Separation module and feeding device

Abstract

The utility model relates to the technical field of automation equipment, and provides a separation module and a feeding device. An avoiding hole is formed in the middle of a first carrying plate of a first transplanting mechanism, and the mounting end of a first telescopic piece is mounted on the peripheral side of the first carrying plate; the output end of the first telescopic piece is used for driving the second telescopic piece to move in the radial direction of the avoiding hole, the output end of the second telescopic piece is connected with a separating piece and can drive the separating piece to move in the axial direction of the avoiding hole, the separating piece can move to the bottom of the extraction disc, the first suction cup is installed on the first carrying plate and used for sucking the extraction disc, and the workpiece is exposed from the avoiding hole. The first displacement assembly is used for driving the first loading assembly to reciprocate; a second carrying assembly of the second transplanting mechanism is used for obtaining the workpiece from the avoiding hole, and a second displacement assembly is used for driving the second carrying assembly to move in a reciprocating mode. The separation module can complete the process of sorting and transporting workpieces in the extraction discs and the extraction discs, and the two adjacent extraction discs in the stacking direction are separated.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to a separation module and a feeding device. Background Art

[0002] In the prior art, an operator is required to manually take the workpieces loaded in the tray out of the tray and place them in the transport device.

[0003] With the development of automated equipment, some existing workshops use a combination of gripping devices and transport devices to complete the sorting of trays and workpieces, and to transport the two separately. However, when loading, trays are mostly supplied in the form of tray piles, that is, trays are stacked along their thickness direction to form a tray pile. The gripping device can only sort the trays located on the top layer of the tray pile at a time.

[0004] During use, it was found that the adjacent extraction trays in the thickness direction were fastened to each other due to extrusion or processing errors. When the grasping device grasped the top extraction tray, the extraction tray below was transported together but the workpiece inside was not taken out, resulting in the need to subsequently review the number of workpieces, increasing the work links and slowing down the processing rhythm.

[0005] Therefore, there is an urgent need for a separation module and a feeding device to solve the above technical problems. Utility Model Content

[0006] The utility model aims to provide a separation module and a feeding device, which can complete the process of sorting and transporting a collection tray and workpieces in the collection tray, and separate two collection trays adjacent to each other in a stacking direction.

[0007] To achieve this purpose, the utility model adopts the following technical solutions:

[0008] A separation module, used for separating the extraction tray and the workpiece loaded on the extraction tray, comprises:

[0009] The first transplanting mechanism comprises a first carrier assembly and a first displacement assembly, wherein the first carrier assembly comprises a first carrier plate, a first telescopic member, a second telescopic member and a first suction cup, a middle portion of the first carrier plate is provided with an avoidance hole, a mounting end of the first telescopic member is mounted on the peripheral side of the first carrier plate, an output end of the first telescopic member is used to drive the second telescopic member to move radially along the avoidance hole, an output end of the second telescopic member is connected to a separation member and can drive the separation member to move axially along the avoidance hole, the separation member can move to the bottom of the extraction tray, the first suction cup is mounted on the first carrier plate and is used to adsorb the extraction tray, the workpiece is exposed from the avoidance hole, and the first displacement assembly is used to drive the first carrier assembly to reciprocate;

[0010] The second transplanting mechanism includes a second carrier assembly and a second displacement assembly. The second carrier assembly is used to obtain the workpiece from the avoidance hole, and the second displacement assembly is used to drive the second carrier assembly to move back and forth.

[0011] As a preferred technical solution of the above-mentioned separation module, the above-mentioned first carrier assembly also includes a third telescopic member, the mounting end of the above-mentioned third telescopic member is installed on the above-mentioned first carrier plate, and the output end of the above-mentioned third telescopic member can act on the above-mentioned extraction plate along the axial direction of the above-mentioned avoidance hole, so that the above-mentioned extraction plate is separated from the above-mentioned first suction cup.

[0012] As a preferred technical solution of the above separation module, the above first displacement assembly includes:

[0013] A first synchronous wheel, wherein two first synchronous wheels are provided and are spaced apart along the radial direction thereof;

[0014] A first synchronous belt, wherein the two first synchronous wheels are driven by the first synchronous belt;

[0015] A first mounting block and a first clamping block, wherein the first clamping block is fixed to the first synchronous belt, one side of the first mounting block is fixed to the first clamping block, and the other side is fixed to the first loading plate.

[0016] As a preferred technical solution of the above-mentioned separation module, the above-mentioned second carrier assembly includes: a second carrier plate and a second suction cup, the above-mentioned second carrier plate is connected to the above-mentioned second displacement assembly, the above-mentioned second suction cup is installed on the above-mentioned second carrier plate, and the above-mentioned second suction cup can adsorb the above-mentioned workpiece from the above-mentioned avoidance hole.

[0017] A feeding device is also provided, comprising a first docking module, a second docking module and the above-mentioned separation module, wherein the above-mentioned first docking module is configured to transport a stack of extraction trays, the above-mentioned extraction tray stack comprises a plurality of extraction trays, the above-mentioned extraction trays are stacked along their thickness direction, and the above-mentioned first suction cup can absorb the above-mentioned extraction tray located on the top layer of the above-mentioned extraction tray stack; the above-mentioned second docking module is configured to transfer the above-mentioned empty extraction tray stack, and the above-mentioned first loading component places the above-mentioned empty extraction trays in the above-mentioned second docking module in sequence.

[0018] As a preferred technical solution for the above-mentioned feeding device, the above-mentioned first docking module includes a third displacement assembly and a third carrier assembly, the above-mentioned third carrier assembly is used to load the above-mentioned extraction tray stack, the above-mentioned third displacement assembly includes a seventh mounting plate and a first movable plate, the above-mentioned first movable plate is rotatably connected to two second synchronous wheels, the above-mentioned second synchronous wheels are driven by a second synchronous belt, the above-mentioned second synchronous belt is fixed to the above-mentioned seventh mounting plate through a first connecting member, the above-mentioned second synchronous belt is fixed to the above-mentioned third carrier assembly through a second connecting member, and the moving directions of the above-mentioned first connecting member and the above-mentioned second connecting member are opposite.

[0019] As a preferred technical solution of the feeding device, the third carrier assembly comprises an eighth mounting plate and a third carrier plate, the eighth mounting plate is mounted with a fourth telescopic member, and an output end of the fourth telescopic member is fixed to the third carrier plate.

[0020] As a preferred technical solution for the above-mentioned feeding device, the above-mentioned first carrier assembly also includes a clamping block and a limit block, the above-mentioned limit block is fixed to one side edge of the above-mentioned third carrier plate, the above-mentioned clamping block is connected to the other side edge of the above-mentioned third carrier plate through a fifth telescopic member, and the above-mentioned fifth telescopic member can drive the above-mentioned clamping block to approach or move away from the above-mentioned limit block.

[0021] As a preferred technical solution of the above-mentioned feeding device, it also includes a centering module, which is arranged on the peripheral side of the above-mentioned third carrier component. The above-mentioned centering module includes a fourth displacement component and a roller. The output end of the above-mentioned fourth displacement component is connected to the above-mentioned roller for driving the above-mentioned roller to approach or move away from the above-mentioned third carrier component. The peripheral side wall of the above-mentioned roller can abut against the peripheral side wall of the above-mentioned extraction plate.

[0022] As a preferred technical solution of the above-mentioned feeding device, it also includes a lifting module, which is arranged between the above-mentioned first docking module and the above-mentioned first transplanting mechanism. The above-mentioned lifting module includes a fourth carrier component and a fifth displacement component. The above-mentioned fourth carrier component is used to receive the extraction tray stack loaded by the above-mentioned third carrier component, and the above-mentioned fifth displacement component is used to drive the above-mentioned fourth carrier component to reciprocate along the thickness direction of the above-mentioned extraction tray stack. The above-mentioned first carrier component obtains the above-mentioned extraction tray from the above-mentioned fourth carrier component.

[0023] Beneficial effects of the utility model:

[0024] The utility model provides a separation module and a feeding device, which are used to separate a collection tray and a workpiece loaded on the collection tray. When the separation module is in use, when the first carrier assembly is located at the first point, the first telescopic member is in an extended state, and the second telescopic member is in a storage state. The collection tray located at the top of the collection tray stack is adsorbed by the first suction cup. Subsequently, the first telescopic member switches to the storage state, and the output end of the first telescopic member carries the second telescopic member to move to one side of the avoidance hole. At the same time, the separation member of the second telescopic member is inserted between the collection tray located at the top and the collection tray located at the next layer along the radial direction of the avoidance hole. The second telescopic member switches to the extended state, and the output end of the second telescopic member acts on the collection tray of the next layer through the separation member, so that two adjacent collection trays are separated from each other. At this time, the workpiece in the collection tray is exposed from the avoidance hole. In the process of the first carrier assembly carrying the collection tray to move from the first point to the second point, the second carrier assembly grabs the workpiece through the avoidance hole, and under the drive of the second displacement assembly, the workpiece is transferred to the next station, and the first carrier assembly carries the empty collection tray to the second point, and stacks the empty collection trays in sequence at the second point. In this way, the separation module can complete the process of sorting and transporting the workpieces in the tray. And the first loading assembly can be separated from two adjacent trays in the stacking direction by the cooperation of the first telescopic member and the second telescopic member.

[0025] The feeding device also includes a first docking module and a second docking module. The first docking module is used to provide a tray loaded with workpieces for the first transplanting mechanism, and the second docking module is used to receive and transfer the empty tray unloaded from the first transplanting module. In this way, the diversion transportation of the tray and the workpiece and the tray recovery are completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0027] Figure 1 It is a structural schematic diagram of a feeding device provided in an embodiment of the utility model;

[0028] Figure 2 It is a structural schematic diagram of a first transplanting mechanism provided in an embodiment of the utility model;

[0029] Figure 3 yes Figure 2 A partial enlarged view of the middle A;

[0030] Figure 4 It is a front view of a first transplanting mechanism provided by an embodiment of the utility model;

[0031] Figure 5 yes Figure 4 A partial enlarged view of point B in the middle;

[0032] Figure 6 It is a structural schematic diagram of a first object-carrying assembly provided in an embodiment of the utility model;

[0033] Figure 7 It is a structural schematic diagram of a second transplanting mechanism provided in an embodiment of the utility model;

[0034] Figure 8 It is a structural schematic diagram of a first docking module provided in an embodiment of the utility model;

[0035] Fig. 9 is a side view of a first docking module provided in an embodiment of the utility model;

[0036] Fig.10 Fig. 9 A partial enlarged view of point C in the middle;

[0037] Fig.11 It is a structural schematic diagram of a centering module provided in an embodiment of the utility model;

[0038] Fig.12 This is a schematic diagram of the structure of the lifting module provided by the embodiment of the utility model. Figure 1 ;

[0039] Fig.13 This is a schematic diagram of the structure of the lifting module provided by the embodiment of the utility model. Figure 2 ;

[0040] Fig.14 It is a structural schematic diagram of a framework provided in an embodiment of the utility model.

[0041] In the figure:

[0042] X, first horizontal direction; Y, second horizontal direction; Z, vertical direction;

[0043] 100, Cui Pan;

[0044] 200, first transplanting mechanism; 211, first loading plate; 2111, avoidance hole; 2112, first positioning pin; 212, first telescopic member; 213, second telescopic member; 214, first suction cup; 215, third telescopic member; 221, first synchronous wheel; 222, first synchronous belt; 223, first mounting block; 224, first pressing block; 230, separation member; 240, first mounting plate; 250, first motor; 260, first frame; 261, first bottom plate; 262, first support plate; 270, second frame; 271, second bottom plate; 272, second support plate; 273, first stepped shaft; 274, first bearing; 280, first drag chain; 290, first mounting sheet metal;

[0045] 300, second transplanting mechanism; 310, second loading assembly; 311, second loading plate; 312, second suction cup; 313, mounting frame; 320, second displacement assembly; 321, first servo module; 322, second servo module; 323, third mounting plate; 324, fourth mounting plate; 325, fifth mounting plate; 326, first reinforcing rib; 327, support rod; 328, sixth mounting plate; 329, second reinforcing rib; 331, second drag chain; 332, second mounting sheet metal; 333, third mounting sheet metal;

[0046] 400, first docking module; 410, third displacement assembly; 411, seventh mounting plate; 412, first moving plate; 413, second synchronous wheel; 414, second synchronous belt; 415, second mounting block; 416, second pressing block; 417, third mounting block; 420, third loading assembly; 421, eighth mounting plate; 422, third loading plate; 423, fourth telescopic member; 424, clamping block; 425, limit block; 426, fifth telescopic member; 427, first floating joint; 4271, first fixed head; 427 2. First floating threaded rod; 428. First linear bearing; 429. First guide shaft; 430. First guide rail; 440. Second guide rail; 450. First driver; 461. Third base plate; 462. Support member; 4621. Support; 4622. Support shaft; 471. Second bearing; 472. Bearing seat; 473. Second stepped shaft; 474. Baffle; 481. First sensor; 482. Second sensor; 483. Third sensor; 484. Detection block; 491. Third drag chain; 492. Fourth mounting sheet metal;

[0047] 500. second docking module;

[0048] 600, centering module; 610, fourth displacement assembly; 611, sixth telescopic member; 612, second guide shaft; 613, adjusting nut; 620, roller; 631, ninth mounting plate; 632, third support plate; 640, mounting seat; 650, tenth mounting plate; 660, second floating joint; 661, second fixed head; 662, second floating threaded rod; 670, second linear bearing;

[0049] 700, lifting module; 710, fourth loading assembly; 711, eleventh mounting plate; 712, cantilever; 713, third reinforcing rib; 714, fourth loading plate; 715, first positioning member; 716, second positioning member; 720, fifth displacement assembly;

[0050] 800. Automated guided vehicle;

[0051] 900, frame; 910, roller; 920, adjustment support. DETAILED DESCRIPTION

[0052] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only the parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0053] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0055] In the description of this embodiment, the terms "upper", "lower", "right", etc., are based on the directions or positions shown in the drawings, and are only for the convenience of description and simplified operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0056] like Figures 2 to 7 As shown, the utility model provides a separation module for separating the extraction tray 100 and the workpiece loaded on the extraction tray 100, and the separation module includes a first transfer mechanism 200 and a second transfer mechanism 300. Among them, the first transfer mechanism 200 includes a first carrier assembly and a first displacement assembly, and the first carrier assembly includes a first carrier plate 211, a first telescopic member 212, a second telescopic member 213 and a first suction cup 214. The middle part of the first carrier plate 211 is provided with an avoidance hole 2111, and the mounting end of the first telescopic member 212 is mounted on the peripheral side of the first carrier plate 211. The output end of the first telescopic member 212 is used to drive the second telescopic member 213 to move radially along the avoidance hole 2111. The output end of the second telescopic member 213 is connected to the separation member 230 and can drive The separator 230 moves axially along the avoidance hole 2111, and the separator 230 can move to the bottom of the extraction tray 100. The first suction cup 214 is installed on the first carrier plate 211, and is used to adsorb the extraction tray 100. The workpiece is exposed from the avoidance hole 2111, and the first displacement assembly is used to drive the first carrier assembly to reciprocate; the second transplanting mechanism 300 includes a second carrier assembly 310 and a second displacement assembly 320. The second carrier assembly 310 is used to obtain the workpiece from the avoidance hole 2111, and the second displacement assembly 320 is used to drive the second carrier assembly 310 to reciprocate.

[0057] Exemplarily, a first point and a second point are arranged at intervals in the first horizontal direction X, the extraction tray 100 is stacked at the first point along the vertical direction Z, and a workpiece is placed in the extraction tray 100 located at the first point, and the first object-carrying assembly can reciprocate between the first point and the second point driven by the first displacement assembly. The first telescopic member 212 includes a storage state and an extended state. When in the storage state, the output end of the first telescopic member 212 is close to the mounting end; when in the extended state, the output end of the first telescopic member 212 is far away from the mounting end; the second telescopic member 213 includes a storage state and an extended state. When in the storage state, the output end of the second telescopic member 213 is close to its mounting end, and when in the extended state, the output end of the second telescopic member 213 is far away from its mounting end.

[0058] During use, when the first object-carrying assembly is located at the first point position, the first telescopic member 212 is in an extended state, and the second telescopic member 213 is in a retracted state, and the first suction cup 214 adsorbs the extraction tray 100 located at the top of the extraction tray stack. Subsequently, the first telescopic member 212 switches to the retracted state, and the output end of the first telescopic member 212 carries the second telescopic member 213 to move to the side of the avoidance hole 2111. At the same time, the separating member 230 of the second telescopic member 213 is inserted between the extraction tray 100 located at the top and the extraction tray 100 located at the next layer along the radial direction of the avoidance hole 2111. The second telescopic member 213 switches to an extended state, and the output end of the second telescopic member 213 acts on the extraction tray 100 of the next layer through the separating member 230, so that two adjacent extraction trays 100 are separated from each other. At this time, the workpiece in the extraction tray 100 is exposed from the avoidance hole 2111. When the first carrier component carries the extraction tray 100 and moves from the first point to the second point, the second carrier component 310 grabs the workpiece through the avoidance hole 2111 and, driven by the second displacement component 320, transfers the workpiece to the next workstation, while the first carrier component carries the empty extraction tray 100 and moves to the second point, and stacks the empty extraction trays 100 in sequence at the second point.

[0059] In this way, the separation module can complete the process of sorting and transporting the collection tray 100 and the workpieces in the collection tray 100. And the first loading assembly can be separated from two adjacent collection trays 100 in the stacking direction by the cooperation of the first telescopic member 212 and the second telescopic member 213.

[0060] Furthermore, a first positioning pin 2112 is provided on a side of the first carrier plate 211 facing the extraction tray 100 . The first positioning pin 2112 can be plugged into the extraction tray 100 to assist in quickly aligning the first carrier plate 211 with the extraction tray 100 .

[0061] Since the first suction cup 214 is used as the actuator for grabbing the extraction tray 100, although the grabbing action is relatively simple, when unloading the extraction tray 100, it is easy for the first suction cup 214 and the extraction tray 100 to still have residual adsorption force, resulting in the extraction tray 100 being unable to immediately detach from the first suction cup 214. For this reason, in this embodiment, the first loading assembly also includes a third telescopic member 215, the mounting end of the third telescopic member 215 is mounted on the first loading plate 211, and the output end of the third telescopic member 215 can act on the extraction tray 100 along the axial direction of the avoidance hole 2111, so that the extraction tray 100 is detached from the first suction cup 214.

[0062] Specifically, the third telescopic member 215 includes a storage state and an extended state. When in the storage state, the mounting end and the output end are close to each other, satisfying that the distance h1≥h2 between the end face of the first suction cup 214 for adsorbing the extraction plate 100 and the first carrier plate 211, h2 is the distance between the output end of the third telescopic member 215 and the first carrier plate 211; when in the extended state, the mounting end and the output end are far away from each other, satisfying that h1<h2.

[0063] During use, when the first carrier component acquires the extraction tray 100 at the first position, when the first suction cup 214 adsorbs the extraction tray 100, the third telescopic member 215 is in a retracted state and does not interfere with it; when the first carrier component moves to the second position, the third telescopic member 215 switches to an extended state, and applies a force to the empty extraction tray 100 along the axial direction of the avoidance hole 2111, so that the empty extraction tray 100 overcomes the adsorption force of the first suction cup 214 and falls to the second position.

[0064] Specifically, the third telescopic member 215 is a cylinder, the cylinder body of which is mounted on the first carrier plate 211, and the piston rod of the cylinder is used to abut against the extraction tray 100 to separate the extraction tray 100 from the suction cup.

[0065] In this way, the third telescopic member 215 can ensure that the first loading assembly can unload the empty extraction tray 100 when it is at the second position.

[0066] Optionally, the first displacement assembly includes a first synchronous wheel 221, a first synchronous belt 222, a first mounting block 223 and a first pressing block 224. Two first synchronous wheels 221 are provided, which are spaced apart along the radial direction thereof; the two first synchronous wheels 221 are driven by the first synchronous belt 222; the first pressing block 224 is fixed to the first synchronous belt 222; one side of the first mounting block 223 is fixed to the first pressing block 224, and the other side is fixed to the first carrier plate 211.

[0067] Exemplarily, two first synchronous wheels 221 are arranged at intervals along the first horizontal direction X, the two first synchronous wheels 221 are driven by the first synchronous belt 222, the first mounting block 223 is fixed to the first synchronous belt 222 by the first clamping block 224, and the first mounting block 223 is connected to the first carrier plate 211. In this way, when one of the first synchronous wheels 221 rotates, the first synchronous belt 222 carries the first carrier plate 211 through the first mounting block 223 to move along the first horizontal direction X, so as to realize the reciprocating movement of the first carrier assembly between the first point position and the second point position.

[0068] In other embodiments, the first displacement component may also be a lead screw slider, a telescopic rod, or other structures capable of achieving linear movement.

[0069] Specifically, the first fixing block is connected to the first pressing block 224 via threaded fasteners.

[0070] Specifically, the outer peripheral side of the first synchronous wheel 221, the first synchronous belt 222 and the first pressing block 224 are all provided with convex teeth, and transmission is achieved through the meshing of the convex teeth.

[0071] Optionally, the first transplanting assembly further includes a first mounting plate 240, and the first mounting plate 240 is used for welding with the frame 900. The two first synchronous wheels 221 are rotatably connected to the first mounting plate 240.

[0072] Optionally, the first transplanting assembly further includes a first motor 250 and a first frame 260 , wherein the first motor 250 is mounted on the first mounting plate 240 via the first frame 260 , wherein one of the first synchronous wheels 221 is fixedly sleeved on the output shaft of the first motor 250 via a spline.

[0073] Specifically, the first frame 260 includes a first bottom plate 261 and a first support plate 262. Two first bottom plates 261 are provided and are fixed to the first mounting plate 240 at intervals in the second horizontal direction Y. The main body of the first motor 250 passes through the first mounting plate 240 and is fixed to the first support plate 262. The output shaft of the first motor 250 passes through the first support plate 262 and is transmission-connected to one of the first synchronous wheels 221. In this way, the transmission position of the first motor 250 can be raised.

[0074] Optionally, another first synchronous wheel 221 is mounted on the first mounting plate 240 through a second frame 270. Specifically, the second frame 270 includes a second bottom plate 271 and a second support plate 272, the second support plate 272 is mounted on the first mounting plate 240 through the second bottom plate 271, and the first synchronous wheel 221 is rotatably connected to the second support plate 272.

[0075] Furthermore, the second support plate 272 is inserted with a first stepped shaft 273 , which includes a large diameter section and a small diameter section. One side of the large diameter section is rotatably connected to the second support plate 272 via a first bearing 274 , and the small diameter section is sleeved with a first synchronous wheel 221 .

[0076] Optionally, the first transplanting assembly further includes a first drag chain 280 , a fixed end of the first drag chain 280 is mounted on the first mounting plate 240 , and a movable end of the first drag chain 280 is mounted on the first loading plate 211 via a first mounting sheet metal 290 .

[0077] Optionally, the second carrier assembly 310 includes a second carrier plate 311 and a second suction cup 312 . The second carrier plate 311 is connected to the second displacement assembly 320 . The second suction cup 312 is mounted on the second carrier plate 311 . The second suction cup 312 can absorb the workpiece through the self-avoidance hole 2111 .

[0078] Optionally, the second displacement assembly 320 includes two groups of servo modules, and the servo modules include a motor, a linear guide, a lead screw and a slider. Exemplarily, the linear guide and the lead screw of the first servo module 321 are parallel to the second horizontal direction Y, the motor is used to drive the lead screw to rotate, and the slider is slidably sleeved on the linear guide and threadedly connected to the lead screw; the linear guide and the lead screw of the second servo module 322 are parallel to the vertical direction Z. The second servo module 322 is mounted on the slider of the first servo module 321 through the third mounting plate 323. The second carrier plate 311 is mounted on the slider of the second servo module 322 through the fourth mounting plate 324 and the fifth mounting plate 325, the fourth mounting plate 324 is fixed to the slider of the second servo module 322, the fifth mounting plate 325 is fixed to the second carrier plate 311, and a first reinforcing rib 326 is provided between the fourth mounting plate 324 and the fifth mounting plate 325.

[0079] Furthermore, the second suction cup 312 is fixed to the second loading plate 311 via a mounting frame 313 .

[0080] Specifically, the second transplanting mechanism 300 further includes a support rod 327 and a sixth mounting plate 328 . The support rod 327 is used to be fixed to the frame 900 . The sixth mounting plate 328 is fixed to the support rod 327 . The sixth mounting plate 328 is installed with the second displacement assembly 320 .

[0081] Furthermore, a second reinforcing rib 329 is disposed between the sixth mounting plate 328 and the slide rail of the first servo module 321 .

[0082] Furthermore, the second transplanting mechanism 300 also includes a second drag chain 331 , a fixed end of the second drag chain 331 is connected to the sixth mounting plate 328 via a second mounting sheet metal 332 , and a movable end is installed on the third mounting plate 323 via a third mounting sheet metal 333 .

[0083] Optionally, an automatic guided vehicle 800 is used to transport the stack of trays loaded with workpieces to the first location, and then to transport the empty stack of trays away at the second location to complete the recycling of the trays 100. However, since the first transfer mechanism 200 of the separation module can only grab one tray 100 at a time, the automatic guided vehicle 800 needs to stop at the first location and wait for all the trays 100 loaded on it to be grabbed by the first transfer mechanism 200 before leaving the first location. Each separation module needs to be equipped with a dedicated automatic guided vehicle 800, resulting in a waste of resources.

[0084] In order to improve the working efficiency of the automatic guided vehicle 800 and reduce its stagnation time, Figure 1As shown, the utility model also provides a feeding device, including a first docking module 400, a second docking module 500 and the above-mentioned separation module, the first docking module 400 is configured to transport a tray stack, the tray stack includes a plurality of trays 100, the trays 100 are stacked along their thickness direction, and the first suction cup 214 can absorb the tray 100 located on the top layer of the tray stack; the second docking module 500 is configured to transfer an empty tray stack, and the first carrier assembly places the empty trays 100 in the second docking module 500 in sequence.

[0085] Exemplarily, the first docking module 400 is arranged at a first point, the second docking module 500 is arranged at a second point, and the separation module is arranged above the first docking module 400 and the second docking module 500. The first docking module 400 is used to obtain the tray stack containing workpieces from the automatic guided vehicle 800 and move the tray stack to the first point. The first loading component of the first transfer mechanism 200 can obtain the tray 100 located at the top layer of the tray stack. After the second transfer mechanism 300 obtains the workpiece, the first transfer mechanism 200 stacks the empty trays 100 in sequence on the second docking module 500 located at the second point, and the second docking module 500 transfers the empty tray stack to the automatic guided vehicle 800.

[0086] It should be noted that the automatic guided vehicle 800 for feeding materials to the first docking module 400 and the automatic guided vehicle 800 for obtaining the empty tray stack from the second docking module 500 can be the same vehicle or two different vehicles.

[0087] like Figures 8 to 10 As shown, optionally, the first docking module 400 includes a third displacement assembly 410 and a third carrier assembly 420, the third carrier assembly 420 is used to load the extraction tray stack, the third displacement assembly 410 includes a seventh mounting plate 411 and a first movable plate 412, the first movable plate 412 is rotatably connected to two second synchronous wheels 413, the second synchronous wheels 413 are transmitted by a second synchronous belt 414, the second synchronous belt 414 is fixed to the seventh mounting plate 411 through a first connecting member, the second synchronous belt 414 is fixed to the second carrier assembly 310 through a second connecting member, and the moving directions of the first connecting member and the second connecting member are opposite.

[0088] Exemplarily, the seventh mounting plate 411, the first movable plate 412 and the third carrier assembly 420 are sequentially arranged in the vertical direction Z, and the third displacement assembly 410 includes a first state and a second state. In the first state, the first movable plate 412 and the third carrier assembly 420 are close to the seventh mounting plate 411 in the second horizontal direction Y, and the overlapping area of ​​the projections of the seventh mounting plate 411, the first movable plate 412 and the third carrier assembly 420 in the vertical direction Z is S1. In the second state, the first movable plate 412 and the third carrier assembly 420 are away from the seventh mounting plate 411 along the second horizontal direction Y, and the overlapping area of ​​the projections of the seventh mounting plate 411, the first movable plate 412 and the third carrier assembly 420 in the vertical direction Z is S2, satisfying that S1>S2. One of the second synchronous wheels 413 is rotated so that the first connecting member and the second connecting member move together with the second synchronous belt 414.

[0089] In this embodiment, it is assumed that when the second synchronous wheel 413 rotates clockwise, the first connecting member moves in the opposite direction of the second horizontal direction Y, and the second connecting member moves in the positive direction of the second horizontal direction Y. The seventh mounting plate 411 is used to be fixed to the frame 900, that is, it always remains stationary. When the second synchronous wheel 413 rotates, the second synchronous belt 414 applies a force in the opposite direction of the second horizontal direction Y to the seventh mounting plate 411 through the first connecting member. Similarly, the seventh mounting plate 411 applies a force in the positive direction of the second horizontal direction Y to the second synchronous belt 414 through the first connecting member. , so that the first movable plate 412 carries the third carrier assembly 420 and moves in the positive direction of the second horizontal direction Y; the second synchronous belt 414 gives the third carrier assembly 420 a positive force in the second horizontal direction Y through the second connecting member, so that the third carrier assembly 420 moves in the positive direction of the second horizontal direction Y relative to the first movable plate 412, so that the third displacement assembly 410 is switched from the first state to the second state. The switching process from the second state to the first state is the same as the above principle, only the action direction and the force direction are opposite, which will not be repeated here.

[0090] During use, when the automatic guided vehicle 800 carries the stack of trays loaded with workpieces and moves to the loading position, the loading position is located at the first point on one side of the second horizontal direction Y, the third displacement component 410 of the first docking module 400 is started, and switches from the first state to the second state, and extends the third carrier component 420 along the second horizontal direction Y until it is inserted between the automatic guided vehicle 800 and the stack of trays. The third carrier component 420 unloads the stack of trays from the automatic guided vehicle 800, and the third displacement component 410 switches from the second state to the first state, and pulls the first carrier component back to the first point so that the first transplanting mechanism 200 obtains the tray 100 from the first point.

[0091] The structure and operation of the second docking module 500 are substantially the same as those of the first docking module 400, and will not be further described here.

[0092] Thus, through the double-stage retractable arrangement of the first movable plate 412 and the third carrier assembly 420 , when the third displacement assembly 410 is in the first state, it occupies a relatively small space and can extend a longer distance along the second horizontal direction Y.

[0093] Preferably, the outer peripheral wall of the second synchronous wheel 413 is provided with first meshing teeth, and the second synchronous belt 414 is provided with second meshing teeth along its length direction, and the first meshing teeth can mesh with the second meshing teeth for transmission.

[0094] Furthermore, the first connecting member includes a second clamping block 416 and a second mounting block 415, the second clamping block 416 has a third meshing tooth, the third meshing tooth is meshed with the second meshing tooth, the second clamping block 416 and the second mounting block 415 are fixed by threaded fasteners, a portion of the second synchronous belt 414 is clamped between the second clamping block 416 and the second mounting block 415, and the second mounting block 415 is fixed to the seventh mounting plate 411.

[0095] Furthermore, the second connecting member includes a third clamping block and a third mounting block 417, the third clamping block has a third meshing tooth, the third meshing tooth is meshed with the second meshing tooth, the third clamping block and the third mounting block 417 are fixed by threaded fasteners, a portion of the second synchronous belt 414 is clamped between the third clamping block and the third mounting block 417, and the third mounting block 417 is fixed to the third carrier assembly 420.

[0096] Furthermore, the seventh mounting plate 411 and the first movable plate 412 and / or the first movable plate 412 and the third carrier assembly 420 are connected via a guide rail assembly to regulate the direction of relative displacement.

[0097] In this embodiment, the guide rail assembly includes a guide rail and a slider. The slider is slidably connected to the guide rail and can bear a certain torque.

[0098] Specifically, one of the seventh mounting plate 411 and the first movable plate 412 is installed with the first guide rail 430, and the other is installed with the first slider, which is slidably connected to the first guide rail 430. In this way, the relative displacement direction of the first movable plate 412 and the seventh mounting plate 411 can be standardized.

[0099] Preferably, at least two first guide rails 430 are provided, the two first guide rails 430 are arranged in parallel, and each first guide rail 430 is slidably provided with at least one first sliding block, so as to increase the stability of the first mounting plate 240 and the movable plate.

[0100] Specifically, one of the first movable plate 412 and the third carrier assembly 420 is installed with a second guide rail 440, and the other is installed with a second slider, and the second slider is slidably connected to the second guide rail 440. In this way, the relative displacement direction of the first movable plate 412 and the third carrier assembly 420 can be standardized.

[0101] Preferably, at least two second guide rails 440 are provided, the two second guide rails 440 are arranged in parallel, and each second guide rail 440 is slidably provided with at least one second sliding block, so as to increase the stability of the third object carrying assembly 420 and the first movable plate 412 .

[0102] Furthermore, the first docking module 400 further includes a first driver 450, which is mounted on the first moving plate 412, wherein a second synchronous wheel 413 is fixedly sleeved on the output shaft of the first driver 450. Thus, when the first driver 450 is started, the second synchronous wheel 413 fixed on its output shaft rotates accordingly, thereby driving the second synchronous belt 414 to rotate.

[0103] Preferably, the first driver 450 is a servo motor, which can control the output speed and has relatively accurate positioning accuracy. In this way, the displacement distance of the first connecting member and the second connecting member can be accurately adjusted, thereby accurately controlling the displacement distance of the third carrier assembly 420 relative to the seventh mounting plate 411.

[0104] Specifically, the first movable plate 412 is provided with an avoidance opening, the first driver 450 is installed on the side of the first movable plate 412 facing away from the third loading assembly 420 in the vertical direction Z, the output shaft of the first driver 450 passes through the avoidance opening and is connected to one of the second synchronization wheels 413, the seventh mounting plate 411 is provided with a waist-shaped hole along the second horizontal direction Y, the first driver 450 is partially inserted in the waist-shaped hole and can move relative to the seventh mounting plate 411 in the waist-shaped hole.

[0105] Furthermore, the first docking module 400 also includes a third base plate 461 and a support member 462 . The third base plate 461 and the seventh mounting plate 411 are spaced apart in the vertical direction Z and are located on the side facing away from the first movable plate 412 . The support member 462 connects the third base plate 461 and the first mounting plate 240 .

[0106] Specifically, the support member 462 includes a support 4621 and a support shaft 4622, the support 4621 is fixed to the third bottom plate 461, the support shaft 4622 is inserted into the support 4621, and the support shaft 4622 is connected to the seventh mounting plate 411 through a threaded fastener. Exemplarily, the third bottom plate 461 is installed with at least three bases, and the three bases are collinear in pairs, and the seventh mounting plate 411 is connected to the third bottom plate 461 through at least three support members 462.

[0107] Furthermore, another second synchronous wheel 413 is rotationally connected to the first movable plate 412 through a second bearing 471. Specifically, the first movable plate 412 is installed with a bearing seat 472, the bearing seat 472 is provided with a stepped hole, the second bearing 471 is installed in the bearing seat 472, the outer ring of the second bearing 471 is fixed in the stepped hole, one end of the second stepped shaft 473 is inserted in the stepped hole and fixed to the inner ring of the second bearing 471, and another second synchronous wheel 413 is fixedly sleeved on the other end of the second stepped shaft 473. The second stepped shaft 473 is also sleeved with a baffle 474, which blocks the bearing in the stepped hole.

[0108] Optionally, the third bottom plate 461 of the first docking module is made of a steel plate with a thickness of 16 mm.

[0109] Optionally, the first movable plate 412 is made of an aluminum plate with a thickness of 16 mm.

[0110] Optionally, the third carrier assembly 420 includes an eighth mounting plate 421 and a third carrier plate 422 , the eighth mounting plate 421 is mounted with a fourth telescopic member 423 , and an output end of the fourth telescopic member 423 is fixed to the third carrier plate 422 .

[0111] Specifically, the eighth mounting plate 421 and the third loading plate 422 are stacked along the vertical direction Z and connected via a fourth telescopic member 423 . The fourth telescopic member 423 can drive the third loading plate 422 to move along the vertical direction Z relative to the eighth mounting plate 421 .

[0112] Exemplarily, the fourth telescopic member 423 is a cylinder, a cylinder body of the cylinder is fixed to the eighth mounting plate 421 , and a piston rod of the cylinder is connected to the third carrier plate 422 .

[0113] Thus, when the third carrier assembly 420 is inserted between the AGV 800 and the tray stack along the second horizontal direction Y, the fourth telescopic member 423 is activated to move the third carrier plate 422 and the eighth mounting plate 421 away from each other in the vertical direction Z, so that the tray stack is separated from the AGV 800 .

[0114] Furthermore, the third carrier assembly 420 also includes a first floating joint 427, which includes a first fixed head 4271 and a first floating threaded rod 4272. The first fixed head 4271 is fixed to the third carrier plate 422, one end of the first floating threaded rod 4272 is connected to the first fixed head 4271, and the other end is fixed to the cylinder of the cylinder, so as to eliminate the eccentricity problem caused by mechanical conversion and / or processing errors.

[0115] Furthermore, the third carrier assembly 420 also includes a first linear bearing 428 and a first guide shaft 429. The first linear bearing 428 is installed on one of the eighth mounting plate 421 and the third carrier plate 422, and the first guide shaft 429 is installed on the other. The first linear bearing 428 is slidably mounted outside the first guide shaft 429, so as to regulate the relative movement of the eighth mounting plate 421 and the third carrier plate 422 along the vertical direction Z.

[0116] Optionally, the third loading assembly 420 also includes a clamping block 424 and a limit block 425, the limit block 425 is fixed to one side edge of the third loading plate 422, the clamping block 424 is connected to the other side edge of the third loading plate 422 through a fifth telescopic member 426, and the fifth telescopic member 426 can drive the clamping block 424 to move closer to or away from the limit block 425.

[0117] Exemplarily, the limit block 425 and the clamping block 424 are spaced apart in the second horizontal direction Y. When the third displacement assembly 410 is in the second state, the limit block 425 is fixed to the side of the third carrier plate 422 in the second horizontal direction Y away from the eighth mounting plate 421, and the clamping block 424 is installed on the side of the third carrier plate 422 in the second direction close to the first mounting plate 240.

[0118] Optionally, the first docking module 400 also includes a monitoring component, which includes a first sensor 481, a second sensor 482 and a third sensor 483, wherein the first sensor 481 is used to obtain the relative position of the third carrier component 420 and the seventh mounting plate 411; the second sensor 482 is used to determine whether the extraction tray 100 is placed on the third carrier component 420; and the third sensor 483 is used to determine whether the extraction tray 100 is placed in place on the third carrier component 420.

[0119] Specifically, the first sensor 481 is a groove sensor, and at least three are sequentially arranged on the seventh mounting plate 411 along the second horizontal direction Y, the first and last two are respectively used to obtain the extreme position of the third carrier assembly 420, and the remaining first sensors 481 are used to obtain the real-time position of the third carrier assembly 420. A detection block 484 is installed on the first movable plate 412, and the detection block 484 is used to trigger the first sensor 481. Since the movement of the first movable plate 412 relative to the seventh mounting plate 411 and the movement of the third carrier assembly 420 relative to the first movable plate 412 are synchronous, the relative position of the third carrier assembly 420 and the seventh mounting plate 411 can be further deduced by obtaining the relative position of the first movable plate 412 relative to the seventh mounting plate 411.

[0120] Specifically, the second sensor 482 is installed on the front edge of the third loading plate 422, and the third sensor 483 is installed on the rear edge of the third loading plate 422. Both the second sensor 482 and the third sensor 483 are photoelectric sensors.

[0121] Optionally, the first docking module 400 further includes a third drag chain 491 and a fourth mounting sheet metal 492, wherein the fixed end of the third drag chain 491 is mounted on the third bottom plate 461, and the movable end is mounted on the fourth mounting sheet metal 492, and the fourth mounting sheet metal 492 is mounted on the first movable plate 412. The third drag chain 491 is used to bind and protect the wire harness.

[0122] like Fig.11 As shown, optionally, the feeding device also includes a centering module 600, which is arranged on the peripheral side of the third carrier component 420. The centering module 600 includes a fourth displacement component 610 and a roller 620. The output end of the fourth displacement component 610 is connected to the roller 620, which is used to drive the roller 620 to move closer to or away from the third carrier component 420. The peripheral side wall of the roller 620 can abut against the peripheral side wall of the extraction plate 100.

[0123] Exemplarily, a plurality of centering modules 600 are provided, and the plurality of centering modules 600 are distributed around the circumference of the third carrier assembly 420 . The rollers 620 of the centering modules 600 can simultaneously abut against the circumferential side walls of the extraction tray 100 on the third carrier assembly 420 to complete the centering alignment of the extraction tray 100 .

[0124] Specifically, the centering module 600 includes a ninth mounting plate 631 and a third support plate 632. The third support plate 632 is provided with two pieces, which are respectively fixed on the opposite sides of the ninth mounting plate 631. The roller 620 includes a core shaft and an outer cylinder. The outer cylinder is sleeved on the core shaft. The axial ends of the core shaft are respectively connected to the two third support plates 632, wherein the outer cylinder and the core shaft or the core shaft and the third support plate 632 are rotationally connected.

[0125] Furthermore, the outer cylinder and the core shaft or the core shaft and the third support plate 632 can rotate relative to each other, and a bearing is provided between the two to reduce rotational friction.

[0126] Furthermore, the centering module 600 further includes a tenth mounting plate 650, and the fourth displacement assembly 610 includes a sixth telescopic member 611, a second guide shaft 612, and an adjusting nut 613. The tenth mounting plate 650 is located on the side of the ninth mounting plate 631 facing away from the roller 620, the fixed end of the sixth telescopic member 611 is fixed to the ninth mounting plate 631, the output end of the sixth telescopic member 611 is mounted on the tenth mounting plate 650, one end of the second guide shaft 612 is mounted on the ninth mounting plate 631, and the other end is threadedly connected to the adjusting nut 613 after passing through the tenth mounting plate 650, the adjusting nut 613 can abut against the tenth mounting plate 650, and the axial direction of the second guide shaft 612 is parallel to the telescopic direction of the sixth telescopic member 611.

[0127] Specifically, at least two groups of second guide shafts 612 are provided and spaced apart along the axis of the roller 620 , thereby increasing the stability of the tenth mounting plate 650 relative to the ninth mounting plate 631 .

[0128] Exemplarily, two sixth telescopic members 611 and two second guide shafts 612 are provided and are spaced apart along the axis of the roller 620 , and the two sixth telescopic members 611 are located between the two second guide shafts 612 .

[0129] Specifically, the sixth telescopic member 611 is a cylinder, a cylinder body of which is mounted on the tenth mounting plate 650 , and a piston rod of which is connected to the ninth mounting plate 631 .

[0130] Furthermore, the centering module 600 also includes a second floating joint 660, which includes a second fixed head 661 and a second floating threaded rod 662. The second fixed head 661 is fixed to the piston rod of the cylinder, one end of the second floating threaded rod 662 is connected to the second fixed head 661, and the other end is fixed to the ninth mounting plate 631, which is used to eliminate the non-concentricity problem caused by mechanical conversion and / or processing errors.

[0131] Furthermore, the centering module 600 further includes a second linear bearing 670 , which is mounted on the tenth mounting plate 650 and is slidably sleeved outside the second linear bearing 670 .

[0132] Furthermore, the centering module 600 further includes a mounting seat 640 , which is provided with two ends of the tenth mounting plate 650 mounted along the axis of the roller 620 . The mounting seat 640 is L-shaped and is used to be fixed to the frame 900 .

[0133] like Fig.12 and Fig.13As shown, optionally, the feeding device also includes a lifting module 700, which is arranged between the first docking module 400 and the first transplanting mechanism 200. The lifting module 700 includes a fourth carrier component 710 and a fifth displacement component 720. The fourth carrier component 710 is used to receive the extraction tray stack loaded by the third carrier component 420, and the fifth displacement component 720 is used to drive the fourth carrier component 710 to reciprocate along the thickness direction of the extraction tray stack. The first carrier component obtains the extraction tray 100 from the fourth carrier component 710. Specifically, the fourth carrier assembly 710 includes an eleventh mounting plate 711, which is connected to the fifth displacement assembly 720. Two cantilevers 712 are provided, and the two cantilevers 712 are fixed to the eleventh mounting plate 711 at intervals in the first horizontal direction X. A fourth carrier plate 714 for supporting the extraction tray stack is installed on each cantilever 712, and the fourth carrier plate 714 is installed with a first positioning member 715 and a second positioning member 716. The first positioning member 715 can be plugged into the extraction tray 100, and the second positioning member 716 can abut against the peripheral side wall of the extraction tray 100.

[0134] Furthermore, a third reinforcing rib 713 is installed between the cantilever 712 and the eleventh mounting plate 711 .

[0135] Specifically, the fifth displacement assembly 720 is a guide rail slider mechanism, which is a well-known technology and will not be described in detail here.

[0136] like Fig.14 As shown, optionally, rollers 910 and adjustment supports 920 are installed at the bottom of the frame 900, and the frame 900 can be displaced by the rollers 910. By adjusting the supports 920, the height of the frame 900 can be increased so that the rollers 910 are lifted off the ground, so that the frame 900 is stabilized in place.

[0137] Exemplarily, in this embodiment, the first docking module 400 and the second docking module 500 are installed in the frame 900 in the first horizontal direction X. The frame 900 is provided with a feed port and a discharge port on one side of the second horizontal direction Y. The feed port corresponds to the first docking module 400, and the discharge port corresponds to the second docking module 500. Two lifting modules 700 are provided, corresponding to the first docking module 400 and the second docking module 500, respectively. Eight centering modules 600 are provided, four forming a group, and two groups of centering modules 600 surround the first docking module 400 and the second docking module 500, respectively. The first transplanting mechanism 200 is located above the first docking module 400 and the second docking module 500, and the second transplanting mechanism 300 is located above the first transplanting mechanism 200.

[0138] In addition, the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention is described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A separation module, used for separating the extraction tray (100) and the workpiece loaded on the extraction tray (100), characterized in that: include: The first transplanting mechanism (200) comprises a first loading assembly and a first displacement assembly, wherein the first loading assembly comprises a first loading plate (211), a first telescopic member (212), a second telescopic member (213) and a first suction cup (214), wherein a avoidance hole (2111) is provided in the middle of the first loading plate (211), a mounting end of the first telescopic member (212) is mounted on the peripheral side of the first loading plate (211), and an output end of the first telescopic member (212) is used to drive the second telescopic member (213) to move along the avoidance hole (2111) The first displacement assembly is used to drive the first carrier assembly to move back and forth; the output end of the second telescopic member (213) is connected to a separation member (230) and is capable of driving the separation member (230) to move axially along the avoidance hole (2111); the separation member (230) is capable of moving to the bottom of the extraction tray (100); the first suction cup (214) is mounted on the first carrier plate (211) and is used to absorb the extraction tray (100); the workpiece is exposed from the avoidance hole (2111); and the first displacement assembly is used to drive the first carrier assembly to move back and forth; The second transfer mechanism (300) comprises a second carrier assembly (310) and a second displacement assembly (320), wherein the second carrier assembly (310) is used to obtain the workpiece from the avoidance hole (2111), and the second displacement assembly (320) is used to drive the second carrier assembly (310) to move back and forth.

2. The separation module according to claim 1, characterized in that: The first loading assembly further comprises a third telescopic member (215), the mounting end of the third telescopic member (215) being mounted on the first loading plate (211), and the output end of the third telescopic member (215) being capable of acting on the extraction plate (100) along the axial direction of the avoidance hole (2111), so that the extraction plate (100) is separated from the first suction cup (214).

3. The separation module according to claim 1, characterized in that: The first displacement assembly comprises: A first synchronous wheel (221), wherein two first synchronous wheels (221) are provided and are spaced apart from each other along a radial direction thereof; A first synchronous belt (222), wherein the two first synchronous wheels (221) are driven by the first synchronous belt (222); A first mounting block (223) and a first pressing block (224), wherein the first pressing block (224) is fixed to the first synchronous belt (222), one side of the first mounting block (223) is fixed to the first pressing block (224), and the other side is fixed to the first loading plate (211).

4. The separation module according to claim 1, characterized in that: The second carrier assembly (310) comprises: a second carrier plate (311) and a second suction cup (312); the second carrier plate (311) is connected to the second displacement assembly (320); the second suction cup (312) is mounted on the second carrier plate (311); and the second suction cup (312) can absorb the workpiece from the avoidance hole (2111).

5. A feeding device, characterized in that: The invention comprises a first docking module (400), a second docking module (500) and a separation module according to any one of claims 1 to 4, wherein the first docking module (400) is configured to transport a tray stack, wherein the tray stack comprises a plurality of trays (100), wherein the trays (100) are stacked along their thickness direction, and wherein the first suction cup (214) is capable of adsorbing the tray (100) located at the top layer of the tray stack; and the second docking module (500) is configured to transfer an empty tray stack, and the first carrier assembly places the empty trays (100) in sequence on the second docking module (500).

6. The feeding device according to claim 5, characterized in that: The first docking module (400) comprises a third displacement assembly (410) and a third carrier assembly (420), wherein the third carrier assembly (420) is used to load the extraction tray stack, and the third displacement assembly (410) comprises a seventh mounting plate (411) and a first movable plate (412), wherein the first movable plate (412) is rotatably connected to two second synchronous wheels (413), wherein the second synchronous wheels (413) are driven by a second synchronous belt (414), wherein the second synchronous belt (414) is fixed to the seventh mounting plate (411) by a first connecting member, and wherein the second synchronous belt (414) is fixed to the third carrier assembly (420) by a second connecting member, and wherein the moving directions of the first connecting member and the second connecting member are opposite.

7. The feeding device according to claim 6, characterized in that: The third object carrier assembly (420) comprises an eighth mounting plate (421) and a third object carrier plate (422); the eighth mounting plate (421) is mounted with a fourth telescopic member (423); and the output end of the fourth telescopic member (423) is fixed to the third object carrier plate (422).

8. The feeding device according to claim 7, characterized in that: The first loading assembly further comprises a clamping block (424) and a limiting block (425), wherein the limiting block (425) is fixed to one side edge of the third loading plate (422), and the clamping block (424) is connected to the other side edge of the third loading plate (422) via a fifth telescopic member (426), and the fifth telescopic member (426) is capable of driving the clamping block (424) to move closer to or away from the limiting block (425).

9. The feeding device according to any one of claims 6 to 8, characterized in that: The invention also comprises a centering module (600), wherein the centering module (600) is arranged on the peripheral side of the third carrier assembly (420), and the centering module (600) comprises a fourth displacement assembly (610) and a roller (620), wherein the output end of the fourth displacement assembly (610) is connected to the roller (620) for driving the roller (620) to approach or move away from the third carrier assembly (420), and the peripheral side wall of the roller (620) can abut against the peripheral side wall of the extraction plate (100).

10. The feeding device according to any one of claims 6 to 8, characterized in that: The invention also comprises a lifting module (700), wherein the lifting module (700) is arranged between the first docking module (400) and the first transplanting mechanism (200), and the lifting module (700) comprises a fourth carrier component (710) and a fifth displacement component (720), wherein the fourth carrier component (710) is used to receive the extraction tray stack loaded by the third carrier component (420), and the fifth displacement component (720) is used to drive the fourth carrier component (710) to move back and forth along the thickness direction of the extraction tray stack, and the first carrier component obtains the extraction tray (100) from the fourth carrier component (710).

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