end of the bolt guide rail 42, and the pushing assembly 44 is arranged at the discharging end of the bolt guide rail 42; the dividing mechanism 1 also includes a slide 12 and a slide driving member 13, the slide 12 is connected to the dividing plate 11, and the slide 12 is drivingly connected to the slide driving member 13. The dividing plate 11 can move relative to the pushing assembly 44 under the drive of the slide driving member 13, so that the multiple dividing positions 11a in the upper material position group 1a are matched with the pushing assembly 44 in turn, and the pushing assembly 44 can push the bolts 200 output by the bolt guide rail 42 to the multiple dividing positions 11a in turn. In this way, the bolts 200 output through the bolt vibration plate 41 can be arranged in sequence and transported to the bolt guide rail 42, and then slide along the bolt guide rail 42 to the position corresponding to the pushing assembly 44 in sequence, so that when the slide 12 drives the dividing position 11a to the position matching the pushing assembly 44 under the drive of the slide drive 13, the pushing assembly 44 can push the bolt 200 into the dividing position 11a to complete the process of feeding to the dividing mechanism 1.

[0068] Optionally, in one embodiment, combined with Figure 2 and Figure 3 As shown, the bolt vibration plate 41 is provided with a discharge port, the bolt guide rail 42 is provided with a guide groove 43, one end of the guide groove 43 is connected with the discharge port, the pushing assembly 44 includes a pushing block 443, a loading block 442 and a pushing driving member 441, the loading block 442 is connected with the discharge end of the bolt guide rail 42, and is provided with a pushing groove 442a, the notch of the pushing groove 442a can be arranged opposite to the opening of the dividing position 11a in the upper material position group 1a when the dividing position 11a in the upper material position group 1a is matched with the pushing assembly 44, the groove wall of the pushing groove 442a is provided with an inlet connected with one end of the guide groove 43 away from the discharge port, the pushing block 443 can be slidably arranged on the notch edge of the pushing groove 442a, and the pushing block 443 is drivingly connected with the pushing driving member 441. In this way, the bolt vibration plate 41 can make the bolt 200 slide in the guide groove 43 by vibrating forward, and enter the pushing groove 442a in turn, so that the pushing block 443 can push the bolt 200 output by the bolt guide rail 42 to multiple material distribution positions 11a in turn under the drive of the pushing driving member 441.

[0069] In another embodiment, different from the above embodiment, the pushing assembly 44 may also be without a carrier, that is, the pushing assembly 44 includes a pushing drive member 441 and a pushing block 443, the pushing block 443 is arranged on the upper side of the discharge end, and the pushing groove 442a is opened on the side wall of the discharge end.

[0070] Schematically, the push drive member includes a cylinder.

[0071] Indicative, combined Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the lifting mechanism 2 is arranged on the slide 12, so that when the slide 12 moves relative to the pushing assembly 44 under the drive of the slide drive 13, the lifting mechanism 2 can move together with the material distribution tray 11, so that the lifting mechanism 2 can maintain good consistency with the material distribution tray 11.

[0072] Schematically, the slide drive 13 includes a servo motor and a screw rod, so that the material distribution plate 11 can reciprocate back and forth under the drive of the servo motor, so that each material distribution position 11a is accurately matched with the pushing assembly 44 to achieve accurate material connection.

[0073] Schematically, when the number of the feeding trough groups is two, the number of the feeding mechanisms 4 is two, and the feeding mechanisms 4 are arranged on both sides of the material distribution tray 11 .

[0074] In one embodiment, in combination Figure 1 As shown, the loading device 100 further includes a base frame 5, a material pushing assembly 44 and a slide drive 13 are both arranged on the base frame 5, and the slide 12 is slidably arranged on the base frame 5. In this way, the base frame 5 can be used to combine the entire structure to ensure the stability and reliability of the entire structure, and the base frame 5 can also be used to meet the docking height requirements between the material pushing assembly 44 and the material distribution plate 11.

[0075] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0076] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A feeding device, characterized in that: include: The material distribution mechanism comprises a material distribution plate, the material distribution plate comprises a supporting surface and a bottom surface opposite to each other, a material distribution position is provided on the material distribution plate, the material distribution position penetrates the supporting surface and the bottom surface, the material distribution position is used for the screw rod of the bolt to be inserted from the supporting surface, the supporting surface is used for abutting against a movable gasket sleeved on the screw rod, so that the movable gasket and the head of the bolt are located on the side of the supporting surface away from the bottom surface; A lifting mechanism, the lifting mechanism comprising a lifting drive and a lifting rod, the lifting rod being slidably arranged in the material distribution position, the lifting rod comprising a lifting end, the lifting end being inserted into the material distribution position from the bottom surface, the lifting drive being drivingly connected to the lifting rod, the lifting rod being able to slide relative to the material distribution plate under the drive of the lifting drive, the lifting mechanism having a standby state and a working state, in the standby state, the lifting end being accommodated in the material distribution position; In the working state, the lifting end passes through the material distribution position from the supporting surface and maintains a predetermined distance from the supporting surface, and the lifting end can abut against the movable gasket, so that the part of the screw located between the movable gasket and the supporting surface forms a grabbing section; A gripping mechanism is used to grip the gripping section and to assemble the bolt to the mounting hole of the workpiece to be assembled.

2. The feeding device according to claim 1, characterized in that: The lifting end is provided with a magnetic attraction member capable of magnetically attracting the movable gasket; And / or, the diameter of the lifting rod is configured to be smaller than the diameter of the screw rod.

3. The feeding device according to claim 1 or 2, characterized in that: The gripping mechanism includes a moving component, a pick-and-place seat and a pick-and-place component. The moving component is detachably driven and connected to the pick-and-place seat. The pick-and-place component is movably arranged on the pick-and-place seat. The pick-and-place seat has a gripping position and a releasing position. In the gripping position, the pick-and-place component can grip the gripping section. In the releasing position, the pick-and-place component can release the bolt so that the bolt is assembled in the mounting hole of the workpiece to be assembled. The moving component is used to drive the pick-and-place seat to switch between the gripping position and the releasing position.

4. The feeding device according to claim 3, characterized in that: The pick-and-place assembly includes a pick-and-place driving member and a grabbing clamp, wherein the pick-and-place driving member is disposed on the pick-and-place seat, and the grabbing clamp includes two clamping members disposed opposite to each other, wherein the two clamping members are both drivingly connected to the pick-and-place driving member, and in the grabbing position, the two clamping members can move toward each other under the driving of the pick-and-place driving member to clamp the grabbing segment; In the release position, the two clamping members can move away from each other under the drive of the pick-and-place drive member to release the bolt.

5. The feeding device according to claim 4, characterized in that: The two clamping members are provided with a plurality of spaced clamping teeth on opposite sides of the two clamping members, the clamping teeth of the two clamping members are arranged opposite to each other in a one-to-one correspondence, and a clamping groove is provided at one end of each clamping tooth close to the other clamping member, and the width of the clamping groove gradually increases from the bottom of the groove to the notch; And / or, the pick-and-place driving member includes two first cylinders, and the first cylinders are drivingly connected to the clamping members in a one-to-one correspondence, and the two clamping members can move toward or away from each other under the drive of the corresponding first cylinders.

6. The feeding device according to claim 4, characterized in that: The material distribution tray is provided with a loading position group, and the loading position group includes a plurality of the material distribution positions arranged at intervals. The lifting mechanism includes a plurality of the lifting rods, and the plurality of the lifting rods are all drivingly connected to the lifting drive member. The plurality of the lifting rods are slidably arranged in the plurality of the material distribution positions in a one-to-one correspondence; the pick-and-place assembly includes a plurality of the grabbing clamps, and the two clamping members of each of the grabbing clamps are drivingly connected to the pick-and-place drive member. In the grabbing position, the grabbing clamps are arranged in a one-to-one correspondence with the material distribution positions to grab the corresponding grabbing sections; in the release position, the grabbing clamps can correspond one-to-one with the mounting holes of the workpieces to be assembled.

7. The feeding device according to claim 6, characterized in that: The number of the loading position groups, the number of the lifting mechanisms and the number of the pick-and-place components are all two. The two loading position groups are respectively opened on the opposite sides of the material distribution plate. The two lifting mechanisms are arranged in a one-to-one correspondence with the two loading position groups. In the grasping position, the two pick-and-place components are arranged in a one-to-one correspondence with the two loading position groups, and the two pick-and-place components are used to be arranged in a one-to-one correspondence with the two lifting mechanisms; in the release position, the grasping clamp of at least one of the pick-and-place components can correspond one-to-one to the mounting hole of the workpiece to be assembled.

8. The feeding device according to claim 6, characterized in that: The feeding device further comprises a feeding mechanism, and the feeding mechanism is used to push the bolts to the material distribution position.

9. The feeding device according to claim 8, characterized in that: The feeding mechanism includes a bolt vibration plate, a bolt guide rail and a pushing assembly, the bolt vibration plate is connected to the feeding end of the bolt guide rail, and the pushing assembly is arranged at the discharging end of the bolt guide rail; the material distribution mechanism also includes a slide and a slide driving component, the slide is connected to the material distribution plate, and the slide is drivingly connected to the slide driving component. The material distribution plate can move relative to the pushing assembly under the drive of the slide driving component, so that the multiple material distribution positions in the upper material position group are matched with the pushing assembly in turn, and the pushing assembly can push the bolts output by the bolt guide rail to the multiple material distribution positions in turn.

10. The feeding device according to claim 1, characterized in that: The material distribution position includes a material distribution groove and a lifting hole arranged at intervals, and the material distribution groove and the lifting hole both penetrate the support surface and the bottom surface. The material distribution groove is used for the screw rod of the bolt to be inserted from the support surface, and the lifting end is inserted into the lifting hole from the bottom surface. In the standby state, the lifting end is accommodated in the lifting hole; in the working state, the lifting end is inserted from the support surface to the lifting hole; And / or, the lifting drive member includes a lifting cylinder and a lifting member, the lifting cylinder is drivingly connected to the lifting member, the lifting rod is arranged on the lifting member, the lifting member and the material distribution tray are arranged opposite to each other, and the lifting member can make reciprocating motion close to or away from the material distribution tray along the extension direction of the lifting rod under the drive of the lifting cylinder to drive the lifting rod to slide relative to the material distribution tray.

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