A feeding module

Abstract

The present application relates to the field of automation machinery, in particular to a feeding module, comprising a plurality of feeding mechanisms and a transfer mechanism. The feeding mechanism comprises a hopper, a position sensor and a lifting assembly. The top opening of the hopper is the discharge position of the hopper, and a plurality of workpieces are stacked in the hopper below the discharge position. The lifting assembly is arranged below the hopper and comprises a push plate for controllably lifting the workpieces accommodated in the hopper. The position sensor is used to sense the top workpiece in the hopper reaching the discharge position of the hopper. The transfer mechanism is used to transfer the workpiece located at the discharge position of any hopper to a carrier. Through the separate feeding and feeding of multiple feeding mechanisms, the transfer mechanism can continuously transfer the workpieces, and has high transfer speed and accuracy.

Description

Technical Field

[0001] This invention relates to the field of automated machinery, and in particular to a feeding module. Background Technology

[0002] In the field of automated machinery, a feeding mechanism is a system that sequentially provides workpieces positioned in a defined direction to each workstation. Continuous and stable feeding is achieved by temporarily storing multiple workpieces in a hopper and then sequentially transferring the workpieces within the hopper.

[0003] However, the number of workpieces stored in the silo is limited. After all the stored workpieces have been transferred, it is necessary to replenish the silo, which will cause the material supply process to stop and is not conducive to the smooth operation of the production line as a whole. Summary of the Invention

[0004] The purpose of this invention is to provide a feeding module that can provide continuous and stable material supply.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A feeding module, comprising:

[0007] Multiple feeding mechanisms are provided, each of which includes a hopper, a position sensor, and a lifting assembly. The top opening of the hopper is the discharge position, and several workpieces are stacked directly below the discharge position inside the hopper. The position sensor is located above the hopper, and its sensing height corresponds to the discharge position of the hopper. The lifting assembly is located below the hopper and includes a push plate for controllably lifting and lowering the workpieces housed in the hopper.

[0008] A transfer mechanism for transferring the workpiece located at the discharge position of any of the said hoppers to a carrier.

[0009] Optionally, the hopper includes a material tray and a plurality of pins connected to the material tray. A through hole is provided in the middle of the material tray. The plurality of parallel pins are arranged around the through hole and are positioned to fit the workpiece for limiting the workpiece. Several stacked workpieces are controllably raised and lowered along the pins under the push of the push plate.

[0010] Optionally, the feeding mechanism further includes a feeding assembly, which includes a track plate and a feeding track disposed on the track plate. The feeding track extends in a direction away from the transfer robot. The loading tray is supported on the track plate and slidably connected to the feeding track. The loading tray is provided with a handle for driving the loading tray to slide along the feeding track. The workpiece housed in the hopper is supported on the loading tray, and the initial position of the push plate is located below the loading tray.

[0011] Optionally, the material tray is provided with multiple positioning slide rails extending toward the through hole. The bottom surface of the positioning slide rail is provided with multiple fixing holes arranged along the positioning slide rail. The pin has a sliding part and a limiting part connected to each other. The limiting part is parallel to the running direction of the push plate. The sliding part slides on the positioning slide rail of the material tray. The sliding part is provided with an elongated hole that matches the fixing hole. The elongated hole passes through the sliding part and is parallel to the positioning slide rail. A connector that is fastened to the elongated hole passes through the elongated hole and is detachably connected to any of the fixing holes.

[0012] Optionally, the lifting assembly includes a support plate, a telescopic member, and a pushing member. The support plate is supported below the hopper. One end of the telescopic member is supported by the support plate, and the other end supports the pushing member. The pushing member includes a base plate, connecting columns, and push plates. The base plate is plate-shaped and connected to the telescopic member. Multiple connecting columns are distributed and supported on the surface of the base plate away from the telescopic member. Multiple push plates of the same height are connected to the end of the connecting columns away from the base plate, and each push plate is supported by multiple connecting columns. The telescopic member can be controllably extended and retracted to push the multiple push plates to rise and fall synchronously.

[0013] Optionally, the transfer mechanism includes a transfer manipulator and multiple adsorption components connected to the manipulator. The positions of the adsorption components are adapted to the structure of the workpiece for controllably adsorbing, fixing, or releasing the workpiece, and the multiple adsorption components operate synchronously.

[0014] Optionally, the feeding module further includes a discharge mechanism, which includes two swaying plates. Multiple carriers are arranged in a regular pattern on the swaying plates. The two swaying plates reciprocate controllably between their feeding position and the swaying position. The transfer mechanism places the workpieces sequentially onto the carriers on the swaying plates located at the swaying positions. The swaying plate located at the feeding position is used to provide a set of regularly arranged workpieces.

[0015] Optionally, the two material-laying plates have the same material-laying position and the two material-feeding plates have the same material-feeding position.

[0016] Optionally, the discharge mechanism further includes a first conveying component and a second conveying component.

[0017] The first conveying component includes a first conveying table and a first power component. Any of the material-lifting plates is supported on the first conveying table. The first power component drives the first conveying table to move controllably, so that the material-lifting plate supported on the first conveying table reciprocates between the material-lifting position and the material-feeding position.

[0018] The second conveying assembly includes a second conveying platform, a second power component, and a lifting component. The lifting component is supported on the second conveying platform, and another material-swinging plate is supported on the lifting component. When the second power component drives the second conveying platform to reciprocate controllably below the material-swinging position and below the material-feeding position, the lifting component is in a descending state, and the material-swinging plate supported on the lifting component passes under the first conveying platform. When the second conveying platform is located below the material-swinging position or below the material-feeding position, the lifting component drives the material-swinging plate supported on the lifting component to rise to the material-swinging position or the material-feeding position.

[0019] Optionally, the sway plate located at the feeding position provides a set of regularly arranged workpieces to the multi-arm rotary table robot.

[0020] The beneficial effects of this invention are as follows: The lifting assembly pushes the stacked workpieces stored in the hopper, raising the top layer of workpieces to the top opening of the hopper. At this point, the position sensor detects that a workpiece has reached the sensing height, the lifting assembly stops moving, and the top layer of workpieces in the hopper is positioned at the discharge position, ready for the transfer mechanism to a carrier located at a specific position. The cooperation between the lifting assembly and the position sensor helps to quickly and accurately transfer a workpiece to the discharge position, improving the efficiency and accuracy of material feeding. By setting up multiple feeding mechanisms, when the workpieces in the hopper of any one feeding mechanism are transferred, another feeding mechanism supplies material to the transfer mechanism. Simultaneously, empty hoppers are replenished for the next round of feeding, thus ensuring continuous feeding and enabling the transfer mechanism to perform stable transfer operations.

[0021] Furthermore, by using pins arranged around the workpiece to restrict its lateral freedom, deviations between the workpiece's position at the sensor's sensing height and its discharge position are prevented. The pins pass through holes in the loading tray, pushing only multiple layers of workpieces upwards, while the positions of the loading tray and the pins remain unchanged, preventing interference between the transfer mechanism and the pins.

[0022] Furthermore, by setting a loading component, the hopper can slide away from the transfer robot via the loading track, thus moving it away from the robot's work area. This facilitates the placement of workpieces into the empty hopper, prevents interference with the transfer robot during loading, and helps improve operational safety.

[0023] Furthermore, the sliding part of the pin can be detachably connected to the positioning slide rail through different fixing holes, which helps to adjust the position of the pin and adapt to workpieces of different specifications. Fastening the pin to any position on the elongated hole via a connector facilitates fine-tuning of the pin's position and accurate workpiece positioning, thereby improving the versatility of the feeding module.

[0024] Furthermore, setting multiple push rods to simultaneously push multi-layer workpieces helps improve the stability of workpiece lifting and lowering, and improves the accuracy of workpiece positioning.

[0025] Furthermore, placing multiple workpieces sequentially onto the stacking plate to form a group and then transferring them simultaneously helps maintain the same arrangement pattern for each group of workpieces, facilitating the unified retrieval of a group of workpieces, thus meeting the needs of subsequent processes and helping to improve production efficiency.

[0026] Furthermore, making the material placement and feeding positions of the two material placement plates the same helps the transfer robot reach the target position, reduces the number of pick-up positions when picking up a set of arranged workpieces, lowers the stroke requirements of the robot, and reduces the complexity of system programming, thus helping to reduce the overall production cost of the machine.

[0027] Furthermore, the second conveying component passes under the other material tray when transferring the material tray to prevent interference between the two material trays.

[0028] Furthermore, using a multi-arm rotary table robot to pick up a group of workpieces located at the feeding position helps to improve transfer efficiency.

[0029] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the feeding module shown in Embodiment 1 of the present invention after the housing has been removed;

[0031] Figure 2 This is a schematic diagram of the feeding mechanism shown in Embodiment 1 of the present invention;

[0032] Figure 3 This is a schematic diagram of the material discharge mechanism shown in Embodiment 1 of the present invention.

[0033] Legend: 101-Workbench, 1-Feeding mechanism, 2-Hopper, 21-Carrying tray, 211-Through hole, 212-Positioning slide rail, 22-Pin rod, 221-Sliding part, 222-Elongated hole, 223-Limiting part, 3-Position sensor, 4-Lifting assembly, 41-Support plate, 42-Telescopic component, 43-Pushing component, 431-Base plate, 432-Connecting column, 5-Feeding assembly, 51-Track plate, 52-Feeding track, 53-Handle, 6-Transfer mechanism, 61-Adsorption component, 7-Discharge mechanism, 71-Swing plate, 711-Carrier, 721-First conveyor, 722-First power component, 723-First track, 731-Second conveyor, 732-Second power component, 733-Lifting component, 734-Second track. Detailed Implementation

[0034] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0036] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0037] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0038] Please see Figure 1The feeding module protected by this invention includes multiple feeding mechanisms 1 and a transfer mechanism 6. The feeding mechanism 1 includes a hopper 2, a position sensor 3, and a lifting assembly 4. The top opening of the hopper 2 is the discharge position of the hopper 2, and several workpieces are stacked directly below the discharge position inside the hopper 2. The lifting assembly 4 is located below the hopper 2 and includes a push plate for controllably lifting and lowering the workpieces contained within the hopper 2. The position sensor 3 is used to sense when the top workpiece in the hopper 2 reaches the discharge position of the hopper 2. The transfer mechanism 6 is used to transfer the workpiece located at any discharge position of the hopper 2 to a carrier 711.

[0039] The lifting assembly 4 pushes the stacked workpieces stored in the hopper 2, raising the top layer of workpieces to the top opening of the hopper 2. At this point, the position sensor 3 detects that a workpiece has reached the sensing height, the lifting assembly 4 stops moving, and the top layer of workpieces in the hopper 2 is positioned at the discharge position, ready for the transfer mechanism 6 to the carrier 711 located at a specific position. The cooperation between the lifting assembly 4 and the position sensor 3 helps to quickly and accurately transfer a workpiece to the discharge position, improving the efficiency and accuracy of the feeding process. By setting up multiple feeding mechanisms 1, when the workpieces in the hopper 2 of any one feeding mechanism 1 have been transferred, another feeding mechanism 1 feeds the transfer mechanism 6, while simultaneously replenishing the empty hopper 2 for the next round of feeding, thus ensuring the continuity of the feeding process and enabling the transfer mechanism 6 to perform stable transfer operations.

[0040] Please refer to the following examples for details.

[0041] Example 1:

[0042] Please see Figure 1 The feeding module shown in a preferred embodiment of this application includes a horizontally arranged workbench 101, two identical feeding mechanisms 1 supported on the workbench 101, a transfer mechanism 6 disposed on the workbench 101, and a housing connected above the workbench 101. The two feeding mechanisms 1 are arranged side by side and operate independently. The transfer mechanism 6 is disposed on the same side of the two feeding mechanisms 1 and between the two feeding mechanisms 1, facilitating material retrieval from either feeding mechanism 1 with the same travel distance during retrieval. The housing is used to protect the mechanisms supported on the workbench 101 and is provided with multiple openable operating doors for observation and adjustment of the internal machinery.

[0043] Please see Figure 1 and Figure 2 The feeding mechanism 1 includes a hopper 2, a position sensor 3, and a lifting assembly 4. The lifting assembly 4 pushes several layers of workpieces stacked in the hopper 2 to rise synchronously until the top workpiece reaches the outlet at the top of the hopper 2. At this time, the position sensor 3 senses that the workpiece has reached its sensing height, the lifting assembly 4 stops running, and the top workpiece is positioned at the discharge position of the hopper 2 for the transfer mechanism 6 to pick up.

[0044] The hopper 2 includes a horizontally arranged material tray 21, multiple pins 22, and connectors detachably connected between the material tray 21 and each pin 22. The material tray 21 is constructed as a rectangular flat plate with a through hole 211 in its center. The through hole 211 includes two elongated through holes symmetrically arranged along the center point of the material tray 21. The workpiece is supported on the through hole 211, and six pins 22 are arranged around the workpiece along its edge contour. Six positioning slide rails 212 are arranged on the material tray 21 to correspond to the positions of each pin 22, extending from the edges of the material tray 21 in four directions toward the through hole 211, and the positioning slide rails 212 are constructed as rectangular grooves. Four of the positioning slide rails 212 are perpendicular to the through hole 211 and are arranged symmetrically in pairs, respectively connecting the elongated through holes and the edges of the material tray 21. Two other positioning slide rails 212 are parallel to the through hole 211, with one end connected to the edge of the material tray 21 and the other end inserted between two elongated through holes. Each positioning slide rail 212 has multiple positioning holes arranged parallel to the positioning slide rail 212 at its bottom, and these positioning holes are interconnected. The pin 22 includes a sliding part 221 and a limiting part 223 connected to each other. The sliding part 221 of the pin 22 is constructed as a block that fits into each positioning slide rail 212 and slides along the positioning slide rail 212. An elongated hole 222 parallel to the positioning slide rail 212 is formed on the sliding part 221 at the position corresponding to the positioning hole. The elongated hole 222 penetrates the sliding part 221 and its length is greater than the distance between adjacent positioning holes. The limiting part 223 is constructed as a vertically arranged column for limiting multi-layered workpieces. The connector is a bolt, which passes through any position of the elongated hole 222 and any positioning hole, thereby being detachably connected to the material tray 21 and fastened to the pin 22, so that the pin 22 can be detachably positioned at any position within the positioning slide rail 212 of the material tray 21.

[0045] The position sensor 3 is a through-beam photoelectric sensor, with its transmitter and receiver respectively located on both sides of the hopper 2, and their heights corresponding to the top heights of each pin 22. One of the transmitter and receiver is positioned between the two feeding mechanisms 1 to sense whether a workpiece has reached the discharge position at the top of the hopper 2.

[0046] The lifting assembly 4 includes a support plate 41, a telescopic member 42, and a pushing member 43. The support plate 41 is fixedly connected to the worktable 101 and embedded below the worktable 101. The telescopic member 42 is a motor, fixedly connected to the support plate 41, and can be controllably extended and retracted. The pushing member 43 includes a base plate 431, connecting columns 432, and push plates. The rectangular base plate 431 is supported by the telescopic member 42 and rises vertically as the telescopic member 42 extends. The four connecting columns 432 are all identical cylindrical structures, supported at the four corners above the base plate 431. The two ends of two identical and parallel elongated push plates are respectively supported by the two connecting columns 432, and the width of the push plates is greater than the diameter of the connecting columns 432. The structure of the push plates is matched with the through hole 211 of the material tray 21, so that the push plates can be controllably moved between above and below the material tray 21 under the push of the telescopic member 42. When hopper 2 supplies material, the corresponding pusher plate smoothly lifts multiple layers of workpieces within hopper 2 until the positioning sensor 3 detects the workpiece. The transfer mechanism 6 then performs a material retrieval, while the lifting assembly 4 continues to lift the multiple layers of workpieces. When the pusher plate reaches its highest position, its upper support only supports one layer of workpieces, and the workpieces are located at the discharge position of hopper 2. After the transfer mechanism 6 performs a material retrieval, the pusher plate descends to its initial position, below the loading tray 21.

[0047] The feeding mechanism 1 also includes a loading assembly 5. The loading assembly 5 includes a track plate 51 fixedly supported on the workbench 101, loading tracks 52 disposed on the upper surface of the track plate 51, and a handle 53 connected to the loading tray 21. The track plate 51 has circular holes corresponding to the positions of each connecting post 432, which are fitted to each connecting post 432. The connecting post 432 passes through the circular holes and a push plate is disposed above the track plate 51. The support plate 41 is fixedly connected to the track plate 51. The two loading tracks 52 are horizontally disposed outside the circular holes and extend in a direction away from the transfer mechanism 6. The loading tray 21 is slidably connected to the loading tracks 52, and the loading tray 21 is provided with a handle 53 perpendicular to the loading tracks 52, which facilitates pulling the loading tray 21 to slide along the loading tracks 52. When the hopper 2 of one feeding mechanism 1 is empty, the transfer mechanism 6 takes material from another feeding mechanism 1 and pulls the empty hopper 2 to a position away from the lifting component 4 and the transfer mechanism 6 for replenishment. This prevents interference with other structures during replenishment and helps improve the safety of replenishment while the feeding module is running. A limiter is provided at one end of the loading track 52 near the transfer mechanism 6 to prevent the loading tray 21 from derailing and to indicate the position of the loading tray 21 when it aligns with the lifting component 4.

[0048] Please see Figure 1The transfer mechanism 6 includes a four-axis manipulator and multiple suction components 61 connected to the free end of the manipulator. The structure of the four-axis manipulator is existing technology and will not be described further here; one rotation axis of the manipulator is hidden and not shown in the figure. A plate-shaped mating component is directly connected to the free end of the four-axis manipulator. Multiple suction components 61 are all connected to the mating component with their suction direction facing downwards, and their arrangement is matched to the workpiece. The suction components 61 are vacuum nozzles used for controllably adsorbing, fixing, or releasing the workpiece. Multiple suction components 61 operate synchronously.

[0049] Please see Figure 1 and Figure 3 The feeding module in this embodiment also includes a discharging mechanism 7. The discharging mechanism 7 includes two horizontally arranged elongated racking plates 71, and a first conveying component and a second conveying component that controllably move the two racking plates 71. The initial positions of the two racking plates 71 are the racking position and the feeding position, respectively. Each racking plate 71 has four carriers 711 formed by multiple positioning pins that fit the workpiece structure and are used for positioning and limiting the workpiece. The transfer mechanism 6 sequentially places the workpieces provided by the feeding mechanism 1 into the carriers 711 on the racking plate 71 located at the racking position.

[0050] The first conveying assembly includes a first conveyor table 721, a first power component 722, and a first track 723. The first conveyor table 721 is horizontally arranged and constructed as a rectangular plate structure. Two first tracks 723 are parallel to the feeding track 52 and are located below the first conveyor table 721. The first conveyor table 721 is slidably connected to the two first tracks 723 near its two side edges. The first power component 722 is a combination of a first motor and a first screw, parallel to the first track 723 and located outside either track. The sliding end of the screw is fixedly connected to the bottom surface of the first conveyor table 721. The first motor drives the first conveyor table 721 to slide controllably along the first track 723, thereby causing the supporting material-carrying plate 71 to reciprocate between the material-carrying position and the material-feeding position.

[0051] The second conveying assembly includes a second conveying platform 731, a second power component 732, a lifting component 733, and a second track 734. Both second tracks 734 are parallel to the first track 723 and are located below and inside the two first tracks 723. The second conveying platform 731 is slidably connected to the first track 723 and has a similar structure to the first conveying platform 721, with a square cylinder bore in the center. The second power component 732 has the same structure as the first power component 722, is parallel to the second track 734, and is connected to the center of the bottom surface of the second conveying platform 731. The lifting component 733 is a cylinder, fixedly connected to the second conveying platform 731, and embedded in the cylinder bore of the second conveying platform 731, thus saving longitudinal space. The material handling plate 71 is supported by the lifting component 733 and moves vertically with the extension and retraction of the lifting component 733. When the lifting member 733 is in a compressed state, the height of the sway plate 71 supported by the lifting member 733 and the workpiece thereon is lower than that of the first power member 722 and the first track 723. When the lifting member 733 is in an extended state, the height of the sway plate 71 supported by the lifting member 733 is flush with the sway position and the feeding position. When the first conveyor table 721 and the second conveyor table 731 move in opposite directions, the lifting member 733 is in a compressed state, and the sway plate 71 supported by the second conveyor table 731 passes under the first conveyor table 721. The second power member 732 and the lifting member 733 drive the sway plate 71 supported by the lifting member 733 to reciprocate between the sway position and the feeding position.

[0052] A three-armed rotary table robot is installed on the side of the unloading mechanism 7 away from the transfer mechanism 6. When the transfer mechanism 6 sequentially places multiple workpieces into the unloading plate 71 located at the unloading position, the three-armed rotary table robot simultaneously picks up a group of workpieces carried in the unloading plate 71 located at the feeding position. When the transfer mechanism 6 completes unloading, the two unloading plates 71 switch positions, and the rotary table of the three-armed rotary table robot rotates so that another robot arm is aligned with the feeding position. The robot arm carrying a group of workpieces places the group of workpieces simultaneously to the next station, thereby improving transfer efficiency and facilitating the rapid delivery of a group of regularly arranged workpieces.

[0053] The beneficial effects of this invention are: continuous, smooth and stable operation, no downtime or waiting in any structure, and high transfer accuracy and safety, making it less prone to malfunctions or safety accidents.

[0054] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0055] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A feeding module, characterized in that, include: Multiple feeding mechanisms (1), each feeding mechanism (1) includes a hopper (2), a position sensor (3) and a lifting assembly (4). The top opening of the hopper (2) is the discharge position, and several workpieces are stacked directly below the discharge position in the hopper (2). The position sensor (3) is located above the hopper (2), and its sensing height corresponds to the discharge position of the hopper (2). The lifting assembly (4) is located below the hopper (2) and includes a push plate for controllably lifting and lowering the workpieces contained in the hopper (2). A transfer mechanism (6) is used to transfer the workpiece located at the discharge position of any of the said hoppers (2) to a carrier (711).

2. The feeding module as described in claim 1, characterized in that, The hopper (2) includes a material tray (21) and a plurality of pins (22) connected to the material tray (21). The material tray (21) has a through hole (211) in the middle. A plurality of parallel pins (22) are arranged around the through hole (211) and are positioned to fit the workpiece for limiting the workpiece. Several stacked workpieces are controllably raised and lowered along the pins (22) under the push of the push plate.

3. The feeding module as described in claim 2, characterized in that, The feeding mechanism (1) further includes a feeding assembly (5), which includes a track plate (51) and a feeding track (52) disposed on the track plate (51). The feeding track (52) extends away from the transfer robot. The loading tray (21) is supported on the track plate (51) and slidably connected to the feeding track (52). The loading tray (21) is provided with a handle (53) for driving the loading tray (21) to slide along the feeding track (52). The workpiece contained in the hopper (2) is supported on the loading tray (21), and the initial position of the push plate is located below the loading tray (21).

4. The feeding module as described in claim 2, characterized in that, The material tray (21) is provided with multiple positioning slide rails (212) extending toward the through hole (211). The bottom surface of the positioning slide rail (212) is provided with multiple fixing holes arranged along the positioning slide rail (212). The pin (22) has a sliding part (221) and a limiting part (223) connected to each other. The limiting part (223) is parallel to the running direction of the push plate. The sliding part (221) slides on the positioning slide rail (212) of the material tray (21). The sliding part (221) is provided with an elongated hole (222) that matches the fixing hole. The elongated hole (222) passes through the sliding part (221) and is parallel to the positioning slide rail (212). The connector fastened to the elongated hole (222) passes through the elongated hole (222) and can be detachably connected to any of the fixing holes.

5. The feeding module as described in claim 1, characterized in that, The lifting assembly (4) includes a support plate (41), a telescopic member (42), and a pushing member (43). The support plate (41) is supported below the hopper (2). One end of the telescopic member (42) is supported by the support plate (41), and the other end is supported by the pushing member (43). The pushing member (43) includes a base plate (431), connecting columns (432), and push plates. The base plate (431) is plate-shaped and connected to the telescopic member (42). Multiple connecting columns (432) are distributed and supported on the surface of the base plate (431) away from the telescopic member (42). Multiple push plates of the same height are connected to the end of the connecting column (432) away from the base plate (431), and each push plate is supported by multiple connecting columns (432). The telescopic member (42) can be controllably extended and retracted to push multiple push plates to rise and fall synchronously.

6. The feeding module as described in claim 1, characterized in that, The transfer mechanism (6) includes a transfer manipulator and a plurality of adsorption components (61) connected to the manipulator. The position of the adsorption components (61) is matched with the structure of the workpiece for controllable adsorption, fixation or release of the workpiece, and the plurality of adsorption components (61) operate synchronously.

7. The feeding module as described in claim 1, characterized in that, It also includes a material feeding mechanism (7), which includes two material feeding plates (71). Multiple regularly arranged carriers (711) are provided on the material feeding plates (71). The two material feeding plates (71) move back and forth controllably between their feeding positions and material feeding positions. The transfer mechanism (6) places the workpieces sequentially onto the carriers (711) on the material feeding plates (71) located at the material feeding positions. The material feeding plates (71) located at the feeding positions are used to provide a set of regularly arranged workpieces.

8. The feeding module as described in claim 7, characterized in that, The two material-laying plates (71) have the same material-laying position, and the two material-feeding plates (71) have the same material-feeding position.

9. The feeding module as described in claim 8, characterized in that, The material discharge mechanism (7) also includes a first conveying component and a second conveying component. The first conveying component includes a first conveying table (721) and a first power component (722). Any of the material-laying plates (71) is supported on the first conveying table (721). The first power component (722) drives the first conveying table (721) to move controllably, so that the material-laying plates (71) supported on the first conveying table (721) reciprocate between the material-laying position and the material-feeding position. The second conveying assembly includes a second conveying platform (731), a second power component (732), and a lifting component (733). The lifting component (733) is supported on the second conveying platform (731), and another material-laying plate (71) is supported on the lifting component (733). When the second power component (732) drives the second conveying platform (731) to reciprocate controllably below the material-laying position and below the material-feeding position, the lifting component (733) is in a descending state, and the material-laying plate (71) supported on the lifting component (733) passes under the first conveying platform (721). When the second conveying platform (731) is located below the material-laying position or below the material-feeding position, the lifting component (733) drives the material-laying plate (71) supported on the lifting component (733) to rise to the material-laying position or the material-feeding position.

10. The feeding module as described in claim 8 or 9, characterized in that, The material handling plate (71) located at the feeding position provides a set of regularly arranged workpieces to the multi-arm rotary table robot.

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