Automatic short book feeding and supplying device and working method

Abstract

The invention relates to an automatic short book feeding and supplying device and a working method. The automatic short book feeding and supplying device comprises a feeding carrier used for bearing to-be-machined materials; the carrier carrying mechanism is used for carrying and moving the feeding carrier to the feeding station. The material jacking mechanism is used for jacking the material from the bottom of the carrier unit until the uppermost end of the material is flush with the top of the carrier unit; the gasket recycling mechanism is used for adsorbing and recycling gaskets above the materials; the arc-shaped track adsorption carrying mechanism comprises a material suction head and an arc-shaped track carrying arm, the arc-shaped track carrying arm drives the material suction head to move along a preset arc-shaped track, and materials on the top of the carrier unit are adsorbed and carried to the discharging mechanism. The full-process automation from material feeding to carrier recycling is achieved, the materials can move according to the preset arc-shaped track through the arc-shaped track carrying arm, deviation and errors of the materials in the carrying process are reduced, the situations of scratching and damage to the surfaces of the materials are reduced, and the overall quality of products is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of feeding equipment, and in particular to a short booklet automatic feeding and supply device and a working method thereof. Background Art

[0002] In modern manufacturing, the short booklet feeding link, as a key starting step of the production process, its efficiency and accuracy have a crucial impact on the smoothness of the entire production process and the product quality. However, the equipment and technologies currently used in the short booklet feeding link have gradually been unable to meet the growing production demands, facing many problems that urgently need to be solved, which has prompted the research and development demand for new short booklet feeding equipment.

[0003] Currently, short booklet feeding mainly relies on manual operation or semi-automatic equipment. The manual feeding method has many drawbacks: on the one hand, the manual operation speed is slow, making it difficult to meet the high-efficiency requirements of large-scale production, resulting in low production efficiency, inability to complete production tasks in a timely manner, and affecting the market response speed of the enterprise; on the other hand, the accuracy of manual operation is limited, and it is easy to have feeding errors or unstable situations due to human factors, which in turn affects the normal progress of subsequent production processes, and may even cause product quality problems, increasing the defective rate and production costs.

[0004] Even the existing semi-automatic feeding equipment has some problems. These equipment usually can only achieve partial automatic operation and still require manual participation in some key links, such as the single input of fixtures, etc. This not only limits the automation degree and overall efficiency of the equipment, but also may cause equipment failures or production accidents due to improper manual operation. In addition, the mechanical structure and control system of the existing equipment are relatively simple and cannot effectively handle quality problems such as scratches and jams that may occur during the feeding process of short booklets, resulting in unstable product quality and affecting the brand image and market competitiveness of the enterprise. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the deficiencies in the prior art and provide a short booklet automatic feeding and supply device and a working method thereof, which realizes the full-process automation from material feeding to carrier recycling, reduces manual intervention, shortens the production cycle, and improves the overall production efficiency.

[0006] To solve the above technical problem, the present invention provides a short booklet automatic feeding and supply device, a feeding carrier for carrying materials to be processed; the feeding carrier includes a linear guide rail I, a movable shelf, and a plurality of carrier units, the movable shelf is arranged on the linear guide rail I and moves horizontally along the linear guide rail I, the carrier units are arranged in the movable shelf, and the carrier units are provided with a plurality of material placement slots arranged side by side; A vehicle handling mechanism for handling and moving the vehicle unit to the loading station; A material lifting mechanism for lifting the material from the bottom of the vehicle unit until the uppermost end of the material is flush with the top of the vehicle unit; A gasket recycling mechanism for adsorbing and recycling the gaskets above the material. The gasket recycling mechanism includes a gasket suction head, a robotic arm, and a three-axis displacement platform II. The gasket suction head is arranged on the robotic arm, and the robotic arm is connected to the three-axis displacement platform II; An arc-track adsorption and transfer mechanism, which includes a material suction head and an arc-track transfer arm. The arc-track transfer arm drives the material suction head to move along a predetermined arc track to adsorb and transfer the materials on the top of the vehicle unit to the discharging mechanism one by one.

[0007] A vehicle recycling mechanism for recycling the vehicle units after material picking. The vehicle recycling mechanism includes a second vertical linear module, a clamping mechanism II, a vehicle recycling box, a vehicle support block, and a vehicle displacement adjustment mechanism. The clamping mechanism II is connected to the second vertical linear module, the vehicle displacement adjustment mechanism is connected to the vehicle support block, and the free end of the vehicle support block extends into the bottom of the vehicle recycling box.

[0008] In an embodiment of the present invention, the movable shelf includes a shelf body and a first horizontal linear module for driving the movement of the shelf body. A plurality of limit grooves for fixing the vehicle units are arranged inside the shelf body.

[0009] In an embodiment of the present invention, a plurality of first support rollers are arranged on the inner side wall of the first linear guide rail. The bottom of the shelf body is provided with a sliding seat in contact with the first support rollers, which includes a second horizontal linear module and a third vertical linear module. The third vertical linear module is arranged on the second horizontal linear module, and the robotic arm is connected to the third vertical linear module.

[0010] In an embodiment of the present invention, the vehicle handling mechanism includes a three-axis displacement platform I and a clamping mechanism I. The clamping mechanism I is connected to the three-axis displacement adjustment platform to realize position adjustment in three directions of X, Y, and Z; In an embodiment of the present invention, the first clamping structure and the second clamping structure are the same, and both include a mounting substrate, a jaw cylinder, a set of clamping blocks, and a second linear guide rail. The jaw cylinder and the second linear guide rail are arranged in parallel on the mounting substrate. The clamping blocks are connected to the driving end of the jaw cylinder, and the clamping blocks are slidably connected to the second linear guide rail.

[0011] In an embodiment of the present invention, the ejector mechanism includes a first vertical linear module, an ejecting rod, an ejector plate, and a horizontal fine-tuning mechanism. The ejecting rod is connected to the first vertical linear module. The horizontal fine-tuning mechanism is arranged at the end of the ejecting rod. The ejector plate is connected to the horizontal fine-tuning mechanism and is moved horizontally by the horizontal fine-tuning mechanism.

[0012] In an embodiment of the present invention, the carrier recycling box includes a tray, a carrier limiting frame, and a carrier support seat. Second support rollers are provided on the inner walls on both sides of the tray. The carrier support seat is in rolling contact with the second support rollers. The carrier limiting frame is arranged on the carrier support seat, and a limiting stop block for fixing the carrier limiting frame is provided on the carrier support seat.

[0013] In an embodiment of the present invention, the carrier support seat includes a parallel upper support plate, a lower support plate, and a lifting cylinder. The lifting cylinder is arranged at the bottom of the tray, and the telescopic end of the lifting cylinder is connected to the upper support plate. The lifting cylinder jacks up the upper support plate so that a card slot for accommodating a carrier support block is formed between the upper support plate and the lower support plate. The carrier displacement adjustment mechanism includes a third horizontal linear module and a fourth vertical linear module.

[0014] In an embodiment of the present invention, the arc-shaped trajectory handling arm includes a rotating mechanism, a rotating connecting piece, a slider, a swinging trajectory limiting plate, a swinging connecting seat, and a swinging connecting rod. The output shaft of the rotating mechanism is connected to the rotating connecting piece. The rotating connecting piece is connected to the swinging connecting seat through the slider. The swinging connecting seat is connected to the material suction head through the swinging connecting rod. A guiding roller is provided on the slider. A trajectory guiding groove is provided on the swinging trajectory limiting plate. The rotating connecting piece and the slider are embedded in the trajectory guiding groove, and the guiding roller abuts against the trajectory guiding groove.

[0015] In an embodiment of the present invention, a swinging guiding plate is provided between the swinging connecting seat and the swinging trajectory limiting plate, and a transverse guide rail is provided between the swinging guiding plate and the swinging trajectory limiting plate. A group of vertical guide rails are provided between the swinging guiding plate and the swinging connecting seat.

[0016] Second, to solve the above technical problems, the present invention provides a working method of the short booklet automatic feeding device as described in the first aspect. The method includes the following steps: (1) Place the carrier unit loaded with the material to be processed into the loading carrier. (2) Through the position adjustment in the X, Y, and Z directions, the carrier handling mechanism moves the clamping mechanism I close to the loading carrier, clamps the carrier unit, and then moves it to the loading station. (3) The ejector plate of the ejector mechanism moves horizontally until it extends to the bottom of the first group of materials in the carrier unit. The lifting rod drives the ejector plate to rise, pushing the materials up from the bottom of the carrier unit until the materials are pushed to the top of the carrier unit. (4) The three-axis displacement platform II controls the movement of the robotic arm, and the gasket suction head adsorbs and recovers the gasket above the materials. (5) The material suction head of the arc trajectory adsorption and transfer mechanism moves above the materials at the top of the carrier unit to adsorb the materials. After the materials are adsorbed, the swing connecting seat starts to swing driven by the rotating mechanism. The guiding roller on the slider abuts against the trajectory guiding groove, and the swing connecting seat transports the adsorbed materials to the designated position of the discharging mechanism along the path of the trajectory guiding groove. When the materials reach the designated position, the material suction head stops the adsorption function and releases the materials. The swing connecting seat returns to the initial position to prepare for the next adsorption and transfer operation. (6) The ejector plate of the ejector mechanism descends smoothly driven by the lifting rod. When the ejector plate descends to the lowest point, the horizontal fine adjustment mechanism returns to the initial position, and the lifting mechanism completes a working cycle and returns to the initial position. (7) The carrier handling mechanism controls the horizontal movement of the carrier unit so that the second group of materials in the carrier unit corresponds to the position of the ejector plate. (8) Repeat steps (3)-(6) until all the materials on the carrier unit are taken. (9) The carrier displacement adjustment mechanism of the carrier recycling mechanism drives the carrier recycling box to move. The clamping mechanism II clamps the carrier unit and is controlled by the second vertical linear module to descend to the carrier recycling box. The carrier displacement adjustment mechanism drives the carrier recycling box to continue descending to realize the recycling of the carrier unit.

[0017] The above technical solution of the present invention has the following beneficial effects compared with the prior art: The short booklet automatic feeding device and working method of the present invention realize the full-process automation from material feeding to carrier recycling through the coordinated work of the feeding carrier, the carrier handling mechanism, the ejector mechanism, the gasket recycling mechanism, the arc trajectory adsorption and transfer mechanism, and the carrier recycling mechanism. This enables the materials to be transported and processed quickly and accurately, shortens the production cycle, and improves the overall production efficiency. It reduces the dependence on manual labor, optimizes the personnel configuration, improves the personnel utilization rate, reduces the complexity and labor intensity of manual operations, improves the comfort and safety of operations, and the materials move along a predetermined arc trajectory through the arc trajectory handling arm, which can accurately transport the materials from one position to another. This precise trajectory control reduces the deviation and error of the materials during transportation, improves the accuracy of transportation, and at the same time, the materials are less affected by impact and vibration during transportation, thus reducing the scratching and damage of the material surface and improving the overall quality of the product. Brief Description of the Drawings

[0018] In order to make the content of the present invention easier to be clearly understood, the following further describes the present invention in detail according to specific embodiments of the present invention in conjunction with the accompanying drawings.

[0019] Figure 1 It is a schematic structural diagram of the strip automation loading and feeding device in the preferred embodiment of the present invention; Figure 2 It is a schematic structural diagram of the loading carrier and the carrier handling mechanism in the present invention; Figure 3 It is a schematic structural diagram of the ejector mechanism and the carrier recycling mechanism in the present invention; Figure 4 It is Figure 3 a partial structural diagram of the carrier recycling mechanism in; Figure 5 It is a schematic structural diagram of the first clamping mechanism in the present invention; Figure 6 It is a schematic structural diagram of the gasket recycling mechanism in the present invention; Figure 7 It is a schematic structural diagram of the arc trajectory adsorption and conveying mechanism and the discharging mechanism in the present invention; Figure 8 It is Figure 7 a schematic structural diagram of the arc trajectory conveying arm and the material suction head of the arc trajectory adsorption and conveying mechanism in; Figure 9 It is Figure 8 an exploded view of; Figure 10 It is Figure 7 a schematic installation diagram of the trajectory guiding groove, the rotating connecting piece and the slider in; Figure 11 It is Figure 10 a schematic installation diagram of the trajectory guiding groove, the rotating connecting piece and the slider from another angle in; Description of the reference numerals in the drawings of the specification: Loading carrier; 11, Linear guide rail 1; 12, Movable shelf; 121, Shelf body; 1211, Sliding seat; 122, First horizontal linear module; 13, Carrier unit; 2, Carrier handling mechanism; 21, Three-axis displacement platform 1; 22, Clamping mechanism 1; 221, Mounting substrate; 222, Jaw cylinder; 223, Clamping block; 224, Linear guide rail 2; 3, Pushing mechanism; 31, First vertical linear module; 32, Lifting rod; 33, Pushing plate; 34, Horizontal fine adjustment mechanism; 4, Gasket recycling mechanism; 41, Gasket suction head; 42, Robot arm; 43, Three-axis displacement platform 2; 5, Arc trajectory suction and transfer mechanism; 51, Material suction head; 52, Arc trajectory transfer arm; 521, Rotation mechanism; 522, Rotating connecting piece; 523, Slide block; 524, Swing trajectory limiting plate; 5241, Trajectory guide groove; 525, Swing connecting seat; 526, Swing connecting rod; 527, Guide roller; 528, Swing guide plate; 6, Carrier recycling mechanism; 61, Second vertical linear module; 62, Clamping mechanism 2; 63, Carrier recycling box; 631, Tray; 632, Carrier limiting frame; 633, Carrier support seat; 6331, Upper support plate; 6332, Lower support plate; 6333, Lifting cylinder; 634, Second support roller; 635, Limit stop block; 64, Carrier support block; 65, Carrier displacement adjustment mechanism. Detailed implementation manners

[0020] The present invention will be further described below in conjunction with the drawings and specific embodiments, so that those skilled in the art can better understand the present invention and be able to implement it, but the embodiments cited are not intended to limit the present invention.

[0021] Referring to Figures 1-6 as shown, the present invention provides a short booklet automatic loading and feeding device, a loading carrier 1 for carrying materials to be processed; the loading carrier 1 includes a linear guide rail 11, a movable shelf 12 and a plurality of carrier units 13, the movable shelf 12 is arranged on the linear guide rail 11 and moves horizontally along the linear guide rail 11, the carrier units 13 are arranged in the movable shelf 12, and the carrier unit is provided with a plurality of material placement slots arranged side by side; the movable shelf 12 is arranged on the linear guide rail 11 and moves horizontally along the rail, realizing the position adjustment of the carrier units 13; a carrier handling mechanism 2 for moving the carrier unit 1 to the loading station 7; the carrier handling mechanism 2 includes a three-axis displacement platform 21 and a clamping mechanism 22, and the clamping mechanism 22 is connected to the three-axis displacement adjustment platform 21 to realize the position adjustment in the X, Y, and Z directions; The blanking mechanism 3 is used to lift the material from the bottom of the carrier unit 13 until the uppermost end of the material is flush with the top of the carrier unit 13. The blanking mechanism 3 includes a first vertical linear module 31, a lifting rod 32, a blanking plate 33, and a horizontal fine-tuning mechanism 34. The lifting rod 32 is connected to the first vertical linear module 31. The horizontal fine-tuning mechanism 34 is arranged at the end of the lifting rod 32. The blanking plate 33 is connected to the horizontal fine-tuning mechanism 34 and is moved along the horizontal direction by the horizontal fine-tuning mechanism 34. Among them, the horizontal fine-tuning mechanism is a horizontal driving cylinder, and the telescopic end of the horizontal driving cylinder is connected to the blanking plate 33.

[0022] The gasket recycling mechanism 4 is used to adsorb and recycle the gaskets above the material. The gasket recycling mechanism 4 includes a gasket suction head 41, a robotic arm 42, and a three-axis displacement platform II 43. The gasket suction head 41 is arranged on the robotic arm 42, and the robotic arm 42 is connected to the three-axis displacement platform II 43. The arc-track adsorption and conveying mechanism 5 includes a material suction head 51 and an arc-track conveying arm 52. The arc-track conveying arm 52 drives the material suction head 51 to move along a predetermined arc track, adsorbing and conveying the materials on the top of the carrier unit 13 one by one to the discharging mechanism.

[0023] The carrier recycling mechanism 6 is used to recycle the carrier unit 13 after the material taking is completed. The carrier recycling mechanism 6 includes a second vertical linear module 61, a clamping mechanism II 62, a carrier recycling box 63, a carrier support block 64, and a carrier displacement adjustment mechanism 65. The clamping mechanism II 63 is connected to the second vertical linear module 61. The carrier displacement adjustment mechanism 65 is connected to the carrier support block 64. The free end of the carrier support block 64 extends into the bottom of the carrier recycling box 63.

[0024] Through the collaborative work of the feeding carrier 1, the carrier handling mechanism 2, the blanking mechanism 3, the gasket recycling mechanism 4, the arc-track adsorption and conveying mechanism 5, and the carrier recycling mechanism 6, the present invention realizes the full-process automation from material feeding to carrier recycling, reduces manual intervention, and improves production efficiency and accuracy. The cooperation of each mechanism enables the materials to be quickly and accurately handled and processed, shortens the production cycle, and improves the overall production efficiency. It reduces the dependence on manual labor, optimizes the personnel configuration, and improves the personnel utilization rate. Through precise automated operations, it reduces material damage and defect rate caused by manual operations.

[0025] Furthermore, the movable shelf 12 includes a shelf body 121 and a first lateral linear module 122 for driving the movement of the shelf body 121. A number of limiting slots 1211 for fixing the carrier unit 12 are provided inside the shelf body 121. The movable shelf 12 includes the shelf body 121 and the first lateral linear module 122. The first lateral linear module 122 drives the shelf body to move horizontally along the first linear guide rail 11, ensuring the stability and accuracy of the shelf movement. The number of limiting slots 1211 inside the shelf body 121 are used to fix the carrier unit 13, ensuring the stability of the carrier unit during movement and preventing the materials from shifting during movement.

[0026] In addition, a number of first support rollers 111 are provided on the inner side wall of the first linear guide rail 11, and a sliding seat 1212 in contact with the first support rollers 111 is provided at the bottom of the shelf body 121. The first support rollers 111 are in rolling contact with the sliding seat 1212, reducing the friction when the shelf body 121 moves, improving the moving efficiency. The rolling contact method reduces the wear between components and extends the service life of the equipment.

[0027] In this embodiment, the loading station 7 includes a carrier limiting slot and a lifting cylinder, and the driving end of the lifting cylinder is connected to the carrier limiting slot. The carrier limiting slot can ensure the precise alignment of the carrier unit at the loading station. When the carrier unit 13 is transported to the loading station 7, the carrier limiting slot can guide the carrier unit 13 to be accurately placed at the predetermined position, reducing the position deviation.

[0028] The first clamping structure 22 and the second clamping structure 62 are the same, and both include a mounting substrate 221, a jaw cylinder 222, a set of clamping blocks 223 and a second linear guide rail 224. The jaw cylinder 222 and the second linear guide rail 224 are arranged in parallel on the mounting substrate 221. The clamping blocks 223 are connected to the driving end of the jaw cylinder 222, and the clamping blocks 223 are slidably connected to the second linear guide rail 224. This design can precisely control the clamping force, ensuring the stable clamping and release of the carrier unit and improving the operation flexibility: the clamping blocks 223 are slidably connected to the second linear guide rail 224, and can be flexibly adjusted according to the size and position of the carrier unit 13, improving the adaptability and operation flexibility of the equipment.

[0029] Preferably, the vehicle recycling bin 63 includes a tray 631, a vehicle limiting frame 632 and a vehicle support base 633; second support rollers 634 are provided on the inner walls of both sides of the tray 631, the vehicle support base 633 is in rolling contact with the second support rollers 634, the vehicle limiting frame 632 is arranged on the vehicle support base 633, and a limiting block 635 for fixing the vehicle limiting frame 632 is provided on the vehicle support base 633. The second support rollers 634 on the inner walls of both sides of the tray 631 enable the staff to save time and effort when taking out the vehicle unit 13 on the tray 631, and it is convenient to be recycled and stored efficiently. The design of the limiting block 635 can ensure the stability of the vehicle limiting frame 632 during the recycling process.

[0030] Specifically, the vehicle support base 633 includes an upper support plate 6331, a lower support plate 6332 and a jacking cylinder 6333 arranged in parallel. The jacking cylinder 6333 is arranged at the bottom of the tray 631, and the telescopic end of the jacking cylinder 6333 is connected to the upper support plate 6331. The jacking cylinder 6333 jacks up the upper support plate 6331, so that a card slot for accommodating the vehicle support block 64 is formed between the upper support plate 6331 and the lower support plate 6332. The upper support plate 6331 and the lower support plate 6332 are arranged in parallel, forming a stable double-layer support structure. This structure can evenly distribute the weight of the vehicle support block 64, reduce deformation or damage caused by single-point stress. At the same time, the double-layer support plate increases the contact area with the vehicle support block 64, provides more stable support, and reduces the shaking or offset of the vehicle support block 64 during use. The jacking cylinder 6333 can dynamically adjust the position of the support plate 6331, so that the vehicle support block 64 can be firmly fixed in the card slot, reducing the shaking and displacement during installation and use.

[0031] Such as Figures 7-11As shown in the figure, the arc trajectory handling arm 52 includes a rotation mechanism 521, a rotating connecting member 522, a slider 523, a swing trajectory limiting plate 524, a swing connecting seat 525, and a swing connecting rod 526. The output shaft of the rotation mechanism 521 is connected through the rotating connecting member 522. The rotating connecting member 522 is connected to the swing connecting seat 525 through the slider 523. The swing connecting seat 525 is connected to the material adsorption head 51 through the swing connecting rod 526. A guiding roller 527 is provided on the slider 523. A trajectory guiding groove 5241 is provided on the swing trajectory limiting plate 524. The rotating connecting member 522 and the slider 523 are embedded in the trajectory guiding groove 5241, and the guiding roller 527 abuts against the trajectory guiding groove 5241. This design enables the material adsorption head 51 to move along a predetermined arc trajectory, ensuring the accuracy and stability of material handling. Through the drive of the rotation mechanism 521 and the guidance of the trajectory guiding groove 5241, the material adsorption head 51 can quickly and accurately transport the material to the designated position, improving the handling efficiency.

[0032] Further, a swing guiding plate 528 is provided between the swing connecting seat 525 and the swing trajectory limiting plate 524. A transverse guide rail 529 is provided between the swing guiding plate 528 and the swing trajectory limiting plate 524. A set of vertical guide rails 5210 is provided between the swing guiding plate 528 and the swing connecting seat 525. This design of the swing guiding plate 528 further enhances the stability of the swing connecting seat 525 during the swing process and improves the accuracy.

[0033] A sliding hole for the slider 523 to move is provided on the swing guiding plate 528.

[0034] In this embodiment, the swing trajectory limiting plate 524 is a U-shaped substrate, and a gap for the slider 523 to move is formed between the U-shaped substrate and the swing guiding plate 528.

[0035] In addition, an angle sensor is provided on the swing connecting seat 525 for monitoring the swing angle.

[0036] In this embodiment, the rotation mechanism 521 is a servo motor, and the servo motor 521 is arranged on the motor mounting plate 5211.

[0037] Further, a support fixing plate 5212 is provided outside the swing trajectory limiting plate 524, and the support fixing plate 5212 is vertically arranged on the motor mounting plate 5211. Embodiment

[0038] To solve the above technical problems, the present invention provides a working method of a short booklet automatic feeding device as described in Embodiment 1. The method includes the following steps: (1)Place the carrier unit 13 loaded with the material to be processed into the loading carrier 1; (2)The carrier handling mechanism 2 adjusts the position in the X, Y, and Z directions, brings the clamping mechanism 1 22 close to the loading carrier 1, clamps the carrier unit 13, and then moves it to the loading station 7; (3)The ejector plate 33 of the ejecting mechanism 3 moves horizontally until it reaches the bottom of the first group of materials in the carrier unit 13. The ejecting rod 32 drives the ejector plate 33 to rise, pushing the materials up from the bottom of the carrier unit 13 until the materials are pushed to the top of the carrier unit 13; (4)The three-axis displacement platform 2 43 controls the movement of the robotic arm 42, and the gasket suction head 41 adsorbs and recovers the gasket above the material; (5)The material suction head 51 of the arc trajectory adsorption and conveying mechanism 5 moves above the materials at the top of the carrier unit 13 to adsorb the materials; when the materials are adsorbed, the swing connection seat 525 starts to swing under the drive of the rotation mechanism 521. The guiding roller on the slider abuts against the trajectory guiding groove 5241, and the swing connection seat 525 conveys the adsorbed materials to the designated position of the discharging mechanism along the path of the trajectory guiding groove 5241; when the materials reach the designated position, the material suction head 51 stops the adsorption function and releases the materials; the swing connection seat 525 returns to the initial position to prepare for the next adsorption and conveying operation; (6)The ejector plate 33 of the ejecting mechanism 3 descends smoothly under the drive of the ejecting rod 32. When the ejector plate 33 descends to the lowest point, the horizontal fine adjustment mechanism 34 returns to the initial position, and the ejecting mechanism 3 completes a working cycle and returns to the initial position; (7)The carrier handling mechanism 3 controls the horizontal movement of the carrier unit 13 so that the second group of materials in the carrier unit 13 corresponds to the position of the ejector plate 33; (8)Repeat steps (3)-(6) until all the materials on the carrier unit 13 are taken; (9)The carrier displacement adjustment mechanism 65 of the carrier recycling mechanism 6 drives the carrier recycling box 63 to move. The clamping mechanism 2 62 clamps the carrier unit 13 and is controlled by the second vertical linear module 61 to descend to the carrier recycling box 63. The carrier displacement adjustment mechanism 65 drives the carrier recycling box 63 to continue descending to realize the recycling of the carrier unit 13.

[0039] Obviously, the above embodiments are only examples for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the present invention.

Claims

1. A short booklet automatic feeding device, characterized in that: A feeding carrier for carrying materials to be processed, the feeding carrier includes a first linear guide rail, a movable shelf and a plurality of carrier units. The movable shelf is arranged on the first linear guide rail and moves horizontally along the first linear guide rail. The carrier units are arranged in the movable shelf, and the carrier units are provided with a plurality of material placement slots arranged side by side; A carrier handling mechanism for moving the carrier unit to the feeding station; A material ejecting mechanism for ejecting the material from the bottom of the carrier unit until the uppermost end of the material is flush with the top of the carrier unit; A gasket recovery mechanism for adsorbing and recovering the gasket above the material. The gasket recovery mechanism includes a gasket adsorption head, a robotic arm and a three-axis displacement platform II. The gasket adsorption head is arranged on the robotic arm, and the robotic arm is connected to the three-axis displacement platform II; An arc trajectory adsorption and conveying mechanism, which includes a material suction head and an arc trajectory conveying arm. The arc trajectory conveying arm drives the material suction head to move along a predetermined arc trajectory, adsorbing the materials on the top of the carrier unit one by one and conveying them to the discharging mechanism; A carrier recovery mechanism for recovering the carrier units after the material taking is completed. The carrier recovery mechanism includes a second vertical linear module, a clamping mechanism II, a carrier recovery box, a carrier support block and a carrier displacement adjusting mechanism. The clamping mechanism II is connected to the second vertical linear module, the carrier displacement adjusting mechanism is connected to the carrier support block, and the free end of the carrier support block extends into the bottom of the carrier recovery box.

2. The short booklet automatic loading and feeding device according to claim 1, characterized in that: The movable shelf includes a shelf body and a first horizontal linear module for driving the movement of the shelf body. The shelf body is provided with a number of limit slots for fixing the carrier units.

3. The short-strip automatic loading and feeding device according to claim 1, characterized in that: The carrier handling mechanism includes a three-axis displacement platform I and a clamping mechanism I. The clamping mechanism I is connected to the three-axis displacement adjusting platform to achieve position adjustment in three directions of X, Y and Z.

4. The short booklet automatic loading and feeding device according to claim 3, characterized in that: The first clamping structure and the second clamping structure are the same, and both include an installation substrate, a jaw cylinder, a set of clamping blocks and a second linear guide rail. The jaw cylinder and the second linear guide rail are arranged in parallel on the installation substrate. The clamping blocks are connected to the driving end of the jaw cylinder, and the clamping blocks are slidably connected to the second linear guide rail.

5. The short-strip automatic loading and feeding device according to claim 1, wherein: The material ejecting mechanism includes a first vertical linear module, a jacking rod, a material ejecting plate and a horizontal fine adjustment mechanism. The jacking rod is connected to the first vertical linear module, the horizontal fine adjustment mechanism is arranged at the end of the jacking rod, and the material ejecting plate is connected to the horizontal fine adjustment mechanism and moves horizontally along the horizontal fine adjustment mechanism.

6. The short booklet automatic loading and feeding device according to claim 1, characterized in that: The carrier recovery box includes a tray, a carrier limit frame and a carrier support seat; second support rollers are arranged on the inner walls on both sides of the tray. The carrier support seat is in rolling contact with the second support rollers. The carrier limit frame is arranged on the carrier support seat, and a limit stop block for fixing the carrier limit frame is arranged on the carrier support seat.

7. The short booklet automatic loading and feeding device according to claim 6, characterized in that: The vehicle support seat includes an upper support plate, a lower support plate and a lifting cylinder arranged in parallel. The lifting cylinder is arranged at the bottom of the tray, and the telescopic end of the lifting cylinder is connected to the upper support plate. The lifting cylinder jacks up the upper support plate so that a card slot for accommodating the vehicle support block is formed between the upper support plate and the lower support plate.

8. The short-strip automatic loading and feeding device according to claim 1, characterized in that: The arc-shaped trajectory handling arm includes a rotating mechanism, a rotating connecting piece, a slider, a swing trajectory limiting plate, a swing connecting seat and a swing connecting rod. The output shaft of the rotating mechanism is connected to the rotating connecting piece. The rotating connecting piece is connected to the swing connecting seat through the slider. The swing connecting seat is connected to the material suction head through the swing connecting rod. A guiding roller is arranged on the slider, and a trajectory guiding groove is arranged on the swing trajectory limiting plate. The rotating connecting piece and the slider are embedded in the trajectory guiding groove, and the guiding roller abuts against the trajectory guiding groove.

9. The short booklet automatic loading and feeding device according to claim 8, characterized in that: A swing guiding plate is arranged between the swing connecting seat and the swing trajectory limiting plate, and a horizontal guide rail is arranged between the swing guiding plate and the swing trajectory limiting plate. A group of vertical guide rails are arranged between the swing guiding plate and the swing connecting seat.

10. A working method of the short-strip automatic loading and feeding device according to any one of claims 1-9, characterized in that: The method includes the following steps: (1) Place the vehicle unit loaded with the material to be processed into the loading vehicle. (2) The vehicle handling mechanism adjusts the position in the X, Y, and Z directions, moves the clamping mechanism I close to the loading vehicle, clamps the vehicle unit, and then moves it to the loading station. (3) The ejector plate of the ejecting mechanism moves horizontally until it reaches the bottom of the first group of materials in the vehicle unit. The ejecting rod drives the ejector plate to rise, jacking up the materials from the bottom of the vehicle unit until the materials are pushed to the top of the vehicle unit. (4) The three-axis displacement platform II controls the movement of the robotic arm, and the gasket suction head adsorbs and recovers the gasket above the materials. (5) The material suction head of the arc-shaped trajectory adsorption and conveying mechanism moves above the materials at the top of the vehicle unit to adsorb the materials. When the materials are adsorbed, the swing connecting seat starts to swing under the drive of the rotating mechanism. The guiding roller on the slider abuts against the trajectory guiding groove. The swing connecting seat transports the adsorbed materials to the designated position of the discharging mechanism according to the path of the trajectory guiding groove. When the materials reach the designated position, the material suction head stops the adsorption function and releases the materials. The swing connecting seat returns to the initial position to prepare for the next adsorption and handling operation. (6) The ejector plate of the ejecting mechanism descends smoothly driven by the ejecting rod. When the ejector plate descends to the lowest point, the horizontal fine adjustment mechanism returns to the initial position. The ejecting mechanism completes a working cycle and returns to the initial position. (7) The vehicle handling mechanism controls the horizontal movement of the vehicle unit so that the second group of materials in the vehicle unit corresponds to the position of the ejector plate. (8) Repeat steps (3)-(6) until all the materials on the vehicle unit are taken. (9) The vehicle displacement adjustment mechanism of the vehicle recycling mechanism drives the vehicle recycling box to move. The clamping mechanism II clamps the vehicle unit and is controlled by the second vertical linear module to descend to the vehicle recycling box. The vehicle displacement adjustment mechanism drives the vehicle recycling box to continue to descend to realize the recycling of the vehicle unit.

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