Automatic feeding device

Abstract

The utility model provides an automatic feeding device. The automatic feeding device comprises a storage mechanism, a jacking mechanism, a first sensor, a second sensor and a rack. The storage mechanism is detachably connected to the rack; the jacking mechanism is fixed to the rack and used for jacking materials in the first material storage mechanism. The first material storage mechanism is a material storage mechanism located in the feeding area in the at least one material storage mechanism; the first sensor is fixed to the jacking mechanism, the detection range of the first sensor is a feeding area, and the first sensor is used for detecting whether materials exist in the first storage mechanism or not; and the second sensor is fixed to the rack, the detection range of the second sensor is the specified height above the feeding area, and the second sensor is used for detecting whether the material located at the top is jacked to the specified height or not in the at least one material of the first material storage mechanism. According to the feeding device, material damage is avoided, and the product quality and the material feeding speed are greatly guaranteed.

Description

Technical Field

[0001] The present application relates to the field of mechanical technology, and in particular to an automatic feeding device. Background Art

[0002] In the production process, the loading process is an important and tedious process. Among some traditional cylindrical material loading methods, there is a method of automatically loading cylindrical materials using a vibrating tray. The materials are arranged in order and transported to the loading position through the vibrating tray, and then grabbed by a robot gripper or other gripping devices.

[0003] However, the inventors have found that the vibrating tray may damage the material when loading the material, thereby affecting the subsequent product quality. Utility Model Content

[0004] The present application provides an automatic feeding device to solve the problem that the current vibrating feeding tray may damage the material during feeding, thereby affecting the subsequent product quality.

[0005] In a first aspect, the present application provides an automatic feeding device, comprising: at least one material storage mechanism, a lifting mechanism, a first sensor, a second sensor and a frame;

[0006] The material storage mechanism is detachably connected to the frame, and the material storage mechanism is used to store at least one material;

[0007] The lifting mechanism is fixed on the frame, and the lifting mechanism is used to lift the material in at least one first material storage mechanism; the first material storage mechanism is a material storage mechanism located in the loading area of ​​at least one of the material storage mechanisms;

[0008] The first sensor is fixed on the lifting mechanism, the detection range of the first sensor is the loading area, and the first sensor is used to detect whether there is material in the first storage mechanism;

[0009] The second sensor is fixed on the frame, and the detection range of the second sensor is a specified height above the loading area. The second sensor is used to detect whether the material at the top of at least one material in the first storage mechanism is lifted to the specified height.

[0010] In the above scheme, the material storage mechanism includes: a material barrel and a top block;

[0011] The barrel is used to store at least one of the materials;

[0012] The top block is located at the bottom of the barrel to support the material in the barrel; the top block is used to move in the vertical direction in the barrel, and the bottom of the top block is used to contact the lifting mechanism, and the top block lifts at least one material in the barrel through the lifting mechanism.

[0013] In the above solution, the barrel comprises: an upper end ring, a lower end ring and at least one guide rod;

[0014] Two ends of one of the guide rods are respectively connected to the upper end ring and the lower end ring;

[0015] The material is located between the upper end ring and the lower end ring;

[0016] The top block is used to move up and down in a space surrounded by the upper end ring, the lower end ring and at least one guide rod.

[0017] In the above scheme, the frame includes: a rotating mechanism;

[0018] The rotating mechanism is connected to at least one of the material storage mechanisms, and the rotating mechanism is used to move one or more material storage mechanisms of the at least one material storage mechanism to the loading area, and set the material storage mechanism located in the loading area as the first material storage mechanism;

[0019] The barrel further comprises: at least one quick-pull indexing pin, which is inserted into the lower end ring and into the rotating mechanism, so that the barrel is detachably connected to the rotating mechanism.

[0020] In the above solution, the rotating mechanism includes: a motor, a reducer, a gear and a rotating disk;

[0021] The motor is connected to the reducer, and the reducer is connected to the gear;

[0022] The rotating disk comprises: a disk body and a rotating shaft;

[0023] The quick-pull indexing pin passes through the lower end ring and the disc body in sequence, and is plug-in connected to the disc body, so that the barrel is detachably connected to the upper surface of the disc body;

[0024] One end of the rotating shaft is connected to the lower surface of the disk body, and the other end of the rotating shaft is meshed with the gear.

[0025] In the above scheme, the rack further includes: a bottom plate and a bracket;

[0026] The bottom plate is fixed on the top of the bracket;

[0027] The rotating disk also includes: a disk seat;

[0028] The disc body is rotatably connected to the disc seat, and the disc seat is fixed on the upper surface of the bottom plate;

[0029] One end of the rotating shaft is connected to the lower surface of the disc body, and one end of the rotating shaft away from the disc body passes through the disc seat and meshes with the gear.

[0030] In the above solution, the rotating mechanism further comprises: a motor mounting seat;

[0031] The motor is fixed on the motor mounting seat, and the motor mounting seat is connected to the lower surface of the bottom plate;

[0032] The frame also includes a support rod;

[0033] One end of the support rod is connected to the frame;

[0034] The other end of the support rod is connected to the second sensor.

[0035] In the above solution, the lifting mechanism includes: a lifting electric cylinder, a lifting support mechanism, and at least one lifting rod;

[0036] The lifting electric cylinder is connected to the lifting support mechanism, the bottom end of at least one of the lifting rods is respectively connected to the lifting support mechanism, and one of the lifting rods corresponds to one of the first material storage mechanisms;

[0037] The top end of the ejector rod is used to be inserted into the barrel of the first material storage mechanism and to contact with the ejector block of the first material storage mechanism so as to lift the material in the first material storage mechanism.

[0038] In the above scheme, the lifting support mechanism includes: an upper support plate, at least one support column, a lower support plate, at least one linear bearing, at least one guide shaft and at least one guide plate;

[0039] The lifting electric cylinder is fixed to the upper support plate, the top end of the support column is connected to the lower surface of the upper support plate, and the bottom end of the support column is fixed to the upper surface of the bottom plate of the frame, so that the lifting electric cylinder is fixed to the frame;

[0040] The bottom end of the push rod is connected to the lower support plate, and the top end of the push rod is connected to a push head, and the push head corresponds to the push block in the barrel of the first material storage mechanism;

[0041] At least one of the linear bearings is fixed on the lower support plate, and one of the linear bearings corresponds to one of the guide shafts;

[0042] The bottom end of the guide shaft is connected to the guide plate, and the top end of the guide shaft passes through the linear bearing and is connected to the upper support plate, so that the linear bearing can move on the guide shaft;

[0043] The electric rod of the lifting electric cylinder is connected to the lower support plate;

[0044] The first sensor is fixed on the upper supporting plate.

[0045] The above solution also includes: a servo module;

[0046] The servo module is connected to the first sensor;

[0047] The servo module is connected to the second sensor;

[0048] The servo module is connected to the lifting electric cylinder of the lifting mechanism;

[0049] The servo module is also connected to the motor of the rotating mechanism of the frame.

[0050] In a second aspect, the present application provides an automatic loading method, using the above-mentioned automatic loading device, the method comprising:

[0051] Activating the first sensor to detect the first material storage mechanism;

[0052] When the first sensor detects that there is material in the first material storage mechanism, the material in the first material storage mechanism is lifted up by the lifting mechanism to see whether the material at the top of at least one material in the first material storage mechanism is lifted up to a specified height;

[0053] When the first sensor does not detect that there is material in the first storage mechanism, the operation of the lifting mechanism is stopped; the rotating mechanism of the frame is activated to rotate at least one storage mechanism so that the storage mechanism with material moves to the loading area;

[0054] Enable the second sensor to detect the specified height;

[0055] When the second sensor detects that there is material at the specified height, the operation of the lifting mechanism is stopped, and a feeding instruction is sent to the manipulator, and the manipulator will grab and transfer the material at the specified height according to the feeding instruction.

[0056] When the second sensor detects that there is no material at the specified height, the material in the first storage mechanism is lifted up again by the lifting mechanism, and the material at the top of at least one material in the first storage mechanism is lifted up to the specified height again, and the material at the specified height is grabbed and transferred by the manipulator.

[0057] The present application provides an automatic feeding device, which achieves the beneficial effect of moving the material to a specified height in the feeding area to facilitate the robot to grab and transfer the material by lifting the material in the barrel in sequence so that the robot can pick up the material in sequence and transfer the material. Therefore, the situation in the prior art where the material is damaged due to vibration is avoided, the product quality is greatly guaranteed, and the feeding speed of the material and the compactness of the feeding rhythm are guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0059] Figure 1 A schematic diagram of the three-dimensional structure of an automatic feeding device provided in this application;

[0060] Figure 2 A schematic diagram of the top view of an automatic feeding device provided in this application;

[0061] Figure 3 for Figure 2 Schematic diagram of the cross-sectional structure of the AA part;

[0062] Figure 4 A schematic diagram of the three-dimensional structure of a lifting mechanism and a first sensor in an automatic feeding device provided in the present application;

[0063] Figure 5 A schematic diagram of the three-dimensional structure of a material storage mechanism in an automatic feeding device provided in the present application.

[0064] Reference numerals:

[0065] 1: Material storage mechanism;

[0066] 2: Lifting mechanism;

[0067] 3: First sensor;

[0068] 4: Second sensor;

[0069] 5: rack;

[0070] 6: Servo module;

[0071] 7: Ground

[0072] 1A: first storage mechanism;

[0073] 11: Barrel;

[0074] 12: top block;

[0075] 13: Quick pull indexing pin;

[0076] 111: upper end ring;

[0077] 112: lower end ring;

[0078] 113: guide rod;

[0079] 21: Lifting electric cylinder;

[0080] 22: Lifting support mechanism;

[0081] 23: ejector rod;

[0082] 24: Push head;

[0083] 211: Electric pole;

[0084] 221: Upper support plate;

[0085] 222: support column;

[0086] 223: lower support plate;

[0087] 224: Linear bearing;

[0088] 225: guide shaft;

[0089] 226: guide plate;

[0090] 31: diffuse reflection sensor;

[0091] 41: Through-beam sensor;

[0092] 51: Rotation mechanism;

[0093] 52: bottom plate;

[0094] 53: Bracket;

[0095] 54: support rod;

[0096] 511: Motor;

[0097] 512: reducer;

[0098] 513: Gear;

[0099] 514: rotating disk;

[0100] 515: Motor mounting seat;

[0101] 5141: Plate;

[0102] 5142: shaft;

[0103] 5143: Plate seat.

[0104] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0105] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the appended claims.

[0106] The following specific embodiments are used to describe in detail the technical solutions of the embodiments of the present application and how the technical solutions of the embodiments of the present application solve the current problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0107] The following embodiments are now provided:

[0108] Embodiment 1:

[0109] See also Figure 1-Figure 5 , the present application provides an automatic feeding device, comprising: at least one material storage mechanism 1, a lifting mechanism 2, a first sensor 3, a second sensor 4 and a frame 5;

[0110] The material storage mechanism 1 is detachably connected to the frame 5, and the material storage mechanism 1 is used to store at least one material;

[0111] The lifting mechanism 2 is fixed on the frame 5, and is used to lift the materials in at least one first storage mechanism 1A; the first storage mechanism 1A is a storage mechanism 1 located in the loading area of ​​at least one storage mechanism 1;

[0112] The first sensor 3 is fixed on the lifting mechanism 2. The detection range of the first sensor 3 is the loading area. The first sensor 3 is used to detect whether there is material in the first storage mechanism 1A.

[0113] The second sensor 4 is fixed on the frame 5. The detection range of the second sensor 4 is a specified height above the loading area. The second sensor 4 is used to detect whether the material at the top of at least one material in the first storage mechanism 1A is lifted to the specified height.

[0114] In this example, when the first sensor 3 detects that there is material in the first storage mechanism 1A, the material in the first storage mechanism 1A is lifted up by the lifting mechanism 2 to check whether the material at the top of at least one material in the first storage mechanism 1A is lifted up to a specified height.

[0115] When the second sensor 4 detects that there is material at the specified height, the operation of the lifting mechanism 2 is stopped, and a feeding instruction is sent to the manipulator, and the manipulator will grab and transfer the material at the specified height according to the feeding instruction.

[0116] When the second sensor 4 detects that there is no material at the specified height, the lifting mechanism 2 lifts up the material in the first storage mechanism 1A again, and lifts at least one material in the first storage mechanism 1A to the specified height; then the manipulator grabs and transfers the material at the specified height.

[0117] This process repeats itself until the materials in the first storage mechanism 1A are completely transferred.

[0118] When the first sensor 3 does not detect that there is material in the first material storage mechanism 1A, the operation of the lifting mechanism 2 is stopped.

[0119] Compared with the existing technology, the disadvantages are: 1. There is a risk of damaging the material, affecting product quality; 2. The maintenance cost is high, and the vibration tray needs to be cleaned of debris and dust regularly for maintenance.

[0120] The present application achieves the beneficial effect of moving the material to a specified height in the loading area to facilitate the robot to grab and transfer the material by lifting the material in the barrel 11 in sequence so that the robot can pick up the material in sequence and transfer the material. Therefore, the situation in the prior art where the material is damaged due to vibration is avoided, the product quality is greatly guaranteed, and the material loading speed and the compactness of the loading rhythm are guaranteed.

[0121] At the same time, since the vibrating feed tray can easily deposit a large amount of dust and material residue in the storage structure due to its closed storage mechanism and vibration, the vibrating feed tray needs to be cleaned regularly, resulting in high maintenance costs.

[0122] The method used in the present application is to lift the materials out of the barrel 11 in sequence, so there will be no dust deposition and material residues. Therefore, there is no need for regular cleaning, which greatly reduces the maintenance cost.

[0123] On this basis, the present application is a structure constructed based on at least one material storage mechanism 1 and a lifting mechanism 2, so it has strong stability and accuracy, improves production efficiency, has a compact structure, occupies a small area, and can effectively save production space. At the same time, due to the realization of automated loading, the enterprise does not need to invest a lot of manpower for monitoring and maintenance, which reduces labor costs; and the present application has strong adaptability, is compatible with products of various specifications, has a small amount of modification, is easy to operate, and saves manufacturing costs.

[0124] In a preferred embodiment, the material storage mechanism 1 comprises: a material barrel 11 and a top block 12;

[0125] The barrel 11 is used to store at least one material;

[0126] The top block 12 is located at the bottom of the barrel 11 to support the material in the barrel 11; the top block 12 is used to move in the vertical direction in the barrel 11, and the bottom of the top block 12 is used to contact the lifting mechanism 2, and the top block 12 lifts at least one material in the barrel 11 through the lifting mechanism 2.

[0127] In this example, a barrel 11 is provided to store a large amount of material; wherein the diameter of the top opening of the barrel 11 is larger than the diameter of the material.

[0128] The ejector block 12 is provided to be driven by an external force so as to eject the material out of the barrel 11 and reach a designated height of the loading area.

[0129] In a preferred embodiment, the barrel 11 comprises: an upper end ring 111, a lower end ring 112 and at least one guide rod 113;

[0130] Two ends of a guide rod 113 are respectively connected to the upper end ring 111 and the lower end ring 112;

[0131] The material is located between the upper end ring 111 and the lower end ring 112;

[0132] The top block 12 is used to move up and down in a space surrounded by the upper end ring 111 , the lower end ring 112 and at least one guide rod 113 .

[0133] In this example, the diameter and caliber of the upper ring 111 and the lower ring 112 of the barrel 11 are modified to store materials of different sizes and types. The caliber of the upper ring 111 is larger than the diameter of the material so that the material can be separated from the barrel 11.

[0134] The diameter of the top block 12 is larger than the caliber of the lower end ring 112 , and the diameter of the top block 12 is larger than the caliber of the upper end ring 111 , so as to ensure that the top block 12 can move in the barrel 11 without being separated from the barrel 11 .

[0135] By providing three guide rods 113 to connect the upper end ring 111 and the lower end ring 112 , the parts of the barrel 11 are reduced while ensuring the firmness of the barrel 11 , resulting in a simple structure and a low failure rate.

[0136] In a preferred embodiment, the frame 5 includes: a rotating mechanism 51;

[0137] The rotating mechanism 51 is connected to at least one material storage mechanism 1, and the rotating mechanism 51 is used to move one or more material storage mechanisms 1 in the at least one material storage mechanism 1 to a loading area, and set the material storage mechanism 1 located in the loading area as a first material storage mechanism 1A;

[0138] The barrel 11 further includes: at least one quick-pull indexing pin 13, which is inserted into the lower end ring 112 and into the rotating mechanism 51, so that the barrel 11 and the rotating mechanism 51 are detachably connected.

[0139] In this example, by providing a rotating mechanism 51, multiple material storage mechanisms 1 can also be rotated to the loading area respectively, achieving the technical effect of continuous loading based on multiple barrels 11, and ensuring the continuity of loading.

[0140] In a preferred embodiment, the rotating mechanism 51 includes: a motor 511, a reducer 512, a gear 513 and a rotating disk 514;

[0141] The motor 511 is connected to the reducer 512, and the reducer 512 is connected to the gear 513;

[0142] The rotating disk 514 includes: a disk body 5141 and a rotating shaft 5142;

[0143] The quick-pull indexing pin 13 passes through the lower end ring 112 and the disc body 5141 in sequence, and is plug-in connected to the disc body 5141, so that the barrel 11 is detachably connected to the upper surface of the disc body 5141;

[0144] One end of the rotating shaft 5142 is connected to the lower surface of the disk body 5141 , and the other end of the rotating shaft 5142 is meshed with the gear 513 .

[0145] In this example, a motor 511 is provided to provide a rotational torque; a reducer 512 is provided to amplify the rotational torque to ensure that the barrel 11 can be rotated by a sufficiently large torque; and the rotation speed is reduced to ensure smooth rotation of the barrel 11.

[0146] The gear 513 is meshed with the rotating shaft 5142 to transmit the amplified rotational torque to the disc 5141 , so that the disc 5141 drives the barrel 11 on the disc 5141 to rotate.

[0147] In a preferred embodiment, the frame 5 further includes: a bottom plate 52 and a bracket 53;

[0148] The bottom plate 52 is fixed on the top of the bracket 53;

[0149] The rotating disk 514 further includes: a disk seat 5143;

[0150] The disk body 5141 is rotatably connected to the disk base 5143, and the disk base 5143 is fixed on the upper surface of the bottom plate 52;

[0151] One end of the rotating shaft 5142 is connected to the lower surface of the disk body 5141 , and one end of the rotating shaft 5142 away from the disk body 5141 passes through the disk seat 5143 and meshes with the gear 513 .

[0152] In this example, a bottom plate 52 is provided to support the rotating disk 514 .

[0153] A bracket 53 is provided to support the bottom plate 52 and the rotating disk 514 .

[0154] In a preferred embodiment, the rotating mechanism 51 further includes: a motor mounting seat 515;

[0155] The motor 511 is fixed on the motor mounting seat 515, and the motor mounting seat 515 is connected to the lower surface of the bottom plate 52;

[0156] The frame 5 also includes a support rod 54;

[0157] One end of the support rod 54 is connected to the frame 5;

[0158] The other end of the support rod 54 is connected to the second sensor 4 .

[0159] In this example, a motor mounting base 515 is provided to fix the motor 511 on the base plate 52 to ensure the stability of the operation of the motor 511 and the compactness of the installation of the motor 511 in the automatic feeding device.

[0160] By providing the support rod 54 , the height of the second sensor 4 is increased, so that the second sensor 4 can detect whether there is material at a specified height above the loading area.

[0161] The second sensor 4 includes at least one through-beam sensor 41. One through-beam sensor 41 corresponds to one first material storage mechanism and is used to detect whether the material in one material storage mechanism reaches a specified height.

[0162] The through-beam sensor 41 is a sensor that uses the photoelectric effect to detect objects. It consists of a transmitting end and a receiving end, and detects the existence or movement state of an object by emitting an infrared signal (or other light sources such as lasers) and receiving the bounced-back signal (or the light after being blocked) on the other side. The working principle of the through-beam sensor is based on photoelectric switch technology, in which the transmitter emits a light beam at the target, and the receiver is responsible for receiving these light beams. When the object passes through the light and is cut off, the receiver cannot receive the signal, thereby triggering the output signal. The advantages of the through-beam sensor include high precision, fast response, and strong reliability. Through advanced design technology, it can achieve high resolution, detect tiny objects, and detect high-precision positions. In addition, since it is a non-contact detection method, it will not cause damage to the detected object and sensor, and can be used for a long time.

[0163] In a preferred embodiment, the lifting mechanism 2 includes: a lifting electric cylinder 21, a lifting support mechanism 22, and at least one lifting rod 23;

[0164] The lifting electric cylinder 21 is connected to the lifting support mechanism 22, and the bottom end of at least one lifting rod 23 is respectively connected to the lifting support mechanism 22, and one lifting rod 23 corresponds to one first material storage mechanism 1A;

[0165] The top end of the ejector rod 23 is used to be inserted into the barrel 11 of the first material storage mechanism 1A and to contact the ejector block 12 of the first material storage mechanism 1A so as to lift the material in the first material storage mechanism 1A.

[0166] In this example, a lifting electric cylinder 21 is provided to provide power for the jack 23 to move upward.

[0167] By providing the lifting support mechanism 22 to simultaneously support a plurality of ejector rods 23 , the technical effect of lifting the materials in a plurality of barrels 11 is achieved.

[0168] In a preferred embodiment, the lifting support mechanism 22 includes: an upper support plate 221, at least one support column 222, a lower support plate 223, at least one linear bearing 224, at least one guide shaft 225 and at least one guide plate 226;

[0169] The lifting electric cylinder 21 is fixed on the upper support plate 221, the top end of the support column 222 is connected to the lower surface of the upper support plate 221, and the bottom end of the support column 222 is fixed to the upper surface of the bottom plate 52 of the frame 5, so that the lifting electric cylinder 21 is fixed on the frame 5;

[0170] The bottom end of the push rod 23 is connected to the lower support plate 223, and the top end of the push rod 23 is connected to a push head 24, which corresponds to the push block 12 in the barrel 11 of the first material storage mechanism 1A;

[0171] At least one linear bearing 224 is fixed on the lower support plate 223, and one linear bearing 224 corresponds to one guide shaft 225;

[0172] The bottom end of the guide shaft 225 is connected to the guide plate 226, and the top end of the guide shaft 225 passes through the linear bearing 224 and is connected to the upper support plate 221, so that the linear bearing 224 can move on the guide shaft 225;

[0173] The electric rod 211 of the lifting electric cylinder 21 is connected to the lower support plate 223;

[0174] The first sensor 3 is fixed on the upper supporting plate 221 .

[0175] In this example, an upper support plate 221 is provided to fix the lifting electric cylinder 21;

[0176] By providing a support column 222, the upper support plate 221 and the lifting electric cylinder 21 are fixed on the frame 5;

[0177] By providing a lower support plate 223, at least one top rod 23 is fixed;

[0178] By setting a linear bearing 224 and a guide shaft 225, moving the guide shaft 225 on the linear bearing 224, and connecting the lifting electric cylinder 21 with the lower support plate 223, the lifting electric cylinder 21 can drive the lower support plate 223 to insert the push rod 23 and the push head 24 into the barrel 11, and lift the material in the barrel 11.

[0179] By fixing the first sensor 3 on the upper support plate 221, the first sensor 3 can detect whether there is material at the bottom of the barrel 11 of the first material storage mechanism 1A.

[0180] The first sensor 3 includes at least one diffuse reflection sensor 31, and the diffuse reflection sensor 31 is used to detect whether there is material in the barrel 11 of a first material storage mechanism 1A.

[0181] The diffuse reflection sensor 31 is a photoelectric sensor used to detect the presence or position of an object. It is based on the principle of light reflection and can measure the distance between the object and the sensor. The diffuse reflection sensor 31 includes a light emitting diode and a photoresistor. The light emitting diode emits a beam of light, which is reflected in the surrounding environment and shines back to the photoresistor. When an object appears in the light path, it reflects the light and scatters the light onto the reflective surface of the sensor. At this time, the light will be received by the photoresistor, causing a change in resistance value. The control circuit detects the presence or position of the object by detecting the change in resistance value.

[0182] In a preferred embodiment, the automatic feeding device further comprises: a servo module 6;

[0183] The servo module 6 is connected to the first sensor 3;

[0184] The servo module 6 is connected to the second sensor 4;

[0185] The servo module 6 is connected to the lifting electric cylinder 21 of the lifting mechanism 2;

[0186] The servo module 6 is also connected to the motor 511 of the rotating mechanism 51 of the frame 5 .

[0187] In this example, when the first sensor 3 detects that there is material in the first storage mechanism 1A, it sends a first loading signal to the servo module 6. The servo module 6 instructs the lifting mechanism 2 to lift the material in the first storage mechanism 1A according to the first loading signal, and checks whether the material at the top of at least one material in the first storage mechanism 1A is lifted to a specified height.

[0188] When the second sensor 4 detects that there is material at the specified height, it sends a second feeding signal to the servo module 6. The servo module 6 instructs the lifting mechanism 2 to stop running according to the second feeding signal and sends a feeding instruction to the manipulator. The manipulator will grab and transfer the material at the specified height according to the feeding instruction.

[0189] When the second sensor 4 detects that there is no material at the specified height, it sends a second vacancy signal to the servo module 6. The servo module 6 instructs the lifting mechanism 2 to lift the material in the first storage mechanism 1A again according to the second vacancy signal, and lifts the material at the top of at least one material in the first storage mechanism 1A to the specified height again; then the manipulator grabs and transfers the material at the specified height. This process repeats until the material in the first storage mechanism 1A is completely transferred.

[0190] When the first sensor 3 does not detect that there is material in the first material storage mechanism 1A, it sends a first vacancy signal to the servo module 6. The servo module 6 instructs the motor 511 of the rotating mechanism 51 to rotate according to the first vacancy signal, so that other material storage mechanisms 1 move to the loading area to obtain a new first material storage mechanism 1A, and repeat the above process again.

[0191] The servo module 6 is a device for controlling and driving the servo motor 511. The servo motor 511 is widely used in the fields of robots, automation equipment, aerospace, etc. due to its high precision, high reliability and high responsiveness. The servo module 6 integrates the motor 511 driver, position feedback system and controller, providing users with a simplified way to achieve precise motion control.

[0192] The working principle of the servo module 6 is to monitor and adjust the rotation of the motor 511 through the internal sensor and controller, so that it can achieve precise position control or speed control according to the received instructions. It usually includes a DC motor 511, an encoder and a controller. The DC motor 511 is responsible for providing power, the encoder is used to detect the rotation position and speed of the motor 511, and the controller adjusts the movement of the motor 511 according to the feedback signal of the encoder to achieve the desired position or speed.

[0193] The servo module 6 usually has high-performance computing capabilities, supports fast response and high-precision control. It also provides a variety of communication interfaces, such as Ethernet, CAN bus, Modbus, etc., to facilitate data exchange and control with the host system or other devices. In addition, the servo module 6 also has over-current, over-voltage, over-heating and other protection functions to ensure the safe operation of the system and equipment.

[0194] Optionally, it also includes a foot 7, which is connected to the bottom end of the bracket 53 of the rack 5, and the foot 7 is connected to the ground by screws, and the bottom plate 52 is connected to the top end of the bracket 53.

[0195] Embodiment 2:

[0196] The present application provides an automatic feeding method, comprising:

[0197] S1: Activate the first sensor 3 to detect the first material storage mechanism.

[0198] In this example, the first sensor 3 is enabled using the servo module 6, which is a device for controlling and driving the servo motor 511. The servo motor 511 is widely used in the fields of robots, automation equipment, aerospace, etc. due to its high precision, high reliability and high responsiveness. The servo module 6 integrates the motor 511 driver, position feedback system and controller, providing users with a simplified way to achieve precise motion control.

[0199] S2: When the first sensor 3 detects that there is material in the first material storage mechanism 1A, the material in the first material storage mechanism 1A is lifted up by the lifting mechanism 2 to check whether the material at the top of at least one material in the first material storage mechanism 1A is lifted up to a specified height.

[0200] In this example, when the first sensor 3 detects that there is material in the first storage mechanism 1A, it sends a first loading signal to the servo module 6. The servo module 6 instructs the lifting mechanism 2 to lift the material in the first storage mechanism 1A according to the first loading signal, and checks whether the material at the top of at least one material in the first storage mechanism 1A is lifted to a specified height.

[0201] S3: When the first sensor 3 does not detect that there is material in the first storage mechanism 1A, the operation of the lifting mechanism 2 is stopped; the rotating mechanism 51 is activated to rotate at least one storage mechanism to move the storage mechanism with material to the loading area.

[0202] In this example, when the first sensor 3 does not detect that there is material in the first material storage mechanism 1A, it sends a first vacancy signal to the servo module 6. The servo module 6 instructs the motor 511 of the rotating mechanism 51 to rotate according to the first vacancy signal, so that other material storage mechanisms 1 move to the loading area to obtain a new first material storage mechanism 1A, and repeat the above process again.

[0203] S4: Activate the second sensor 4 to detect the designated height.

[0204] In this example, the servo module 6 is used to enable the second sensor 4 .

[0205] S5: When the second sensor 4 detects that there is material at the specified height, the lifting mechanism 2 stops running and sends a feeding instruction to the manipulator, and the manipulator grabs and transfers the material at the specified height according to the feeding instruction.

[0206] In this example, when the second sensor 4 detects that there is material at the specified height, it sends a second feeding signal to the servo module 6. The servo module 6 instructs the lifting mechanism 2 to stop running according to the second feeding signal and sends a feeding instruction to the manipulator. The manipulator will grab and transfer the material at the specified height according to the feeding instruction.

[0207] S6: When the second sensor 4 detects that there is no material at the specified height, the material in the first storage mechanism 1A is lifted up again by the lifting mechanism 2, and at least one material in the first storage mechanism 1A is lifted up to the specified height again, and the material at the specified height is grabbed and transferred by the manipulator.

[0208] In this example, when the second sensor 4 detects that there is no material at the specified height, it sends a second vacancy signal to the servo module 6, and the servo module 6 instructs the lifting mechanism 2 to lift the material in the first storage mechanism 1A again according to the second vacancy signal, and to lift the material at the top of at least one material in the first storage mechanism 1A to the specified height again, and to grab and transfer the material at the specified height through the manipulator. This process is repeated until the material in the first storage mechanism 1A is completely transferred.

[0209] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0210] Those skilled in the art will readily come to other embodiments of the present application after considering the specification and practicing the utility model disclosed herein. The present application embodiment is intended to cover any variation, use or adaptation of the present application embodiment, which follows the general principles of the present application embodiment and includes common knowledge or customary technical means in the art that are not disclosed in the present application embodiment. The specification and embodiments are to be regarded as exemplary only, and the true scope and spirit of the present application embodiment are indicated by the following claims.

[0211] It should be understood that the embodiments of the present application are not limited to the precise structures described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the embodiments of the present application is limited only by the appended claims.

Claims

1. An automatic feeding device, characterized in that: include: At least one material storage mechanism, a lifting mechanism, a first sensor, a second sensor and a frame; The material storage mechanism is detachably connected to the frame, and the material storage mechanism is used to store at least one material; The lifting mechanism is fixed on the frame, and the lifting mechanism is used to lift the material in at least one first material storage mechanism; the first material storage mechanism is a material storage mechanism located in the loading area of ​​at least one of the material storage mechanisms; The first sensor is fixed on the lifting mechanism, the detection range of the first sensor is the loading area, and the first sensor is used to detect whether there is material in the first storage mechanism; The second sensor is fixed on the frame, and the detection range of the second sensor is a specified height above the loading area. The second sensor is used to detect whether the material at the top of at least one material in the first storage mechanism is lifted to the specified height.

2. The automatic feeding device according to claim 1, characterized in that: The material storage mechanism comprises: a material barrel and a top block; The barrel is used to store at least one of the materials; The top block is located at the bottom of the barrel to support the material in the barrel; the top block is used to move in the vertical direction in the barrel, and the bottom of the top block is used to contact the lifting mechanism, and the top block lifts at least one material in the barrel through the lifting mechanism.

3. The automatic feeding device according to claim 2, characterized in that: The barrel comprises: an upper end ring, a lower end ring and at least one guide rod; Two ends of one of the guide rods are respectively connected to the upper end ring and the lower end ring; The material is located between the upper end ring and the lower end ring; The top block is used to move up and down in a space surrounded by the upper end ring, the lower end ring and at least one guide rod.

4. The automatic feeding device according to claim 3, characterized in that: The frame comprises: a rotating mechanism; The rotating mechanism is connected to at least one of the material storage mechanisms, and the rotating mechanism is used to move one or more material storage mechanisms of the at least one material storage mechanism to the loading area, and set the material storage mechanism located in the loading area as the first material storage mechanism; The barrel further comprises: at least one quick-pull indexing pin, which is inserted into the lower end ring and into the rotating mechanism, so that the barrel is detachably connected to the rotating mechanism.

5. The automatic feeding device according to claim 4, characterized in that: The rotating mechanism comprises: a motor, a reducer, a gear and a rotating disk; The motor is connected to the reducer, and the reducer is connected to the gear; The rotating disk comprises: a disk body and a rotating shaft; The quick-pull indexing pin passes through the lower end ring and the disc body in sequence, and is plug-in connected to the disc body, so that the barrel is detachably connected to the upper surface of the disc body; One end of the rotating shaft is connected to the lower surface of the disk body, and the other end of the rotating shaft is meshed with the gear.

6. The automatic feeding device according to claim 5, characterized in that: The frame also includes: a bottom plate and a bracket; The bottom plate is fixed on the top of the bracket; The rotating disk also includes: a disk seat; The disc body is rotatably connected to the disc seat, and the disc seat is fixed on the upper surface of the bottom plate; One end of the rotating shaft is connected to the lower surface of the disc body, and one end of the rotating shaft away from the disc body passes through the disc seat and meshes with the gear.

7. The automatic feeding device according to claim 6, characterized in that: The rotating mechanism also includes: a motor mounting seat; The motor is fixed on the motor mounting seat, and the motor mounting seat is connected to the lower surface of the bottom plate; The frame also includes a support rod; One end of the support rod is connected to the frame; The other end of the support rod is connected to the second sensor.

8. The automatic feeding device according to claim 2, characterized in that: The lifting mechanism comprises: a lifting electric cylinder, a lifting support mechanism, and at least one lifting rod; The lifting electric cylinder is connected to the lifting support mechanism, the bottom end of at least one of the lifting rods is respectively connected to the lifting support mechanism, and one of the lifting rods corresponds to one of the first material storage mechanisms; The top end of the ejector rod is used to be inserted into the barrel of the first material storage mechanism and to contact with the ejector block of the first material storage mechanism so as to lift the material in the first material storage mechanism.

9. The automatic feeding device according to claim 8, characterized in that: The lifting support mechanism comprises: an upper support plate, at least one support column, a lower support plate, at least one linear bearing, at least one guide shaft and at least one guide plate; The lifting electric cylinder is fixed to the upper support plate, the top end of the support column is connected to the lower surface of the upper support plate, and the bottom end of the support column is fixed to the upper surface of the bottom plate of the frame, so that the lifting electric cylinder is fixed to the frame; The bottom end of the push rod is connected to the lower support plate, and the top end of the push rod is connected to a push head, and the push head corresponds to the push block in the barrel of the first material storage mechanism; At least one of the linear bearings is fixed on the lower support plate, and one of the linear bearings corresponds to one of the guide shafts; The bottom end of the guide shaft is connected to the guide plate, and the top end of the guide shaft passes through the linear bearing and is connected to the upper support plate, so that the linear bearing can move on the guide shaft; The electric rod of the lifting electric cylinder is connected to the lower support plate; The first sensor is fixed on the upper supporting plate.

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