Feeding equipment and using method thereof

Abstract

The invention belongs to the field of production conveying equipment, and particularly discloses feeding equipment and a using method thereof.The feeding equipment comprises a feeding mechanism used for containing full-load product trays, a discharging mechanism used for containing products, a recycling mechanism used for containing no-load trays and a material moving mechanism used for transferring the trays or the products, and the material moving mechanism is provided with a moving end; the movable end can freely move among the feeding mechanism, the discharging mechanism and the recycling mechanism, so that different materials can move among different parts, feeding movement of products and recycling movement of trays are achieved, and the automation degree of production is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of production line transmission equipment, and in particular to a feeding device and a method for using the same. Background Art

[0002] In factory production operations, in order to move the products to be processed from the storage warehouse to the processing area for processing, pallets are usually used to load the products, and then multiple pallets are stacked and transferred to the processing area by carts. The products are manually taken out of the pallets and placed on the processing equipment. After all the products in a pallet are taken out, the workers need to take out the empty pallet and place it aside before processing the products in the next pallet. This is time-consuming and labor-intensive. Therefore, there is an urgent need for a loading device that can improve the degree of loading automation. Summary of the Invention

[0003] The purpose of the present invention is to provide a feeding device to solve one or more technical problems existing in the prior art and at least provide a beneficial choice or create conditions.

[0004] The solution of the present invention to solve its technical problems is: In a first aspect, the present application provides a feeding device, comprising: A feeding mechanism comprising a first transfer platform; a discharging mechanism comprising a second transfer platform; a recovery mechanism comprising a third transfer platform; The material moving mechanism includes a material moving device, a first clamping device and a second clamping device. The material moving device has a moving end. The first clamping device and the second clamping device are both installed on the moving end. The moving end can drive the first clamping device to move between the first moving platform and the second moving platform. The mobile end can drive the second clamping device to move between the first moving platform and the third moving platform.

[0005] This technical solution has at least the following beneficial effects: first, the engineer places multiple pallets loaded with products on the first moving platform, at which time the pallets are in a stacked state, and then starts the material moving mechanism. At this time, the moving end can drive the first clamping device and the second clamping device to move synchronously to the first moving platform, and then the moving end flips over so that the first clamping device is facing downward and facing the products on the pallet, and then the moving end moves downward so that the first clamping device can clamp the products, and then the moving end moves to the second moving platform, and the first clamping device releases the products, thereby placing the products on the second moving platform and transporting them to the processing mechanism, and then the material moving mechanism starts the material moving end to drive the first clamping device and the second clamping mechanism to return to the first moving platform, and repeat the above actions to move all the products in one pallet to the second moving platform; When all products in a pallet are transferred, the mobile end drives the first clamping device and the second clamping device to move to the first transfer platform, and the mobile end flips so that the second clamping device is facing downward and facing the empty pallet. At this time, the mobile end moves downward so that the second clamping device is close to the pallet, thereby clamping the pallet on the material transfer mechanism. The mobile end moves to the third transfer platform and places the pallet on the third transfer platform. At this time, the next pallet full of products is exposed, and the material transfer mechanism moves the first clamping device to the first transfer platform, repeating the operation of clamping the products, thereby continuing to transport the products to the second transfer platform for processing; This application integrates a first clamping device for clamping the product and a second clamping device for clamping the pallet into one device, and uses the same device to clamp different objects, which greatly reduces the use of driving equipment and reduces the overall cost of the equipment. At the same time, through the material moving mechanism, it can realize the loading and movement of the product and the recovery and movement of the pallet, thereby improving the degree of automation of production.

[0006] As a further improvement of the above technical solution, the material moving device includes a robotic arm and a mounting frame capable of rotating at the end of the robotic arm, the movable end is the end of the mounting frame away from the robotic arm, the first clamping device and the second clamping device are respectively installed on opposite sides of the mounting frame, the robotic arm is connected to the mounting frame and is located between the first clamping device and the second clamping device, and the clamping direction of the first clamping device and the clamping direction of the second clamping device deviate from each other.

[0007] As a further improvement of the above technical solution, the feeding mechanism includes multiple first moving platforms, the recovery mechanism includes multiple third moving platforms, and the multiple first moving platforms and multiple third moving platforms are arranged circumferentially along the horizontal plane where the robotic arm is located.

[0008] As a further improvement of the above technical solution, the mounting frame extends in a direction away from the end of the robotic arm, with the extending direction of the mounting frame as the first direction and the horizontal direction perpendicular to the first direction as the second direction, the first clamping device includes a first clamping block and a first linear pusher corresponding to the first clamping block, and the mounting frame is provided with multiple pairs of the first clamping blocks arranged along the second direction, the two first clamping blocks of the same pair are located at the two ends of the mounting frame along the first direction, the middle parts of the multiple first clamping blocks are rotatably connected to the mounting frame, the two first clamping blocks of the same pair can move toward or away from each other at one end away from the second clamping device, the two first clamping blocks of the same pair are rotatably installed with a connecting rod at one end close to the second clamping device, the first linear pusher is installed on the mounting frame, the output end of the first linear pusher moves along the first direction, and the end of the connecting rod away from the first clamping block is rotatably connected to the output end of the first linear pusher corresponding to the first clamping block.

[0009] As a further improvement of the above technical solution, the second clamping device includes a second clamping block and a second linear pusher corresponding to the second clamping block. The second linear pusher is provided on both sides of the mounting frame along the second direction. The output end of the second linear pusher extends along the second direction. The second clamping block is provided on both sides of the mounting frame along the second direction. The second clamping block includes a connecting section, a clamping section and a blocking section connected in sequence. The connecting section is connected to the output end of the second linear pusher, the clamping section extends in a direction away from the mounting frame, and the blocking section extends in a direction close to the other second clamping block.

[0010] As a further improvement of the above technical solution, a visual detection mechanism and a control mechanism are provided on the mounting frame. The visual detection mechanism is used to detect the position of the clamping end of the first clamping device or the clamping end of the second clamping device. When the control mechanism is used to control the robotic arm, the visual detection mechanism is electrically connected to the control mechanism.

[0011] As a further improvement of the above technical solution, the first clamping device is further provided with a pressure sensor, and the detection end of the pressure sensor extends in a direction away from the mounting frame.

[0012] As a further improvement of the above technical solution, it also includes a guardrail, a protection space is formed in the guardrail, and the feeding mechanism, the discharging mechanism, the recycling mechanism and the material moving mechanism are all located in the protection space.

[0013] As a further improvement of the above technical solution, a first window and a second window are provided on the guardrail, and the first transport platform can be disassembled to enter and exit the protection space through the first window, and the third transport platform can be disassembled to enter and exit the protection space through the second window.

[0014] In a second aspect, the present application further provides a method of use, which is applied to a feeding device provided in the first aspect, comprising: Moving the pallet with the products to the first transfer platform; The first clamping device moves to the first transfer platform, the mobile end flips over so that the first clamping device faces downward, and the first clamping device clamps the product and moves the product to the second transfer platform; The second clamping device moves to the first transport platform, and the moving end is turned over so that the second clamping device faces downward. The second clamping device clamps the pallet and moves the pallet to the third transport platform.

[0015] This technical solution has at least the following beneficial effects: this solution installs the first clamping device and the second clamping device on the same mobile end, and the working state between the first clamping device and the second clamping device can be changed by flipping, and the clamping specifications of the material transfer mechanism can be quickly changed, so that the material transfer mechanism can clamp two different types of materials, realize the rapid loading of the products to be processed, and improve the degree of automation of production. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly describes the drawings required for describing the embodiments. Obviously, the drawings described only illustrate some embodiments of the present invention, not all of them. Those skilled in the art can derive other design solutions and drawings based on these drawings without inventive effort.

[0017] Figure 1 It is a schematic diagram of the overall structure of the feeding equipment of the present invention; Figure 2 is a top view of the feeding device of the present invention; Figure 3 It is a schematic diagram of the overall structure of the first clamping device of the feeding equipment of the present invention; Figure 4 It is a schematic diagram of the overall structure of the second clamping device of the feeding equipment of the present invention. DETAILED DESCRIPTION

[0018] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0019] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0020] In the description of the present invention, "several" means one or more, "many" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0021] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0022] When processing products, the products are first placed on a pallet, and then multiple pallets loaded with products are stacked and placed on a special transfer cart. The transfer cart is then manually pushed to the product processing equipment, and the products are taken out of the pallet and placed in the processing equipment for processing. When all the products in a pallet are taken out, the worker will take out the empty pallet, place it aside, and expose the next pallet full of products below. The products in the pallet are taken out and continue processing. However, when taking out the products and recycling the pallets, the products and pallets need to be manually moved. The degree of automation is low, time-consuming and labor-intensive, and is not conducive to efficient production in the factory.

[0023] To this end, the present application provides a loading device that can improve the degree of production automation.

[0024] Reference Figure 1-Figure 4The loading equipment includes a feeding mechanism 1 for placing fully loaded product pallets, a discharging mechanism 2 for placing products, a recovery mechanism 3 for placing empty pallets, and a material transfer mechanism 4 for transferring pallets or products. The material transfer mechanism 4 has a mobile end, which can move freely between the feeding mechanism 1, the discharging mechanism 2 and the recovery mechanism 3, thereby moving different materials between different components.

[0025] Specifically, the feeding mechanism 1 includes a first moving platform 11, the discharging mechanism 2 includes a second moving platform 21, the recovery mechanism 3 includes a third moving platform 31, and the material moving mechanism 4 includes a material moving device 41, a first clamping device 42 capable of clamping a product, and a second clamping device 43 capable of clamping a pallet. The material moving device 41 has a freely movable moving end, and the first clamping device 42 and the second clamping device 43 are both installed at the moving end. The mobile end can drive the first clamping device 42 to move between the first moving platform 11 and the second moving platform 21. When the first clamping device 42 clamps the product on the first moving platform 11, the mobile end drives the first clamping device 42 to move to the second moving platform 21. The first clamping device 42 releases the clamping of the product so that the product is placed on the second moving platform 21. The mobile end can drive the second clamping device 43 to move between the first moving platform 11 and the third moving platform 31. When the first clamping device 42 clamps all the products in a pallet to the second moving platform 21, the mobile end drives the second clamping device 43 to move to the first moving platform 11, starts the second clamping device 43 to clamp the empty pallet on the first moving platform 11, and then moves it to the third moving platform 31 through the mobile end. Then the second clamping device 43 releases the clamping of the pallet, so that the pallet is placed on the third moving platform 31.

[0026] As can be seen from the above, first, the engineer uses a cart to place multiple pallets loaded with products on the first moving platform 11. At this time, the pallets are in a stacked state. Then, the material moving mechanism 4 is started. At this time, the moving end can drive the first clamping device 42 and the second clamping device 43 to move synchronously to the first moving platform 11. Then the moving end is flipped so that the first clamping device 42 is facing downward and facing the products on the pallet. Then, the moving end moves down so that the first clamping device 42 can clamp the products. Then, the moving end moves to the second moving platform 21. The first clamping device 42 releases the products, thereby placing the products on the second moving platform 21 and transporting them to subsequent processing mechanisms. Subsequently, the material moving mechanism 4 starts the material moving end to drive the first clamping device 42 and the second clamping mechanism to return to the first moving platform 11. Repeat the above actions to move all the products in a pallet to the second moving platform 21. Subsequent workers can directly pick up the products on the second moving platform 21 through automated equipment, reducing the workload of taking out products. When the transfer of all products in a pallet is completed, the mobile end drives the first clamping device 42 and the second clamping device 43 to move to the first transfer platform 11, and the mobile end flips so that the second clamping device 43 is facing downward and facing the empty pallet. At this time, the mobile end moves downward so that the second clamping device 43 is close to the pallet, thereby clamping the pallet on the material transfer mechanism 4, and the mobile end moves to the third transfer platform 31 and places the pallet on the third transfer platform 31. At this time, the next pallet full of products is exposed, and the material transfer mechanism 4 moves the first clamping device 42 to the first transfer platform 11, repeating the operation of clamping the products, thereby continuing to transport the products to the second transfer platform 21 for processing; At the same time, workers can use a cart to move the third transfer platform 31, transfer the empty pallets stacked on the third transfer platform 31, and then put them back into the corresponding storage bin, and then take the fully loaded pallets out of the storage bin and place them on the first transfer platform, and then transfer them to the feeding mechanism 1 by a cart. In this way, the loading and movement of the products and the recovery and movement of the pallets are realized, which improves the degree of automation of production and greatly reduces the workload of manpower in the loading process.

[0027] In the embodiment of the present application, the material moving device 41 includes a robotic arm 411 and a mounting frame 412 that can rotate at the end of the robotic arm 411. The moving end is the end of the mounting frame 412 away from the robotic arm 411. The first clamping device 42 and the second clamping device 43 are respectively installed on opposite sides of the mounting frame 412. The robotic arm 411 is connected to the mounting frame 412 and is located between the first clamping device 42 and the second clamping device 43. The clamping direction of the first clamping device 42 and the clamping direction of the second clamping device 43 are opposite to each other. The robotic arm 411 clamps the first clamping device 42 and the second clamping device 43 through the mounting frame 412. The second clamping device 43 moves synchronously. When different materials need to be clamped, it is only necessary to directly rotate the mounting frame 412 to change the positions of the first clamping device 42 and the second clamping device 43 so that one of them is at the bottom. Then the robotic arm 411 moves the mounting frame 412 to be directly above the material that needs to be moved, and the material under the mounting frame 412 can be clamped and transported. This design only requires one robotic arm 411 to drive the first clamping device 42 and the second clamping device 43, without the need for multiple driving parts, thereby reducing the use of driving parts and thereby reducing the manufacturing cost of the equipment.

[0028] Specifically, in this embodiment, when one of the clamping devices is facing downward, the clamping device works to clamp the material below. In the working state, the first clamping device 42 and the second clamping device 43 are respectively located at the two ends of the mounting frame 412 in the up and down directions. The mounting frame 412 extends in a direction away from the end of the robotic arm 411, with the extension direction of the mounting frame 412 as the first direction and the horizontal direction perpendicular to the first direction as the second direction, that is, the robotic arm 411 is connected to one end of the mounting frame 412 along the first direction.

[0029] The feeding mechanism 1 includes multiple first moving platforms 11, and the recovery mechanism 3 includes multiple third moving platforms 31. The multiple first moving platforms 11 and the multiple third moving platforms 31 are arranged circumferentially along the horizontal plane where the robotic arm 411 is located. Furthermore, the robotic arm 411 is installed on a platform that can be raised and lowered. Multiple pallets can be stacked on the first moving platform 11 and the third moving platform 31. The robotic arm 411 can be raised and lowered and positioned on the platform according to the height of the stacked pallets. Workers can place more pallets for the material transfer mechanism 4 to move. Specifically, the robotic arm 411 drives the first clamping device 42 and the second clamping device 43 to move through the mounting frame 412, so that the first clamping device 42 and the second clamping device 43 can move freely within the circumferential range of the robotic arm 411. The first moving platform 11 and the third moving platform 31 can be arranged horizontally and vertically according to the factory terrain and the maximum moving range of the robotic arm 411, thereby improving space utilization.

[0030] Specifically, in this embodiment, when there are multiple pairs of production lines in the factory, the two production lines of the same pair extend and transmit in the same direction, and the conveying start of each production line is provided with a loading device. In order to shorten the length of each component of the production line as much as possible, reduce the overall floor space of the production line, and improve space utilization, such as Figure 2 As shown, the side of the discharging mechanism 2 away from the robot arm 411 is the processing mechanism. The engineers set the feeding mechanism 1 and the recovery mechanism 3 at an angle to the production line. The input ends of the feeding mechanism 1 and the recovery mechanism 3 are both located on the side away from the robot arm 411, which reduces the length of the feeding equipment in the transmission direction of the production line and the length horizontally perpendicular to the transmission direction of the production line, so that the two adjacent pairs of production lines are arranged more compactly without affecting the pallet feeding.

[0031] Reference Figure 3In the embodiment of the present application, the first clamping device 42 includes a first clamping block 421 and a first linear pusher 422 corresponding to the first clamping block 421 one by one. The mounting frame 412 is provided with multiple pairs of first clamping blocks 421 arranged along the second direction. The two first clamping blocks 421 of the same pair are respectively located at the two ends of the mounting frame 412 along the first direction. The middle parts of the multiple first clamping blocks 421 are rotatably connected to the mounting frame 412. The ends of the two first clamping blocks 421 of the same pair away from the second clamping device 43 can move toward or away from each other. The ends of the two first clamping blocks 421 of the same pair close to the second clamping device 43 are rotatably installed with a connecting rod 423, and the first linear pusher 422 is installed on the mounting frame 412. The output end of the first linear pusher 422 moves along the first direction, and the end of the connecting rod 423 away from the first clamping block 421 is rotatably connected to the output end of the first linear pusher 422 corresponding to the first clamping block 421.

[0032] Specifically, the middle part of the first clamping block 421 is connected to the end position of the mounting frame 412 along the first direction, and the end of the first clamping block 421 close to the first clamping device 42 extends to the side of the mounting frame 412 where the second clamping device 43 is provided. The first linear pusher 422 can be a cylinder or a motor screw linear drive assembly. In the embodiment of the present application, the first linear pusher 422 is a cylinder, which is fixedly installed on the side of the mounting frame 412 where the second clamping device 43 is provided. The output end of the cylinder is rotatably connected to the first clamping block 421 and extends to the end of the side of the mounting frame 412 where the second clamping device 43 is provided, so that the structural components on the side of the mounting frame 412 where the first clamping device 42 is provided are reduced as much as possible, thereby reducing the possibility of collision with the product at this location.

[0033] From the above, it can be seen that when the first linear drive member pushes the first clamping block 421, the two first clamping blocks 421 of each pair rotate on the mounting frame 412 in a direction approaching each other, thereby clamping the product. By rotating to clamp the product, the distance between the ends of the two first clamping blocks 421 of each pair passing over the product is smaller than the distance between the positions where the two first clamping blocks 421 of each pair abut against the product, thereby limiting the product from falling from between the two first clamping blocks 421 of each pair and improving the stability of clamping.

[0034] An elastic pad is provided on the first clamping block 421 to clamp the product and reduce damage to the product.

[0035] Reference Figure 4The second clamping device 43 includes a second clamping block 431 and a second linear pusher 432 corresponding to the second clamping block 431. Second linear pushers 432 are provided on both sides of the mounting frame 412 along the second direction. The output end of the second linear pusher 432 extends along the second direction. Second clamping blocks 431 are provided on both sides of the mounting frame 412 along the second direction. The second clamping block 431 includes a connecting section 4311, a clamping section 4312 and a blocking section 4313 connected in sequence. The connecting section 4311 is connected to the output end of the second linear pusher 432, the clamping section 4312 extends in a direction away from the mounting frame 412, and the blocking section 4313 extends in a direction close to the other second clamping block 431. In this embodiment, the second linear pusher 432 has the same structure as the first linear pusher 422.

[0036] First, the second clamping block 431 and the first clamping block 421 are respectively installed on the adjacent side edges of the mounting frame 412, which reduces the interference between the flipped first clamping block 421 and the second clamping block 431 and improves the stability of clamping. Secondly, a stable clamping space is formed between the two clamping sections 4312 to clamp the pallet. After the second clamping block 431 of A Zi moves to the two side edges of the clamping pallet, the blocking section 4313 can abut against the side of the pallet away from the mounting frame 412, thereby locking the pallet in the clamping space formed by the two clamping sections 4312, reducing the risk of the pallet falling from the second clamping device 43 during transportation and improving the stability of clamping.

[0037] In order to improve the accuracy of the first clamping device 42 and the second clamping device 43 during clamping, refer to Figure 4 A visual detection mechanism 5 and a control mechanism are provided on the mounting frame 412. The visual detection mechanism 5 is used to detect the position of the clamping end of the first clamping device 42 or the clamping end of the second clamping device 43. When the control mechanism is used to control the robotic arm 411, the visual detection mechanism 5 is electrically connected to the control mechanism.

[0038] Specifically, when the product and the pallet are clamped, a positioning image is provided on the side facing the mounting frame 412. The visual inspection mechanism 5 has two groups of cameras, both of which are installed on the mounting frame 412. The two groups of cameras are respectively facing the clamping ends of the first clamping device 42 and the second clamping device 43. The visual inspection mechanism 5 can identify the positioning images on the product and the pallet, judge the difference between the threshold value and the actual value between itself and the positioning image, and then drive the robotic arm 411 to perform compensatory movement through the electrical connection with the control mechanism, so that the first clamping device 42 and the second clamping device 43 can clamp more accurately.

[0039] As a further embodiment, refer to Figure 3A pair of pressure sensors 6 is provided on one side of the mounting frame 412 on which the first clamping device 42 is installed. The two pressure sensors 6 are respectively provided at both ends of the mounting frame 412 along the second direction. At the same time, an extension rod can be provided on the mounting frame 412 according to the specifications of the product, and the pressure sensor 6 is installed at the end of the extension rod away from the mounting frame 412, so that the pressure sensor 6 can not interfere with the product. When clamping the product, the pressure sensor 6 passes over the product and abuts against the pallet. When the pressure sensor 6 detects a change in pressure, it indicates that the first clamping device 42 has moved into place, and the first clamping block 421 can be flipped over to clamp the product. This method enables the first clamping device 42 to be in place in one step when clamping, reducing the occurrence of empty clamping, thereby improving clamping efficiency and reducing operation time.

[0040] Reference Figure 1 The feeding equipment also includes a guardrail 7, a protective space is formed inside the guardrail 7, and the feeding mechanism 1, the discharging mechanism 2, the recovery mechanism 3 and the material moving mechanism 4 are all located in the protective space. The guardrail 7 can protect the various components of the feeding equipment and prevent collisions between other automated equipment in the factory and the feeding equipment.

[0041] Furthermore, a first window, a second window and a third window are provided on the guardrail 7. The first moving platform 11 and the pallets loaded thereon can enter and exit the protection space through the first window, the third moving platform 31 and the pallets it carries can enter and exit the protection space through the second window, and the second moving platform 21 and the products to be processed it carries can enter and exit the protection space through the third window.

[0042] Furthermore, safety gratings are installed on the first window, the second window and the third window. The safety gratings can detect and protect workers and equipment on the automated assembly line, ensure the safety and stability of the production process, and can also monitor the position, size, shape and other parameters of objects on the production line in real time to realize automated detection of the production process.

[0043] The feeding mechanism 1 and the collecting mechanism both include an in-place rail and an in-place pressure sensor 6. The in-place pressure sensor 6 is installed at the end of the in-place rail. The first moving platform 11 and the third moving platform 31 can both move on the in-place rail until they abut against the in-place pressure sensor 6. When the in-place pressure sensor 6 senses a predetermined threshold, that is, the moving platform is in place, the material moving mechanism 4 is started to move the product or pallet.

[0044] An inspection door is provided on the guardrail 7, and during a work stoppage, engineering personnel can enter the protection space from the inspection door to inspect various equipment.

[0045] In a second aspect, the present application further provides a method of use, which is applied to a feeding device provided in the first aspect, comprising: Move the pallet with the products to the first transfer platform 11; The first clamping device 42 moves to the first transport platform 11 , and the mobile end flips so that the first clamping device 42 faces downward. The first clamping device 42 clamps the product and moves the product to the second transport platform 21 ; The second clamping device 43 moves to the first transport platform 11 , and the moving end is turned over so that the second clamping device 43 faces downward. The second clamping device 43 clamps the pallet and moves the pallet to the third transport platform 31 .

[0046] From the above, it can be seen that the first clamping device 42 and the second clamping device 43 are installed on the same mobile end, and the working state between the first clamping device 42 and the second clamping device 43 can be changed by flipping, and the clamping specifications of the material moving mechanism 4 can be quickly changed, so that the material moving mechanism 4 can clamp two different types of materials, realize the rapid loading of the products to be processed, and improve the degree of automation of production.

[0047] The above specifically describes the preferred embodiments of the present invention, but the invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A feeding device, characterized in that: include: A feeding mechanism (1) comprising a first transfer platform (11); A discharging mechanism (2), comprising a second transfer platform (21); A recovery mechanism (3), comprising a third transfer platform (31); A material moving mechanism (4) comprises a material moving device (41), a first clamping device (42) and a second clamping device (43); the material moving device (41) has a movable end; the first clamping device (42) and the second clamping device (43) are both mounted on the movable end; the movable end is capable of driving the first clamping device (42) to move between the first transport platform (11) and the second transport platform (21); and the movable end is capable of driving the second clamping device (43) to move between the first transport platform (11) and the third transport platform (31).

2. A feeding device according to claim 1, characterized in that, The material moving device (41) includes a mechanical arm (411) and a mounting frame (412) capable of rotating at the end of the mechanical arm (411), the movable end is the end of the mounting frame (412) away from the mechanical arm (411), the first clamping device (42) and the second clamping device (43) are respectively installed on opposite sides of the mounting frame (412), the mechanical arm (411) is connected to the mounting frame (412) and is located between the first clamping device (42) and the second clamping device (43), and the clamping direction of the first clamping device (42) and the clamping direction of the second clamping device (43) are opposite to each other.

3. A feeding device according to claim 2, characterized in that, The feeding mechanism (1) includes a plurality of the first transport platforms (11), and the recovery mechanism (3) includes a plurality of the third transport platforms (31). The plurality of the first transport platforms (11) and the plurality of the third transport platforms (31) are arranged circumferentially along the horizontal plane where the robotic arm (411) is located.

4. A feeding device according to claim 2, characterized in that, The mounting frame (412) extends in a direction away from the end of the robotic arm (411), with the extending direction of the mounting frame (412) as a first direction and the horizontal direction perpendicular to the first direction as a second direction. The first clamping device (42) includes a first clamping block (421) and a first linear pusher (422) corresponding to the first clamping block (421). The mounting frame (412) is arranged with a plurality of pairs of the first clamping blocks (421) along the second direction. The two first clamping blocks (421) of the same pair are located at both ends of the mounting frame (412) along the first direction. The middle parts of the plurality of first clamping blocks (421) are rotatably connected to the mounting frame ( 412), one end of the two first clamping blocks (421) of the same pair away from the second clamping device (43) can move toward or away from each other, one end of the two first clamping blocks (421) of the same pair close to the second clamping device (43) is rotatably mounted with a connecting rod (423), the first linear pusher (422) is mounted on the mounting frame (412), the output end of the first linear pusher (422) moves along the first direction, and the end of the connecting rod (423) away from the first clamping block (421) is rotatably connected to the output end of the first linear pusher (422) corresponding to the first clamping block (421).

5. A feeding device according to claim 2, characterized in that: The second clamping device (43) includes a second clamping block (431) and a second linear pusher (432) corresponding to the second clamping block (431). The second linear pusher (432) is provided on both sides of the mounting frame (412) along the second direction. The output end of the second linear pusher (432) extends along the second direction. The second clamping block (431) is provided on both sides of the mounting frame (412) along the second direction. The second clamping block (431) includes a connecting section (4311), a clamping section (4312) and a blocking section (4313) connected in sequence. The connecting section (4311) is connected to the output end of the second linear pusher (432). The clamping section (4312) extends in a direction away from the mounting frame (412), and the blocking section (4313) extends in a direction close to the other second clamping block (431).

6. A feeding device according to claim 2, characterized in that: A visual detection mechanism (5) and a control mechanism are provided on the mounting frame (412). The visual detection mechanism (5) is used to detect the position of the clamping end of the first clamping device (42) or the clamping end of the second clamping device (43). The control mechanism is used to control the robotic arm (411). The visual detection mechanism (5) is electrically connected to the control mechanism.

7. A feeding device according to claim 1, characterized in that: The first clamping device is further provided with a pressure sensor (6), wherein a detection end of the pressure sensor (6) extends in a direction away from the mounting frame (412).

8. The feeding equipment according to claim 1, characterized in that: It also includes a guardrail (7), a protective space is formed in the guardrail (7), and the feeding mechanism (1), the discharging mechanism (2), the recycling mechanism (3) and the material moving mechanism (4) are all located in the protective space.

9. A feeding device according to claim 8, characterized in that: The guardrail (7) is provided with a first window and a second window, the first transport platform (11) can be disassembled to enter and exit the protection space through the first window, and the third transport platform (31) can be disassembled to enter and exit the protection space through the second window.

10. A method of use, applied to a feeding device according to claims 1-9, characterized in that: include: Moving the pallet with the products placed thereon to the first transfer platform (11); The first clamping device (42) moves to the first transport platform (11), and the moving end flips so that the first clamping device (42) faces downward, and the first clamping device (42) clamps the product and moves the product to the second transport platform (21); The second clamping device (43) moves to the first transport platform (11), and the moving end flips so that the second clamping device (43) faces downward. The second clamping device (43) clamps the pallet and moves the pallet to the third transport platform (31).

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