Pin X-axis, Y-axis and Z-axis taking and feeding equipment

Abstract

The utility model relates to the field of material taking and feeding equipment, and discloses contact pin X-Y-Z-axis material taking and feeding equipment which comprises a feeding device for conveying two contact pins to a feeding station one by one; the transfer device comprises a transfer displacement mechanism arranged on one side of the feeding device and a transfer jig arranged on the transfer displacement mechanism, the transfer displacement mechanism can drive the transfer jig to move back and forth between a first transfer position and a second transfer position, the transfer jig comprises a plurality of pairs of transfer holes, and contact pins are inserted into the transfer holes; the transfer manipulator is arranged on one side of the feeding device and is used for clamping the contact pin at the feeding position and transferring the contact pin to the transfer hole at the first transfer position in a manner of moving along the X axis, the Y axis and the Z axis; and the feeding manipulator comprises a mechanical arm and a transshipment jig arranged on the mechanical arm, the transshipment jig comprises transshipment holes, and the mechanical arm can drive the transshipment jig to move to the second transfer position and enable the transshipment holes to directly face the transfer holes one by one so as to receive the contact pins in the transfer holes. The structure arrangement is compact, the transfer jig achieves centralized transfer of multiple pairs of contact pins, and automatic taking and feeding of the contact pins are achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to pin feeding equipment technical field, especially a kind of pin XYZ axis material taking feeding equipment. BACKGROUND

[0002] Charger usually includes shell and pin and the like components, pin needs to be inserted into shell to realize assembly.

[0003] Conventional charger assembly processing can be implemented pin feeding equipment automation feeding using pin feeding equipment. But it still has many problems, for example, the structure of equipment is bulky, and occupies large space;Cannot realize one-time multi-pin centralized transfer;Cannot realize pin material taking and feeding automatically. INVENTION CONTENTS

[0004] Therefore, it is necessary to provide a kind of pin XYZ axis material taking feeding equipment for at least one of the above problems.

[0005] The application provides a kind of pin XYZ axis material taking feeding equipment, which comprises:

[0006] Feeding device, for transporting two pins to the feeding position in pairs along the first direction, two pins are spaced apart side by side in the second direction perpendicular to the first direction;

[0007] Transfer device, including transfer displacement mechanism arranged on one side of the feeding device and transfer jig arranged on the transfer displacement mechanism, the transfer displacement mechanism can drive the transfer jig to move back and forth along the first direction between the first transfer position and the second transfer position, the transfer jig includes multiple pairs of transfer holes, the transfer hole is configured to insert pin;

[0008] Transfer manipulator, arranged on one side of the feeding device, for clamping the pin of the feeding position and can be moved along XYZ axis to the transfer hole of the first transfer position;

[0009] Feeding manipulator, including mechanical arm and transfer jig arranged on the mechanical arm, the transfer jig includes transfer hole corresponding to each transfer hole, the mechanical arm can drive the transfer jig to move to the second transfer position and make each transfer hole and each transfer hole one-to-one, to insert and receive the pin in each transfer hole.

[0010] In some embodiments, the feeding device comprises:

[0011] Disc vibration feeding mechanism, including two discharge channels extending along the first direction, two discharge channels are spaced apart side by side along the second direction perpendicular to the first direction, to be used for transporting pins in pairs along the first direction respectively;

[0012] The linear vibration feeding mechanism comprises a linear channel communicated with the discharging channel, and the linear channel is used to convey the pins to the feeding position along the first direction;

[0013] The feeding mechanism comprises a rotary adapter socket rotatably arranged at the feeding position, the adapter socket is provided with two insertion holes for inserting the pins, and the adapter socket can rotate back and forth between the adapter position and the feeding position; when the adapter socket is at the adapter position, the insertion holes are one-to-one opposite to the linear channels; when the adapter socket is at the feeding position, the insertion holes are opposite to the upward direction.

[0014] In some embodiments, the linear vibration feeding mechanism further comprises:

[0015] A driving slider is arranged at one side of the discharging port of the linear channel along the second direction, and the driving slider can move vertically along the third direction between the blocking position and the avoiding position; when the driving slider is at the blocking position, the driving slider extends into the linear channel to limit the pins in the linear channel;

[0016] A linear driver is arranged at the output end of the driving slider, and is used to drive the driving slider to reciprocate between the blocking position and the avoiding position.

[0017] In some embodiments, the linear vibration feeding mechanism comprises:

[0018] A linear vibrator;

[0019] A track frame assembly is detachably arranged on the linear vibrator, and the linear channel is arranged on the track frame assembly;

[0020] The track frame assembly comprises a track body and a plurality of cover plates; the track body is provided with a long groove extending along the first direction, and the recess of the long groove faces upward along the third direction; the third direction is perpendicular to the first direction and the second direction; the cover plates are detachably arranged on the recess of the long groove to cooperate with the long groove to enclose the linear channel.

[0021] In some embodiments, the feeding mechanism further comprises:

[0022] A turnover driver comprises a driving end capable of vertically displacing along the third direction; the third direction is perpendicular to the first direction and the second direction;

[0023] A turnover bearing frame is rotatably arranged on the turnover bearing frame through a first rotating shaft;

[0024] The driving end is hingedly connected with the bottom end of the adapter socket, the adapter socket, the driving end, the first rotating shaft, and the turnover bearing frame cooperate to form a connecting rod structure capable of making the adapter socket reciprocating rotate between the adapter position and the feeding position.

[0025] In some embodiments, the pin XYZ-axis taking and feeding device further comprises a rack, and the transfer robot comprises:

[0026] A first translation mechanism is arranged on the rack;

[0027] A linear lifting mechanism is arranged on the output end of the first translation mechanism, and the first translation mechanism can drive the linear lifting mechanism to reciprocate along the second direction;

[0028] A second translation mechanism is arranged on the output end of the linear lifting mechanism, and the linear lifting mechanism can drive the second translation mechanism to reciprocate along a third direction;

[0029] A machine gripper is arranged on the output end of the second translation mechanism, and the second translation mechanism can drive the machine gripper to reciprocate along the second direction.

[0030] In some embodiments, the machine gripper comprises:

[0031] A gripper driver has a first power end and a second power end;

[0032] A first clamping block is fixed to the first power end;

[0033] A second clamping block is fixed to the second power end;

[0034] The first clamping block and the second clamping block can reciprocate between a clamping state and a release state, and the first clamping block and the second clamping block are respectively provided with clamping grooves, and in the clamping state, the first clamping block and the second clamping block cooperate to form two clamping holes for clamping pins.

[0035] In some embodiments, the mechanical arm comprises:

[0036] A third translation mechanism is arranged on the roof;

[0037] A fourth translation mechanism is arranged on the output end of the third translation mechanism, and the third translation mechanism can drive the fourth translation mechanism to reciprocate along the first direction;

[0038] A telescopic arm body is arranged at the output end of the fourth translation mechanism, the transfer jig is arranged at the telescopic arm body, the fourth translation mechanism can drive the telescopic arm body to reciprocate and translate along the second direction, and the telescopic arm body can perform telescopic movement along a third direction to drive the transfer jig to move to the second transfer position.

[0039] In some embodiments, the transfer position displacement mechanism comprises:

[0040] A transfer position displacement assembly is arranged at one side of the feeding device along the second direction.

[0041] A transfer side turning assembly is arranged at the output end of the transfer position displacement assembly, the transfer position displacement assembly is configured to drive the transfer side turning assembly to reciprocate along the first direction, the transfer jig is arranged at the output end of the transfer side turning assembly, and the transfer side turning assembly is configured to drive the transfer jig to perform 90-degree side turning movement at the second transfer position to make the transfer hole extend along the first direction.

[0042] In some embodiments, the transfer side turning assembly comprises:

[0043] A side turning driver has a straight rack reciprocating along a third direction, and the third direction, the second direction and the first direction are perpendicular to each other.

[0044] A cantilever extends along the third direction and is fixed to the side turning driver.

[0045] A side turning gear is rotatably connected to the cantilever, the side turning gear is in transmission engagement with the straight rack, and the rotation axis of the side turning gear extends along the second direction.

[0046] A side turning plate is fixed to one side of the side turning gear, and the transfer jig is arranged at the side turning plate.

[0047] The straight rack is configured to drive the side turning gear to reciprocate and rotate between a flat position and a side turning position through lifting movement, the transfer hole extends along the third direction when the side turning gear is in the flat position, and the transfer hole extends along the first direction when the side turning gear is in the side turning position.

[0048] The utility model discloses the beneficial effects of:

[0049] The feeding device of the pin XYZ axis material taking and feeding equipment is used for feeding two pins in pairs to a feeding position in a first direction; a transfer manipulator is used for clamping the pins of the feeding position and transferring to a first transfer position in a movable manner along the XYZ axis; the transfer device comprises a transfer displacement mechanism arranged on one side of the feeding device and a transfer jig arranged on the transfer displacement mechanism, the transfer displacement mechanism can drive the transfer jig to move back and forth between the first transfer position and a second transfer position in the first direction, and the transfer jig comprises a plurality of pairs of transfer holes configured to insert the pins; a feeding manipulator comprises a mechanical arm and a transfer jig arranged on the mechanical arm, the transfer jig comprises a plurality of transfer holes corresponding to the transfer holes in a one-to-one manner, and the mechanical arm can drive the transfer jig to move to the second transfer position and make each transfer hole correspond to each transfer hole in a one-to-one manner to insert and receive the pins in each transfer hole. The transfer manipulator of the pin XYZ axis material taking and feeding equipment is arranged on one side of the feeding device; the transfer device is arranged on one side of the feeding device, and the overall structure arrangement is compact through the arrangement design around the feeding device; in addition, the transfer jig realizes the centralized transfer of a plurality of pairs of pins to the transfer jig at one time; and finally, the feeding is realized through the feeding manipulator, and the automatic material taking and feeding of the pins are realized throughout the process. BRIEF DESCRIPTION OF DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are only an embodiment of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0051] Figure 1 The schematic diagram of the pin XYZ axis material taking and feeding equipment provided for the embodiment of the present application Figure 1

[0052] Figure 2 The schematic diagram of the pin XYZ axis material taking and feeding equipment provided for the embodiment of the present application Figure 2

[0053] Figure 3 The schematic diagram of the feeding device on the rack provided for the embodiment of the present application Figure 1

[0054] Figure 4 The schematic diagram of the feeding device on the rack provided for the embodiment of the present application Figure 2

[0055] Figure 5 The schematic diagram of the feeding device on the rack provided for the embodiment of the present application Figure 3 ​​​​​

[0056] Figure 6 Fig. 1 is a schematic view of a transfer device according to an embodiment of the present application; Figure 5 Fig. 2 is a partial enlarged view of the middle A of Fig. 1;

[0057] Figure 7 Fig. 3 is a schematic view of a transfer robot provided for an embodiment of the present application; Figure 1 ;

[0058] Figure 8 Fig. 4 is a schematic view of a transfer device on a rack provided for an embodiment of the present application;

[0059] Figure 9 Fig. 5 is a schematic view of a structure relationship between a transfer jig and a transfer turnover assembly provided for an embodiment of the present application;

[0060] Figure 10 Fig. 6 is a schematic view of a transfer jig provided for an embodiment of the present application; Figure 1 ;

[0061] Figure 11 Fig. 7 is a schematic view of a transfer jig provided for an embodiment of the present application; Figure 2 ;

[0062] Figure 12 Fig. 8 is a schematic view of a transfer robot of a feeding robot and a transfer jig when they are docked provided for an embodiment of the present application.

[0063] Reference signs:

[0064] X, first direction; Y, second direction; Z, third direction;

[0065] 100, pin;

[0066] 1, feeding device; 11, disc vibration feeding mechanism; 111, discharge passage; 112, adapter plate; 113, disc vibration feeder; 12, linear vibration feeding mechanism; 121, linear material channel; 122, driving slider; 123, linear driver; 124, linear vibrator; 125, track frame assembly; 1251, track body; 1252, cover plate; 13, material turnover mechanism; 131, adapter socket; 1311, socket; 1312, transfer rod part; 1313, seat body; 132, turnover driver; 133, turnover bearing frame; 134, first rotation shaft;

[0067] 2, transfer device; 21, transfer displacement mechanism; 211, transfer displacement assembly; 212, transfer rollover assembly; 2121, rollover driver; 21211, linear rack; 2122, cantilever; 2123, rollover gear; 2124, rollover plate; 2125, first quick-release clamp; 21251, second clamping portion; 2126, support column; 22, transfer jig; 221, transfer hole; 222, first clamping portion; 223, first plate body portion; 224, second plate body portion; 2241, avoidance through hole;

[0068] 3, transfer robot; 31, first translation mechanism; 32, linear lifting mechanism; 33, second translation mechanism; 34, machine gripper; 341, gripper driver; 342, first clamping block; 343, second clamping block; 344, clamping hole;

[0069] 4, feeding robot; 41, mechanical arm; 411, telescopic arm body; 42, transfer jig; 421, transfer hole; 422, third clamping portion; 423, third plate body portion; 424, fourth plate body portion; 43, second quick-release clamp; 431, fourth clamping portion; 44, connecting column;

[0070] 5, rack. DETAILED DESCRIPTION

[0071] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings. In the following description, many specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, therefore the present application is not limited by the specific embodiments disclosed below.

[0072] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation of the present application.

[0073] In addition, the terms "first", "second", etc. are used only for descriptive purposes and should not be construed as indicating or implying relative importance or an indicated number of the technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0074] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0075] In the present application, unless otherwise specifically defined and limited, the feature "on" or "under" the second feature can be in direct contact with the second feature, or indirectly in contact with the second feature through an intermediate medium. Moreover, the feature "on", "above" and "above" the second feature can be directly above or obliquely above the second feature, or only indicate that the feature is higher than the second feature in horizontal height. The feature "under", "below" and "below" the second feature can be directly below or obliquely below the second feature, or only indicate that the feature is lower than the second feature in horizontal height.

[0076] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on another element or there can be a middle element. When an element is considered to be "connected" to another element, it can be directly connected to another element or there can be a middle element. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are only for illustrative purposes and do not represent the only embodiment.

[0077] Reference Figures 1-12The embodiment of the present application provides a pin XYZ axis material taking and feeding device, which comprises a feeding device 1, a transfer manipulator 3, a transfer device 2 and a feeding manipulator 4. The feeding device 1 is used for conveying two pins 100 to a feeding position in a first direction X, and the two pins 100 are spaced apart in a second direction Y perpendicular to the first direction X. The transfer device 2 comprises a transfer displacement mechanism 21 arranged on one side of the feeding device 1 and a transfer jig 22 arranged on the transfer displacement mechanism 21. The transfer displacement mechanism 21 can drive the transfer jig 22 to move back and forth between a first transfer position and a second transfer position in the first direction X. The transfer jig 22 comprises a plurality of pairs of transfer holes 221, and the transfer holes 221 are configured to be inserted into the pins 100. The transfer manipulator 3 is arranged on one side of the feeding device 1, and the transfer manipulator 3 is used for clamping the pins 100 at the feeding position and can be moved to the transfer holes 221 at the first transfer position along the XYZ axis. The feeding manipulator 4 comprises a mechanical arm 41 and a transfer jig 42 arranged on the mechanical arm 41. The transfer jig 42 comprises a plurality of transfer holes 421 corresponding to the transfer holes 221 respectively. The mechanical arm 41 can drive the transfer jig 42 to move to the second transfer position and make each transfer hole 421 correspond to each transfer hole 221 respectively, so as to insert and install the pins 100 in each transfer hole 221. In the embodiment of the present application, the transfer manipulator 3 is arranged on one side of the feeding device 1, and the transfer device 2 is arranged on one side of the feeding device 1. Through the arrangement design around the feeding device 1, the overall structure arrangement is compact. In addition, the transfer jig 22 realizes the centralized transfer of a plurality of pairs of pins 100 to the transfer jig 42 at one time. Finally, the feeding is realized through the feeding manipulator 4, and the whole process realizes the automatic material taking and feeding of the pins 100.

[0078] Reference Figures 1-6 In some embodiments, the feeding device 1 comprises a disc vibration feeding mechanism 11, a linear vibration feeding mechanism 12 and a turnover mechanism 13. The disc vibration feeding mechanism 11 comprises two discharge channels 111 extending along the first direction X. The two discharge channels 111 are spaced apart along the second direction Y perpendicular to the first direction X, and are respectively used for conveying the pins 100 along the first direction X. The linear vibration feeding mechanism 12 comprises a linear material channel 121 in communication with the discharge channels 111. The linear material channel 121 is used for conveying the pins 100 to the feeding position along the first direction X. The turnover mechanism 13 comprises a rotatable adapter socket 131 arranged at the feeding position. The adapter socket 131 is provided with two insertion holes 1311 for inserting the pins 100. The adapter socket 131 can rotate back and forth between the adapter position and the feeding position. When the adapter socket 131 is at the adapter position, the insertion holes 1311 are in one-to-one correspondence with and in communication with the linear material channels 121. When the adapter socket 131 is at the feeding position, the insertion holes 1311 are directed upward.

[0079] In some embodiments, reference Figures 1-6The linear vibration feeding mechanism 12 further comprises a driving slider 122 and a linear driver 123. The driving slider 122 is arranged at one side of the discharge port of the linear material channel 121 along the second direction Y and is vertically movable along the third direction Z between a blocking position and a avoiding position. In the blocking position, the driving slider 122 extends into the linear material channel 121 for limiting abutting against the pins 100 in the linear material channel 121. The output end of the linear driver 123 is connected with the driving slider 122, and the linear driver 123 is used for driving the driving slider 122 to reciprocally move between the blocking position and the avoiding position.

[0080] In some embodiments, with reference to Figures 1-6 The linear vibration feeding mechanism 12 comprises a linear vibrator 124 and a track frame assembly 125. The track frame assembly 125 is detachably arranged on the linear vibrator 124, and the linear material channel 121 is formed in the track frame assembly 125. The track frame assembly 125 comprises a track body 1251 and a plurality of cover plates 1252. The track body 1251 is provided with a long groove extending along the first direction X. The recess of the long groove faces upward along the third direction Z, which is perpendicular to the first direction X and the second direction Y. The cover plates 1252 are detachably arranged on the recess of the long groove to form the linear material channel 121 in cooperation with the long groove.

[0081] With reference to Figures 1-6 In some embodiments, the material turning mechanism 13 further comprises a turning driver 132 and a turning carrier 133. The turning driver 132 comprises a driving end vertically displaceable along the third direction Z, which is perpendicular to the first direction X and the second direction Y. The bottom end of the adapter socket 131 is rotatably arranged on the turning carrier 133 through a first rotating shaft 134. The driving end is hingedly connected with the bottom end of the adapter socket 131. The adapter socket 131, the driving end, the first rotating shaft 134 and the turning carrier 133 cooperatively form a connecting rod structure capable of making the adapter socket 131 turn back and forth between the adapter position and the feeding position.

[0082] In some embodiments, with reference to Figures 1-6 The adapter socket 131 comprises a seat body 1313 and a transfer rod portion 1312. One end of the transfer rod portion 1312 is fixed to the bottom end of the seat body 1313, and the first rotating shaft 134 is rotatably arranged in the transfer rod portion 1312. The other end of the transfer rod portion 1312 is hingedly connected with the driving end.

[0083] In some embodiments, with reference to Figures 1-6, two straight lines material channels 121 constitute a group of linear tracks, the linear tracks have two groups, the two groups of linear tracks are arranged side by side and spaced apart along the second direction Y, one group of linear tracks in the two groups of linear tracks is used for conveying the first size thickness of the pin 100, and the other group of linear tracks is used for conveying the second size thickness of the pin 100, the first size thickness and the second size thickness are different; wherein the adapter socket 131 has two, each adapter socket 131 is arranged one-to-one corresponding to each linear track, the disc vibration feeding mechanism 11 is configured to be position-adjustably arranged in one of the first assembly position and the second assembly position, and in the first assembly position, the two discharge channels 111 of the disc vibration feeding mechanism 11 are in communication with one group of linear tracks, and in the second assembly position, the two discharge channels 111 of the disc vibration feeding mechanism 11 are in communication with another group of linear tracks.

[0084] In some embodiments, with reference to Figures 1-6 , the pin XYZ-axis material taking and feeding equipment further comprises a rack 5, the rack 5 has a first assembly position and a second assembly position, the disc vibration feeding mechanism 11 comprises an adapter plate 112 and a disc vibration feeder 113. The adapter plate 112 is fixedly connected with one of the first assembly position and the second assembly position through fasteners; the disc vibration feeder 113 is arranged on the adapter plate 112.

[0085] In some embodiments, with reference to Figures 1-6 , the linear material channel 121 is a long strip square hole extending along the first direction X; the width of the long strip square hole is 1.1-1.3 times the thickness of the corresponding pin 100.

[0086] In some embodiments, with reference to Figures 1-7 , the pin XYZ-axis material taking and feeding equipment further comprises a rack 5, and the transfer manipulator 3 comprises a first translation mechanism 31, a linear lifting mechanism 32 and a second translation mechanism 33. The first translation mechanism 31 is arranged on the rack 5; the linear lifting mechanism 32 is arranged on the output end of the first translation mechanism 31, and the first translation mechanism 31 can drive the linear lifting mechanism 32 to reciprocate along the second direction Y; the second translation mechanism 33 is arranged on the output end of the linear lifting mechanism 32, and the linear lifting mechanism 32 can drive the second translation mechanism 33 to reciprocate along the third direction Z; the machine gripper 34 is arranged on the output end of the second translation mechanism 33, and the second translation mechanism 33 can drive the machine gripper 34 to reciprocate along the second direction Y.

[0087] With reference to Figures 1-7In some embodiments, the machine gripper 34 comprises a gripper driver 341, a first clamping block 342, and a second clamping block 343. The gripper driver 341 has a first power end and a second power end; the first clamping block 342 is fixed to the first power end; the second clamping block 343 is fixed to the second power end; wherein the first clamping block 342 and the second clamping block 343 are capable of reciprocating between a clamping state and a release state, and the first clamping block 342 and the second clamping block 343 are respectively provided with clamping grooves, and in the clamping state, the first clamping block 342 and the second clamping block 343 cooperate to form two clamping holes 344 for clamping the pins 100.

[0088] With reference to Figures 1-4 and Figure 12 In some embodiments, the mechanical arm 41 comprises a third translation mechanism, a fourth translation mechanism, and a telescopic arm body 411. The third translation mechanism is configured to be arranged on the roof; the fourth translation mechanism is arranged on the output end of the third translation mechanism, and the third translation mechanism can drive the fourth translation mechanism to reciprocate along the first direction X; the telescopic arm body 411 is arranged on the output end of the fourth translation mechanism, and the transfer jig 42 is arranged on the telescopic arm body 411; the fourth translation mechanism can drive the telescopic arm body 411 to reciprocate along the second direction Y, and the telescopic arm body 411 can perform telescopic motion along the third direction Z to drive the transfer jig 42 to move to the second transfer position. The third translation mechanism, the fourth translation mechanism, and the telescopic arm body 411 can adopt existing structures, and details are not repeated here.

[0089] In some embodiments, with reference to Figures 1-10 The transfer displacement mechanism 21 comprises a transfer displacement assembly 211 and a transfer side turning assembly 212. The transfer displacement assembly 211 is arranged on one side of the feeding device 1 along the second direction Y; the transfer side turning assembly 212 is arranged on the output end of the transfer displacement assembly 211; the transfer displacement assembly 211 is configured to drive the transfer side turning assembly 212 to reciprocate along the first direction X; the transfer jig 22 is arranged on the output end of the transfer side turning assembly 212; and the transfer side turning assembly 212 is configured to drive the transfer jig 22 to perform a 90-degree side turning motion at the second transfer position, so that the transfer hole 221 extends along the first direction X.

[0090] In some embodiments, with reference to Figures 1-11The transfer side turning assembly 212 comprises a side turning driver 2121, a cantilever 2122, a side turning gear 2123, and a side turning plate 2124. The side turning driver 2121 has a straight rack 21211 reciprocating along a third direction Z, the third direction Z, the second direction Y, and the first direction X are perpendicular to each other. The cantilever 2122 is fixed to the side turning driver 2121 and extends along the third direction Z. The side turning gear 2123 is rotatably connected to the cantilever 2122, and the side turning gear 2123 is in transmission engagement with the straight rack 21211. The rotation shaft of the side turning gear 2123 extends along the second direction Y. The side turning plate 2124 is fixed to one side of the side turning gear 2123, and the transfer jig 22 is arranged on the side turning plate 2124. The straight rack 21211 is configured to drive the side turning gear 2123 to reciprocate between a flat position and a side turning position through lifting movement. When the side turning gear 2123 is in the flat position, the transfer hole 221 extends along the third direction Z. When the side turning gear 2123 is in the side turning position, the transfer hole 221 extends along the first direction X.

[0091] In some embodiments, with reference to Figures 1-11 The transfer side turning assembly 212 further comprises a first quick-release clamp 2125 fixed to the side turning plate 2124, and the transfer jig 22 further comprises a first clamping portion 222. The first quick-release clamp 2125 has a second clamping portion 21251, and the second clamping portion 21251 is detachably clamped with the first clamping portion 222 to fix the transfer jig 22 to the side turning plate 2124.

[0092] In some embodiments, with reference to Figures 1-11 The first quick-release clamp 2125 is a linear cylinder, and the side wall of the output shaft of the linear cylinder is provided with the second clamping portion 21251 in the form of a groove. The first clamping portion 222 is a notch structure capable of clamping with the second clamping portion 21251.

[0093] In some embodiments, with reference to Figures 1-11 The transfer jig 22 further comprises a first plate body portion 223 and a second plate body portion 224. The first plate body portion 223 is provided with a plurality of transfer holes 221 on one side. The second plate body portion 224 is fixed to the other side of the first plate body portion 223, and the first clamping portion 222 is arranged on the second plate body portion 224. The second plate body portion 224 is provided with an avoiding through hole 2241, and the transfer side turning assembly 212 further comprises a support column 2126. One end of the support column 2126 is connected to the side turning plate 2124, and the other end of the support column 2126 is detachably fixedly connected to the middle position of the first plate body portion 223.

[0094] In some embodiments, with reference to Figures 1-12The feeding manipulator 4 further comprises a second quick-release clamp 43 fixed to the mechanical arm 41, and the transfer jig 42 further comprises a third clamping portion 422, the second quick-release clamp 43 has a fourth clamping portion 431, and the third clamping portion 422 and the fourth clamping portion 431 can be detachably clamped and matched, so that the transfer jig 42 is installed on the mechanical arm 41.

[0095] In some embodiments, referring to Figures 1-12 The second quick-release clamp 43 is a linear cylinder, a side wall of an output shaft of the linear cylinder is provided with the fourth clamping portion 431, the fourth clamping portion 431 is in a groove shape, and the third clamping portion 422 is a notched structure capable of being clamped and matched with the fourth clamping portion 431.

[0096] In some embodiments, referring to Figures 1-12 The transfer jig 42 further comprises a third plate body portion 423 and a fourth plate body portion 424. A side surface of the third plate body portion 423 is provided with a plurality of transfer holes 421, and the fourth plate body portion 424 is fixed to the other side surface of the third plate body portion 423. The third plate body portion 423 and the fourth plate body portion 424 are spaced apart from each other, and the third clamping portion 422 is arranged on the fourth plate body portion 424. The fourth plate body portion 424 is provided with a relief hole, the feeding manipulator 4 further comprises a connecting column 44, one end of the connecting column 44 is connected with the mechanical arm 41, and the other end of the connecting column 44 is detachably fixedly connected with a middle position of the fourth plate body portion 424.

[0097] Finally, it should be noted that the technical features of the above embodiments can be combined in any manner. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present application.

[0098] The above-described embodiments only express one of the embodiments of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the present application. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A pin insertion XYZ axis feeding and picking device, characterized in that, include: Feeding device (1) is used to feed two pins (100) to the loading position in pairs along a first direction (X), wherein the two pins (100) are spaced apart side by side in a second direction (Y) perpendicular to the first direction (X); The transfer device (2) includes a transfer displacement mechanism (21) disposed on one side of the feeding device (1) and a transfer fixture (22) disposed on the transfer displacement mechanism (21). The transfer displacement mechanism (21) can drive the transfer fixture (22) to move back and forth along the first direction (X) between the first transfer position and the second transfer position. The transfer fixture (22) includes multiple pairs of transfer holes (221), and the transfer holes (221) are configured to insert pins (100). The transfer robot (3) is located on one side of the feeding device (1) and is used to clamp the insert (100) of the feeding position and transfer it to the transfer hole (221) of the first transfer position along the XYZ axis. The feeding robot (4) includes a robotic arm (41) and a transfer fixture (42) disposed on the robotic arm (41). The transfer fixture (42) includes transfer holes (421) corresponding to each of the transfer holes (221). The robotic arm (41) can drive the transfer fixture (42) to the second transfer position and make each of the transfer holes (421) face each of the transfer holes (221) to insert and receive the pins (100) in each of the transfer holes (221).

2. The pin insertion XYZ axis feeding device according to claim 1, characterized in that, The feeding device (1) includes: The disc vibrating feeder (11) includes two discharge channels (111) that generally extend along a first direction (X). The two discharge channels (111) are spaced apart side by side along a second direction (Y) perpendicular to the first direction (X) to feed the pins (100) one by one along the first direction (X). The linear vibration feeding mechanism (12) includes a linear feed channel (121) connected to the discharge channel (111), the linear feed channel (121) being used to convey the pin (100) to the loading position generally along the first direction (X); The material turning mechanism (13) includes a rotatable adapter socket (131) located at the loading position. The adapter socket (131) has two holes (1311) for inserting pins (100). The adapter socket (131) can rotate back and forth between the adapter position and the loading position. When the adapter socket (131) is in the adapter position, the holes (1311) are directly connected to each of the straight material channels (121). When the adapter socket (131) is in the loading position, the holes (1311) face upwards.

3. The pin insertion XYZ axis feeding device according to claim 2, characterized in that, The linear vibration feeding mechanism (12) further includes: An active slider (122) is disposed on one side of the outlet of the straight material channel (121) along the second direction (Y), and the active slider (122) is capable of moving vertically along the third direction (Z) to a blocking position and a clearance position. In the blocking position, the active slider (122) extends into the straight material channel (121) to limit the contact with the pin (100) in the straight material channel (121). A linear actuator (123), whose output is connected to the active slider (122), is used to drive the active slider (122) to reciprocate between the blocking position and the avoidance position.

4. The pin insertion XYZ axis feeding device according to claim 2, characterized in that, The linear vibration feeding mechanism (12) includes: Linear vibrator (124); The track frame assembly (125) is detachably mounted on the linear vibrator (124), and the linear feed channel (121) is opened on the track frame assembly (125); The track frame assembly (125) includes a track body (1251) and a plurality of cover plates (1252). The track body (1251) has an elongated groove extending along the first direction (X). The opening of the elongated groove faces upward along a third direction (Z). The third direction (Z) is perpendicular to the first direction (X) and the second direction (Y). The cover plate (1252) is detachably placed over the opening of the elongated groove to cooperate with the elongated groove to enclose the straight material channel (121).

5. The pin insertion XYZ axis feeding and picking device according to claim 2, characterized in that, The material turning mechanism (13) also includes: The flip driver (132) includes a drive end capable of vertical displacement along a third direction (Z), which is perpendicular to the first direction (X) and the second direction (Y). The bottom end of the adapter socket (131) is rotatably mounted on the flip-up support frame (133) via a first rotating shaft (134); The drive end is hinged to the bottom end of the adapter socket (131), and the adapter socket (131), the drive end, the first rotating shaft (134), and the flipping support frame (133) cooperate to form a linkage structure that enables the adapter socket (131) to rotate back and forth between the adapter position and the loading position.

6. The pin insertion XYZ axis feeding device according to claim 1, characterized in that, The pin XYZ axis feeding and picking device also includes a frame (5), and the transfer robot (3) includes: The first translation mechanism (31) is disposed on the frame (5); A linear lifting mechanism (32) is provided at the output end of the first translation mechanism (31), and the first translation mechanism (31) can drive the linear lifting mechanism (32) to reciprocate along the second direction (Y); The second translation mechanism (33) is located at the output end of the linear lifting mechanism (32), and the linear lifting mechanism (32) can drive the second translation mechanism (33) to reciprocate up and down along the third direction (Z); A machine gripper (34) is located at the output end of the second translation mechanism (33), which can drive the machine gripper (34) to reciprocate along the second direction (Y).

7. The pin insertion XYZ axis feeding device according to claim 6, characterized in that, The machine gripper (34) includes: The gripper actuator (341) has a first power end and a second power end; The first clamping block (342) is fixed to the first power end; The second clamping block (343) is fixed to the second power end; The first clamping block (342) and the second clamping block (343) are reciprocating between a clamping state and a releasing state. The first clamping block (342) and the second clamping block (343) are respectively provided with clamping grooves. In the clamping state, the first clamping block (342) and the second clamping block (343) cooperate to form two clamping holes (344) for individually clamping the insert (100).

8. The pin insertion XYZ axis feeding device according to claim 1, characterized in that, The robotic arm (41) includes: The third translation mechanism is configured to be installed on the roof; The fourth translation mechanism is disposed at the output end of the third translation mechanism, and the third translation mechanism can drive the fourth translation mechanism to reciprocate along the first direction (X); The telescopic arm (411) is located at the output end of the fourth translation mechanism, and the transfer fixture (42) is located on the telescopic arm (411). The fourth translation mechanism can drive the telescopic arm (411) to reciprocate along the second direction (Y). The telescopic arm (411) can extend and retract along the third direction (Z) to drive the transfer fixture (42) to move to the second transfer position.

9. The pin insertion XYZ axis feeding device according to claim 1, characterized in that, The transfer displacement mechanism (21) includes: A transfer displacement assembly (211) is disposed on one side of the feeding device (1) along the second direction (Y); A transfer tilting assembly (212) is disposed at the output end of the transfer displacement assembly (211). The transfer displacement assembly (211) is configured to drive the transfer tilting assembly (212) to reciprocate along the first direction (X). A transfer fixture (22) is disposed at the output end of the transfer tilting assembly (212). The transfer tilting assembly (212) is configured to drive the transfer fixture (22) to perform a 90-degree tilting motion at the second transfer position so that the transfer hole (221) extends along the first direction (X).

10. The pin insertion XYZ axis feeding device according to claim 9, characterized in that, The transfer rollover assembly (212) includes: A rollover actuator (2121) has a linear rack (21211) that reciprocates along a third direction (Z), wherein the third direction (Z), the second direction (Y), and the first direction (X) are perpendicular to each other; A cantilever (2122) is fixed to the rollover actuator (2121) and extends along the third direction (Z). A side-tilting gear (2123) is rotatably connected to the cantilever (2122), the side-tilting gear (2123) is engaged with the linear rack (21211), and the shaft of the side-tilting gear (2123) extends along the second direction (Y). A side-flipping plate (2124) is fixed to one side of the side-flipping gear (2123), and the transfer fixture (22) is disposed on the side-flipping plate (2124). The linear rack (21211) is configured to drive the side-tilting gear (2123) to reciprocate between a flat position and a side-tilting position through a lifting motion. When the side-tilting gear (2123) is in the flat position, the central hole (221) extends along the third direction (Z). When the side-tilting gear (2123) is in the side-tilting position, the central hole (221) extends along the first direction (X).

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