Feeding mechanism and feeding method

Abstract

The invention discloses a feeding mechanism and a feeding method.The feeding mechanism comprises a feeding assembly, a dislocation assembly, a detection assembly, a grabbing correction assembly, a positioning output assembly and a controller, the dislocation assembly is located on the downstream of the feeding assembly, and the detection end of the detection assembly is located above the dislocation assembly; the controller can control the output end of the grabbing correction assembly to conduct preset rotation or keep the current angle according to the initial direction, and the grabbing correction assembly is used for grabbing materials on the dislocation assembly, conducting rotation adjustment on the materials according to the initial direction and then conveying the materials to the positioning output assembly. The detection assembly is used for automatically recognizing the position of the positioning hole to judge the direction, the speed and accuracy are far higher than those of manual visual inspection, and efficiency and recognition accuracy are remarkably improved. Through the grabbing correction assembly, adaptive rotation can be carried out according to the initial direction of the ceramic plate, and it is ensured that the directions of all the ceramic plates finally placed on the positioning output assembly are completely consistent.

Description

Technical Field

[0001] The invention belongs to the technical field of feeding equipment, and particularly relates to a feeding mechanism and a feeding method. Background Art

[0002] In existing transistor cooling system assembly, ceramic plates must be fed into the processing equipment in a uniform orientation. Currently, this method relies primarily on manual identification of the front and back faces for loading. This method has the following drawbacks: manual orientation determination is inefficient and prone to errors; the loading process cannot guarantee consistent orientation of the ceramic plates; and the high labor intensity limits production efficiency. This is especially true when the ceramic plates have asymmetric positioning holes, making precise control of orientation even more difficult. Therefore, the development of a mechanism that can automatically identify and correct the orientation of the ceramic plates is urgently needed. Summary of the Invention

[0003] In view of this, the present invention provides a feeding mechanism and a feeding method, which solve the technical problems of high error rate, inability to output in the required direction and high labor intensity in the feeding process by relying on manual identification of the front and back of the material.

[0004] In order to solve the above problems, according to one aspect of the present application, an embodiment of the present invention provides a loading mechanism, which includes a feeding component, a misalignment component, a detection component, a grabbing and correction component, a positioning output component and a controller. The misalignment component is located downstream of the feeding component and is used to receive the material conveyed by the feeding component. The detection end of the detection component is located above the misalignment component and is used to detect the initial direction of the material. The controller can control the output end of the grabbing and correction component to perform a preset rotation or maintain the current angle according to the initial direction. The grabbing and correction component is used to grab the material on the misalignment component, and rotate and adjust the material according to the initial direction and then convey it to the positioning output component.

[0005] In some embodiments, the feed assembly includes a supporting base plate, a guide rail base and a feed track, the guide rail base is located on the supporting base plate, and the feed track is arranged on the guide rail base; the misalignment assembly is arranged on the supporting base plate.

[0006] In some embodiments, the dislocation assembly includes a support base, a first driving member and a positioning mold. The first driving member is located on the support base, and the positioning mold is located on the first driving member. The material can enter the positioning mold after passing through the feed track, and the output end of the first driving member drives the positioning mold to move in the horizontal direction.

[0007] In some embodiments, the first driving member is a first cylinder; and / or the positioning die has a groove matching the shape of the material.

[0008] In some embodiments, the detection component includes a second driving member, a fixing member and a detection probe. The fixing member is arranged at the output end of the second driving member, and the detection probe is arranged on the fixing member. The second driving member can drive the detection probe to move up and down through the fixing member. The detection probe determines the initial direction of the material by whether it contacts the surface of the dislocation component.

[0009] In some embodiments, the detection component further includes a fiber optic sensor for sensing whether there is material on the dislocation component, the output end of the fiber optic sensor is connected to the controller, and the controller is connected to the second driving member.

[0010] In some embodiments, the grasping correction assembly includes a support base, a third driving member, a fourth driving member, a fifth driving member and a vacuum suction cup, the third driving member is arranged on the support base and can move in the vertical direction, the fourth driving member is connected to the third driving member and can move in the horizontal direction, the fifth driving member is connected to the fourth driving member and can rotate, and the vacuum suction cup is arranged at the output end of the fifth driving member.

[0011] In some embodiments, the third driving member is a third cylinder, the fourth driving member is a fourth cylinder, and the fifth driving member is a rotary cylinder.

[0012] In some embodiments, the positioning output assembly includes a base plate, a fixing seat and a positioning seat, the fixing seat is located on the base plate, the positioning seat is located on the fixing seat, and the support seat is fixed on the base plate; wherein the surface of the positioning seat has a notch that matches the material.

[0013] In some embodiments, the controller includes a PLC, and the PLC is configured as follows: when the detection component detects the initial direction of the material, the PLC controls the output end of the grabbing correction component to perform a preset rotation or maintain the current angle according to the initial direction; when the grabbing correction component grabs the material on the misalignment component, the PLC performs a preset rotation adjustment on the material according to the initial direction.

[0014] According to another aspect of the present application, an embodiment of the present invention provides a loading method, using the above-mentioned loading mechanism, the loading method includes:

[0015] S1, the material moves from the feeding component to the dislocation component;

[0016] S2, the detection component detects the initial direction of the material at the dislocation component and feeds back the initial direction to the controller;

[0017] S3, the controller controls the output end of the grasping correction component to perform a preset rotation or maintain the current angle according to the initial direction;

[0018] S4, the dislocation component transports the material to the bottom of the grabbing and correcting component;

[0019] S5, the grabbing and correcting component grabs the material, and at the same time the controller performs a preset rotation adjustment on the material according to the initial direction, and transports the material to the positioning output component.

[0020] In some embodiments, when the initial direction is the first direction, in S3, the controller controls the output end of the grasping and correction component to perform a preset rotation or maintain the current angle according to the initial direction, specifically: the output end of the grasping and correction component rotates 90° clockwise;

[0021] In S5, the controller performs a preset rotation adjustment on the material according to the initial direction and delivers it to the positioning output component. Specifically, the output end of the grabbing and correction component rises, rotates 90° counterclockwise, and descends to place the material on the positioning output component, and the fixed position of the material is in the preset direction.

[0022] Wherein, the first direction is that the fixed position of the material is located on one side of the dislocation component.

[0023] In some embodiments, when the initial direction is the second direction, in S3, the controller controls the output end of the grasping correction component to perform a preset rotation or maintain a current angle according to the initial direction, specifically: the output end of the grasping correction component maintains the current angle;

[0024] In S5, the controller performs a preset rotation adjustment on the material according to the initial direction and delivers it to the positioning output component. Specifically, the output end of the grabbing and correction component rises, rotates 90° clockwise, and descends to place the material on the positioning output component, and the fixed position of the material is in the preset direction.

[0025] Wherein, the second direction is that the fixed position of the material is located on the other side of the dislocation component.

[0026] Compared with the prior art, the feeding mechanism of the present invention has at least the following beneficial effects:

[0027] The loading mechanism provided by the present invention includes a feeding component, a misalignment component, a detection component, a grabbing and correction component, a positioning output component and a controller. The misalignment component is located downstream of the feeding component and is used to receive the material conveyed by the feeding component. The detection end of the detection component is located above the misalignment component and is used to detect the initial direction of the material. The controller can control the output end of the grabbing and correction component to perform a preset rotation or maintain the current angle according to the initial direction. The grabbing and correction component is used to grab the material on the misalignment component, and after rotating and adjusting the material according to the initial direction, it is conveyed to the positioning output component.

[0028] In response to the problems of low efficiency and high error rate in traditional manual direction determination, the present invention uses a detection component to automatically identify the position of the positioning hole to determine the direction. Its speed and accuracy far exceed those of manual visual inspection, significantly improving efficiency and recognition accuracy. As for the problem that the direction consistency of the ceramic plate cannot be guaranteed during the loading process, the present invention uses a grabbing and correction component that can adaptively rotate according to the initial direction of the ceramic sheet to ensure that the direction of each ceramic plate finally placed on the positioning output component is completely consistent. The loading mechanism provided by the present invention realizes the automation of the entire process from feeding, separation, detection, correction to output, completely replacing the operations of manual identification, flipping and placement, greatly reducing the labor intensity of workers and improving overall production efficiency.

[0029] The feeding method provided by the present invention is designed based on the above-mentioned feeding mechanism. Its beneficial effects can be found in the beneficial effects of the above-mentioned feeding mechanism, which will not be described in detail here.

[0030] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 This is an exploded view of a feeding mechanism provided by an embodiment of the present invention;

[0033] Figure 2 This is a structural diagram of a feeding mechanism provided by an embodiment of the present invention;

[0034] Figure 3This is a structural diagram of a feeding assembly and a dislocation assembly in a feeding mechanism provided by an embodiment of the present invention;

[0035] Figure 4 This is a schematic structural diagram of the cooperation between the fifth driving member and the vacuum suction cup in a feeding mechanism provided by an embodiment of the present invention;

[0036] Figure 5 This is a structural diagram of a positioning output component in a feeding mechanism provided by an embodiment of the present invention;

[0037] Figure 6 This is a schematic structural diagram of a material in a feeding structure provided by an embodiment of the present invention;

[0038] Figure 7 This is a material adjustment flow chart of a feeding structure provided by an embodiment of the present invention when the initial direction of the material is the first direction;

[0039] Figure 8 This is a material adjustment flow chart of a feeding structure provided by an embodiment of the present invention when the initial direction of the material is the second direction.

[0040] in:

[0041] 1. Feeding assembly; 11. Support base; 12. Guide rail base; 13. Feeding track; 2. Dislocation assembly; 21. Support base; 22. First driving member; 23. Positioning mold; 3. Detection assembly; 31. Second driving member; 32. Fixing member; 33. Detection probe; 4. Grasping and correction assembly; 41. Support seat; 42. Third driving member; 43. Fourth driving member; 44. Fifth driving member; 45. Vacuum suction cup; 5. Positioning output assembly; 51. Base plate; 52. Fixing seat; 53. Positioning seat; 6. Material; 61. Positioning hole. DETAILED DESCRIPTION

[0042] To further illustrate the technical means and effects employed by the present invention to achieve its intended objectives, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention is provided in conjunction with the accompanying drawings and preferred embodiments. In the following description, different references to "one embodiment" or "embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.

[0043] In the description of the present invention, it should be clarified that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence; the terms "vertical", "transverse", "longitudinal", "front", "back", "left", "right", "up", "down", "horizontal", etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention, and do not mean that the devices or elements referred to must have a specific direction or position, and therefore cannot be understood as limiting the present invention.

[0044] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; and direct or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0045] Example 1

[0046] This embodiment provides a feeding mechanism, such as Figures 1-8 As shown, the feeding mechanism includes a feeding component 1, a misalignment component 2, a detection component 3, a grabbing and correction component 4, a positioning output component 5 and a controller. The misalignment component 2 is located downstream of the feeding component 1 and is used to receive the material 6 conveyed by the feeding component 1. The detection end of the detection component 3 is located above the misalignment component 2 and is used to detect the initial direction of the material 6. The controller can control the output end of the grabbing and correction component 4 to perform a preset rotation or maintain the current angle according to the initial direction. The grabbing and correction component 4 is used to grab the material 6 on the misalignment component 2, and rotate and adjust the material 6 according to the initial direction and then convey it to the positioning output component 5.

[0047] For ease of description, the material 6 is assumed to be a ceramic plate. Of course, the material 6 can also be other structures with positive and negative directions. The ceramic plate is a rectangular plate with a positioning hole 61 on one side. It is precisely because of the presence of the positioning hole 61 that the ceramic plate has a positive and negative difference.

[0048] The feed assembly 1 is located at the beginning of the entire loading process and is responsible for continuously conveying ceramic plates. Immediately downstream is the positioning assembly 2, which receives ceramic plates from the feed assembly 1. The detection assembly 3, with its detection end positioned directly above the positioning assembly 2, inspects the ceramic plates on it. The gripping and correction assembly 4's range of motion covers the area of both the positioning assembly 2 and the positioning and output assembly 5. It can grip ceramic plates from the positioning assembly 2 and place them onto the positioning and output assembly 5 after processing. The positioning and output assembly 5, located downstream of the gripping and correction assembly 4, serves as the output point for corrected ceramic plates. A controller connects to the detection assembly 3 and gripping and correction assembly 4 via a communication line or network, receiving detection signals and issuing control commands, thereby coordinating the operation of the entire system. Ceramic plates, as materials, enter the feed assembly 1, are temporarily stored in the positioning assembly 2, and inspected by the detection assembly 3. They are then gripped and corrected by the gripping and correction assembly 4 before being placed onto the positioning and output assembly 5 for output.

[0049] The core function of the feed assembly 1 is to deliver ceramic plates from a stack or queue in an orderly and continuous manner to the downstream offset assembly 2. The key function of the offset assembly 2 is to separate the continuously fed ceramic plates, allowing individual plates to be removed from the queue and held in a designated position, providing an independent and stable workstation for subsequent inspection and grasping operations. The detection assembly 3 is responsible for inspecting individual ceramic plates resting on the offset assembly 2 using its detection terminal. Its primary goal is to determine the position of the positioning holes 61 on the ceramic plates and, therefore, the plate's current initial orientation. The gripping and correction assembly 4 has a dual function: first, it grasps the ceramic plates from the offset assembly 2. Of course, before this, the offset assembly 2 can move the ceramic plates directly below the gripping and correction assembly 4; second, it rotates the grasped ceramic plates (maintaining them at 0° or rotating them 90° to correct their orientation) according to commands from the controller, and then accurately transfers and places the corrected ceramic plates onto the positioning and output assembly 5. The positioning and output assembly 5 receives and secures the corrected ceramic plates, ensuring they are precisely positioned in a uniform and correct orientation for stable delivery to downstream processing equipment.

[0050] During operation, the feed assembly 1 delivers the ceramic plate to the misalignment assembly 2. At this point, the detection assembly 3, located above the misalignment assembly 2, immediately activates and inspects the plate, accurately identifying the position of its positioning holes 61. This determines the plate's initial orientation and transmits this initial orientation information to the controller. Upon receiving this orientation information, the controller quickly calculates the orientation. If the orientation is the first, it controls the output of the gripping and correction assembly 4 to rotate 90°. If the orientation is the second, the output of the gripping and correction assembly 4 remains unchanged. Next, the misalignment assembly 2 delivers the ceramic plate directly below the gripping and correction assembly 4. The gripping and correction assembly 4 grasps the plate and rotates it in strict accordance with the controller's instructions. After rotational correction is complete, the gripping and correction assembly 4 transfers the plate to the positioning output assembly 5 and places it down. The positioning output assembly 5 securely receives the uniformly aligned ceramic plate, accurately positions it, and finally delivers it to downstream processing equipment. This process repeats repeatedly, achieving continuous, automated loading and orientation correction of the ceramic plates.

[0051] In order to solve the problem of low efficiency and high error rate in traditional manual direction determination, this embodiment uses the detection component 3 to automatically identify the position of the positioning hole 61 to determine the direction. Its speed and accuracy far exceed those of manual visual inspection, significantly improving efficiency and recognition accuracy. As for the problem that the direction consistency of the ceramic plate cannot be guaranteed during the loading process, this embodiment uses the grabbing and correction component 4, which can adaptively rotate according to the initial direction of the ceramic sheet to ensure that the direction of each ceramic plate finally placed on the positioning output component 5 is completely consistent. In addition, the loading mechanism provided by this embodiment realizes the automation of the entire process from feeding, separation, detection, correction to output, completely replacing the operations of manual identification, flipping and placement, greatly reducing the labor intensity of workers and improving overall production efficiency.

[0052] In a specific embodiment, the feed assembly 1 includes a supporting base plate 11, a guide rail base 12 and a feed track 13, the guide rail base 12 is located on the supporting base plate 11, and the feed track 13 is arranged on the guide rail base 12; the dislocation assembly 2 is arranged on the supporting base plate 11.

[0053] The support base 11 serves as the mounting base for the entire feed assembly and is located at the bottom layer. The guide rail base 12 is vertically fixed to the upper surface of the support base 11, and the feed track 13 is horizontally mounted on the top surface of the guide rail base 12. The three components form a stacked structure from bottom to top: the support base 11 supports the guide rail base 12, which in turn supports the feed track 13. The feed track 13 is located at the top of the entire feed assembly and is used to transport materials. The core function of the support base 11 is to provide a sturdy and stable mounting platform, supporting the structural weight of the guide rail base 12 and the entire feed track 13 mounted on it, and ensuring that the entire feed assembly remains stable and does not shake during operation. The main function of the guide rail base 12 is to serve as a dedicated mounting bracket for the feed track 13, raising it to the appropriate working height and may include a guide structure to ensure the installation accuracy and stability of the feed track 13. The feed track 13 directly supports and guides the ceramic plate along a predetermined path, stably and continuously moving toward the downstream offset assembly 2. It is a key component for achieving orderly material transportation.

[0054] The feed track 13, supported stably by the guide rail base 12 and on the solid foundation provided by the support base 11, continuously transports the ceramic plates to the position of the offset assembly 2. This structural design ensures that the feed track 13 is not prone to deviation, sinking, or vibration during the conveying process, thereby ensuring the accuracy, stability, and continuity of the material conveying path.

[0055] In a specific embodiment, the dislocation assembly 2 includes a support base 21, a first driving member 22, and a positioning die 23. The first driving member 22 is located on the support base 21, and the positioning die 23 is located on the first driving member 22. The material 6 can enter the positioning die 23 after passing through the feed track 13. The output end of the first driving member 22 drives the positioning die 23 to move horizontally. In a specific embodiment, the first driving member 22 is a first cylinder.

[0056] The first driving member 22 is directly mounted on the upper surface of the support base 21; the positioning mold 23 is arranged on the output end of the first driving member 22, and its position is controlled by the first driving member 22. The three form a driving hierarchical relationship: the support base 21 carries the first driving member 22, the first driving member 22 drives and carries the positioning mold 23, and the positioning mold 23 is located at the top layer for receiving and temporarily storing materials. The main function of the support base 21 is to provide a stable installation base to ensure that the first driving member 22 and the positioning mold 23 maintain overall structural stability during operation and absorb vibrations generated by movement. The core function of the first driving member 22 is to serve as a power source, and to accurately drive the positioning mold 23 to move back and forth in the horizontal direction through its output end to achieve active position control. The positioning mold 23 serves as a carrier for materials. Its structure is designed to accommodate single pieces of material transported from the feed track 13, and is horizontally displaced under the drive of the first driving member 22 to provide precise stopping for subsequent operations.

[0057] During the specific operation, the material 6 first slides from the feed track 13 into the stationary positioning mold 23. The detection assembly 3 then activates to detect the initial orientation of the material 6. After the detection is completed, the positioning mold 23, under the action of the first driving member 22, carries and transfers the material, stably moving it below the grasping and correction position, creating the necessary conditions for subsequent correction processes.

[0058] In addition, the positioning mold 23 has a groove that matches the shape of the material 6. The groove on the positioning mold 23 is designed according to the outer contour of the ceramic plate. The geometric shape of the groove fits closely with the edge of the ceramic plate to form a limit, ensuring that the material cannot shift horizontally or rotate after entering, thereby maintaining the accuracy of the initial position.

[0059] In a specific embodiment, the detection component 3 includes a second driving member 31, a fixing member 32 and a detection probe 33. The fixing member 32 is arranged at the output end of the second driving member 31, and the detection probe 33 is arranged on the fixing member 32. The second driving member 31 can drive the detection probe 33 to move up and down through the fixing member 32. The detection probe 33 determines the initial direction of the material 6 by whether it contacts the surface of the dislocation component 2.

[0060] The fixing member 32 is rigidly connected to the output end of the second driving member 31 and moves vertically with it. The detection probe 33 is vertically fixed to the lower end of the fixing member 32. The three form a rigid transmission chain from top to bottom: the second driving member 31 drives the fixing member 32, which in turn drives the detection probe 33 to rise and fall synchronously, ultimately allowing the tip of the detection probe 33 to vertically pass through the positioning hole 61 and contact the surface of the offset component 2 or to fail to contact the surface of the offset component 2. The core function of the second driving member 31 is to provide a controllable linear driving force. By precisely controlling the telescopic stroke of the output end, the lifting and lowering movement of the detection probe 33 can be started and stopped. The core function of the fixing member 32 is to convert the linear output of the second driving member 31 into a stable rigid support structure, ensuring that the detection probe 33 always maintains a vertical posture during the lifting process, avoiding deviation or shaking. The function of the detection probe 33 is to identify the direction through physical contact: its tip descends along a preset path and generates a position signal representing the initial direction of the material based on whether it contacts the surface of the offset component 2. Specifically, when the positioning hole 61 is located just below the detection probe 33, the detection probe 33 can pass through the positioning hole 61 and contact the positioning mold 23 below. At this time, the initial direction can be determined to be the first direction; otherwise, the initial direction is determined to be the second direction.

[0061] In a specific embodiment, the detection component 3 further includes a fiber optic sensor for sensing whether there is material 6 on the dislocation component 2 . The output end of the fiber optic sensor is connected to the controller, and the controller is connected to the second driving member 31 .

[0062] The fiber optic sensor is responsible for detecting the presence of materials in the detection component, and its role is specifically reflected in three aspects: First, by real-time monitoring the groove area of the positioning mold 23 on the dislocation component 2, it senses whether material 6 has arrived at the detection station and transmits this status signal to the controller; secondly, as a safety start switch for the detection process, only after the fiber optic sensor confirms that the material is in place, the controller allows the second drive member 31 to execute the downward movement of the detection probe 33, avoiding the risk of equipment collision or false triggering caused by the airborne detection probe 33; finally, by instantly feeding back the signal that the material 6 is in place, the precise timing coordination of the detection action and the material transfer process is achieved, ensuring that the direction detection is only started after the material is stably docked, thereby ensuring the reliability of the detection.

[0063] In a specific embodiment, the grasping correction assembly 4 includes a support base 41, a third driving member 42, a fourth driving member 43, a fifth driving member 44 and a vacuum suction cup 45. The third driving member 42 is arranged on the support base 41 and can move in the vertical direction. The fourth driving member 43 is connected to the third driving member 42 and can move in the horizontal direction. The fifth driving member 44 is connected to the fourth driving member 43 and can rotate. The vacuum suction cup 45 is arranged at the output end of the fifth driving member 44.

[0064] The third drive element 42 is mounted vertically on the support base 41, with its output end capable of vertical lift. The fourth drive element 43 is horizontally connected to the output end of the third drive element 42 and can translate horizontally. The fifth drive element 44 is mounted on the movable end of the fourth drive element 43, with its output shaft capable of rotation. The vacuum suction cup 45 is directly mounted on the end of the output shaft of the fifth drive element 44. The core function of the support base 41 is to provide a mounting platform for the entire gripping and correction assembly 4, ensuring the structural stability of each drive element during operation. The core function of the third drive element 42 is to control the vertical lift and lowering movement of the vacuum suction cup 45, achieving contact or separation with the material. The core responsibility of the fourth drive element 43 is to drive the suction cup to precisely position itself horizontally, ensuring that it covers the transfer path between the misalignment assembly 2 and the positioning output assembly 5. The fifth drive element 44 provides rotational freedom, performing a 90° orientation correction on the material 6 according to controller commands. The vacuum suction cup 45 reliably grasps the material 6 through negative pressure suction and safely releases it after correction, while avoiding damage to the surface of the material 6.

[0065] When the material 6 moves from the misalignment component 2 to the position directly below the grabbing and correcting component 4, the third driving member 42 descends to allow the vacuum suction cup 45 to contact the surface of the material and adsorb it; the fourth driving member 43 moves horizontally to transfer the material to the correction area; the fifth driving member 44 rotates the material to a uniform direction according to the detection results; finally, the fourth driving member 43 transfers the material to the top of the positioning output component 5, and the third driving member 42 descends to release the material 6.

[0066] In a specific embodiment, the third driving member 42 is a third cylinder, the fourth driving member 43 is a fourth cylinder, and the fifth driving member 44 is a rotary cylinder.

[0067] In a specific embodiment, the positioning output component 5 includes a base plate 51, a fixing seat 52 and a positioning seat 53, the fixing seat 52 is located on the base plate 51, the positioning seat 53 is located on the fixing seat 52, and the support seat 41 is fixed on the base plate 51; wherein, the surface of the positioning seat 53 has a notch that matches the material 6.

[0068] Base plate 51 serves as a horizontally fixed foundation platform; fixing base 52 is mounted vertically on base plate 51, forming a high-support structure. Positioning base 53 is horizontally fixed to the top end face of fixing base 52, with a notch on its surface facing the transfer path of the grabbing and correcting assembly 4. When the grabbing and correcting assembly 4 transfers the corrected material onto positioning base 53 and releases it, the material falls into the notch due to gravity. Alternatively, the grabbing and correcting assembly 4 can directly place the material into the notch, where its edges automatically align with the sidewalls of the notch to achieve horizontal positioning, with the bottom firmly supported by the notch's bearing surface.

[0069] In a specific embodiment, the controller includes a PLC, and the PLC is configured as follows: when the detection component 3 detects the initial direction of the material 6, the PLC controls the output end of the grabbing and correction component 4 to perform a preset rotation or maintain the current angle according to the initial direction; when the grabbing and correction component 4 grabs the material 6 on the misalignment component 2, the PLC performs a preset rotation adjustment on the material 6 according to the initial direction.

[0070] After the detection component 3 detects the initial direction of the material 6, if the detection component 3 identifies the position of the positioning hole 61 through the detection probe 33, the PLC immediately receives the direction signal and performs logical judgment: if the detection probe 33 successfully passes through the positioning hole 61 and contacts the surface of the positioning mold 23 (determined to be the first direction), a 90° rotation instruction is pre-sent to the rotary cylinder controller of the fifth drive member 44; if the probe is physically blocked by the material 6 (determined to be the second direction), a 0° hold instruction is sent.

[0071] The moment vacuum cup 45 picks up the material, the PLC instantly activates the pre-stored rotation command: For materials in the first orientation to be corrected, the rotary cylinder of the fifth drive member 44 immediately drives the vacuum cup 45 and the material to rotate counterclockwise 90°. For materials in the second orientation, the rotary cylinder of the fifth drive member 44 immediately drives the vacuum cup 45 and the material to rotate clockwise 90°, completing the correction. Regardless of the initial orientation of the material 6 in the first or second orientation, the corrected material 6 maintains the same orientation.

[0072] Example 2

[0073] This embodiment provides a feeding method, using the feeding mechanism described in Example 1, and the feeding method includes:

[0074] S1, material 6 moves from feed component 1 to dislocation component 2;

[0075] S2, the detection component 3 detects the initial direction of the material at the dislocation component 2 and feeds back the initial direction to the controller;

[0076] S3, the controller controls the output end of the grasping correction component 4 to perform a preset rotation or maintain the current angle according to the initial direction;

[0077] S4, the dislocation component 2 transports the material to the bottom of the grabbing and correcting component 4;

[0078] S5 , the grabbing and correcting component 4 grabs the material 6 , and the controller performs a preset rotation adjustment on the material 6 according to the initial direction, and transports it to the positioning output component 5 .

[0079] First, the material 6 is transported by the feeding component 1 to the dislocation component 2 for temporary storage, and then the detection component 3 identifies the position of its positioning hole 61 to determine the initial direction and feeds back to the PLC controller in real time; the controller pre-calculates the correction method based on this, and issues a preset instruction of 0° hold or 90° rotation to the rotating cylinder of the grabbing correction component 4; the dislocation component 2 then transfers the material 6 to the grabbing station, and the grabbing correction component 4 synchronously executes the preset rotation action to adjust at the moment of adsorbing the material; finally, the corrected material 6 is accurately placed in the matching gap of the positioning output component 5 to ensure that it is output to the downstream equipment in a unified direction.

[0080] In a specific embodiment, when the initial direction is the first direction, in S3, the controller controls the output end of the grabbing and correction component 4 to perform a preset rotation or maintain the current angle according to the initial direction, specifically: the output end of the grabbing and correction component 4 rotates 90° clockwise; in S5, the controller performs a preset rotation adjustment on the material according to the initial direction, and transports it to the positioning output component 5, specifically: the output end of the grabbing and correction component 4 rises, rotates 90° counterclockwise, descends and places the material 6 at the positioning output component 5, and the fixed position of the material 6 is in the preset direction; wherein, the first direction is that the fixed position of the material 6 is located on one side of the dislocation component 2.

[0081] In this embodiment, if Figure 7 As shown, material 6 has the following status:

[0082] In state 1#, the ceramic plate slides into the positioning mold groove of the dislocation component 2 through the feed track 13. At this time, the ceramic plate is in the initial direction, the positioning hole 61 is on the right, the detection probe 33 is in the raised standby position, and the vacuum suction cup 45 maintains the initial angle of 0° and hovers above the dislocation component 2. In state 2#, the second driving member 31 drives the detection probe 33 to descend. The detection probe 33 passes through the right positioning hole 61 and contacts the surface of the positioning mold 23 (confirming that the hole position 61 is in the first direction on the right). The detection signal triggers the PLC to send a 90° rotation instruction to the rotary cylinder; the vacuum suction cup 45 receives the instruction and starts to rotate 90° clockwise to prepare for grasping correction. In state 3#, the rotary cylinder completes the 90° drive, the vacuum suction cup 45 maintains the posture after rotating 90° clockwise, and the second driving member 31 starts to drive the vacuum suction cup 45 to descend. In state 4, the vacuum suction cup 45 descends to the surface of the ceramic plate and initiates negative pressure adsorption, firmly grasping the ceramic plate. The vacuum suction cup 45 then rises, lifting the ceramic plate from the groove of the positioning mold 23. At this time, the ceramic plate maintains its initial orientation (the positioning hole 61 is still on the right). In state 5, the fourth drive member 43 is activated, and the vacuum suction cup 45, which is adsorbing the ceramic plate, moves toward the positioning output assembly 5. During this process, the vacuum suction cup 45 maintains a 90° vertical posture (the ceramic plate's orientation remains unchanged) and moves to a transition position above the positioning seat 53. In state 6, after being transferred directly above the positioning seat 53, the rotary cylinder executes a 90° counterclockwise rotation command, and the vacuum suction cup 45 drives the ceramic plate to rotate synchronously to a 0° horizontal posture. This rotation rotates the ceramic plate 90° relative to its initial orientation (the positioning hole 61 moves from the right to the top). In state 7, under the action of the third drive member 42, the vacuum suction cup 45 places the ceramic plate into the matching notch of the positioning seat 53. The negative pressure is released, releasing the material, and the edge of the ceramic plate automatically fits into the sidewall of the notch and is positioned. In state 8#, the ceramic plate is firmly placed in the notch of the positioning seat 53, and the positioning hole 61 is located directly above in the same direction; the vacuum suction cup 45 is lifted and reset to the initial posture of 0°, ready to execute the next cycle.

[0083] In a specific embodiment, when the initial direction is the second direction, in S3, the controller controls the output end of the grabbing correction component to perform a preset rotation or maintain the current angle according to the initial direction, specifically: the output end of the grabbing correction component maintains the current angle; in S5, the controller performs a preset rotation adjustment on the material according to the initial direction, and transports it to the positioning output component, specifically: the output end of the grabbing correction component rises, rotates 90° clockwise, descends and places the material at the positioning output component in sequence, and the fixed position of the material is in the preset direction; wherein, the second direction is that the fixed position of the material is located on the other side of the dislocation component.

[0084] In this embodiment, if Figure 8 The material 6 shown has the following state:

[0085] State 1#: The ceramic plate enters the groove of the positioning mold 23 of the dislocation component 2, and the initial direction is that the positioning hole 61 is on the left (the second direction); the detection probe 33 descends to perform the detection, and the vacuum suction cup 45 maintains a 0° horizontal posture and stands by. State 2#: The detection probe 33 is blocked by the ceramic plate entity and does not fall into the left positioning hole 61. The PLC determines it to be the second direction; the vacuum suction cup 45 maintains an initial angle of 0° and does not rotate. State 3#: The vacuum suction cup 45 descends to the surface of the ceramic plate in a 0° horizontal posture to complete adsorption, and lifts the material 6 after grabbing it. At this time, the ceramic plate maintains its original direction (the positioning hole 61 is still on the left). State 4#: The fourth drive component 43 carries the vacuum suction cup 45 that adsorbs the material 6 to move toward the positioning output component 4; during the transfer process, the suction cup maintains a 0° horizontal posture (the direction of the ceramic plate does not change) and moves to the transition position above the positioning seat 53. State 5#: After reaching directly above the positioning seat 53, the rotary cylinder executes a 90° clockwise rotation instruction, and the vacuum suction cup 45 drives the ceramic plate to rotate synchronously to 90°; this action causes the ceramic plate to rotate 90° relative to the initial direction, and the positioning hole 61 now moves from the left to the top. State 6#: The third drive assembly 42 descends, and the vacuum suction cup 45 places the rotated ceramic plate into the gap of the positioning seat 53; after the negative pressure is released, the material 6 is accurately released, and the edge is aligned with the side wall of the gap. State 7#: The ceramic plate is stably fixed in the positioning seat 53, and the positioning hole 61 is located directly above and in the same direction; the vacuum suction cup 45 is lifted and reset to the initial position of 0°, ready for the next cycle.

[0086] The core difference between the second direction process and the first direction process is that the second direction does not require pre-rotation before grasping, that is, it maintains 0° in S3, but needs to be rotated 90° clockwise after being transferred to the top of the positioning seat 53, and finally the positioning hole 61 is unified upward through differentiated paths.

[0087] This embodiment utilizes the detection probe of the detection component to contact-detect the position of the positioning hole, achieving accurate direction recognition and completely eliminating the risk of misjudgment by manual visual judgment. Combined with the multi-axis coordinated control of the gripping correction component, different rotation paths are executed for different initial orientations, ensuring that all materials have their positioning holes facing upward and in the same direction after correction.

[0088] In summary, it is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous technical features can be freely combined and superimposed.

[0089] The above are merely preferred embodiments of the present invention and do not constitute any form of limitation to the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A feeding mechanism, characterized in that: The loading mechanism includes a feeding component, a misalignment component, a detection component, a grabbing and correction component, a positioning output component and a controller. The misalignment component is located downstream of the feeding component and is used to receive the material conveyed by the feeding component. The detection end of the detection component is located above the misalignment component and is used to detect the initial direction of the material. The controller can control the output end of the grabbing and correction component to perform a preset rotation or maintain the current angle according to the initial direction. The grabbing and correction component is used to grab the material on the misalignment component, and after rotating and adjusting the material according to the initial direction, it is conveyed to the positioning output component.

2. The feeding mechanism according to claim 1, characterized in that: The feeding assembly includes a supporting base plate, a guide rail base and a feeding track, wherein the guide rail base is located on the supporting base plate, and the feeding track is arranged on the guide rail base; the dislocation assembly is arranged on the supporting base plate.

3. The feeding mechanism according to claim 2, characterized in that: The dislocation assembly includes a support base, a first driving member and a positioning mold. The first driving member is located on the support base, and the positioning mold is located on the first driving member. The material can enter the positioning mold after passing through the feed track, and the output end of the first driving member drives the positioning mold to move in the horizontal direction.

4. The feeding mechanism according to claim 3, characterized in that: The first driving member is a first cylinder; and / or the positioning die has a groove matching the shape of the material.

5. The feeding mechanism according to claim 1, characterized in that: The detection component includes a second driving member, a fixing member and a detection probe. The fixing member is arranged at the output end of the second driving member, and the detection probe is arranged on the fixing member. The second driving member can drive the detection probe to move up and down through the fixing member. The detection probe determines the initial direction of the material by whether it contacts the surface of the dislocation component.

6. The feeding mechanism according to claim 5, characterized in that: The detection component also includes an optical fiber sensor for sensing whether there is material on the dislocation component. The output end of the optical fiber sensor is connected to the controller, and the controller is connected to the second driving member.

7. The feeding mechanism according to claim 1, characterized in that: The grasping correction assembly includes a support base, a third driving member, a fourth driving member, a fifth driving member and a vacuum suction cup. The third driving member is arranged on the support base and can move in the vertical direction. The fourth driving member is connected to the third driving member and can move in the horizontal direction. The fifth driving member is connected to the fourth driving member and can rotate. The vacuum suction cup is arranged at the output end of the fifth driving member.

8. The feeding mechanism according to claim 7, characterized in that: The third driving member is a third cylinder, the fourth driving member is a fourth cylinder, and the fifth driving member is a rotary cylinder.

9. The feeding mechanism according to claim 7, characterized in that: The positioning output assembly includes a base plate, a fixing seat and a positioning seat, wherein the fixing seat is located on the base plate, the positioning seat is located on the fixing seat, and the supporting seat is fixed on the base plate; wherein the surface of the positioning seat has a notch matching the material.

10. The feeding mechanism according to claim 1, characterized in that: The controller includes a PLC, which is configured as follows: when the detection component detects the initial direction of the material, the PLC controls the output end of the grabbing and correction component to perform a preset rotation or maintain the current angle according to the initial direction; when the grabbing and correction component grabs the material on the misalignment component, the PLC performs a preset rotation adjustment on the material according to the initial direction.

11. A feeding method, characterized in that: Applying the feeding mechanism according to any one of claims 1 to 10, the feeding method comprises: S1, the material moves from the feeding component to the dislocation component; S2, the detection component detects the initial direction of the material at the dislocation component and feeds back the initial direction to the controller; S3, the controller controls the output end of the grasping correction component to perform a preset rotation or maintain the current angle according to the initial direction; S4, the dislocation component transports the material to the bottom of the grabbing and correcting component; S5, the grabbing and correcting component grabs the material, and at the same time the controller performs a preset rotation adjustment on the material according to the initial direction, and transports the material to the positioning output component.

12. The feeding method according to claim 11, characterized in that: When the initial direction is the first direction, in S3, the controller controls the output end of the grasping and correcting component to perform a preset rotation or maintain the current angle according to the initial direction, specifically: the output end of the grasping and correcting component rotates 90° clockwise; In S5, the controller performs a preset rotation adjustment on the material according to the initial direction and delivers it to the positioning output component. Specifically, the output end of the grabbing and correction component rises, rotates 90° counterclockwise, and descends to place the material on the positioning output component, and the fixed position of the material is in the preset direction. Wherein, the first direction is that the fixed position of the material is located on one side of the dislocation component.

13. The feeding method according to claim 11 or 12, characterized in that: When the initial direction is the second direction, in S3, the controller controls the output end of the grasping and correcting component to perform a preset rotation or maintain a current angle according to the initial direction, specifically: the output end of the grasping and correcting component maintains the current angle; In S5, the controller performs a preset rotation adjustment on the material according to the initial direction and delivers it to the positioning output component. Specifically, the output end of the grabbing and correction component rises, rotates 90° clockwise, and descends to place the material on the positioning output component, and the fixed position of the material is in the preset direction. Wherein, the second direction is that the fixed position of the material is located on the other side of the dislocation component.

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