Feeding device and assembling equipment

Abstract

The utility model relates to a feeding device and assembling equipment, and belongs to the technical field of automatic production equipment. The utility model provides a feeding device which comprises a carrier mechanism used for bearing a tray. The carrier moving mechanism is used for driving the carrier mechanism to move on the plane where the material taking position is located so that the workpieces in the tray can be moved to the material taking position one by one. And the camera is used for photographing the workpiece located at the material taking position so as to provide position information for the material taking device to grab the workpiece from the material taking position. The utility model further provides assembling equipment which comprises the feeding device. The feeding device and the assembling equipment have high material taking precision and material taking efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of automatic production equipment, and in particular to a feeding device and assembly equipment. Background Art

[0002] In an automated production line, a feeding device is a common feeding module. Workpieces are usually loaded onto pallets, and then multiple pallets are stacked together and placed in a hopper. After the full pallet is lifted to the material removal position and the material is removed, the empty pallet is moved to the lower hopper. After the empty pallets are stacked to a sufficient number, they flow out of the equipment together.

[0003] Currently, in most material-picking processes, the pallet is fixed in position, and visual photography is used to determine the material-picking position, and the material-picking device moves to the material-picking position to grab the workpiece. One method is to fix the camera above the silo and take pictures of multiple workpieces at the same time. This method requires the camera to have a very high resolution, and the accidental movement of the pallet position during the material-picking process will cause the actual material-picking position to shift, and the material-picking device may not be able to grab the workpiece; another method is to fix the camera to the material-picking device and move with the material-picking device during the material-picking process. This adds additional load to the material-picking device, reduces the maximum weight of the workpiece that the material-picking device can grab, and takes up a large space, reducing the mobility of the material-picking device. In addition, the camera's position is prone to shifting when it is in motion for a long time, which can also cause the material-picking device to fail to grab the workpiece. This places high demands on the camera's installation and fixation. Utility Model Content

[0004] To this end, the present application proposes a feeding device and assembly equipment. The pallet is displaced to move the workpiece to the picking position. The camera takes pictures of the workpiece at the picking position to guide the picking device to grab the workpiece, which can improve the picking accuracy and efficiency.

[0005] The first embodiment of the present application proposes a feeding device, comprising: a carrier mechanism for carrying a pallet; a carrier moving mechanism for driving the carrier mechanism to move on the plane where the material picking position is located, so as to move the workpiece in the pallet to the material picking position; a camera, the camera being used to take pictures of the workpiece located at the material picking position to provide position information for the material picking device to grab the workpiece from the material picking position.

[0006] Optionally, the carrier moving mechanism includes: a first mounting frame; a second mounting frame, which is slidably mounted on the first mounting frame along the X direction, and the carrier mechanism is slidably mounted on the second mounting frame along the Y direction; a first drive assembly, which is mounted on the first mounting frame and is used to drive the second mounting frame to move along the X direction; and a second drive assembly, which is mounted on the second mounting frame and is used to drive the carrier mechanism to move along the Y direction.

[0007] Optionally, the first driving assembly includes: a first motor, mounted on the first mounting bracket; a transmission shaft, the axial direction of the transmission shaft extending along the Y direction, the transmission shaft rotatably mounted on the first mounting bracket, and the first motor being used to drive the transmission shaft to rotate; two transmission belt assemblies, spaced apart on the first mounting bracket along the Y direction, each transmission belt assembly including a transmission belt and a transmission block, the transmission shaft being in transmission connection with the transmission belt, the transmission block being mounted on the transmission belt, the transmission belt being used to drive the transmission block to move along the X direction, the transmission block being connected to the second mounting bracket, and the two transmission blocks jointly driving the second mounting bracket to move along the X direction.

[0008] Optionally, the second driving assembly includes: a second motor mounted on the second mounting bracket; a screw rod, the axial direction of the screw rod extending along the Y direction, the screw rod being rotatably mounted on the second mounting bracket, and the second motor being used to drive the screw rod to rotate;

[0009] The screw rod is threadably matched with the nut, the nut is connected to the carrier mechanism, and the nut drives the carrier mechanism to move along the Y direction.

[0010] Optionally, the carrier mechanism includes: a frame, which is slidably mounted on the second mounting frame along the Y direction, and the middle part of the frame forms a material picking space for accommodating the pallet; at least one pair of clamping assemblies, and any pair of the at least one pair of clamping assemblies is relatively mounted on the frame, and is used to jointly clamp the two opposite side walls of the pallet to grab the pallet.

[0011] Optionally, the clamping assembly includes: a sliding plate, which is slidably mounted on the frame along the X direction or the Y direction; a clamping drive member, which is used to drive the sliding plate to slide relative to the frame; and at least one clamping member, which is mounted on one side of the sliding plate close to the material retrieving space.

[0012] Optionally, the clamping member includes a clamping portion and a guiding portion, the clamping portion is used to abut against the side wall of the pallet, the clamping portion and the guiding portion are set at an obtuse angle, one end of the guiding portion is connected to the lower edge of the clamping portion, and the other end extends obliquely in a direction away from the material-removing space, and the guiding portion is used to guide the pallet into the material-removing space.

[0013] Optionally, the carrier mechanism includes a pair of clamping assemblies mounted on the frame for relative sliding along the X direction, and the clamping assembly includes two clamping members, which are spaced apart along the Y direction.

[0014] Optionally, the carrier mechanism further includes: a photoelectric sensing component, disposed on the frame, for detecting whether there is a tray inside the material taking space.

[0015] Optionally, the feeding device further includes: a tray loading mechanism for carrying a full tray and moving the full tray to the material taking space; and a tray unloading mechanism for receiving an empty tray and unloading the empty tray.

[0016] Optionally, the pallet loading mechanism and the pallet unloading mechanism both include: a conveyor belt for conveying the pallet along the X direction; a lifting bracket for carrying the pallet; and a lifting drive member for driving the lifting bracket to move along the Z direction.

[0017] The second embodiment of the present application further provides an assembly device, comprising the feeding device of the first embodiment of the present application.

[0018] Compared with the existing technology, this solution has the following beneficial effects:

[0019] The feeding device of the embodiment of the present application is used to feed the material to the picking device, and the carrier moving mechanism drives the carrier mechanism to move. Each beat moves the workpiece to the preset picking position. The camera takes a picture of the workpiece at the picking position to obtain accurate position information. The picking device further adjusts the picking position according to the position information of the workpiece detected by the camera to reliably grab the workpiece. On the one hand, since the camera is fixed, the carrier mechanism drives the pallet to move and moves the workpiece to the picking position. This can avoid the undesirable phenomenon of the camera position shifting after long-term use caused by the camera being set on the moving picking device in the traditional solution, thereby ensuring that the picking accuracy is still high after long-term use; on the other hand, since the camera only takes pictures and detects the workpiece at the picking position, it can avoid the undesirable phenomenon of the camera taking pictures of multiple workpieces on the entire pallet at the same time in the transmission solution, resulting in poor position information accuracy, thereby reducing the requirements for camera resolution. The picking device is only docked with the picking position, which simplifies the picking process and improves the picking efficiency.

[0020] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 A schematic diagram of the structure of a feeding device provided in an embodiment of the present application;

[0023] Figure 2 A schematic structural diagram of a carrier mechanism and a carrier moving mechanism in a feeding device provided in an embodiment of the present application;

[0024] Figure 3 for Figure 2 A partial enlarged view of point A in the middle;

[0025] Figure 4 A plan view of the material extraction position, tray loading position, and tray unloading position of the feeding device provided in an embodiment of the present application;

[0026] Figure 5 A schematic structural diagram of a tray unloading mechanism of a feeding device provided in an embodiment of the present application;

[0027] Figure 6 A schematic structural diagram of a tray corresponding to the feeding device provided in an embodiment of the present application.

[0028] Icons: 100-feeding device; 110-carrier mechanism; 111-frame; 1111-feeding space; 112-clamping assembly; 1121-sliding plate; 1122-clamping drive member; 1123-clamping member; 1124-clamping portion; 1125-guide portion; 113-photoelectric sensing assembly; 114-limiting plate; 120-carrier moving mechanism; 121-first mounting bracket; 122-second mounting bracket; 123-first driving assembly; 1231-first motor; 1232-drive shaft; 1233-drive belt assembly; 1234-drive belt; 1235-drive block; 1236-reducer; 1237-bearing seat; 1238 -synchronous wheel; 124-second drive assembly; 1241-second motor; 1242-screw rod; 125-first guide rail assembly; 126-second guide rail assembly; 127-first in-place detection assembly; 128-second in-place detection assembly; 130-camera; 140-tray loading mechanism; 150-tray unloading mechanism; 151-conveyor belt; 152-lifting bracket; 153-lifting drive member; 154-baffle assembly; 1541-baffle; 155-third guide rail assembly; 156-fixed bracket; 161-material taking position; 162-tray loading position; 163-tray unloading position; 200-tray; 210-side wall; 220-material clamping bin. DETAILED DESCRIPTION

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0030] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0031] like Figure 1 As shown, the feeding device 100 of the embodiment of the present application includes a carrier mechanism 110, a carrier moving mechanism 120 and a camera 130. The carrier mechanism 110 is used to carry the tray 200 (see Figure 6 ), the carrier moving mechanism 120 is used to drive the carrier mechanism 110 to move on the plane where the material taking position 161 is located, so as to move the workpiece in the tray 200 to the material taking position 161 (please refer to Figure 4 ), the camera 130 is used to take a picture of the workpiece located at the picking position 161 to provide position information for the picking device to grab the workpiece from the picking position 161.

[0032] The plane where the material picking position 161 is located refers to the XY plane; the carrier mechanism 110 carries the pallet 200 by clamping the side wall 210 of the pallet 200, and can also carry the pallet 200 by supporting the pallet 200 in the direction Z; the carrier mechanism 110 can only provide one workpiece to the material picking position 161 in each beat, or can provide multiple workpieces to the material picking position 161; the camera 130 is set to correspond to the position of the material picking position 161, and the camera 130 can be located above the material picking position 161, or it can be located at other positions of the material picking position 161; the material picking device can be a material picking robot or other material picking mechanism.

[0033] The feeding device 100 of the embodiment of the present application is used to feed the material picking device, and the carrier moving mechanism 120 drives the carrier mechanism 110 to move, and the workpiece is moved to the preset material picking position 161 in each beat. The camera 130 takes a picture of the workpiece located at the material picking position 161 to obtain accurate position information. The material picking device further adjusts the material picking position according to the position information of the workpiece detected by the camera 130 to reliably grasp the workpiece. On the one hand, since the camera 130 is fixed, the pallet 200 is moved by the carrier mechanism 110 to move the workpiece to the material picking position 161, which can avoid the undesirable phenomenon that the camera position is offset after long-term use due to the camera being set on the mobile material picking device in the traditional solution, thereby ensuring that the material picking accuracy is still high after long-term use; on the other hand, since the camera 130 only takes pictures and detects the workpiece at the material picking position 161, it can avoid the undesirable phenomenon that the camera in the transmission solution takes pictures of multiple workpieces on the entire pallet at the same time, resulting in poor position information accuracy, thereby reducing the requirements for camera resolution, and the material picking device is only docked with the material picking position 161, which simplifies the material picking process and improves the material picking efficiency.

[0034] In some embodiments of the present application, the camera 130 is a common CCD camera, which is fixed above the material extraction position 161 through an external frame, and the detection area is mainly for the workpiece at the material extraction position 161.

[0035] In other embodiments, depending on the characteristics of the workpiece, the camera 130 may also be a thermal imaging camera, fixed above the material extraction position 161 in other ways.

[0036] like Figure 2 As shown, in some embodiments of the present application, the carrier movement mechanism 120 includes a first mounting frame 121, a second mounting frame 122, a first drive assembly 123, and a second drive assembly 124. The second mounting frame 122 is slidably mounted on the first mounting frame 121 along the X direction, and the carrier mechanism 110 is slidably mounted on the second mounting frame 122 along the Y direction; the first drive assembly 123 is mounted on the first mounting frame 121 for driving the second mounting frame 122 to move along the X direction, and the second drive assembly 124 is mounted on the second mounting frame 122 for driving the carrier mechanism 110 to move along the Y direction.

[0037] The X direction and the Y direction are two directions on the plane where the material extraction position is located (ie, the XY plane), and the X direction and the Y direction are perpendicular to each other.

[0038] With this arrangement, the carrier mechanism 110 can be driven to move in the X direction and the Y direction in a simple and reliable manner to reach the material removal position 161 .

[0039] In other embodiments, the carrier mechanism 110 may be driven to move in other ways. For example, the carrier moving mechanism 120 may drive the carrier mechanism 110 to move in a polar coordinate system to move the workpiece on the tray 200 to the material extraction position 161 .

[0040] like Figure 2 As shown, in some embodiments of the present application, the first driving assembly 123 includes a first motor 1231, a transmission shaft 1232 and two transmission belt assemblies 1233, the first motor 1231 is installed on the first mounting frame 121, the axial direction of the transmission shaft 1232 extends along the Y direction, the transmission shaft 1232 is rotatably installed on the first mounting frame 121, the first motor 1231 is used to drive the transmission shaft 1232 to rotate, the two transmission belt assemblies 1233 are arranged on the first mounting frame 121 at intervals along the Y direction, each transmission belt assembly 1233 includes a transmission belt 1234 and a transmission block 1235, the transmission shaft 1232 is connected to the transmission belt 1234 for transmission, the transmission block 1235 is installed on the transmission belt 1234, the transmission belt 1234 is used to drive the transmission block 1235 to move along the X direction, the transmission block 1235 is connected to the second mounting frame 122, and the two transmission blocks 1235 jointly drive the second mounting frame 122 to move along the X direction.

[0041] The transmission shaft 1232 is rotatably supported on the first mounting frame 121 through two bearing seats 1237. A synchronous pulley 1238 is provided at each end of the transmission shaft 1232. The transmission shaft 1232 is connected to the transmission belt 1234 through the synchronous pulley 1238. The synchronous pulley 1238 and another transmission pulley jointly support a transmission belt 1234. The first motor 1231 is connected to the transmission shaft 1232 through the reducer 1236. The transmission shaft 1232 rotates to drive the two transmission belts 1234 to run synchronously through the two synchronous pulleys 1238, thereby driving the second mounting frame 122 to move along the X direction through the two transmission blocks 1235.

[0042] Both ends of the second mounting frame 122 along the Y direction are slidably mounted on the first mounting frame 121 along the X direction through a first guide rail assembly 125 respectively. The first guide rail assembly 125 includes a guide rail bar and a sliding block. The guide rail bar is fixedly mounted on the first mounting frame 121, and the sliding block is slidably mounted on the guide rail bar along the X direction. The sliding block is fixedly connected to the second mounting frame 122. The transmission block 1235 is fixed to the sliding block by a screw, and the transmission belt 1234 is pressed against the sliding block. When the transmission belt 1234 is running, it drives the sliding block to move synchronously by passing through the transmission block 1235, thereby driving the second mounting frame 122 to move synchronously.

[0043] With this arrangement, the carrier mechanism 110 can be driven to move along the X direction simply and reliably.

[0044] In other embodiments, other linear drive mechanisms may also be used to drive the carrier mechanism 110 to move along the X direction.

[0045] like Figure 2 As shown, in some embodiments of the present application, the second drive assembly 124 includes a second motor 1241, a screw rod 1242 and a nut (not shown in the figure), the second motor 1241 is installed on the second mounting bracket 122, the axial direction of the screw rod 1242 extends along the Y direction, the screw rod 1242 is rotatably installed on the second mounting bracket 122, the second motor 1241 is used to drive the screw rod 1242 to rotate, the screw rod 1242 is threadedly engaged with the nut, the nut is connected to the carrier mechanism 110, and the nut drives the carrier mechanism 110 to move along the Y direction.

[0046] The carrier mechanism 110 includes a frame 111, and both sides of the frame 111 along the X direction are slidably mounted on the second mounting frame 122 via a second guide rail assembly 126. A nut is mounted on the lower side of the frame 111, and the screw rod 1242 rotates to drive the nut to move along the Y direction, and the nut drives the carrier mechanism 110 to move along the Y direction.

[0047] With this arrangement, the carrier mechanism 110 can be driven to move along the Y direction simply and reliably.

[0048] In other embodiments, other linear drive mechanisms may also be used to drive the carrier mechanism 110 to move along the Y direction.

[0049] The carrier moving mechanism 120 further includes a first in-position detection component 127 and a second in-position detection component 128 . The first in-position detection component 127 is used to detect whether the carrier mechanism 110 moves into position along the X direction, and the second in-position detection component 128 is used to detect whether the carrier mechanism 110 moves into position along the Y direction.

[0050] With this arrangement, the tray 200 can be reliably moved to move the workpieces one by one to the material removal position 161 .

[0051] like Figure 2 As shown, in some embodiments of the present application, the carrier mechanism 110 includes a frame 111 and at least one pair of clamping assemblies 112. The frame 111 is slidably installed on the second mounting frame 122 along the Y direction. A material picking space 1111 for accommodating the pallet 200 is formed in the frame 111. Any pair of the at least one pair of clamping assemblies 112 is relatively installed on the frame 111 for jointly clamping the two opposite side walls 210 of the pallet 200 to grasp the pallet 200.

[0052] The pair of clamping assemblies 112 may be arranged relative to each other along the X direction or along the Y direction; the carrier mechanism 110 may be provided with only one pair of clamping assemblies 112 or multiple pairs of clamping assemblies 112 to achieve circumferential clamping of the tray 200 .

[0053] As an example, the carrier mechanism 110 includes a pair of clamping assemblies 112 , which are mounted on the frame 111 along the X direction.

[0054] like Figure 6 As shown, the tray 200 extends longitudinally along the Y-direction and widthwise along the X-direction. Multiple workpiece clamping bins 220 are located within the tray 200, each of which is configured to accommodate a workpiece. When the tray 200 is loaded into the unloading space 1111, a pair of clamping assemblies 112 clamp onto the opposing sidewalls 210 of the tray 200, thereby moving the tray 200.

[0055] By providing the clamping assembly 112 , the tray 200 can be simply and reliably grasped, thereby driving the tray 200 to move and moving the workpieces one by one to the material extraction position 161 .

[0056] In other embodiments, the tray 200 may be grasped in other ways.

[0057] like Figure 3As shown, in some embodiments of the present application, the clamping assembly 112 includes a sliding plate 1121, a clamping drive 1122 and at least one clamping member 1123. The sliding plate 1121 is slidably installed on the frame 111 along the X direction or the Y direction. The clamping drive 1122 is used to drive the sliding plate 1121 to slide relative to the frame 111. At least one clamping member 1123 is installed on one side of the sliding plate 1121 close to the material removal space 1111.

[0058] That is, the sliding direction of the sliding plate 1121 relative to the frame 111 is the same as the relative arrangement direction of the pair of clamping assemblies 112. Based on the aforementioned embodiment of "the pair of clamping assemblies 112 are mounted relative to the frame 111 along the X direction", the sliding plate 1121 is mounted on the frame 111 in a sliding manner along the X direction.

[0059] The clamping drive 1122 is a cylinder fixed to the frame 111. The clamping drive 1122 extends to drive the clamping member 1123 to move toward the inside of the material removal space 1111, thereby clamping the side wall 210 of the tray 200; the clamping drive 1122 retracts to drive the clamping member 1123 away from the material removal space 1111, thereby releasing the tray 200.

[0060] With this arrangement, the tray 200 can be simply and reliably fixed or released.

[0061] In other embodiments, the pair of clamping components 112 may also be a pair of vacuum claws or magnetic claws; when the pair of clamping components 112 are arranged relative to each other along the Y direction, the sliding plate 1121 is slidably installed on the frame 111 along the Y direction.

[0062] In some embodiments of the present application, the carrier mechanism 110 includes a pair of clamping assemblies 112 , which are mounted on the frame 111 for relative sliding along the X direction. The clamping assemblies 112 include two clamping members 1123 , which are spaced apart along the Y direction.

[0063] With this arrangement, the contact points between the clamping assembly 112 and the side wall 210 of the tray 200 can be increased while keeping the weight light, thereby allowing the tray 200 to be gripped flexibly and reliably.

[0064] In other embodiments, the number of clamping members 1123 may also be one, three, five, etc.; according to the contour shape of the side wall 210 of the tray 200, the multiple clamping members 1123 may remain flush in the X direction or may have a spacing to better fit the side wall 210 of the tray 200.

[0065] In some embodiments of the present application, the clamping assembly 112 is arranged corresponding to the long side of the tray 200, and the clamping member 1123 abuts against the long side of the tray 200, so that the clamping assembly 112 and the tray 200 have a larger contact area, thereby reliably grasping the tray 200; in other embodiments, according to the contour shape of the side wall 210 of the tray 200, the clamping assembly 112 can also be arranged corresponding to the short side of the tray 200.

[0066] like Figure 3 As shown, in some embodiments of the present application, the clamping member 1123 includes a clamping portion 1124 and a guide portion 1125. The clamping portion 1124 is used to abut against the side wall 210 of the tray 200. The clamping portion 1124 and the guide portion 1125 are set at an obtuse angle. One end of the guide portion 1125 is connected to the lower edge of the clamping portion 1124, and the other end extends obliquely in a direction away from the material removal space 1111. The guide portion 1125 is used to guide the tray 200 into the material removal space 1111.

[0067] The thickness direction of the clamping portion 1124 extends along the X direction. The upper edge of the clamping portion 1124 forms a convex portion connected to the sliding plate 1121 , and the lower edge extends to form a guide portion 1125 .

[0068] The angle between the clamping portion 1124 and the guide portion 1125 is α, which satisfies 90°<α<180°, preferably 120°<α<150°. This can not only reliably guide the tray 200 into the material removal space 1111 along the Z direction, but also allow the tray 200 to have a larger position deviation when loading.

[0069] By providing the guide portion 1125 , the tray 200 can be guided to enter the material taking space 1111 along the Z direction, so that the clamping assembly 112 can clamp the tray 200 with high precision.

[0070] In some embodiments of the present application, the carrier mechanism 110 further includes a photoelectric sensing component 113 disposed on the frame 111 for detecting whether there is a tray 200 inside the material removal space 1111 .

[0071] The photoelectric sensing assembly 113 can be a pair of laser beam sensors, mounted on either side of the frame 111 along the Y direction. When the receiver can receive the laser beam, it determines that there is no pallet 200 in the retrieving space 1111; otherwise, it determines that there is a pallet 200 in the retrieving space 1111. The photoelectric sensing assembly 113 can also be a distance measuring sensor, which determines whether there is a pallet 200 in the retrieving space 1111 by detecting the distance to the obstacle in front.

[0072] By setting up a photoelectric sensing component 113, it is possible to detect the arrival sensing or detachment sensing of the pallet 200, and determine whether the pallet 200 is loaded into the material-retrieving space 1111, or detect whether the pallet 200 is detached from the material-retrieving space 1111 when the pallet 200 is unloaded, so as to serve as a reference for the clamping component 112 to grab the pallet 200 and move the entire carrier mechanism 110 to other positions.

[0073] like Figure 2 As shown, in some embodiments of the present application, the carrier mechanism 110 also includes a plurality of limit plates 114, which are fixed to the frame 111. The limit plates 114 are used to abut against the side walls 210 of the tray 200 to serve as an auxiliary limit, thereby limiting the tray 200 in other directions; for example, a pair of clamping components 112 clamp the tray 200 in the X direction, and the limit plates 114 abut against the tray 200 in the Y direction to prevent the tray 200 from deviating from the preset position in the Y direction.

[0074] The shape of the limiting plate 114 is the same as that of the clamping member 1123, and it can also serve to guide the pallet 200 into the material removal space 1111. The clamping portion of the limiting plate 114 serves as an auxiliary positioning function, and positions the pallet 200 in the Y direction by abutting against the side wall 210 of the pallet 200 along the Y direction.

[0075] like Figure 1 As shown, the feeding device 100 also includes a tray loading mechanism 140 and a tray unloading mechanism 150. The tray loading mechanism 140 is used to carry a full tray 200 and move the full tray 200 to the material removal space 1111. The tray unloading mechanism 150 is used to receive an empty tray 200 and unload the empty tray 200.

[0076] like Figure 4 As shown, the first mounting frame 121 is a frame structure, which has a material picking position 161, a pallet loading position 162 and a pallet unloading position 163 inside. The material picking position 161 corresponds to the material picking position of the material picking device, and the camera 130 is arranged on the upper side of the material picking position 161; the pallet loading position 162 corresponds to the position of the pallet loading mechanism 140. When the carrier mechanism 110 moves to the pallet loading position 162, the carrier mechanism 110 is located on the upper side of the pallet loading mechanism 140, and grabs the full pallet 200 loaded by the pallet loading mechanism 140 to the material picking space 1111; the pallet unloading position 163 corresponds to the position of the pallet unloading mechanism 150. When the carrier mechanism 110 moves to the pallet unloading position 163, the carrier mechanism 110 is located on the upper side of the pallet unloading mechanism 150, releasing the empty pallet 200, and the pallet unloading mechanism 150 receives the empty pallet 200 released by the carrier mechanism 110.

[0077] Through this setting, the loading and unloading actions of the pallet 200 can be automated.

[0078] Furthermore, the pallet loading mechanism 140 and the pallet unloading mechanism 150 can realize stacking operations. The pallet loading mechanism 140 carries multiple stacked full pallets 200 and loads the full pallets 200 one by one to the material removal space 1111. The pallet unloading mechanism 150 receives one empty pallet 200 in one beat until a sufficient number of empty pallets 200 are stacked, and then unloads multiple empty pallets 200 together.

[0079] Through this arrangement, loading and unloading of pallets 200 can be achieved in batches.

[0080] In other embodiments, the pallet loading mechanism 140 and the pallet unloading mechanism 150 may also operate on a single pallet 200 .

[0081] In some embodiments of the present application, the tray loading mechanism 140 and the tray unloading mechanism 150 are spaced apart along the Y direction, that is, the tray loading position 162 and the tray unloading position 163 are spaced apart along the Y direction; the camera 130 and the tray loading mechanism 140 are spaced apart along the X direction, and the camera 130 is centered relative to the first mounting bracket 121 in the Y direction, that is, the material picking position 161 and the tray loading position 162 are spaced apart along the X direction, and the material picking position 161 is centered relative to the first mounting bracket 121.

[0082] This arrangement not only allows for planning different parking positions for the carrier mechanism 110 , but also allows for rational use of space, thus achieving compactness of the equipment.

[0083] In other embodiments, the material taking position 161, the tray loading position 162 and the tray unloading position 163 can also be flexibly set according to specific circumstances.

[0084] In some embodiments of the present application, the tray loading mechanism 140 and the tray unloading mechanism 150 have the same structure.

[0085] like Figure 1 and Figure 5 As shown, taking the pallet unloading mechanism 150 as an example, the pallet unloading mechanism 150 includes a conveyor belt 151, a lifting bracket 152 and a lifting drive 153. The conveyor belt 151 is used to convey the pallet 200 along the X direction, the lifting bracket 152 is used to carry the pallet 200, and the lifting drive 153 is used to drive the lifting bracket 152 to move along the Z direction.

[0086] The pallet unloading mechanism 150 also includes a fixed bracket 156, the conveyor belt 151 and the lifting drive member 153 are both fixed to the fixed bracket 156, the lifting bracket 152 is slidably installed on the fixed bracket 156 along the Z direction through the third guide rail assembly 155, and the execution end of the lifting drive member 153 is connected to the lifting bracket 152, which is used to drive the lifting bracket 152 to rise and fall along the Z direction.

[0087] The lifting drive member 153 can be a motor screw nut mechanism, or a cylinder or an electric cylinder.

[0088] The lifting brackets 152 support the pallets 200 from both sides of the conveyor belt 151 to lift the pallets 200 upwards so that the uppermost pallet 200 receives the empty pallet 200 released by the carrier mechanism 110 .

[0089] The pallet unloading mechanism 150 also includes a baffle assembly 154, which includes multiple baffles 1541. The multiple baffles 1541 are arranged on both sides of the lifting bracket 152 along the Y direction to protect a stack of pallets 200 and reduce the risk of the stack of pallets 200 tipping.

[0090] With this arrangement, it is possible to achieve a drop of one unit height per cycle to receive a new empty pallet 200 until a sufficient number of empty pallets 200 are stacked and then the conveyor belt 151 delivers the blanks together.

[0091] Similarly, the pallet loading mechanism 140 uses a conveyor belt to load multiple stacked full pallets 200 at a time, and rises a unit height of a pallet 200 in each beat to provide a new full pallet 200 to the material collection space 1111, until all the pallets 200 are loaded into the material collection space 1111, and then descends to the original height to receive a new stack of full pallets 200, which will not be further elaborated here.

[0092] Some embodiments of the present application further provide an assembly device, including a feeding device 100 .

[0093] The assembly equipment further includes a material picking device, which is used to grab the workpiece from the material picking position 161.

[0094] Due to the characteristics of the feeding device 100 of the embodiment of the present application, the assembly equipment also has higher material picking accuracy and efficiency.

[0095] The working process of the feeding device 100 in the embodiment of the present application is as follows:

[0096] The carrier mechanism 110 is located at the tray loading position 162. The tray loading mechanism 140 rises one unit height to provide a fully loaded tray 200 to the retrieving space 1111. The clamping assembly 112 clamps the tray 200 along the X direction. The photoelectric sensing assembly 113 detects the presence of the tray 200 in the retrieving space 1111.

[0097] Under the joint action of the first drive assembly 123 and the second drive assembly 124 , the carrier mechanism 110 drives the tray 200 to move in the XY plane to deliver a workpiece in the tray 200 to the material extraction position 161 ;

[0098] The camera 130 takes a picture of the workpiece moving to the picking position 161 and obtains its position information. The picking device makes fine adjustments based on the picking position with reference to the workpiece position information, accurately performs the grabbing action, and takes away the workpiece.

[0099] Under the joint action of the first drive assembly 123 and the second drive assembly 124, the carrier mechanism 110 drives the tray 200 to move in the XY plane to deliver the next workpiece in the tray 200 to the picking position 161. The camera 130 and the picking device repeat the above actions;

[0100] After all workpieces in the pallet 200 are removed by the material removal device, the carrier mechanism 110 moves to the pallet unloading position 163 under the joint action of the first drive assembly 123 and the second drive assembly 124, and the clamping assembly 112 releases the empty pallet 200, and the pallet 200 is placed on the lifting bracket 152 of the pallet unloading mechanism 150;

[0101] The lifting bracket 152 descends one unit height to receive the next empty pallet 200 , the carrier mechanism 110 moves to the pallet loading position 162 , and the pallet loading mechanism 140 ascends one unit height to deliver the next full pallet 200 to the unloading space 1111 ;

[0102] Repeat the above-mentioned material taking steps;

[0103] When all the full trays 200 of the tray loading mechanism 140 are sent to the material taking space 1111, the next stack of full trays 200 is loaded. When the tray unloading mechanism 150 receives a sufficient number of empty trays 200, the stack of empty trays 200 is unloaded at the same time.

[0104] Using the feeding device 100 of the embodiment of the present application to provide workpieces to the picking device not only increases the picking efficiency but also improves the picking accuracy.

[0105] It should be noted that, unless there is any conflict, the features in the embodiments of this application can be combined with each other.

[0106] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A feeding device (100), characterized in that: include: A carrier mechanism (110) for carrying a tray; A carrier moving mechanism (120) is used to drive the carrier mechanism (110) to move on the plane where the material extraction position is located, so as to move the workpiece in the tray to the material extraction position; A camera (130) is used to take a picture of a workpiece located at a material picking position, so as to provide position information for a material picking device to grab the workpiece from the material picking position.

2. The feeding device (100) according to claim 1, characterized in that: The carrier moving mechanism (120) comprises: a first mounting frame (121); A second mounting frame (122) is slidably mounted on the first mounting frame (121) along the X direction, and the carrier mechanism (110) is slidably mounted on the second mounting frame (122) along the Y direction; A first driving assembly (123) is mounted on the first mounting frame (121) and is used to drive the second mounting frame (122) to move along the X direction; A second driving assembly (124) is mounted on the second mounting frame (122) and is used to drive the carrier mechanism (110) to move along the Y direction.

3. The feeding device (100) according to claim 2, characterized in that: The first drive assembly (123) comprises: A first motor (1231) is mounted on the first mounting frame (121); a transmission shaft (1232), the axial direction of the transmission shaft (1232) extending along the Y direction, the transmission shaft (1232) being rotatably mounted on the first mounting frame (121), and the first motor (1231) being used to drive the transmission shaft (1232) to rotate; Two transmission belt assemblies (1233) are arranged on the first mounting frame (121) at intervals along the Y direction, each transmission belt assembly (1233) includes a transmission belt (1234) and a transmission block (1235), the transmission shaft (1232) is in transmission connection with the transmission belt (1234), the transmission block (1235) is installed on the transmission belt (1234), the transmission belt (1234) is used to drive the transmission block (1235) to move along the X direction, the transmission block (1235) is connected to the second mounting frame (122), and the two transmission blocks (1235) jointly drive the second mounting frame (122) to move along the X direction.

4. The feeding device (100) according to claim 2, characterized in that: The second drive assembly (124) includes: A second motor (1241) is mounted on the second mounting frame (122); a screw rod (1242), the axial direction of the screw rod (1242) extending along the Y direction, the screw rod (1242) being rotatably mounted on the second mounting frame (122), and the second motor (1241) being used to drive the screw rod (1242) to rotate; The screw rod (1242) is threadably engaged with the nut, the nut is connected to the carrier mechanism (110), and the nut drives the carrier mechanism (110) to move along the Y direction.

5. The feeding device (100) according to claim 2, characterized in that: The carrier mechanism (110) comprises: A frame (111) is slidably mounted on the second mounting frame (122) along the Y direction, and a material taking space for accommodating a tray is formed in the frame (111); At least one pair of clamping assemblies (112), any pair of the clamping assemblies (112) in the at least one pair of the clamping assemblies (112) being relatively mounted on the frame (111) and used for jointly clamping two opposite side walls of the pallet to grasp the pallet.

6. The feeding device (100) according to claim 5, characterized in that: The clamping assembly (112) includes: A sliding plate (1121) is slidably mounted on the frame (111) along the X direction or the Y direction; A clamping drive member (1122) for driving the sliding plate (1121) to slide relative to the frame (111); At least one clamping member (1123) is installed on a side of the sliding plate (1121) close to the material taking space.

7. The feeding device (100) according to claim 6, characterized in that: The clamping member (1123) includes a clamping portion (1124) and a guiding portion (1125), wherein the clamping portion (1124) is used to abut against the side wall of the tray, and the clamping portion (1124) and the guiding portion (1125) are arranged at an obtuse angle, one end of the guiding portion (1125) is connected to the lower edge of the clamping portion (1124), and the other end extends obliquely in a direction away from the material-retrieving space, and the guiding portion (1125) is used to guide the tray into the material-retrieving space.

8. The feeding device (100) according to claim 6, characterized in that: The carrier mechanism (110) includes a pair of clamping assemblies (112) mounted on the frame (111) for relative sliding along the X direction, and the clamping assemblies (112) include two clamping members (1123) arranged at intervals along the Y direction.

9. The feeding device (100) according to claim 5, characterized in that: The carrier mechanism (110) further includes: A photoelectric sensing component (113) is provided on the frame (111) and is used to detect whether there is a tray inside the material taking space.

10. The feeding device (100) according to claim 1, characterized in that: The feeding device (100) further comprises: A tray loading mechanism (140) is used to carry a full tray and move the full tray to a material removal space; The tray unloading mechanism (150) is used to receive empty trays and unload the empty trays.

11. The feeding device (100) according to claim 10, characterized in that: The tray loading mechanism (140) and the tray unloading mechanism (150) both include: A conveyor belt (151) for conveying the pallet along the X direction; A lifting bracket (152) for carrying a tray; The lifting drive member (153) is used to drive the lifting bracket (152) to move along the Z direction.

12. An assembly device, characterized in that: It comprises a feeding device (100) according to any one of claims 1 to 11.

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