Feeding tool, automatic feeding device and control method of automatic feeding device

Abstract

The invention discloses a feeding tool, an automatic feeding device and a control method of the automatic feeding device, and relates to the technical field of mechanical feeding, the feeding tool comprises a mounting base, a first feeding assembly and a second feeding assembly, the mounting base is mounted on a multi-axis driving mechanism to form a mounting side face, and the mounting side face is divided into a first area and a second area which are arranged at intervals; the first feeding assembly comprises a plurality of picking parts used for picking main materials and arranged in a first area at intervals, the second feeding assembly comprises a plurality of feeding parts used for picking auxiliary materials and arranged in a second area at intervals, and each feeding part can move in the first direction and is provided with a working position protruding out of the first feeding assembly in the first direction. By controlling opening and closing of the multiple picking parts, graded feeding of main materials can be achieved, the feeding stability is improved, the feeding parts and the picking parts are mutually independent, and by driving the feeding parts to move to the working positions, the picking parts cannot cause interference when the feeding parts conduct feeding, the integrated design is achieved, the overall occupied space is small, and the feeding procedure is simplified.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical feeding, and particularly relates to a feeding tooling, an automatic feeding device and a control method thereof. Background Art

[0002] In some die processing technologies, during the manufacturing process of products, die inserts handling and material handling are involved. Currently, generally two manipulators are set for feeding. One manipulator is used to hold the die insert and drive the part to transfer, and the other manipulator is used to hold the material, so that multiple materials are combined into one after die processing. This structural form occupies a large space, requires the avoidance of two manipulators, and has a long feeding time. Summary of the Invention

[0003] The main object of the present invention is to propose a feeding tooling, an automatic feeding device and a control method thereof, which can meet the feeding requirements of multiple materials in the die processing technology through one tooling, save space, simplify the process and speed up the production rhythm.

[0004] To achieve the above object, the present invention proposes a feeding tooling, including: A mounting seat, which is used to be mounted on a multi-axis driving mechanism. One side surface of the mounting seat in the first direction forms a mounting side surface, and the mounting side surface is divided into a first area and a second area which are arranged at intervals; A first feeding component, including a plurality of picking parts arranged on the mounting side surface. The plurality of picking parts are arranged at intervals in the first area, and each picking part is used to pick up the main material; and, A second feeding component, including a plurality of feeding parts arranged on the mounting side surface. The plurality of feeding parts are arranged at intervals in the second area, and each feeding part can be movably mounted on the mounting side surface in the first direction to have a working position protruding from the first feeding component in the first direction. The feeding part is used to pick up the auxiliary material.

[0005] In an embodiment, the first area includes a plurality of first partition areas arranged at intervals in the second direction, the second area includes a plurality of second partition areas arranged at intervals in the second direction, and the plurality of first partition areas and the plurality of second partition areas are arranged alternately; The picking parts are correspondingly arranged in each first partition area, and the feeding parts are correspondingly arranged in each second partition area.

[0006] In an embodiment, among the plurality of picking parts, two of the picking parts are used to pick up the main materials in two different stages respectively; and / or, Among the plurality of feeding parts, two of the feeding parts are used to pick up two different types of auxiliary materials respectively.

[0007] In one embodiment, the picking part includes two clamping plates arranged oppositely, the two clamping plates have a moving stroke of approaching or separating from each other, and the two clamping plates are used to jointly clamp or release the main material.

[0008] In one embodiment, first positioning posts are arranged on the sides of the two clamping plates facing each other, and at least part of the first positioning posts are used to extend into the positioning holes of the main material.

[0009] In one embodiment, the picking part further includes a limiting structure, and the limiting structure includes: A screw rod, one end of which is threadedly installed on one of the clamping plates; and, A limiting post, one end of which is fixedly installed on the other clamping plate. During the process of the two clamping plates approaching each other, the other end of the limiting post can abut against the other end of the screw rod to limit the distance between the two clamping plates.

[0010] In one embodiment, the feeding part includes: A movable seat, which is movably installed on the installation side along a first direction; and, At least one suction nozzle, which is arranged on the movable seat and is used to adsorb and fix auxiliary materials or blow air to drive the auxiliary materials to move and drop.

[0011] In one embodiment, a convex platform is arranged on the end face of the movable seat, and the end face of the convex platform is used to fit with the corresponding mating surface of the mold; and / or, A second positioning post is arranged on the end face of the movable seat, and at least part of the second positioning post is used to extend into the positioning hole of the mold, and / or, The outer shape of the suction nozzle is adapted to the corresponding auxiliary material.

[0012] In one embodiment, a groove is arranged on the side surface of the movable seat, and the groove penetrates through the movable seat along the first direction; The feeding part further includes a support for connecting the suction nozzle, and the support is movably installed in the groove and has a moving stroke of approaching or separating from the bottom wall of the groove; The suction nozzle protrudes from the groove.

[0013] In one embodiment, the movable seat includes a first seat body and a second seat body arranged in sequence in the first direction, and the second seat body and the first seat body are connected by a screw connection member; The groove includes a first groove section and a second groove section, the first groove section is arranged on the first seat body, and the second groove section is arranged on the second seat body.

[0014] In one embodiment, another side surface of the mounting base along a first direction is provided with a mounting boss, and one side surface of the mounting boss forms a connection surface for connecting with a multi-axis driving mechanism; The connection surface is arranged at an angle with the mounting side surface.

[0015] The present invention also provides an automatic feeding device, including: A multi-axis driving mechanism having a movable driving end; A feeding tooling, including a mounting base, a first feeding component and a second feeding component. The mounting base is fixed to the driving end so as to be driven by the driving end to move. One side surface of the mounting base in a first direction forms a mounting side surface, and the mounting side surface is divided into a first area and a second area which are arranged at intervals; the first feeding component includes a plurality of picking parts arranged on the mounting side surface, and the plurality of picking parts are arranged at intervals in the first area, and each picking part is used for picking up main materials; the second feeding component includes a plurality of feeding parts arranged on the mounting side surface, and the plurality of feeding parts are arranged at intervals in the second area, and each feeding part can be movably mounted on the mounting side surface along the first direction so as to have a working position protruding from the first feeding component along the first direction, and the feeding part is used for picking up auxiliary materials.

[0016] The present invention also provides a control method for an automatic feeding device, which is used for feeding and discharging materials in mold processing. The automatic feeding device includes the above-mentioned automatic feeding device. The plurality of picking parts include a first picking part, a second picking part and a third picking part which are arranged at intervals, and the plurality of feeding parts include a first feeding part and a second feeding part. The plurality of picking parts and the plurality of feeding parts are alternately arranged in a second direction; The control method of the automatic feeding device includes the following steps: Controlling the multi-axis driving mechanism to drive the feeding tooling to move to the mold. At this time, the first picking part holds the main material, and the first feeding part and the second feeding part hold two kinds of auxiliary materials; After the mold is opened and the cavities holding the semi-finished parts and the finished parts are exposed, controlling the multi-axis driving mechanism to drive the feeding tooling to move so that the first picking part is located at the side of the mold, and then controlling the second picking part and the third picking part to pick up the semi-finished parts and the finished parts simultaneously; Controlling the multi-axis driving mechanism to drive the feeding tooling to move so that the third picking part is located at the side of the mold, and then controlling the first picking part and the second picking part to place the main material and the semi-finished parts in the corresponding cavities of the mold simultaneously; Controlling the first feeding part and the second feeding part to place the two kinds of auxiliary materials in the corresponding cavities simultaneously; Controlling the multi-axis driving mechanism to drive the feeding tooling to move to remove the finished parts.

[0017] In the technical solution of the present invention, the first area and the second area are correspondingly provided for the first feeding component and the second feeding component to place. The first feeding component and the second feeding component can be driven to move together with the mounting base. A plurality of picking parts are used to pick up the main material, and each picking part works independently. By controlling the opening and closing of the plurality of picking parts, the main material can be fed in batches, improving the stability of feeding. The feeding part and the picking part are independent of each other. The feeding part moves in the first direction, so that after at least part of the picking parts have completed feeding, by driving the feeding part to move to the working position, it can be ensured that the picking parts will not cause interference when the feeding part is feeding. Thus, the actions of separately picking up and feeding the main material and the auxiliary material can be satisfied, the overall occupied space is small, the feeding process is simplified, and it is beneficial to improve the mass production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0019] Figure 1 Structural schematic diagram of an embodiment of the feeding tooling (one angle) provided by the present invention; Figure 2 For Figure 1 Structural schematic diagram of the feeding tooling (another angle) in Figure 3 For Figure 1 Structural schematic diagram of the distribution of the first area and the second area in Figure 4 For Figure 1 Structural schematic diagram of the picking part in Figure 5 For Figure 1 Structural schematic diagram of the feeding part (one embodiment) in Figure 6 For Figure 5 Structural schematic diagram of the cooperation between the support and the movable seat in Figure 7 For Figure 1 Structural schematic diagram of the feeding part (another embodiment) in Figure 8 Flow schematic diagram of an embodiment of the control method of the automatic feeding device provided by the present invention.

[0020] Explanation of the reference numerals in the drawings: 100. Loading tooling; 1. Mounting seat; 11. Mounting side; 12. Connecting surface; 2. First loading component; 21. Picking part; 211. Clamping plate; 212. First positioning post; 213. Screw; 214. Limiting post; 22. First cylinder; 3. Second loading component; 31. Loading part; 311. Movable seat; 311a. First seat body; 311b. Second seat body; 3111. Groove; 312. Suction nozzle; 313. Boss; 314. Second positioning post; 315. Support; 32. Second cylinder; 10. First area; 20. Second area.

[0021] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0023] It should be noted that if there are directional indications involved in the embodiments of the present invention, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0024] In addition, if there are descriptions such as "first" and "second" involved in the embodiments of the present invention, the descriptions of "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0025] In some die processing technologies, during the manufacturing process of products, it involves the handling of die inserts and the handling of materials. Currently, generally two manipulators are set for loading. One manipulator is used to clamp the die insert to drive the part to transfer, and the other manipulator is used to clamp the material so that multiple materials are combined into one after die processing. This structural form occupies a large space, requires the avoidance of two manipulators, and has a long loading time.

[0026] During the design process of loading, the following difficulties exist: For multi-cavity production, the number of mold inserts is large and the quality is high. If they are picked and placed simultaneously, there will be shaking and instability. Some materials are made of silicone, such as the accessories for the side buttons of mobile phones, which have adhesiveness and have requirements for the stability of the tooling and the placement accuracy.

[0027] Based on the above situation, the present invention provides a loading tooling, an automatic loading device and its control method, integrating two mechanical loading methods in the prior art on one tooling. The two loading components can be independent of each other, so that the picking and placing actions of different materials can be realized. By reasonably controlling the operation logic of the picking part, the staged loading action of the mold inserts can be realized. It meets the loading requirements of various materials in the mold processing process, saves space, simplifies the process, and speeds up the production rhythm.

[0028] Specifically, the main material refers to the mold insert or the material that cooperates with it. Specifically, the finished part is obtained through secondary mold processing, and the auxiliary material and the main material are processed through the mold together to obtain the integrated finished part.

[0029] Please refer to Figures 1 to 3 , the loading tooling 100 includes a mounting base 1, a first loading component 2 and a second loading component 3. The mounting base 1 is used to be mounted on a multi-axis driving mechanism. One side surface of the mounting base 1 in the first direction forms a mounting side surface 11, and the mounting side surface 11 is divided into a first area 10 and a second area 20 which are arranged at intervals; the first loading component 2 includes a plurality of picking parts 21 arranged on the mounting side surface 11, and the plurality of picking parts 21 are arranged at intervals in the first area 10, and each picking part 21 is used to pick up the main material; the second loading component 3 includes a plurality of loading parts 31 arranged on the mounting side surface 11, and the plurality of loading parts 31 are arranged at intervals in the second area 20, and each loading part 31 can be movably mounted on the mounting side surface 11 in the first direction to have a working position protruding from the first loading component 2 in the first direction, and the loading part 31 is used to pick up the auxiliary material.

[0030] In the technical solution of the present invention, the first area 10 and the second area 20 are correspondingly provided for the first loading component 2 and the second loading component 3 to be placed. The first loading component 2 and the second loading component 3 can be driven and moved together with the mounting base 1. The plurality of picking parts 21 are used to pick up the main material, and each picking part 21 works independently. By controlling the opening and closing of the plurality of picking parts 21, the staged loading of the main material can be realized, improving the stability of loading. The loading part 31 is independent of the picking part 21. The loading part 31 moves in the first direction, so that after at least part of the picking parts 21 complete loading, by driving the loading part 31 to move to the working position, it can be ensured that the picking part 21 will not cause interference when the loading part 31 is loading, so that the picking and loading actions of the main material and the auxiliary material can be satisfied. The overall occupied space is small, the loading process is simplified, and it is beneficial to improve the batch production efficiency.

[0031] It should be noted that the first direction, the second direction, and the third direction mentioned in the present invention are three directions that intersect in space, and the three are relative orientation relationships. The directions corresponding to the rotation of the mounting base 1 may change. For example, in one posture, the first direction corresponds to the up-down direction, the second direction and the third direction correspond to the front-back direction and the left-right direction respectively. After the mounting base 1 rotates, the first direction may correspond to the front-back direction, the second direction corresponds to the left-right direction, and the third direction corresponds to the up-down direction. Specifically, the first direction corresponds to the thickness direction of the mounting base 1, and the second direction and the third direction correspond to the length direction and the width direction of the mounting base 1 respectively.

[0032] It should be noted that the feeding action of the main material and the feeding action of the auxiliary material are carried out separately. When feeding the main material, the multi-axis driving mechanism is relied on to drive the mounting base 1 to move, thereby driving the picking part 21 to work. At this time, by setting the dislocation of the picking part 21 and the feeding part 31 on the plane, interference will not occur during the feeding process of the picking part 21. When feeding the auxiliary material, the multi-axis driving mechanism is relied on to drive the mounting base 1 to move. At the same time, the feeding part 31 moves in the first direction to the working position, so as to protrude from the first feeding assembly 2, so that interference will not occur during the feeding process of the feeding part 31. During the material feeding actions of the first feeding assembly 2 and the second feeding assembly 3 respectively, there is no interference with each other.

[0033] For multi-cavity production, considering the shaking and instability of the cumulative weight of the main material during synchronous feeding, therefore, each picking part 21 should be independently controlled to relieve the influence of the weight. Multiple picking parts 21 can take over the work, so that multiple main materials can be fed in batches.

[0034] Multiple feeding parts 31 can be driven synchronously or independently. Considering that the movement strokes of each feeding part 31 in the first direction may be different, therefore, by driving multiple feeding parts 31 independently, multiple feeding parts 31 can be set to work simultaneously or take over the work according to process requirements.

[0035] Through the reasonable division of the first area 10 and the second area 20, the layout of the first feeding assembly 2 and the second feeding assembly 3 is realized. In one embodiment, the second area 20 corresponds to the middle part of the mounting side 11, and the first area 10 is arranged around the periphery of the first area 10. In this way, the second feeding assembly 3 is located at the central position of the mounting base 1, and the first feeding assembly 2 is located at the peripheral position of the mounting base 1.

[0036] In this embodiment, please refer to Figure 3, the first area 10 includes a plurality of first partition areas arranged at intervals along the second direction, the second area 20 includes a plurality of second partition areas arranged at intervals along the second direction, and the plurality of first partition areas and the plurality of second partition areas are arranged alternately; a picking part 21 is correspondingly arranged in each first partition area, and a feeding part 31 is correspondingly arranged in each second partition area. In this embodiment, the picking part 21 and the feeding part 31 are arranged alternately in the second direction, so as to adapt to the working condition that a plurality of cavities are arranged side by side in the mold cavity and facilitate positioning.

[0037] It should be understood that one picking part 21 can be arranged in the first partition area, or a plurality of picking parts 21 arranged at intervals along the third direction or the second direction can be arranged. One feeding part 31 can be arranged in the second partition area, or a plurality of feeding parts 31 arranged at intervals along the third direction or the second direction can be arranged.

[0038] Furthermore, among the plurality of picking parts 21, two of the picking parts 21 are used to pick up the main materials at two different stages respectively, that is, each picking part 21 picks up one main material. The main materials on the two picking parts 21 can be one raw material and one semi-finished product material, so as to correspond to the products that need to be processed and formed twice in the mold processing process. That is, the picking part 21 can be used for feeding the raw materials for the first mold processing, or for feeding the semi-finished products for the second mold processing. Both the raw materials and the semi-finished products belong to the main raw materials in the product composition. Among the plurality of feeding parts 31, two of the feeding parts 31 are used to pick up two different types of auxiliary materials respectively. The two different types of auxiliary materials can be different in material or different in shape.

[0039] The present invention does not limit the specific structural form of the picking part 21. The picking part 21 can be in the structural forms such as magnetic attraction, clamping jaws, suction cups, etc. In some embodiments, please refer to Figure 4 , the picking part 21 includes two clamping plates 211 arranged oppositely. The two clamping plates 211 have a moving stroke of approaching or separating from each other. The two clamping plates 211 are used to jointly clamp or release the main material. Specifically, one of the clamping plates 211 can be driven to move towards or away from the other clamping plate 211, or the two clamping plates 211 can be driven to move simultaneously. Its driving structure can be reasonably set according to the space, such as a cylinder, a lead screw, etc. In this embodiment, a first cylinder 22 with a two-way driving function is set. The two cylinder rods of the first cylinder 22 are respectively connected to one end of the two clamping plates 211 along their length directions, so as to drive the other ends of the two clamping plates 211 to approach or separate from each other.

[0040] To improve the positioning and matching effect between the clamping plates 211 and the main material, first positioning posts 212 are provided on the sides of the two clamping plates 211 facing each other, and at least part of the first positioning posts 212 is used to extend into the positioning holes of the main material. Through the cooperation between the first positioning posts 212 and the positioning holes of the main material, precise limit is achieved. It should be noted that the shape of the first positioning posts 212 is not limited. The first positioning posts 212 can be set as columnar structures for easy insertion and matching, or the first positioning posts 212 can be set as profiling structures for easy anti-rotation fixation. The present invention does not limit this.

[0041] The first positioning posts 212 can be integrally inserted into the main material, or only partially inserted into the main material. To further achieve the limiting effect, the first positioning posts 212 include a first section and a second section arranged along their length directions. The first section cooperates with the positioning holes, and the outer diameter of the second section is larger than that of the first section and is used to abut against the outside of the main material, so as to achieve the function of lateral precise positioning.

[0042] To be compatible with the insertion and matching dimensions of the first positioning posts 212 and different main materials, the clamping part of the clamping plates 211 is arranged in an L shape, and thus has a vertical surface and a horizontal surface. The first positioning posts 212 are arranged on the vertical surface, and the horizontal surface is compatible with the length of the first positioning posts 212.

[0043] The distance between the two clamping plates 211 is mainly limited by the driving stroke of the first cylinder 22. Considering the stop reaction speed of the cylinder and the transmission of the electric control signal, in this embodiment, please refer to again Figure 4 , the picking part 21 further includes a limiting structure. The limiting structure includes a screw 213 and a positioning post. One end of the screw 213 is threadedly installed on one of the clamping plates 211, and one end of the limiting post 214 is fixedly installed on the other clamping plate 211. During the process of the two clamping plates 211 approaching each other, the other end of the limiting post 214 can abut against the other end of the screw 213 to limit the distance between the two clamping plates 211. It should be understood that corresponding threaded holes are provided on the clamping plates 211 for threaded connection with the screw 213, and the threaded connection itself has a good locking effect. Therefore, by adjusting the screw 213, the length of the section of the screw 213 between the two clamping plates 211 can be changed, and the limiting stroke of the screw 213 can be adjusted. The limiting post 214 is always fixed to the other clamping plate 211 and performs hard limiting in the form of end face contact with the screw 213. Therefore, the limiting structure can be adaptively adjusted according to the actual size of the main material, so that within the limit movement stroke range of the two clamping plates 211, multi-clamping gear adjustment of the two clamping plates 211 can be realized.

[0044] By the processing precision requirements for the mating end faces of the screw 213 and the limiting post 214, the limiting mating precision can be ensured.

[0045] The present invention does not limit the specific structural form of the feeding part 31, which can be a clamping jaw, a suction cup, etc. Considering that the auxiliary materials are generally light in texture, and there are silicone auxiliary materials in the processing of electronic products. Therefore, in order to ensure the fixing effect on the auxiliary materials and material compatibility, the feeding part 31 includes a movable seat 311 and at least one suction nozzle 312. The movable seat 311 is movably installed on the installation side surface 11 along the first direction; the suction nozzle 312 is arranged on the movable seat 311 and is used for adsorbing and fixing the auxiliary materials or blowing air to drive the auxiliary materials to move and drop. The suction nozzle 312 has the functions of inhaling and blowing air, and can simultaneously play the roles of material fixing and material dropping. The movable seat 311 serves as a supporting main body and can be connected to the corresponding driving structure.

[0046] It should be understood that the movable seat 311 can be driven to reciprocate in the first direction through structures such as a cylinder and a lead screw. In this embodiment, a second cylinder 32 is provided, so that the movable seat 311 is connected to the cylinder rod of the second cylinder 32, and thus can be driven to move.

[0047] Furthermore, a boss 313 is provided on the end surface of the movable seat 311. The end surface of the boss 313 is used to fit with the corresponding mating surface of the mold. The function of the boss 313 is to align and position, and is used to limit the relative position between the movable seat 311 and the corresponding female seat of the mold, so as to facilitate feeding positioning.

[0048] Please refer to Figure 5 and Figure 7 , a second positioning post 314 is provided on the end surface of the movable seat 311. At least part of the second positioning post 314 is used to extend into the positioning hole of the mold. The second positioning post 314 extends along the first direction and realizes positioning through cooperation with the positioning hole of the mold. After the movable seat 311 completes the positioning cooperation, then control the suction nozzle 312 to release the auxiliary material.

[0049] Moreover, the outer shape of the suction nozzle 312 is adapted to the corresponding auxiliary material. According to the outer shape and quantity of the auxiliary material, the suction nozzle 312 is set in a copy shape. One suction nozzle 312 can adsorb multiple auxiliary materials at the same time, or multiple copy-shaped suction nozzles 312 can be set to adsorb multiple types of auxiliary materials.

[0050] In some working conditions, the mold is not placed horizontally in the conventional way, but may be placed vertically, that is, the open side of the cavity of the lower mold base faces the side rather than the upper side. In this working condition, considering the avoidance between the suction nozzle 312 and the mold cavity during the feeding process, in some embodiments, please refer to Figure 6, a groove 3111 is provided on the side of the movable seat 311, and the groove 3111 penetrates through the movable seat 311 along the first direction; the feeding part 31 further includes a support 315 connecting the suction nozzle 312, and the support 315 is movably installed in the groove 3111 and has a moving stroke of approaching or departing from the bottom wall of the groove 3111; the suction nozzle 312 protrudes from the groove 3111, and the suction nozzle 312 is exposed outside the groove 3111, so that it can be adsorbed and cooperated with the auxiliary material, and the depth of the groove 3111 defines the moving stroke of the support 315. Initially, the support 315 is far from the bottom wall of the groove 3111. At this time, driving the feeding part 31 to move can avoid the cavity wall corresponding to the cavity. After reaching the specified position, driving the support 315 to move close to the bottom wall of the groove 3111, and then controlling the suction nozzle 312 to release for the falling of the auxiliary material, and then driving the support 315 to move away from the bottom wall of the groove 3111, so as to move the feeding part 31 out while meeting the avoidance. Such a setting enables the position of the suction nozzle 312 to be adaptively adjusted according to the special structure of the cavity.

[0051] Please refer to again Figure 5 , the movable seat 311 includes a first seat body 311a and a second seat body 311b arranged in sequence in the first direction, and the second seat body 311b and the first seat body 311a are connected by a screw connection; the groove 3111 includes a first groove section and a second groove section, the first groove section is arranged on the first seat body 311a, and the second groove section is arranged on the second seat body 311b. In this embodiment, the movable seat 311 is disassembled into the first seat body 311a and the second seat body 311b assembled into one body, so that the problem that it is not easy to align a single part due to processing errors can be compatible through the adjustment during the combination of the first seat body 311a and the second seat body 311b, and how to meet the overall orientation requirements of the movable seat 311 by adjusting the installation of the two parts of the first seat body 311a and the second seat body 311b. It is convenient for adjustment during the assembly process.

[0052] When the mounting seat 1 is matched with the multi-axis driving mechanism, the mounting seat 1 can be directly mounted on the driving end of the multi-axis driving mechanism. At this time, the mounting seat 1 is perpendicular to the extension axis of the driving end. In this embodiment, a mounting boss 313 is provided on the other side surface of the mounting seat 1 along the first direction, and one side surface of the mounting boss 313 forms a connecting surface 12 for connecting with the multi-axis driving mechanism; the connecting surface 12 and the mounting side surface 11 are arranged at an angle. Through the transfer of the connecting surface 12, the plane where the mounting seat 1 is located is parallel to the extension axis of the driving end.

[0053] The present invention also provides an automatic feeding device, which includes a multi-axis driving mechanism and a feeding tooling 100. The specific structure of the feeding tooling 100 refers to the above embodiments. Since this automatic feeding device adopts all the technical solutions of the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be elaborated one by one here. Among them, the multi-axis driving mechanism has a movable driving end; the multi-axis driving mechanism can be set as a manipulator or a multi-axis platform composed of multiple guide rails. The present invention does not limit this. The mounting base 1 of the feeding tooling 100 is fixed to the driving end so as to be driven by the driving end to move.

[0054] Correspondingly, the driving of the device is controlled by a control device, which can be an industrial control computer. Specifically, the control device may include a processing device (such as a central processing unit, a graphics processing unit, etc.), which can execute various appropriate actions and processes according to the program stored in the read-only memory (ROM: Read Only Memory) or the program loaded from the storage device into the random access memory (RAM: Random Access Memory). In the RAM, various programs and data required for the operation of the control device are also stored. The processing device, ROM, and RAM are connected to each other through a bus. The input / output (I / O) interface is also connected to the bus. Usually, the following systems can be connected to the I / O interface: input devices including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; storage devices including, for example, a magnetic tape, a hard disk, etc.; and a communication device. The communication device can allow the control device to communicate with other devices wirelessly or wiredly to exchange data. Although the figure shows a control device with various systems, it should be understood that it is not required to implement or have all the shown systems. More or fewer systems can be alternatively implemented or had.

[0055] Based on this, the embodiments of the present application provide a control method for an automatic feeding device. Figure 8 It is a schematic flowchart of the first embodiment of the control method for the automatic feeding device of the present application.

[0056] In this embodiment, in the automatic feeding device, a plurality of picking parts 21 include a first picking part 21, a second picking part 21, and a third picking part 21 arranged at intervals, and a plurality of feeding parts 31 include a first feeding part 31 and a second feeding part 31. The plurality of picking parts 21 and the plurality of feeding parts 31 are alternately arranged in the second direction. The control method of the automatic feeding device specifically includes the following steps: Step S10, control the multi-axis drive mechanism to drive the loading tooling 100 to move to the mold. At this time, the main material is held by the first picking part 21, and two kinds of auxiliary materials are held by the first loading part 31 and the second loading part 31. It should be noted that initially, among the multiple picking parts 21, only the first picking part 21 holds the main material, and the second picking part 21 and the third picking part 21 are in an empty state. When multiple first picking parts 21 are set according to the number of cavities of the mold, the main material is held on each of the multiple first picking parts 21.

[0057] It should be noted that the two materials picked up by the first loading part 31 and the second loading part 31 can be different in shape, quantity or material.

[0058] In this process, initially the loading tooling 100 is not in a full counterweight state, so it can improve the shaking and instability of simultaneous material transfer under full counterweight in the prior art.

[0059] Step S20, after the mold is opened and the cavities holding the semi-finished parts and the finished parts are exposed, control the multi-axis drive mechanism to drive the loading tooling 100 to move. After the first picking part 21 is located at the side of the mold, control the second picking part 21 and the third picking part 21 to pick up the semi-finished parts and the finished parts simultaneously. Specifically, control the empty second picking part 21 and the third picking part 21 to work simultaneously to perform synchronous material picking of the semi-finished parts and the finished parts. At this time, both cavities are empty. At this time, multiple picking parts 21 all hold materials. The main material is held by the first picking part 21, the semi-finished material is held by the second picking part 21, and the finished material is held by the third picking part 21. In terms of arrangement, the first picking part 21 and the third picking part 21 are respectively located on both sides of the second picking part 21.

[0060] It should be noted that when the mold is opened to expose the two cavities, one cavity is used to process the main material into semi-finished parts, and the other cavity is used to process the semi-finished parts into finished parts. The number of each cavity corresponds one-to-one to the number of the corresponding picking part 21.

[0061] Step S30, control the multi-axis drive mechanism to drive the loading tooling 100 to move. After the third picking part 21 is located at the side of the mold, control the first picking part 21 and the second picking part 21 to place the main material and the semi-finished parts into the corresponding cavities of the mold simultaneously. Specifically, after the finished parts are taken out, they do not involve further processing at the current workstation. First, the mounting base 1 is controlled to move horizontally so that the third picking part 21 is in an air-avoiding position, and at the same time, the first picking part 21 and the second picking part 21 are respectively facing the corresponding cavities. At this time, when the mounting base 1 is controlled to move toward the mold, the first picking part 21 and the second picking part 21 can be positioned and matched with the mold to unload the material, and the third picking part 21 is driven to move synchronously, but is staggered with the mold, so it will not cause interference.

[0062] After step S30 , among the plurality of picking parts 21 , the first picking part 21 and the second picking part 21 are empty, and only the third picking part 21 carries the finished parts.

[0063] Step S40, controlling the first loading part 31 and the second loading part 31 to simultaneously place two auxiliary materials into the corresponding mold cavities; The first loading part 31 and the second loading part 31 are controlled to move simultaneously along the first direction, so as to discharge two kinds of auxiliary materials. One auxiliary material is placed in the corresponding cavity with the main material, and the other auxiliary material is placed in the corresponding cavity with the semi-finished part.

[0064] It should be noted that the first loading part 31 and the second loading part 31 match the number of cavities of the finished parts to be processed. Multiple loading parts 31 can be set according to the working conditions. According to the processed products, the multiple loading parts 31 include auxiliary materials of multiple first loading parts 31 and multiple second loading parts 31.

[0065] Step S50 , controlling the multi-axis driving mechanism to drive the loading tooling 100 to move so as to remove the finished parts.

[0066] It should be noted that, at this time, only the third picking portion 21 holds the finished parts. After the finished parts are moved to the designated position, the loading tool 100 returns to the empty state and the above steps can be repeated.

[0067] In some embodiments, two first pick-up sections 21 are provided, two second pick-up sections 21 are provided, and two third pick-up sections 21 are provided. The multiple loading sections 31 include two first loading sections 31 and two second loading sections 31. Initially, the two first picking sections 21 hold the same main material, while the first loading section 31 and the second loading section 31 hold two auxiliary materials. Subsequently, through transfer control, the two second picking sections 21 pick up two semi-finished parts, and the two third picking sections 21 pick up two finished parts. The mounting base 1 is then moved, driving the two third picking sections 21 to stagger with the mold. The two first picking sections 21 and the two second picking sections 21 simultaneously discharge the main material and the semi-finished parts. Subsequently, the four loading sections 31 are controlled to operate simultaneously to place the auxiliary materials, so that the main material and the semi-finished parts are each provided with corresponding auxiliary materials. After the loading operation is completed, the loading tool 100 can be removed with only the two finished parts, and the mold can now be closed.

[0068] In this technical solution, loading is performed in stages, alleviating the wobbling problem caused by the cumulative weight of excessive inserts being loaded and unloaded simultaneously during multi-cavity production. The integration of loading of primary and semi-finished parts, removal of finished parts, and loading of auxiliary materials simplifies the structure and process, eliminating the need for frequent reciprocating control of a multi-axis drive mechanism.

[0069] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention's description and drawings, or direct / indirect applications in other related technical fields, within the scope of the present invention are included in the patent protection scope of the present invention.

Claims

1. A loading tooling, characterized in that The feeding tooling includes: A mounting base for mounting on a multi-axis driving mechanism. One side surface of the mounting base in the first direction forms a mounting side surface, and the mounting side surface is divided into a first area and a second area which are arranged at intervals; A first feeding component, including a plurality of picking parts arranged on the mounting side surface. The plurality of picking parts are arranged at intervals in the first area, and each picking part is used for picking up the main material; and A second feeding component, including a plurality of feeding parts arranged on the mounting side surface. The plurality of feeding parts are arranged at intervals in the second area, and each feeding part can be movably mounted on the mounting side surface in the first direction so as to have a working position protruding from the first feeding component in the first direction, and the feeding part is used for picking up the auxiliary material.

2. The feeding tooling according to claim 1, wherein The first area includes a plurality of first partition areas arranged at intervals in the second direction, and the second area includes a plurality of second partition areas arranged at intervals in the second direction. The plurality of first partition areas and the plurality of second partition areas are arranged alternately; The picking parts are correspondingly arranged in each of the first partition areas, and the feeding parts are correspondingly arranged in each of the second partition areas.

3. The loading tooling according to claim 1 or 2, characterized in that, Among the plurality of picking parts, two of the picking parts are used for picking up the main materials at two different stages respectively; and / or Among the plurality of feeding parts, two of the feeding parts are used for picking up two different types of auxiliary materials respectively.

4. The loading tooling according to claim 1, wherein The picking part includes two clamping plates arranged oppositely. The two clamping plates have a moving stroke of approaching or separating from each other, and the two clamping plates are used for jointly clamping or loosening the main material.

5. The feeding tooling according to claim 4, characterized in that, The picking part further includes a limiting structure, and the limiting structure includes: A screw rod, one end of which is threadedly installed on one of the clamping plates; and A limiting column, one end of which is fixedly installed on the other clamping plate. During the process of the two clamping plates approaching each other, the other end of the limiting column can abut against the other end of the screw rod to limit the distance between the two clamping plates.

6. The feeding tooling according to claim 1, wherein The feeding part includes: A movable seat, which is movably installed on the mounting side surface in the first direction; and At least one suction nozzle, which is arranged on the movable seat and is used for adsorbing and fixing the auxiliary material or blowing air to drive the auxiliary material to move and drop.

7. The loading tooling according to claim 6, wherein A boss is arranged on the end surface of the movable seat, and the end surface of the boss is used for fitting with the corresponding mating surface of the mold; and / or A second positioning column is arranged on the end surface of the movable seat, and at least part of the second positioning column is used for extending into the positioning hole of the mold, and / or The outer shape of the suction nozzle is used for adapting to the corresponding auxiliary material.

8. The feeding tooling according to claim 6, characterized in that, A groove is arranged on the side surface of the movable seat, and the groove penetrates through the movable seat in the first direction; The feeding part further includes a support for connecting the suction nozzle. The support is movably installed in the groove and has a moving stroke of approaching or separating from the bottom wall of the groove; The suction nozzle protrudes from the groove.

9. The feeding tooling according to claim 8, wherein The movable seat includes a first seat body and a second seat body arranged in sequence in the first direction, and the second seat body and the first seat body are connected by a screw connection member; The groove includes a first groove section and a second groove section. The first groove section is arranged on the first seat body, and the second groove section is arranged on the second seat body.

10. The feeding tooling according to claim 1, wherein Another side of the mounting base along the first direction is provided with a mounting boss, and one side surface of the mounting boss forms a connecting surface for connecting with a multi-axis driving mechanism; The connecting surface is arranged at an angle with the mounting side surface.

11. An automatic feeding device, characterized in that, Comprising: A multi-axis driving mechanism having a movably arranged driving end; The loading tooling according to any one of claims 1-10, wherein the mounting base of the loading tooling is fixed to the driving end so as to be driven to move by the driving end.

12. A control method for an automatic feeding device, used for feeding and discharging materials in mold processing, characterized in that, The automatic loading device comprises the automatic loading device according to claim 11, wherein the plurality of picking parts include a first picking part, a second picking part and a third picking part arranged at intervals, the plurality of loading parts include a first loading part and a second loading part, and the plurality of picking parts and the plurality of loading parts are alternately arranged in the second direction; The control method of the automatic loading device comprises the following steps: Controlling the multi-axis driving mechanism to drive the loading tooling to move to the mold. At this time, the main material is held on the first picking part, and two kinds of auxiliary materials are held on the first loading part and the second loading part; After the mold is opened to expose the cavity holding the semi-finished part and the finished part, controlling the multi-axis driving mechanism to drive the loading tooling to move so that the first picking part is located at the side of the mold, and then controlling the second picking part and the third picking part to pick up the semi-finished part and the finished part simultaneously; Controlling the multi-axis driving mechanism to drive the loading tooling to move so that the third picking part is located at the side of the mold, and then controlling the first picking part and the second picking part to place the main material and the semi-finished part in the corresponding cavities of the mold simultaneously; Controlling the first loading part and the second loading part to place the two kinds of auxiliary materials in the corresponding cavities simultaneously; Controlling the multi-axis driving mechanism to drive the loading tooling to move to remove the finished part.

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