Feeding equipment and feeding method

Abstract

The invention discloses feeding equipment and a feeding method.The feeding equipment comprises a stacking and storing mechanism, a material transferring mechanism, a visual positioning mechanism and a mechanical grabbing mechanism, the stacking and storing mechanism is used for storing multiple layers of carrier plates, and target objects are inserted into the carrier plates; the material transferring mechanism is arranged at the discharging end of the stacking and storing mechanism and used for conveying the carrier plates to a detection area of the visual positioning mechanism. The visual positioning mechanism is arranged corresponding to the transfer path of the material transfer mechanism and is used for identifying the actual position of the target object and calculating the coordinate deviation between the actual position of the target object and the preset position so as to generate a compensation coordinate; the mechanical grabbing mechanism is arranged above the material transferring mechanism and used for moving to the target position according to the compensation coordinates, grabbing the target object and transferring the grabbed target object to the feeding position. Based on cooperative operation of all the mechanisms of the feeding equipment, the position of the target object on the carrier plate is automatically recognized, automatic grabbing and transferring feeding are achieved, automation is achieved, the production efficiency is improved, the product precision is improved, and the production cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of feeding, in particular to a feeding device and a feeding method. BACKGROUND

[0002] In the production process of power electronic components, the production efficiency and quality control of high-frequency transformers as a key component are crucial. In particular, in the production process of high-frequency transformers, a part of the products need to be inserted into the paperboard, that is, the products are inserted into the preset position of the paperboard at a fixed interval to achieve neat arrangement, which mainly avoids the high-frequency transformer from being damaged in the turnover process, thereby ensuring the quality and reliability of the product.

[0003] At present, the feeding mode of the high-frequency transformer inserted into the paperboard in the industry mainly relies on manual grabbing feeding. The operator needs to pull out the high-frequency transformer inserted into the paperboard one by one and then place it on the production line. However, this manual grabbing feeding mode has many disadvantages. First, the production capacity of manual operation is low, which is difficult to match the high-speed development of the production line rhythm. Second, manual operation is prone to problems such as missing and misplacing, which leads to quality abnormalities. In addition, with the rise of labor costs, the cost of manual feeding is also increasing.

[0004] Therefore, the current technical problems of manual feeding are low efficiency, poor precision, and high cost. SUMMARY

[0005] The embodiments of the present application provide a feeding device and a feeding method. Based on the cooperative operation of the stacking storage mechanism, the material transfer mechanism, the visual positioning mechanism, and the mechanical grabbing mechanism of the feeding device, the position of the target object on the carrier plate is automatically recognized and automatically grabbed and transferred for feeding, thereby realizing an automated process, improving production efficiency, improving product precision, and reducing production cost.

[0006] In one aspect, the embodiments of the present application provide a feeding device, comprising: a stacking storage mechanism for storing multiple layers of carrier plates, the carrier plates having target objects inserted therein; a material transfer mechanism arranged at the discharge end of the stacking storage mechanism for transporting the carrier plates to the detection area of a visual positioning mechanism; the visual positioning mechanism is arranged corresponding to the transfer path of the material transfer mechanism, for identifying the actual position of the target object and calculating the coordinate deviation between the actual position of the target object and the preset position to generate a compensation coordinate; a mechanical grabbing mechanism arranged above the material transfer mechanism for moving to a target position according to the compensation coordinate, grabbing the target object, and transferring the grabbed target object to a feeding position.

[0007] In another aspect, the embodiments of the present application provide a feeding method applied to the feeding device as described in any of the above aspects, the method comprising: storing multiple layers of carrier plates with target objects inserted thereinto by the stacked storage mechanism, and supplying single-layer carrier plates to the material transfer mechanism in layers; transporting the carrier plates to the detection area of the visual positioning mechanism by the material transfer mechanism; identifying the actual position of the target object on the carrier plate by the visual positioning mechanism, and calculating the coordinate deviation of the actual position of the target object from the preset position to generate a compensation coordinate; moving to the target position according to the compensation coordinate by the mechanical grabbing mechanism, grabbing the target object, and transplanting the grabbed target object to the feeding position.

[0008] The feeding device provided by the embodiments of the present application, i.e., the feeding method, comprises a stacked storage mechanism, a material transfer mechanism, a visual positioning mechanism, and a mechanical grabbing mechanism. The stacked storage mechanism is used to store multiple layers of carrier plates with target objects inserted thereinto. The material transfer mechanism is arranged at the discharge end of the stacked storage mechanism and is used to transport the carrier plates to the detection area of the visual positioning mechanism. The visual positioning mechanism is arranged corresponding to the transfer path of the material transfer mechanism and is used to identify the actual position of the target object and calculate the coordinate deviation of the actual position of the target object from the preset position to generate a compensation coordinate. The mechanical grabbing mechanism is arranged above the material transfer mechanism and is used to move to the target position according to the compensation coordinate, grab the target object, and transfer the grabbed target object to the feeding position. The feeding device provided by the embodiments of the present application automatically identifies the position of the target object on the carrier plate and automatically grabs and transfers the feeding based on the cooperative operation of the stacked storage mechanism, the material transfer mechanism, the visual positioning mechanism, and the mechanical grabbing mechanism of the feeding device, realizes the automatic process, improves the production efficiency, improves the product precision, and reduces the production cost. BRIEF DESCRIPTION OF DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0010] Figure 1 The structure diagram of the feeding device provided by the embodiments of the present application is shown.

[0011] Figure 2 The structure diagram of the stacked storage mechanism provided by the embodiments of the present application is shown.

[0012] Figure 3 The structure diagram of the material transfer mechanism provided by the embodiments of the present application is shown.

[0013] Figure 4A structural schematic diagram of a buffer device in a material transfer mechanism provided by an embodiment of the present application.

[0014] Figure 5 A structural schematic diagram of a moving device in a material transfer mechanism provided by an embodiment of the present application.

[0015] Figure 6 A structural schematic diagram of a visual positioning mechanism provided by an embodiment of the present application.

[0016] Figure 7 A structural schematic diagram of a mechanical grabbing mechanism provided by an embodiment of the present application.

[0017] Figure 8 A flowchart of a feeding method provided by an embodiment of the present application. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0019] In the description of the present application, it should be understood that the terms “center”, “longitudinal”, “transverse”, “length”, “width”, “thickness”, “upper”, “lower”, “front”, “rear”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “outer”, “clockwise”, “counterclockwise” and the like indicate the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms “first” and “second” are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features limited by “first” and “second” can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of “multiple” is two or more, unless otherwise specifically limited.

[0020] In the description of the present application, it is necessary to point out that, unless otherwise explicitly specified and limited, the terms "mount", "connect", "connection" should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, or electrical connection or can communicate with each other; can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0021] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher than the second feature in horizontal height. The first feature "under", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is lower than the second feature in horizontal height.

[0022] The following disclosure provides many different embodiments or examples for implementing different structures of the present application. In order to simplify the disclosure of the present application, the components and arrangements of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeatedly refer to numbers and / or letters in different examples. Such repetition is for the purpose of simplification and clarity, and in itself does not indicate the relationship between the various embodiments and / or arrangements discussed. In addition, the present application provides examples of various specific processes and materials, but those skilled in the art can realize the application of other processes and / or the use of other materials.

[0023] The following are described in detail respectively. It should be noted that the order of the following embodiment descriptions does not limit the priority order of the embodiments.

[0024] Specifically, please refer to Figures 1 to 7 The embodiment of the present application provides a feeding equipment 100. The feeding equipment 100 comprises a stacking storage mechanism 1, a material transfer mechanism 2, a visual positioning mechanism 3 and a mechanical grabbing mechanism 4.

[0025] The stacking storage mechanism 1 is used for storing multiple layers of carrier plates 6, and target objects are inserted into the carrier plates 6. The stacking storage mechanism 1 ensures the stability and easy accessibility of the carrier plates 6 through reasonable stacking and storage design, and provides convenience for subsequent material transfer. In the embodiment, the carrier plate 6 can be a paperboard, and the target object can be a high-frequency transformer, but is not limited thereto, and can be adjusted according to actual needs.

[0026] The material transfer mechanism 2 is arranged at the discharge end of the stacking storage mechanism 1, and is used to take out the carrier plate 6 from the stacking storage mechanism 1 and transport it to the detection area of the visual positioning mechanism 3. Through precise transmission and control, the material transfer mechanism 2 realizes stable and rapid transfer of the carrier plate 6, and ensures the accuracy of subsequent visual positioning.

[0027] The visual positioning mechanism 3 is arranged corresponding to the transfer path of the material transfer mechanism 2, and is used to identify the actual position of the target object and calculate the coordinate deviation between the actual position of the target object and the preset position to generate a compensation coordinate. For example, the visual positioning mechanism 3 can accurately calculate the coordinate deviation between the actual position of the target object and the preset position through a high-definition camera and an advanced image processing algorithm, and generate a compensation coordinate to provide accurate grabbing guidance for the mechanical grabbing mechanism 4.

[0028] The mechanical grabbing mechanism 4 is arranged above the material transfer mechanism 2, and is used to move to a target position according to the compensation coordinate, grab the target object, and transfer the grabbed target object to a feeding position. Through high-precision transmission and grabbing design, the mechanical grabbing mechanism 4 ensures the stability and accuracy of grabbing and improves the feeding efficiency.

[0029] In some embodiments, the feeding device 100 further includes a device base plate 5, and the stacking storage mechanism 1, the material transfer mechanism 2, the visual positioning mechanism 3 and the mechanical grabbing mechanism 4 are fixedly connected with the device base plate 5. The device base plate 5 serves as the basic support structure of the entire feeding device 100, ensures the relative position and stability between the mechanisms, and improves the overall performance and reliability of the device.

[0030] The feeding device 100 provided by the embodiments of the present application realizes automatic and accurate feeding of target objects such as high-frequency transformers through the cooperative work of the stacking storage mechanism 1, the material transfer mechanism 2, the visual positioning mechanism 3 and the mechanical grabbing mechanism 4, and improves the production efficiency and product quality.

[0031] In some embodiments, as shown in Figure 2 The stacking storage mechanism 1 includes a storage rack 11, a support transmission device 12 and a material pushing device 13.

[0032] The first supporting plate 111 is made of high-strength and wear-resistant material to ensure that the load plate 6 can be stably carried for a long time, and the load plate 6 and the supporting plate are not damaged due to material problems, and the normal operation of the storage mechanism is not affected.

[0033] The supporting transmission device 12 is connected with the storage rack 11 and is used to drive the storage rack 11 to vertically move up and down. The supporting transmission device 12 can have an overload protection function, which can automatically stop running when encountering abnormal resistance to prevent equipment damage.

[0034] The pushing device 13 is arranged on the discharge side of the storage rack 11 and is used to horizontally push the single-layer load plate 6 at the preset pushing height from the storage rack 11 to the material transfer mechanism 2. The pushing speed of the pushing device 13 can be adjusted according to actual production requirements to meet the requirements of different production rhythms.

[0035] The number of the stacking storage mechanisms 1 is two, and the two stacking storage mechanisms 1 are used to alternately provide the load plate 6 to the material transfer mechanism 2. This alternating feeding mode can effectively improve the feeding efficiency and reduce the waiting time of the material transfer mechanism 2.

[0036] In some embodiments, the storage rack 11 further includes a lead screw moving base plate 112, a first rib plate 113 (for example, the first rib plate 113 is an L-shaped rib plate), a connecting reinforcing plate 114, an aluminum profile 115, and left and right limiting plates 116. The pushing device 13 includes a first pushing plate 131, a first connecting plate 132, a second connecting plate 133, and a pushing cylinder 134. The supporting transmission device 12 includes a first motor 121, a lead screw module 122, and a first linear bearing 123.

[0037] The storage rack 11 is connected with the first linear bearing 123 and the lead screw module 122 of the supporting transmission device 12 through the lead screw moving base plate 112. The aluminum profile 115 of the storage rack 11 is fixed on the lead screw moving base plate 112 through the first rib plate 113. The connecting reinforcing plate 114 and the left and right limiting plates 116 are fixed on the aluminum profile 115. The connecting reinforcing plate 114 is fixed on the aluminum profile 115 to prevent the aluminum profile 115 from deforming and skewing, and to ensure the rigidity and stability of the overall structure during the lifting process. The left and right limiting plates 116 are fixed on the aluminum profile 115 for limiting use, for correcting and constraining the position of the load plate 6 on the supporting plate, preventing the load plate 6 from deviating, and ensuring the accuracy of the pushing action.

[0038] In the initial state, the storage rack 11 is in the standby position at the bottom of the stacking storage mechanism 1; when the first carrier plate 111 carries a plurality of carrier plates 6 into which target objects are inserted, the storage rack 11 is driven to rise by the first motor 121; the first motor 121 can be a servo motor, which has the characteristics of high control accuracy and fast response speed, and can accurately control the lifting height of the storage rack 11.

[0039] When the first carrier plate 61 on the storage rack 11 reaches the pushing position, the first pushing plate 131 is driven by the pushing cylinder 134 through the first connecting plate 132 and the second connecting plate 133 to push the first carrier plate 61 out of the storage rack 11 and onto the buffer device 21 of the material transfer mechanism 2.

[0040] When the first carrier plate 61 on the storage rack 11 reaches the pushing position, the first pushing plate 131 is driven by the pushing cylinder 134 through the first connecting plate 132 and the second connecting plate 133 to push the first carrier plate 61 out of the storage rack 11 and onto the buffer device 21 of the material transfer mechanism 2.

[0041] In some embodiments, the pushing device 13 further comprises a third connecting plate 135, a first vertical column 136, and a first mounting base 137; the first vertical column 136 is used to connect the third connecting plate 135 and the first mounting base 137. The third connecting plate 135 is used to connect the first vertical column 136 and the pushing cylinder 134. The first vertical column 136 has high strength and stability, and can withstand various forces generated during the pushing process, ensuring that the overall structure of the pushing device 13 will not deform due to stress.

[0042] The support transmission device 12 further comprises a first motor mounting plate 124, a second motor mounting plate 125, a support vertical column 126, a support vertical column base 127, and a lead screw mounting plate 128; the support vertical column 126 is mounted on the lead screw mounting plate 128 through the support vertical column base 127, and the first linear bearing 123 is sleeved on the support vertical column 126; the first motor 121 is connected with the storage rack 11 through the first motor mounting plate 124 and the second motor mounting plate 125. The support vertical column 126 and the support vertical column base 127 can be made of high-strength alloy materials, which can withstand large loads and ensure stable operation of the support transmission device 12.

[0043] In some embodiments, as shown in Figures 3 to 5 The material transfer mechanism 2 comprises a buffer device 21 and a moving device 22.

[0044] The buffer device 21 is used to receive and temporarily store the carrier plate 6 pushed out from the stacked storage mechanism 1. The buffer device 21 is designed in full consideration of the size and weight of the carrier plate 6, and the internal structure thereof is optimized to ensure that the carrier plate 6 remains stable during the temporary storage process and is not damaged due to shaking or collision.

[0045] The moving device 22 is used to receive the carrier plate 6 from the buffer device 21 and transport the carrier plate 6 to the detection area of the visual positioning mechanism 3 and the grabbing area of the mechanical grabbing mechanism 4. The transport path of the moving device 22 is precisely planned, which can efficiently and accurately deliver the carrier plate 6 to the designated area, reduce the time waste during the transportation process, and improve the production efficiency of the entire feeding equipment.

[0046] In some embodiments, the buffer device 21 includes a device lifting cylinder 211 and a storage structure 212. The device lifting cylinder 211 is used to drive the storage structure 212 to lift, so as to realize the material transfer with the stacked storage mechanism 1 and the moving device 22. The storage structure 212 includes a positioning cylinder 2121, which is used to correct the position of the carrier plate 6, so as to ensure that the carrier plate 6 is in the accurate preset position before entering the next process.

[0047] In some embodiments, the buffer device 21 further includes a second stand 213, a second mounting base 214, a top mounting plate 215, a second rib plate 216, and a first cylinder connecting plate 217. The storage structure 212 further includes a first cylinder mounting plate 2122, a front baffle 2123, a second cylinder connecting plate 2124, a second push plate 2125, a front moving cylinder 2126, a rear moving cylinder 2127, a second supporting plate 2128, and a rear baffle 2129. The buffer device 21 is fixed to the equipment plate 5 of the feeding equipment 100 through the second stand 213 and the second mounting base 214. The second stand 213 supports the top mounting plate 215. The storage structure 212 is fixed and suspended under the top mounting plate 215 through the first cylinder connecting plate 217, the second rib plate 216, and the device lifting cylinder 211. The device lifting cylinder 211 is used to fix the first cylinder connecting plate 217 and the first cylinder mounting plate 2122. The storage structure 212 is used to lift according to the stroke of the device lifting cylinder 211, so as to complete the vertical displacement of receiving and transferring materials. The front moving cylinder 2126 and the rear moving cylinder 2127 are fixed to the first cylinder mounting plate 2122. The front baffle 2123 is fixed to the front moving cylinder 2126, so as to move the front baffle 2123 according to the stroke of the front moving cylinder 2126, and realize the opening and closing of the receiving position. The rear baffle 2129 is fixed to the rear moving cylinder 2127, so as to move the rear baffle 2129 according to the stroke of the rear moving cylinder 2127, and cooperate with the front baffle 2123 to complete the carrying and releasing of the carrier plate 6. The second supporting plate 2128 is fixed on the front baffle 2123 and the rear baffle 2129, and is used for carrying the carrier plate 6 to form a stable material carrying platform; The positioning cylinder 2121 is fixed on the front baffle 2123 through the second cylinder connecting plate 2124, and the second push plate 2125 is fixed on the positioning cylinder 2121, so that the second push plate 2125 moves according to the stroke of the positioning cylinder 2121 to position and correct the position of the carrier plate 6 on the second supporting plate 2128, so as to eliminate the position deviation of the carrier plate by lateral pushing.

[0048] In some embodiments, the moving device 22 comprises a second motor 221, a tray 222, a first synchronous belt 223, a first synchronous wheel 224, a pressing block 225, a lifting cylinder 226 and a front-back moving cylinder 227. The second motor 221 is used to drive the first synchronous belt 223 and the first synchronous wheel 224 to rotate to drive the tray 222 to move, realizing long-distance and high-precision transmission of the carrier plate 6 between the detection area and the grabbing area. The pressing block 225 is used to press the carrier plate 6 tightly on the tray 222 under the linkage action of the lifting cylinder 226 and the front-back moving cylinder 227, preventing the carrier plate 6 from shifting or falling off during transportation.

[0049] In some embodiments, the moving device 22 further comprises a cushion block 228, a third motor mounting plate 229, a slide rail mounting plate 2210, a first linear slide rail 2211, a first synchronous belt pressing block 2212, a first synchronous belt connecting block 2213, a slide block connecting plate 2214, a double slide block connecting block 2215 and a first slide block 2216. The moving device 22 is fixed on the device large plate 5 of the feeding equipment 100 through the cushion block 228. The slide rail mounting plate 2210 is fixed on the cushion block 228. The first linear slide rail 2211 is fixed on the slide rail mounting plate 2210. The slide block connecting plate 2214 is used to fixedly connect the first slide block 2216 and the tray 222. The second motor 221 is fixed on the device large plate 5 through the third motor mounting plate 229. The second motor 221 is used to drive the first synchronous belt 223 and the first synchronous wheel 224 to rotate to drive the tray 222 to move, providing smooth transmission power. The double slide block connecting block 2215 connects the first synchronous belt 223 through the first synchronous belt connecting block 2213 and the first synchronous belt pressing block 2212. The double slide block connecting block 2215 fixes two slide block connecting plates 2214, so that the two slide block connecting plates 2214 keep synchronous in motion, ensuring that the tray 222 does not jam or deviate during movement. The front and rear moving cylinder 227 is fixed to the tray 222, the lifting cylinder 226 is fixed to the front and rear moving cylinder 227, and the pressing block 225 is fixed to the lifting cylinder 226, so that the pressing block 225 moves forward and backward according to the stroke of the front and rear moving cylinder 227 and moves up and down according to the stroke of the lifting cylinder 226. The combined movement enables the pressing block 225 to accurately avoid and reliably press the carrier plate 6.

[0050] In some embodiments, after the buffer device 21 obtains the carrier plate 6 from the stacking storage mechanism 1, the positioning cylinder 2121 of the buffer device 21 acts to correct the position of the carrier plate 6, laying the foundation for subsequent accurate positioning and grabbing. After the moving device 22 moves under the buffer device 21, the front and rear moving cylinder 227 and the lifting cylinder 226 on the tray 222 of the moving device 22 are in the reset state, so that the pressing block 225 avoids the receiving space; After the device lifting cylinder 211 of the buffer device 21 is lowered, the front moving cylinder 2126 and the rear moving cylinder 2127 act to transfer the carrier plate 6 from the second tray 2128 of the buffer device 21 to the tray 222 of the moving device 22, completing the smooth handover of the material; After the device lifting cylinder 211 of the buffer device 21 is raised, the front moving cylinder 2126, the rear moving cylinder 2127 and the positioning cylinder 2121 are in the reset state, ready to receive the next carrier plate 6. The front and rear moving cylinder 227 and the lifting cylinder 226 on the tray 222 of the moving device 22 act to press the carrier plate 6 on the tray 222 with the pressing block 225 on the tray 222, and the moving device 22 transports the tray 222 with the carrier plate 6 to the detection area of the visual positioning mechanism 3 to realize the transfer of the carrier plate 6. The whole process realizes the seamless connection and automation of the material from the buffer to the positioning and transportation.

[0051] In some embodiments, as shown in Figure 6 The visual positioning mechanism 3 comprises: A camera module 31 is used to collect the image of the target object on the carrier plate 6 to obtain accurate visual information; A first moving module 32 is used to drive the camera module 31 to move in a first direction; for example, the first direction is usually transverse (i.e. X-axis direction) to realize scanning coverage of the entire carrier plate 6 on the tray 222; The visual positioning mechanism 3 is used to identify the actual position of the target object according to the collected image, calculate the coordinate deviation between the actual position of the target object and the preset position, and generate a compensation coordinate. The compensation coordinate is the key data for correcting the positioning error of the mechanical grabbing mechanism 4.

[0052] In some embodiments, the camera module 31 includes a fourth connecting plate 311, a first camera connecting plate 312, a camera 313, a second camera connecting plate 314, a light source mounting plate 315, and a light source 316. The integrated design ensures the relative position of the camera 313 and the light source 316 is fixed, providing a stable and uniform lighting environment and ensuring the consistency of image quality. The first moving module 32 includes a third mounting base 321, a third stand 322, a first connecting piece 323, a third motor 324, a second synchronous wheel 325, a second synchronous belt 326, a photographing large plate 327, a second synchronous belt connecting block 328, a second synchronous belt pressing block 329, a second sliding block 3210, and a second linear slide rail 3211. The visual positioning mechanism 3 is fixed to the device large plate 5 of the feeding equipment 100 through the third mounting base 321 and the third stand 322. The photographing large plate 327 is fixedly connected through two first connecting pieces 323 and the third stand 322. The second linear slide rail 3211 is fixed to the photographing large plate 327. The fourth connecting plate 311 is fixed to the second sliding block 3210 and connected with the second linear slide rail 3211. The camera 313 is fixed to the fourth connecting plate 311 through the first camera connecting plate 312 and the second camera connecting plate 314. The light source 316 is fixed to the fourth connecting plate 311 through the light source mounting plate 316, so that the camera 314 and the light source 316 move synchronously as a whole. The fourth connecting plate 311 is connected with the second synchronous belt 326 through the second synchronous belt connecting block 328 and the second synchronous belt pressing block 329, realizing power transmission. The third motor 324 is used to drive the second synchronous wheel 325 and the second synchronous belt 326 to rotate, so as to drive the fourth connecting plate 311 to move, thereby driving the whole camera module 31 to perform precise and stable reciprocating motion along the second linear slide rail 3211.

[0053] In some embodiments, in order to realize the positioning of all target objects on the tray 222, the visual positioning mechanism 3 and the material transfer mechanism 2 adopt a cooperative scanning strategy: in the working state that the camera module 31 on the visual positioning mechanism 3 moves horizontally and the tray 222 on the material transfer mechanism moves vertically, when the camera module 31 of the visual positioning mechanism 3 and the tray 222 on the material transfer mechanism 2 move to the preset position, the image of the target object located on the carrier plate 6 of the tray 222 is collected through the camera module 31. The actual position of the target object on the carrier plate 6 is identified through the visual positioning mechanism 3 according to the collected image, the coordinate deviation between the actual position of the target object and the preset position is calculated, the compensation coordinates are generated, and the compensation coordinates are sent to the mechanical grabbing mechanism 4. This cooperative working mode of “horizontal scanning of camera and vertical stepping of tray” jointly constitutes an efficient two-dimensional visual positioning system, which can quickly and accurately obtain the precise position information of all target objects on the whole carrier plate 6.

[0054] In some embodiments, the mechanical grabbing mechanism 4 is also used to remove the empty carrier plate 63 after the target objects have been grabbed. This function realizes complete management of the life cycle of the carrier plate 6, forming an automated closed loop from full material to empty material processing.

[0055] In some embodiments, as shown in FIG. 1, the mechanical grabbing mechanism 4 includes: Figure 7 A first grabbing component 41, including a first driving device 411 and a first pneumatic finger 412, the first driving device 411 being used to drive the first pneumatic finger 412 to move and / or rotate in a three-dimensional space to grab the target objects, the multi-degree-of-freedom characteristics of which enable flexible obstacle avoidance and accurate positioning; A second grabbing component 42, including a second driving device 421 and a second pneumatic finger 422, the second driving device 421 being used to drive the second pneumatic finger 422 to make vertical lifting motion to grab the empty carrier plate 63, which is dedicated to the empty carrier plate 63 recovery operation after completing the feeding process; A second moving module 43, used to drive the first grabbing component 41 to move in a second direction and / or the second grabbing component 42 to move in a third direction.

[0056] In some embodiments, the first driving device 411 includes a second cylinder mounting plate 4111, a grabbing lifting cylinder 4112, a first rotary cylinder connecting plate 4113, a second rotary cylinder connecting plate 4114, a third rib plate 4115, a rotary cylinder 4116, a first jaw connecting plate 4117, a second jaw connecting plate 4118, a third jaw connecting plate 4119 and a first clamping piece 41110, the integrated structure decouples the lifting and rotary motion, ensuring the accuracy and reliability of the action; The second driving device 421 includes a third cylinder connecting plate 4211, a fourth cylinder connecting plate 4212, a carrier plate lifting cylinder 4213, a second linear bearing 4214, a guide shaft 4215, a first pawl connecting plate 4216, a second pawl connecting plate 4217 and a second clamping piece 4218, the cooperation of the guide shaft 4215 and the second linear bearing 4214 ensures the stability of the vertical motion during the empty carrier plate grabbing process; The second moving module 43 includes a fourth mounting base 431, a fourth stand 432, a second connecting piece 433, a fourth motor 434, a third synchronous wheel 435, a third synchronous belt 436, a grabbing unloading plate 437, a third sliding block 438, a third linear slide rail 439, a third synchronous belt pressing block 4310 and a third synchronous belt connecting block 4311; ​The mechanical grabbing mechanism 4 is fixed to the device base plate 5 of the feeding device 100 through the fourth mounting base 431 and the fourth column 432. The grabbing lower feeding plate 437 is fixedly connected to the fourth column 432 through two second connecting pieces 433. The third linear slide rail 439 is fixed to the grabbing lower feeding plate 437. The second cylinder mounting plate 4111 is fixed to the third sliding block 438 and connected to the third linear slide rail 439, thereby providing a stable movement basis for the first grabbing assembly 41. The grabbing lifting cylinder 4112 is fixed to the second cylinder mounting plate 4111. The rotating cylinder 4116 is fixed to the second cylinder mounting plate 4111 through the first rotating cylinder connecting plate 4113, the second rotating cylinder connecting plate 4114, and the third rib plate 4115. The first pneumatic finger 412 is fixed to the rotating cylinder 4116 through the first jaw connecting plate 4117, the second jaw connecting plate 4118, and the third jaw connecting plate 4119, so as to move up and down according to the stroke of the grabbing lifting cylinder 4112 and rotate according to the stroke of the rotating cylinder 4116, thereby realizing a series of complex actions such as approaching, grabbing, lifting, and rotating and discharging. The first clamping piece 41110 is installed on the first pneumatic finger 412 and is used for directly clamping the target object. The second cylinder mounting plate 4111 is connected to the third synchronous belt 436 through the third synchronous belt connecting block 4311 and the third synchronous belt pressing block 4310, thereby realizing power transmission. The fourth motor 434 is used to drive the third synchronous wheel 435 and the third synchronous belt 436 to rotate, so as to drive the second cylinder mounting plate 4111 to move, thereby driving the entire first grabbing assembly 41 to accurately position along the third linear slide rail 439. The carrier plate lifting cylinder 4213, the second linear bearing 4214, and the guide shaft 4215 are fixed to the grabbing lower feeding plate 437 through the third cylinder connecting plate 4211, the fourth cylinder connecting plate 4212, and the first jaw connecting plate 4216. The second pneumatic finger 422 is fixedly connected to the first jaw connecting plate 4216 through the second jaw connecting plate 4217, so as to move up and down according to the stroke of the carrier plate lifting cylinder 4213, thereby realizing the actions of aligning the empty carrier plate 63, clamping, and lifting. The second clamping piece 4218 is installed on the second pneumatic finger 422 and is used for reliably clamping the edge of the empty carrier plate 63.

[0057] In some embodiments, after the mechanical grabbing mechanism 4 receives the compensation coordinates sent by the visual positioning mechanism 3, the mechanical grabbing mechanism 4 combines the coordinate system itself, calculates the target position of the target object according to the position of the tray 222 of the material transfer mechanism 2 and the position of the camera module 31 of the visual positioning mechanism 3, moves the target object to the target position for grabbing, and transfers the grabbed target object to the feeding position, thereby completing the feeding task. When all target objects on the tray 222 on the transfer mechanism are grabbed, the second pneumatic finger 422 is lowered by the carrier plate lifting cylinder 4213, the empty carrier plate 63 is clamped by the second pneumatic finger 422, the empty carrier plate 63 is extracted when the tray 222 moves, the separation of the empty carrier plate 63 and the tray 222 is realized, and the empty carrier plate 63 is placed in the designated recycling box, completing the final link of the material flow and preparing for receiving the next full carrier plate 6. The whole process reflects the high level of automation and intelligence of the equipment.

[0058] The embodiment of the present application is suitable for paperboard plug-in high-frequency transformers, can automatically grab high-frequency transformers with high efficiency, and realizes automatic feeding of such high-frequency transformers. The embodiment of the present application can realize stacked storage and layered feeding, and put batches of high-frequency transformers plugged into paperboards into the storage rack 11 of the stacked storage mechanism 1. The feeding equipment 100 can supply the materials such as paperboards (carrier plates 6) to the buffer device 21 of the material transfer mechanism 2 in layers, and can continuously and uninterruptedly work.

[0059] The embodiment of the present application is equipped with a visual positioning mechanism 3, which can accurately position the actual position of the target object on the carrier plate 6, and calculate the coordinate deviation between the actual position of the target object and the preset position to generate a compensation coordinate. The mechanical grabbing mechanism 4 moves to the target position according to the received compensation coordinate, ensures the accuracy of the grabbing action, and improves the work efficiency. Compared with manual operation, the feeding equipment 100 runs according to the preset program and is not affected by factors such as fatigue and mood of manual operation, can continuously and stably complete the feeding action, and ensures the stability of the production process. The visual positioning mechanism 3 and the mechanical grabbing mechanism 4 in the embodiment of the present application are linked, and the mode of shooting and positioning a single target object (such as a high-frequency transformer) and then grabbing immediately is adopted.

[0060] In some embodiments, the camera 313 in the camera module 31 of the visual positioning mechanism 3 can be a top camera. After shooting and positioning all target objects on the tray 222 of the material transfer mechanism 2 by using the top camera, the mechanical hand in the mechanical grabbing mechanism 4 can be used for grabbing, and the feeding action can also be realized. In the embodiment of the present application, for various linear motion cylinders in the feeding equipment 100, a mode of replacing the linear motion cylinders with motors (servo motors, stepper motors, etc.) cooperating with screw modules and / or synchronous belts can be used to realize the action of the equipment components.

[0061] All the above technical solutions can be combined in any way to form optional embodiments of the present application, which will not be described here.

[0062] The feeding device 100 provided by the embodiment of the present application is a feeding method, and the feeding device 100 comprises a stacking storage mechanism 1, a material transfer mechanism 2, a visual positioning mechanism 3 and a mechanical grabbing mechanism 4. The stacking storage mechanism 1 is used for storing multiple layers of carrier plates 6, and the target objects are inserted into the carrier plates 6. The material transfer mechanism 2 is arranged at the discharging end of the stacking storage mechanism 1, and is used for transporting the carrier plates 6 to the detection area of the visual positioning mechanism 3. The visual positioning mechanism 3 is arranged corresponding to the transfer path of the material transfer mechanism 2, and is used for identifying the actual position of the target objects, and calculating the coordinate deviation between the actual position of the target objects and the preset position to generate a compensation coordinate. The mechanical grabbing mechanism 4 is arranged above the material transfer mechanism 2, and is used for moving to the target position according to the compensation coordinate, grabbing the target objects and transferring the grabbed target objects to the feeding position. The feeding device 100 provided by the embodiment of the present application is based on the cooperative operation of the stacking storage mechanism 1, the material transfer mechanism 2, the visual positioning mechanism 3 and the mechanical grabbing mechanism 4 of the feeding device 100, and can automatically identify the position of the target objects on the carrier plates 6 and automatically grab and transfer the feeding, so as to realize the automatic process, improve the production efficiency, improve the product precision and reduce the production cost.

[0063] Please refer to Figure 8 The embodiment of the present application provides a feeding method. The feeding method can be applied to the feeding device as described in any of the above embodiments. The feeding device comprises a stacking storage mechanism, a material transfer mechanism, a visual positioning mechanism and a mechanical grabbing mechanism. The method can comprise the following steps: In step 110, the stacking storage mechanism is used to store multiple layers of carrier plates on which target objects are inserted, and the single-layer carrier plates are supplied to the material transfer mechanism in layers. In step 120, the material transfer mechanism is used to transport the carrier plates to the detection area of the visual positioning mechanism. In step 130, the visual positioning mechanism is used to identify the actual position of the target objects on the carrier plates, and calculate the coordinate deviation between the actual position of the target objects and the preset position to generate a compensation coordinate. In step 140, the mechanical grabbing mechanism is used to move to the target position according to the compensation coordinate, grab the target objects and transfer the grabbed target objects to the feeding position.

[0064] In some embodiments, the method further comprises: alternately providing the carrier plates to the material transfer mechanism by the two stacking storage mechanisms; correcting the position of the carrier plates by the buffer device in the material transfer mechanism, and compacting the carrier plates in the transportation process by the moving device in the material transfer mechanism.

[0065] In some embodiments, the method further comprises: when the target objects on the carrier plates are grabbed, the second grabbing unit in the mechanical grabbing mechanism is used to grab and remove the empty carrier plates.

[0066] In some embodiments, the multi-layer carrier plates with target objects inserted are stored by stacking the storage mechanism, and the single-layer carrier plates are supplied to the material transfer mechanism in layers, comprising: In the initial state, the storage rack is in the standby position at the bottom of the stacking storage mechanism, and after the first carrier plate carries a plurality of carrier plates with target objects inserted, the storage rack is driven upward by the first motor; When the first carrier plate on the storage rack reaches the pushing position, the first pushing plate is driven by the pushing cylinder through the first connecting plate, the second connecting plate and the third connecting plate to push the first carrier plate out of the storage rack and onto the buffer device of the material transfer mechanism; When the storage rack continues to rise by the first motor, so that the second carrier plate on the storage rack reaches the pushing position, the first pushing plate is driven by the pushing cylinder through the second connecting plate and the third connecting plate to push the second carrier plate out of the storage rack and onto the buffer device of the material transfer mechanism.

[0067] In some embodiments, the carrier plate is transported by the material transfer mechanism to the detection area of the visual positioning mechanism, comprising: After the carrier plate from the stacking storage mechanism is obtained by the buffer device of the material transfer mechanism from the stacking storage mechanism, the position of the carrier plate is corrected by the positioning cylinder of the buffer device; After the moving device of the material transfer mechanism moves under the buffer device, the front and rear moving cylinders and the lifting cylinder on the tray of the moving device are in the reset state; After the device lifting cylinder of the buffer device is lowered, the front moving cylinder and the rear moving cylinder are actuated to transfer the carrier plate from the second tray of the buffer device to the tray of the moving device; After the device lifting cylinder of the buffer device is raised, the front moving cylinder, the rear moving cylinder and the positioning cylinder are in the reset state, and the front and rear moving cylinders and the lifting cylinder on the tray of the moving device are actuated to press the carrier plate on the tray with the pressing block on the tray, and the moving device transports the tray with the carrier plate to the detection area of the visual positioning mechanism In some embodiments, the actual position of the target object on the carrier plate is identified by the visual positioning mechanism, and the coordinate deviation between the actual position of the target object and the preset position is calculated to generate compensation coordinates, comprising: In the working state that the camera module on the visual positioning mechanism moves laterally and the tray on the transfer mechanism moves vertically, when the camera module of the visual positioning mechanism and the tray on the material transfer mechanism move to the preset position, the image of the target object on the carrier plate located on the tray is acquired by the camera module; The actual position of the target object on the carrier plate is identified by the visual positioning mechanism according to the acquired image, and the coordinate deviation between the actual position of the target object and the preset position is calculated to generate compensation coordinates, and the compensation coordinates are sent to the mechanical grabbing mechanism.

[0068] In some embodiments, the mechanical grabbing mechanism moves to the target position according to the compensation coordinates, grabs the target object, and moves the grabbed target object to the feeding position, comprising: After the mechanical grabbing mechanism receives the compensation coordinates sent by the visual positioning mechanism, the mechanical grabbing mechanism calculates the target position of the target object according to the tray position of the material transfer mechanism and the camera module position of the visual positioning mechanism, moves the target object to the target position for grabbing, and transfers the grabbed target object to the feeding position; When all the target objects on the tray on the transfer mechanism are grabbed, the second pneumatic finger is lowered by the carrier plate lifting cylinder, the empty carrier plate is clamped by the second pneumatic finger, the empty carrier plate is pulled out when the tray moves, and the empty carrier plate is placed in the recycling box.

[0069] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described method can refer to the specific implementation of the foregoing feeding equipment embodiments, which will not be described here.

[0070] All the above technical solutions can be combined to form optional embodiments of the present application, which will not be described one by one here.

[0071] The feeding method provided by the embodiments of the present application is applied to a feeding equipment, which comprises a stacking storage mechanism, a material transfer mechanism, a visual positioning mechanism, and a mechanical grabbing mechanism. The stacking storage mechanism stores multiple layers of carrier plates with target objects inserted, and supplies single-layer carrier plates to the material transfer mechanism in layers. The material transfer mechanism transports the carrier plates to the detection area of the visual positioning mechanism. The visual positioning mechanism identifies the actual position of the target object on the carrier plate, calculates the coordinate deviation between the actual position of the target object and the preset position, and generates compensation coordinates. The mechanical grabbing mechanism moves to the target position according to the compensation coordinates, grabs the target object, and moves the grabbed target object to the feeding position. The embodiments of the present application realize automatic identification of the position of the target object on the carrier plate and automatic grabbing and transfer of feeding based on the cooperative operation of the stacking storage mechanism, the material transfer mechanism, the visual positioning mechanism, and the mechanical grabbing mechanism of the feeding equipment, realize an automatic process, improve production efficiency, improve product precision, and reduce production cost.

[0072] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0073] In the description of the embodiments of the present application, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0074] Those skilled in the art can appreciate that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solutions. Those skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0075] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the above-described device embodiments are only illustrative, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0076] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, i.e. can be located in one place or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0077] In addition, each functional unit in the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0078] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the essential part or part of the technical solutions that make contributions to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server) to execute all or part of the steps of the method described in the embodiments of the present application. The foregoing storage medium includes: U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk and various program code storage media.

[0079] The above merely provides the specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A loading apparatus characterized by comprising: include: A stacking storage mechanism for storing multiple layers of carrier plates on which target objects are inserted; A material transfer mechanism is provided at the discharge end of the stacking and storage mechanism to transport the carrier plate to the detection area of ​​the vision positioning mechanism; The visual positioning mechanism, corresponding to the transfer path setting of the material transfer mechanism, is used to identify the actual position of the target object and calculate the coordinate deviation between the actual position of the target object and the preset position to generate compensation coordinates. A mechanical gripping mechanism is disposed above the material transfer mechanism and is used to move to the target position according to the compensation coordinates, grip the target object, and transfer the gripped target object to the loading position.

2. The loading apparatus according to claim 1, wherein The stacking storage mechanism includes: A material storage frame, wherein the material storage frame is provided with multiple first trays for supporting the carrier plate; A support transmission device is connected to the storage frame and is used to drive the storage frame to perform vertical lifting and lowering movements; A pushing device is provided on the discharge side of the storage frame, and is used to horizontally push a single-layer carrier plate located at a preset pushing height from the storage frame to the material transfer mechanism; The stacking storage mechanism is of two types, and the two stacking storage mechanisms are used to alternately provide the carrier plate to the material transfer mechanism.

3. The loading apparatus according to claim 2, wherein The storage frame also includes a lead screw moving base plate, a first rib plate, a connecting reinforcing plate, an aluminum profile, and left and right limiting plates; the pushing device includes a first pushing plate, a first connecting plate, a second connecting plate, and a pushing cylinder; the support transmission device includes a first motor, a lead screw module, and a first linear bearing. The storage frame is connected to the first linear bearing and the screw module of the support transmission device through the screw moving base plate; the aluminum profile of the storage frame is fixed to the screw moving base plate through the first rib plate; the connecting reinforcing plate and the left and right limiting plates are fixed to the aluminum profile; In the initial state, the storage rack is in the waiting position at the bottom of the stacking storage mechanism; when the first pallet carries multiple carrier plates with target objects inserted, the storage rack is driven to rise by the first motor. When the first carrier plate on the storage frame reaches the pushing position, the pushing cylinder drives the first pushing plate through the first connecting plate and the second connecting plate to push the first carrier plate out from the storage frame and onto the buffer device of the material transfer mechanism; When the storage rack continues to rise as driven by the first motor, so that the second carrier plate on the storage rack reaches the pushing position, the pushing cylinder drives the first pushing plate through the first connecting plate and the second connecting plate to push the second carrier plate out from the storage rack and onto the buffer device of the material transfer mechanism.

4. The loading apparatus according to claim 3, wherein The material pushing device further includes a third connecting plate, a first column, and a first mounting base; the first column is used to connect the third connecting plate and the first mounting base. The support transmission device further comprises a first motor mounting plate, a second motor mounting plate, a support column, a support column base and a screw rod mounting plate; the support column is mounted on the screw rod mounting plate through the support column base; the first linear bearing is sleeved on the support column; the first motor is connected with the storage rack through the first motor mounting plate and the second motor mounting plate.

5. The loading apparatus of claim 1, wherein, The material transfer mechanism comprises: A buffer device for receiving and temporarily storing the carrier plate pushed out from the stacking storage mechanism; A moving device for receiving the carrier plate from the buffer device and transporting the carrier plate to the detection area of the visual positioning mechanism and the grabbing area of the mechanical grabbing mechanism.

6. The loading apparatus of claim 5, wherein, The buffer device comprises a device lifting cylinder and a storage structure; the device lifting cylinder is used to drive the storage structure to lift; the storage structure comprises a positioning cylinder, which is used to correct the position of the carrier plate.

7. The loading apparatus of claim 6, wherein, The buffer device further comprises a second column, a second mounting base, a top mounting plate, a second rib plate and a first cylinder connecting plate; the storage structure further comprises a first cylinder mounting plate, a front baffle, a second cylinder connecting plate, a second push plate, a front moving cylinder, a rear moving cylinder, a second supporting plate and a rear baffle; The buffer device is fixed to the equipment plate of the feeding equipment through the second column and the second mounting base; the second column supports the top mounting plate; the storage structure is fixed and hung below the top mounting plate through the first cylinder connecting plate, the second rib plate and the device lifting cylinder; the device lifting cylinder is used to fix the first cylinder connecting plate and the first cylinder mounting plate; the storage structure is used to lift according to the stroke of the device lifting cylinder; The front moving cylinder and the rear moving cylinder are fixed to the first cylinder mounting plate; the front baffle is fixed to the front moving cylinder, so that the front baffle moves according to the stroke of the front moving cylinder; the rear baffle is fixed to the rear moving cylinder, so that the rear baffle moves according to the stroke of the rear moving cylinder; The second supporting plate is fixed to the front baffle and the rear baffle, and is used to carry the carrier plate; The positioning cylinder is fixed to the front baffle through the second cylinder connecting plate; the second push plate is fixed to the positioning cylinder, so that the second push plate moves according to the stroke of the positioning cylinder, so as to position and correct the position of the carrier plate on the second supporting plate.

8. The loading apparatus of claim 7, wherein, The moving device comprises a second motor, a tray, a first synchronous belt, a first synchronous wheel, a pressing block, a lifting cylinder and a front and rear moving cylinder; the second motor is used to drive the first synchronous belt and the first synchronous wheel to rotate to drive the tray to move; the pressing block is used to press the carrier plate to the tray under the linkage action of the lifting cylinder and the front and rear moving cylinder.

9. The loading apparatus of claim 8, wherein, The moving device further comprises a pad, a third motor mounting plate, a slide rail mounting plate, a first linear slide rail, a first synchronous belt pressing block, a first synchronous belt connecting block, a slider connecting plate, a double slider connecting block and a first slider; The moving device is fixed to the device base plate of the feeding equipment through the cushion block, the slide rail mounting plate is fixed to the cushion block, the first linear slide rail is fixed to the slide rail mounting plate, and the slide block connecting plate is used for fixedly connecting the first slide block and the tray; The second motor is fixed to the device base plate through the third electric mounting plate, and the second motor is used for driving the first synchronous belt and the first synchronous wheel to rotate to drive the tray to move; The double slide block connecting block is connected with the first synchronous belt through the first synchronous belt connecting block and the first synchronous belt pressing block, and the double slide block connecting block fixes two slide block connecting plates, so that the two slide block connecting plates keep synchronization in movement. The front and rear moving air cylinder is fixed to the tray, the lifting air cylinder is fixed to the front and rear moving air cylinder, and the pressing block is fixed to the lifting air cylinder, so that the pressing block moves forward and backward according to the stroke of the front and rear moving air cylinder and moves up and down according to the stroke of the lifting air cylinder.

10. The loading apparatus of claim 9, wherein, After the buffer device obtains the carrier plate from the stacking storage mechanism, the positioning air cylinder of the buffer device is actuated to correct the position of the carrier plate; After the moving device moves below the buffer device, the front and rear moving air cylinder and the lifting air cylinder on the tray of the moving device are in the reset state; After the device lifting air cylinder of the buffer device is lowered, the front moving air cylinder and the rear moving air cylinder are actuated to transfer the carrier plate from the second tray of the buffer device to the tray of the moving device; After the device lifting air cylinder of the buffer device is raised, the front moving air cylinder, the rear moving air cylinder and the positioning air cylinder are in the reset state, and the front and rear moving air cylinder and the lifting air cylinder on the tray of the moving device are actuated to press the carrier plate on the tray by the pressing block, and the moving device transports the tray with the carrier plate to the detection area of the visual positioning mechanism.

11. The loading apparatus of claim 1, wherein, The visual positioning mechanism comprises: A camera module is used for collecting images of the target object on the carrier plate; A first moving module is used for driving the camera module to move in a first direction; The visual positioning mechanism is used for identifying the actual position of the target object according to the collected images, calculating the coordinate deviation between the actual position of the target object and the preset position, and generating the compensation coordinates.

12. The loading apparatus of claim 11, wherein, The camera module comprises a fourth connecting plate, a first camera connecting plate, a camera, a second camera connecting plate, a light source mounting plate and a light source; The first moving module comprises a third mounting base, a third vertical column, a first connecting piece, a third motor, a second synchronous wheel, a second synchronous belt, a photographing base plate, a second synchronous belt connecting block, a second synchronous belt pressing block, a second slide block and a second linear slide rail; The first moving module comprises a third mounting base, a third vertical column, a first connecting piece, a third motor, a second synchronous wheel, a second synchronous belt, a photographing base plate, a second synchronous belt connecting block, a second synchronous belt pressing block, a second slide block and a second linear slide rail; The visual positioning mechanism is fixed to the equipment large plate of the feeding equipment through the third mounting base and the third stand, the photographing large plate is fixedly connected with the third stand through two first connecting pieces, the second linear slide rail is fixed to the photographing large plate, and the fourth connecting plate is fixed to the second sliding block and connected with the second linear slide rail; The camera is fixed to the fourth connecting plate through the first camera connecting plate and the second camera connecting plate, the light source is fixed to the fourth connecting plate through the light source mounting plate, and the fourth connecting plate is connected with the second synchronous belt through the second synchronous belt connecting block and the second synchronous belt pressing block; The third motor is used for driving the second synchronous wheel and the second synchronous belt to rotate, so as to drive the fourth connecting plate to move.

13. The loading apparatus of claim 11, wherein, In the working state that the camera module on the visual positioning mechanism moves laterally and the tray on the transfer mechanism moves vertically, when the camera module of the visual positioning mechanism and the tray on the material transfer mechanism move to a preset position, the image of the target object on the carrier plate located on the tray is collected through the camera module; The actual position of the target object on the carrier plate is recognized according to the collected image through the visual positioning mechanism, the coordinate deviation of the actual position of the target object from the preset position is calculated, the compensation coordinates are generated, and the compensation coordinates are sent to the mechanical grabbing mechanism.

14. The loading apparatus of claim 1, wherein, The mechanical grabbing mechanism is also used for removing the empty carrier plate on which the target object has been grabbed.

15. The loading apparatus of claim 14, wherein, The mechanical grabbing mechanism comprises: A first grabbing assembly comprising a first driving device and a first pneumatic finger, the first driving device being used for driving the first pneumatic finger to move and / or rotate in a three-dimensional space to grab the target object; A second grabbing assembly comprising a second driving device and a second pneumatic finger, the second driving device being used for driving the second pneumatic finger to make vertical lifting movement to grab the empty carrier plate; A second moving module used for driving the first grabbing assembly to move in a second direction and / or the second grabbing assembly to move in a third direction.

16. The loading apparatus of claim 15, wherein, The first driving device comprises a second cylinder mounting plate, a grabbing lifting cylinder, a first rotary cylinder connecting plate, a second rotary cylinder connecting plate, a third rib plate, a rotary cylinder, a first jaw connecting plate, a second jaw connecting plate, a third jaw connecting plate and a first clamping piece; The second driving device comprises a third cylinder connecting plate, a fourth cylinder connecting plate, a carrier plate lifting cylinder, a second linear bearing, a guide shaft, a first claw connecting plate, a second claw connecting plate and a second clamping piece; The second moving module comprises a fourth mounting base, a fourth stand, a second connecting piece, a fourth motor, a third synchronous wheel, a third synchronous belt, a grabbing unloading large plate, a third sliding block, a third linear slide rail, a third synchronous belt pressing block and a third synchronous belt connecting block; The mechanical grabbing mechanism is fixed to the equipment main plate of the feeding equipment through the fourth mounting base and the fourth stand column, the grabbing and discharging main plate is fixedly connected to the fourth stand column through two second connecting members, the third linear slide rail is fixed to the grabbing and discharging main plate, and the second cylinder mounting plate is fixed to the third sliding block and connected with the third linear slide rail; The grabbing and lifting cylinder is fixed to the second cylinder mounting plate, the rotary cylinder is fixed to the second cylinder mounting plate through the first rotary cylinder connecting plate, the second rotary cylinder connecting plate and the third rib plate, the first pneumatic finger is fixed to the rotary cylinder through the first clamping jaw connecting plate, the second clamping jaw connecting plate and the third clamping jaw connecting plate, so that the first pneumatic finger moves up and down according to the stroke of the grabbing and lifting cylinder and rotates according to the stroke of the rotary cylinder, the first clamping piece is mounted on the first pneumatic finger, and the second cylinder mounting plate is connected with the third synchronous belt through the third synchronous belt connecting block and the third synchronous belt pressing block; The fourth motor is used for driving the third synchronous wheel and the third synchronous belt to rotate, so as to drive the second cylinder mounting plate to move; The carrier plate lifting cylinder, the second linear bearing and the guide shaft are fixed to the grabbing and discharging main plate through the third cylinder connecting plate and the fourth cylinder connecting plate and connected with the first clamping jaw connecting plate, and the second pneumatic finger is fixedly connected with the first clamping jaw connecting plate through the second clamping jaw connecting plate, so that the second pneumatic finger moves up and down according to the stroke of the carrier plate lifting cylinder, and the second clamping piece is mounted on the second pneumatic finger.

17. The loading apparatus of claim 16, wherein, After the mechanical grabbing mechanism receives the compensation coordinates sent by the visual positioning mechanism, the mechanical grabbing mechanism calculates the target position of the target object according to the tray position of the material transfer mechanism and the camera module position of the visual positioning mechanism, moves the target object to the target position for grabbing, and transfers the grabbed target object to the feeding position; When all the target objects on the tray on the transfer mechanism are grabbed, the second pneumatic finger is lowered through the carrier plate lifting cylinder, the empty carrier plate is clamped through the second pneumatic finger, the empty carrier plate is extracted when the tray moves, and the empty carrier plate is placed in the recycling box.

18. A method of loading material, characterized by, The method is applied to the feeding equipment in any one of claims 1 to 17, and the method comprises: The stacked storage mechanism is used for storing multiple layers of carrier plates with target objects inserted, and single-layer carrier plates are supplied to the material transfer mechanism in layers; The material transfer mechanism is used for transporting the carrier plates to the detection area of the visual positioning mechanism; The visual positioning mechanism is used for identifying the actual positions of the target objects on the carrier plates, calculating the coordinate deviation between the actual positions of the target objects and preset positions, and generating compensation coordinates; The mechanical grabbing mechanism is used for moving to a target position according to the compensation coordinates, grabbing target objects and transferring the grabbed target objects to a feeding position.

Images