Automatic feeding device

Abstract

The utility model belongs to the field of material conveying, and particularly relates to an automatic feeding device which comprises a positioning jig, a feeding mechanism and a feeding mechanism. The feeding jig is provided with an insertion groove used for allowing a material part to be inserted therein. The feeding conveying mechanism comprises an inflow end, an outflow end and an insertion section; the feeding locking mechanism corresponds to the position of the insertion section; the feeding grabbing mechanism, the inserting groove of the positioning jig and the inserting groove of the feeding jig at the inserting section correspond to the feeding grabbing mechanism in position. According to the automatic grabbing and feeding device, through cooperation of all the mechanisms, grabbing and feeding of the material parts are automatically carried out, and efficiency is higher; and on the basis that the material parts before being grabbed are positioned through the positioning jig, and the feeding jig is locked through the feeding locking mechanism so that the material parts can be inserted, the grabbing and inserting processes are more accurate, and the material parts are prevented from being damaged in the grabbing and inserting processes.

Description

Technical Field

[0001] This utility model belongs to the field of material conveying, and specifically relates to an automatic feeding device. Background Technology

[0002] In the production or inspection of strip-shaped components such as memory modules, traditionally, manual operation is relied upon to insert and install multiple components one by one onto a tray. This approach is not only inefficient but also increases labor costs. To solve this problem, existing technologies have proposed using robotic arms or multi-axis motion mechanisms to drive grippers for automated feeding. However, when using such automated equipment, it is essential to ensure the accuracy and stability of the component position; otherwise, the grippers may struggle to grasp the strip-shaped materials such as memory modules in the correct posture and complete the installation process, or they may even fail to remove them successfully or cause damage during the grasping process. Therefore, there is an urgent need to develop a feeding device that can accurately position components and achieve efficient and safe feeding. Utility Model Content

[0003] To address the aforementioned problems, the present invention aims to provide an automatic feeding device that can automatically feed materials, accurately position the materials during feeding, and achieve efficient and safe feeding.

[0004] To achieve the above objectives, the technical solution of this utility model is as follows.

[0005] An automatic feeding device, characterized in that it comprises:

[0006] A positioning fixture, wherein the positioning fixture is provided with a placement groove for horizontally supporting the material to position the material;

[0007] A feeding fixture, wherein the feeding fixture is provided with an insertion slot for vertically inserting a workpiece;

[0008] A feeding conveying mechanism for conveying a feeding fixture, the feeding conveying mechanism including an inflow end for flowing into the feeding fixture, an outflow end for flowing out of the feeding fixture, and an insertion section for inserting a material into the feeding fixture, the insertion section being located between the outflow end and the inflow end;

[0009] A feeding locking mechanism for locking or releasing the feeding fixture at the insertion section, wherein the feeding locking mechanism corresponds to the position of the insertion section;

[0010] The feeding gripping mechanism is used to grip and insert the material in the placement slot into the insertion section of the feeding fixture. The insertion slot of the positioning fixture and the insertion slot of the feeding fixture at the insertion section are corresponding to the position of the feeding gripping mechanism.

[0011] In this device, the workpiece is placed in the placement slot of the positioning fixture for positioning. The loading fixture flows from the inflow section to the loading conveying mechanism and is then conveyed to the insertion section. At this time, the loading locking mechanism locks the position of the loading fixture in the inflow section. Then, the loading gripping mechanism grips the workpiece in the placement slot and inserts it into the loading fixture in the insertion section. Finally, the loading locking mechanism releases the loading fixture, allowing the loading fixture with the inserted workpiece to flow out through the outflow end to external processing or testing equipment. Through the cooperation of the above mechanisms, the gripping and loading of the workpiece are all automated, resulting in higher efficiency. Furthermore, based on the positioning fixture for positioning the workpiece before gripping and the loading locking mechanism for locking the loading fixture for inserting the workpiece, the gripping and insertion process is more precise, avoiding damage to the workpiece during gripping and insertion.

[0012] Furthermore, the positioning fixture includes:

[0013] The fixture body, wherein the placement slot is disposed on the fixture body;

[0014] A first clamping component is used to press the material into the placement groove. The first clamping component is movably mounted on the fixture body and corresponds to the placement groove.

[0015] A first clamping drive assembly is used to drive the movement of the first clamping assembly. The first clamping drive assembly is fixedly mounted on the fixture body and is drivenly connected to the first clamping assembly.

[0016] Furthermore, gripping and avoidance grooves are provided on the left and right sides of the placement groove to avoid the feeding gripping mechanism.

[0017] Furthermore, the positioning fixture also includes a second clamping component for pressing the material into the placement groove and a second clamping drive component for driving the second clamping component to move; the first clamping component is movably disposed on the left or right side of the placement groove, the second clamping component is movably disposed on the front or rear side of the placement groove, and the second clamping drive component is fixed to the fixture body and drivenly connected to the second clamping component.

[0018] Furthermore, the positioning fixture also includes a first linkage component, and the first clamping assembly includes two first clamping components, both of which are fixed on the first linkage component. The first clamping drive assembly is drivenly connected to the first linkage component.

[0019] Furthermore, a first pressing movable groove penetrating the main body of the fixture is provided on both sides of the left or right gripping and avoidance groove of the placement groove, and the two first pressing movable grooves are connected to the placement groove; the placement groove is located on one side of the fixture main body, the first linkage is located on the other side of the fixture main body, and the two first pressing members are respectively movably arranged in the two first pressing movable grooves.

[0020] Furthermore, the first clamping drive assembly includes a first fixing frame and a first clamping cylinder. The first fixing frame is fixed to the other side of the fixture body, the first clamping cylinder is fixed on the first fixing frame, and the first clamping cylinder is drivenly connected to the first linkage component.

[0021] Furthermore, a second pressing movable groove penetrating the main body of the fixture is provided on the front or rear side of the placement groove. The second pressing movable groove is connected to the placement groove, and the second pressing component is movably disposed in the second pressing movable groove.

[0022] Furthermore, the positioning fixture also includes a second linkage component, and the second clamping drive assembly includes a second fixing frame and a second clamping cylinder; the placement slot is located on one side of the fixture body, and the second fixing frame, the second clamping cylinder, and the second linkage component are located on the other side of the fixture body. The second clamping assembly passes through the second clamping movable slot to be fixed on the second linkage component. The second fixing frame is fixedly disposed on the other side of the fixture body, and the second clamping cylinder is fixed on the second fixing frame, and the second clamping cylinder is drivenly connected to the second linkage component.

[0023] Furthermore, there are multiple placement slots, multiple first pressing components, and multiple second pressing components; the multiple first pressing components are movably disposed on the left or right side of the multiple placement slots, and the multiple second pressing components are movably disposed on the front or rear side of the multiple placement slots; the first pressing drive component is driven connected to the multiple first pressing components, and the second pressing drive component is driven connected to the multiple second pressing components.

[0024] Furthermore, the device also includes:

[0025] A first storage mechanism for stacking and storing trays loaded with materials;

[0026] A second material storage mechanism for stacking and storing empty material trays;

[0027] A material grabbing mechanism for grabbing materials from the tray of the first storage mechanism to the placement slot, and for grabbing empty trays from the first storage mechanism to the storage grabbing mechanism of the second storage mechanism.

[0028] Furthermore, the material storage gripping mechanism includes a two-axis gripping motion assembly that moves in the Y and Z directions, a material storage gripping assembly for gripping materials, and a material tray gripping assembly for gripping material trays. Both the material tray gripping assembly and the material storage gripping assembly are mounted on the two-axis gripping motion assembly and are driven by the two-axis gripping motion assembly to move in the Y and Z directions.

[0029] Furthermore, the tray gripping assembly includes multiple vacuum gripping suction cups.

[0030] Furthermore, the storage gripping assembly includes a first gripper cylinder 821.

[0031] Furthermore, the first storage mechanism includes:

[0032] A first material storage and conveying assembly for conveying a material tray in a first direction, wherein one end of the first material storage and conveying assembly is provided with a material tray placement end for placing the material tray;

[0033] A second storage conveying component is used to convey the material tray from the first storage conveying component in the second direction. One end of the second storage conveying component is connected to the other end of the first storage conveying component, and a material tray feeding end is formed at the other end of the second storage conveying component.

[0034] A tray locking assembly is used to lock and fix the tray at the feeding end of the tray, and the tray locking assembly corresponds to the feeding end of the tray.

[0035] Furthermore, the device also includes a frame, on which the positioning fixture, feeding and conveying mechanism, feeding and locking mechanism, and feeding and gripping mechanism are all mounted. A feeding port is provided on the upper side of the frame. The first material storage and conveying component and the second material storage and conveying component are both mounted inside the frame. The material tray placement end extends outward from the side of the frame, and the material tray feeding end extends outward from the feeding port. The material tray locking component is fixedly mounted on the side of the feeding port.

[0036] Furthermore, there are multiple material tray locking components, and at least two material tray locking components are respectively disposed on opposite sides of the feeding port to respectively press or release the opposite sides of the material tray located at the feeding end of the material tray.

[0037] Furthermore, at least four tray locking components are respectively located on the four sides of the feeding port to respectively press or release the four opposite sides of the tray located at the feeding end of the tray.

[0038] Furthermore, the tray locking assembly includes a tray locking cylinder and a locking block. The tray locking cylinder is fixed to the side of the feeding port, and the tray locking cylinder is driven to connect with the locking block to drive the locking block to press or release the side of the tray located at the feeding end of the tray.

[0039] Furthermore, at least one of the locking blocks of the material tray locking assembly is provided with an upper abutment portion for the upper side of the material tray at the corresponding material tray loading end.

[0040] Furthermore, side baffles are provided on both sides of the first material storage and conveying assembly, and a material storage cavity is formed between the first material storage and conveying assembly and the side baffles on both sides, and the second material storage and conveying assembly is located in the material storage cavity.

[0041] Furthermore, the first material storage and conveying assembly includes two sets of transverse conveyor belts and at least one transverse drive motor. The two sets of transverse conveyor belts are arranged in parallel within the frame, and the at least one transverse drive motor is drivenly connected to the two sets of transverse conveyor belts. Two sets of side baffles are respectively arranged on the sides of the two sets of transverse conveyor belts, and one end of the second material storage and conveying assembly extends into the space between the two sets of transverse conveyor belts.

[0042] Furthermore, the second material storage and conveying assembly includes a lifting plate and a lifting drive component, wherein the lifting drive component is driven to connect with the lifting plate to drive the lifting plate back and forth between the two sets of transverse transmission belts and at the feeding port.

[0043] Furthermore, the feeding and gripping mechanism includes a multi-axis robotic arm, a connecting body, a gripper body, and multiple gripper assemblies. The connecting body is fixed to the gripper body, and multiple support bodies surround the side of the gripper body. The multiple gripper assemblies are respectively disposed on the multiple support bodies to surround the connecting body. The end of the connecting body away from the gripper body is connected to the multi-axis robotic arm.

[0044] Furthermore, the connecting body is located along the axial direction of the gripper body and is perpendicular to the gripper body.

[0045] Furthermore, the end of the support body away from the gripper body is provided with an inclined surface that is axially inclined relative to the support body, and the gripper assembly is disposed on the inclined surface.

[0046] Furthermore, the gripper assembly includes a connecting seat and a second gripper cylinder. One side of the connecting seat is fixed to the inclined surface, and one side of the second gripper cylinder is disposed on the other side of the connecting seat. A gripping opening for gripping the material is provided on the other side of the second gripper cylinder.

[0047] Furthermore, a slide rail slider structure is provided on the other side of the connecting seat, the second gripper cylinder is movably mounted on the slide rail slider structure, and a retaining member is also provided at the end of the connecting seat. A pressure sensor is provided between the retaining member and the second gripper cylinder.

[0048] Furthermore, anti-detachment parts are provided on both sides of the clamping opening to prevent the material from detaching.

[0049] Furthermore, the feeding and conveying mechanism includes two feeding and conveying belts arranged in parallel, and the feeding and locking mechanism is disposed between the two feeding and conveying belts.

[0050] Furthermore, the feeding locking mechanism includes a first feeding locking assembly for locking the front and rear sides of the feeding fixture and a lifting assembly for controlling the lifting and lowering of the locking assembly.

[0051] Furthermore, the lifting assembly includes a loading lifting cylinder, and the first loading locking assembly includes a loading locking platform, a loading fixing claw for abutting the rear side of the loading fixture, a first movable claw for abutting the front side of the loading fixture, and a first movable claw cylinder for driving the first movable claw to move. The loading lifting cylinder is drivenly connected to the loading locking platform, the loading fixing claw is fixedly disposed on the rear side of the loading locking platform, and the first movable claw cylinder is fixedly disposed on the front side of the loading locking platform. The first movable claw cylinder is drivenly connected to the first movable claw.

[0052] Furthermore, the feeding locking mechanism also includes a second feeding locking component for locking the left or right side or both sides of the feeding fixture, the second feeding locking component being disposed on the outside of the feeding conveyor belt.

[0053] Furthermore, the second loading locking assembly includes a second movable claw cylinder and a second movable claw for abutting against the left or right side of the loading fixture.

[0054] Furthermore, the device also includes a first camera mechanism for capturing the posture of the part being fed by the feeding and gripping mechanism, the first camera mechanism being positioned corresponding to the feeding and gripping mechanism.

[0055] Furthermore, the first camera mechanism includes a first camera, the position of which corresponds to that of the feeding and gripping mechanism.

[0056] Furthermore, the device also includes a second camera mechanism for capturing images of the insertion slot of the feeding fixture located at the insertion section or the insertion of a part within the insertion slot.

[0057] Furthermore, the side of the insertion slot is provided with an information code corresponding to the insertion slot, and the second camera mechanism includes a barcode scanner for recognizing the information code.

[0058] Furthermore, the second camera mechanism includes a second camera and a two-axis camera motion assembly that controls the movement of the second camera in the XY axis direction, with the second camera mounted on the two-axis camera motion assembly.

[0059] Specifically, the barcode scanner is also mounted on the motion assembly of the two-axis camera.

[0060] The beneficial effects of this utility model are as follows: In this device, the material is placed in the placement slot of the positioning fixture for positioning. The feeding fixture flows from the inflow section to the feeding transmission mechanism and is then transmitted to the insertion section. At this time, the feeding locking mechanism locks the position of the feeding fixture located in the inflow section. Then, the feeding gripping mechanism grips the material in the placement slot and inserts it into the feeding fixture at the insertion section. Finally, the feeding locking mechanism releases the feeding fixture, allowing the feeding fixture with the inserted material to flow out through the outflow end to external processing or testing equipment. Through the cooperation of the above mechanisms, the gripping and feeding of the material are all carried out automatically, resulting in higher efficiency. Furthermore, based on the positioning fixture for positioning the material before gripping and the feeding locking mechanism for locking the feeding fixture for inserting the material, the connection between gripping and insertion is more precise, avoiding damage to the material during gripping and insertion. Attached Figure Description

[0061] Figure 1 This is a schematic diagram of the structure of this utility model.

[0062] Figure 2 This is a first-view structural diagram of the positioning fixture.

[0063] Figure 3 This is a structural schematic diagram of the positioning fixture from a second perspective.

[0064] Figure 4 This is a structural diagram of the positioning fixture concealing the main body of the fixture.

[0065] Figure 5 This is a structural diagram of the first material storage mechanism and part of the frame.

[0066] Figure 6 This is a schematic diagram of the first material storage mechanism.

[0067] Figure 7 This is a schematic diagram of the structure of the second material storage and conveying component and the material tray locking component.

[0068] Figure 8 This is a schematic diagram of the material grabbing mechanism.

[0069] Figure 9 This is a schematic diagram of the feeding and gripping mechanism.

[0070] Figure 10 This is a schematic diagram of the feeding and gripping mechanism.

[0071] Figure 11 This is a schematic diagram of the feeding and locking mechanism.

[0072] Figure 12 This is a schematic diagram of the second camera mechanism.

[0073] 1. Positioning fixture; 11. Placement slot; 111. Gripping and clearance slot; 112. First clamping movable slot; 113. Second clamping movable slot; 12. Fixture body; 13. First clamping assembly; 131. First clamping component; 14. First clamping drive assembly; 141. First fixing frame; 142. First clamping cylinder; 15. Second clamping assembly; 151. Second clamping component; 16. Second clamping drive assembly; 161. Second fixing frame; 162. Second clamping cylinder; 17. First linkage component; 18. Second linkage component;

[0074] 2. Feeding fixture; 21. Insertion slot;

[0075] 3. Feeding and conveying mechanism; 31. Inflow end; 32. Insertion section; 33. Outflow end; 34. Feeding and conveying belt;

[0076] 4. Feeding locking mechanism; 41. First feeding locking assembly; 411. Feeding locking platform; 412. Feeding fixing claw; 413. First movable claw; 414. First movable claw cylinder; 42. Lifting assembly; 421. Feeding lifting cylinder; 43. Second feeding locking assembly; 431. Second movable claw cylinder; 432. Second movable claw;

[0077] 5. Feeding and gripping mechanism; 51. Multi-axis robotic arm; 52. Connector; 53. Gripper body; 54. Gripper assembly; 541. Connecting seat; 542. Second gripper cylinder; 5421. Grip opening; 5422. Anti-detachment part; 543. Slide rail slider structure; 544. Supporting component; 545. Pressure sensor; 55. Support body; 551. Inclined surface;

[0078] 6. First material storage mechanism; 61. First material storage and conveying assembly; 611. Material tray placement end; 612. Transverse transmission belt; 613. Transverse drive motor; 62. Second material storage and conveying assembly; 621. Material tray loading end; 622. Lifting plate; 623. Lifting drive component; 63. Material tray locking assembly; 631. Material tray locking cylinder; 632. Locking pressure block; 633. Upper abutment part; 64. Side baffle; 65. Material storage chamber;

[0079] 7. Second storage mechanism;

[0080] 8. Material storage and gripping mechanism; 81. Two-axis gripping motion assembly; 82. Material storage and gripping assembly; 821. First gripper cylinder; 83. Material tray gripping assembly; 831. Vacuum gripping suction cup;

[0081] 9. Frame; 91. First camera mechanism; 911. First camera; 92. Second camera mechanism; 921. Barcode scanner; 922. Second camera; 923. Two-axis camera motion assembly; 93. Feed port. Detailed Implementation

[0082] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0083] See Figure 1-8 This embodiment provides an automatic feeding device, including:

[0084] Positioning fixture 1, which is provided with a placement groove 11 for horizontally supporting the material and positioning the material;

[0085] The feeding fixture 2 is provided with an insertion slot 21 for vertically inserting the workpiece;

[0086] The feeding conveying mechanism 3 for conveying the feeding fixture 2 includes an inflow end 31 for flowing into the feeding fixture 2, an outflow end 33 for flowing out of the feeding fixture 2 to an external testing device, and an insertion section 32 for inserting a material into the feeding fixture 2. The insertion section 32 is located between the outflow end 33 and the inflow end 31.

[0087] The feeding locking mechanism 4 is used to lock or release the feeding fixture 2 at the insertion section 32. The feeding locking mechanism 4 corresponds to the position of the insertion section 32.

[0088] The feeding gripping mechanism 5 is used to grip and insert the material in the placement slot 11 into the insertion slot 21 of the feeding fixture 2 at the insertion section 32. The positions of the feeding gripping mechanism 5 are corresponding to the insertion slot 21 of the positioning fixture 1 and the insertion slot 21 of the feeding fixture 2 at the insertion section 32.

[0089] See Figure 1-4 In this embodiment, the positioning fixture 1 includes:

[0090] The fixture body 12 has a placement slot 11 disposed on it;

[0091] The first pressing component 13 is used to press the material into the placement groove 11. The first pressing component 13 is movably disposed on the fixture body 12 and corresponds to the placement groove 11.

[0092] A first clamping drive assembly 14 is used to drive the first clamping assembly 13. The first clamping drive assembly 14 is fixedly mounted on the fixture body 12 and is drivenly connected to the first clamping assembly 13. Specifically, after the workpiece is placed in the placement groove 11, the first clamping drive assembly 14 drives the first clamping assembly 13 to clamp and position the workpiece in the placement groove 11.

[0093] See Figure 1-4In this embodiment, gripping avoidance grooves 111 are also provided on the left and right sides of the placement groove 11 to avoid the feeding gripping mechanism 5. When the feeding gripping mechanism 5 moves to the placement groove 11 to grip the material, the gripping avoidance grooves 111 can effectively avoid interference.

[0094] In this embodiment, the positioning fixture 1 further includes a second clamping component 15 for pressing the workpiece into the placement groove 11 and a second clamping drive component 16 for driving the second clamping component 15. The first clamping component 13 is movably disposed on the left or right side of the placement groove 11, and the second clamping component 15 is movably disposed on the front or rear side of the placement groove 11. The second clamping drive component 16 is fixed to the fixture body 12 and is drivenly connected to the second clamping component 15. While the first clamping drive component 14 drives the clamping component, the second clamping drive component 16 drives the second clamping component 15 to press on the adjacent sides of the workpiece, so that the position of the workpiece in the placement groove 11 is more accurate and stable.

[0095] In this embodiment, the positioning fixture 1 further includes a first linkage member 17, and the first clamping assembly 13 includes two first clamping members 131, both of which are fixed to the first linkage member 17. The first clamping drive assembly 14 is drivenly connected to the first linkage member 17. The first clamping drive assembly 14 drives the first linkage member 17 to drive the two first clamping members 131 of the first clamping assembly 13 to move synchronously and clamp them onto the workpiece.

[0096] In this embodiment, a first pressing movable groove 112 penetrating the fixture body 12 is provided on both sides of the left or right gripping and avoidance groove 111 of the placement groove 11. The two first pressing movable grooves 112 are connected to the placement groove 11. The placement groove 11 is located on one side of the fixture body 12, the first linkage member 17 is located on the other side of the fixture body 12, and the two first pressing members 131 are respectively movably disposed in the two first pressing movable grooves 112.

[0097] In this embodiment, the first clamping drive assembly 14 includes a first fixing frame 141 and a first clamping cylinder 142. The first fixing frame 141 is fixed to the other side of the fixture body 12, and the first clamping cylinder 142 is fixed on the first fixing frame 141 and is drivenly connected to the first linkage member 17. The first clamping cylinder 142 pushes the first linkage member 17 to drive the two first clamping members 131 of the first clamping assembly 13 located on the first linkage member 17 to move synchronously and clamp onto the workpiece.

[0098] In this embodiment, a second pressing movable groove 113 penetrating the fixture body 12 is provided on the front or rear side of the placement groove 11. The second pressing movable groove 113 is connected to the placement groove 11, and the second pressing component 15 is movably disposed in the second pressing movable groove 113.

[0099] In this embodiment, the positioning fixture 1 further includes a second linkage member 18, and the second clamping drive assembly 16 includes a second fixing frame 161 and a second clamping cylinder 162. The placement groove 11 is located on one side of the fixture body 12, and the second fixing frame 161, the second clamping cylinder 162, and the second linkage member 18 are located on the other side of the fixture body 12. The second clamping assembly 15 passes through the second clamping movable groove 113 to be fixed on the second linkage member 18. The second fixing frame 161 is fixedly disposed on the other side of the fixture body 12, and the second clamping cylinder 162 is fixed on the second fixing frame 161, and the second clamping cylinder 162 is drivenly connected to the second linkage member 18. The second clamping cylinder 162 pushes the second linkage member 18 to drive the second clamping assembly 15 located on the second linkage member 18 to move synchronously to clamp onto the workpiece. Specifically, the second clamping assembly 15 includes a second clamping member 151, which is "L" shaped. Under the drive of the second linkage member 18, the second clamping member 151 can be driven by the second clamping cylinder 162 to clamp the material at the front or rear side.

[0100] In this embodiment, there are multiple placement slots 11, multiple first pressing components 13, and multiple second pressing components 15; the multiple first pressing components 13 are respectively movably disposed on the left or right side of the multiple placement slots 11, and the multiple second pressing components 15 are movably disposed on the front or rear side of the multiple placement slots 11; the first pressing drive component 14 is drivenly connected to the multiple first pressing components 13, and the second pressing drive component 16 is drivenly connected to the multiple second pressing components 15. It is understood that multiple first clamping components 13 are fixed on the first linkage member 17, and multiple second clamping components 15 are fixed on the second linkage member 18. When the first clamping cylinder 142 pushes the first linkage member 17, the first linkage member 17 drives multiple sets of first clamping components 13 (each set of first clamping components 13 consists of two first clamping members 131) to move synchronously, so as to clamp the material on the left or right side respectively. At the same time, when the second clamping cylinder 162 pushes the second linkage member 18, the second linkage member 18 drives multiple sets of second clamping components 15 to move synchronously, so as to clamp the material on the front or rear side respectively.

[0101] See Figure 1 , 5 -8, In this embodiment, the device further includes:

[0102] A first storage mechanism 6 for stacking and storing trays loaded with materials;

[0103] Second storage mechanism 7 for stacking and storing empty material trays;

[0104] This is a storage gripping mechanism 8 used to grab materials from the trays of the first storage mechanism 6 and place them into the placement slot 11, and to grab empty trays from the first storage mechanism 6 and place them into the second storage mechanism 7. Specifically, the first storage mechanism 6 can stack and store multiple trays containing materials. The storage gripping mechanism 8 grabs the materials from the top tray of the first storage mechanism 6 and places them into the placement slot 11. After the materials from the top tray of the first storage mechanism 6 are all grabbed, the empty tray is then grabbed by the storage gripping mechanism 8 and placed into the second storage mechanism 7 for stacking. It can be understood that after all the materials from the trays in the first storage mechanism 6 have been grabbed, a new stack of trays containing materials is replenished manually or by other means. When the number of trays stacked in the second storage mechanism 7 reaches a certain number, they can be removed manually or by other means.

[0105] In this embodiment, the material gripping mechanism 8 includes a two-axis gripping motion assembly 81 that moves in the Y and Z directions, a material gripping assembly 82 for gripping materials, and a material tray gripping assembly 83 for gripping a material tray. Both the material tray gripping assembly 83 and the material gripping assembly 82 are mounted on the two-axis gripping motion assembly 81 and are driven by the two-axis gripping motion assembly 81 to move in the Y and Z directions. This two-axis gripping motion assembly 81 is existing technology; for example, its Y-axis movement is achieved through a structure such as a motor lead screw, and its Z-axis movement is achieved through a structure such as a cylinder, thereby driving the material tray gripping assembly 83 and the material gripping assembly 82 to move in the Y and Z directions.

[0106] In this embodiment, the tray gripping assembly 83 includes a plurality of vacuum gripping suction cups 831.

[0107] In this embodiment, the material storage gripping component 82 includes a first gripper cylinder 821.

[0108] In this embodiment, the first storage mechanism 6 includes:

[0109] A first material storage and conveying assembly 61 for conveying a material tray in a first direction, wherein one end of the first material storage and conveying assembly 61 is provided with a material tray placement end 611 for placing the material tray;

[0110] A second storage conveying component 62 is used to convey the material tray from the first storage conveying component 61 in the second direction. One end of the second storage conveying component 62 is connected to the other end of the first storage conveying component 61, and a material tray loading end 621 is formed at the other end of the second storage conveying component 62.

[0111] The tray locking assembly 63 is used to lock and fix the tray at the tray loading end 621. The tray locking assembly 63 corresponds to the position of the tray loading end 621. Specifically, multiple trays containing materials can be stacked at the tray placement end 611. The first material storage and conveying assembly 61 conveys the stacked trays in a first direction. When the trays are conveyed to the other end of the first material storage and conveying assembly 61, the second material storage and conveying assembly 62 continues to convey the stacked trays in a second direction. When the uppermost tray is lifted to the tray loading end 621, the tray locking assembly 63 locks the tray to ensure the accuracy of the tray's position at the tray loading end 621. Based on the locking of the tray locking assembly 63, the tray position is less likely to shift when the material storage gripping mechanism 8 grips the materials at the tray, thus ensuring the stability of the tray position.

[0112] In this embodiment, the device also includes a frame 9, on which structures such as a positioning fixture 1, a feeding and conveying mechanism 3, a feeding and locking mechanism 4, and a feeding and gripping mechanism 5 are mounted. The frame 9 serves as a load-bearing structure. A feeding port 93 is provided on the upper side of the frame 9. The first material storage and conveying assembly 61 and the second material storage and conveying assembly 62 are both located inside the frame 9. The tray placement end 611 extends outward from the side of the frame 9, and the tray feeding end 621 extends outward from the feeding port 93. The tray locking assembly 63 is fixedly mounted on the side of the feeding port 93. Specifically, "side" here can refer to the left, right, rear, or front side.

[0113] In this embodiment, there are multiple tray locking components 63, and at least two tray locking components 63 are respectively disposed on opposite sides of the feeding port 93 to respectively press or release the opposite sides of the tray located at the feeding end 621 of the tray.

[0114] In this embodiment, at least four tray locking components 63 are respectively disposed on the four sides of the feeding port 93 to respectively press or release the four opposite sides of the tray located at the feeding end 621 of the tray.

[0115] In this embodiment, the tray locking assembly 63 includes a tray locking cylinder 631 and a locking block 632. The tray locking cylinder 631 is fixed to the side of the feeding port 93. The tray locking cylinder 631 is driven to connect with the locking block 632 to drive the locking block 632 to press or release the side of the tray located at the feeding end 621 of the tray.

[0116] In this embodiment, at least one tray locking assembly 63 has an upper abutment portion 633 on its locking block 632 for supporting the upper side of the tray at the corresponding tray loading end 621.

[0117] In this embodiment, the first material storage and conveying assembly 61 is provided with side baffles 64 on both sides, and a material storage cavity 65 is formed between the first material storage and conveying assembly 61 and the side baffles 64 on both sides, and the second material storage and conveying assembly 62 is located in the material storage cavity 65.

[0118] In this embodiment, the first material storage and conveying assembly 61 includes two sets of transverse conveyor belts 612 and at least one transverse drive motor 613. The two sets of transverse conveyor belts 612 are arranged in parallel within the frame 9. The at least one transverse drive motor 613 is drivenly connected to the two sets of transverse conveyor belts 612. Two sets of side baffles 64 are respectively arranged on the sides of the two sets of transverse conveyor belts 612. One end of the second material storage and conveying assembly 62 extends into the space between the two sets of transverse conveyor belts 612.

[0119] In this embodiment, the second material storage and conveying assembly 62 includes a lifting plate 622 and a lifting drive component 623. The lifting drive component 623 is drivenly connected to the lifting plate 622 to drive the lifting plate 622 back and forth between the two sets of transverse conveyor belts 612 and at the feeding port 93. The lifting drive component 623 can be a linear motor, with its lower end extending between the two sets of transverse conveyor belts 612 and its upper end extending out of the feeding port 93, thereby driving the lifting plate 622 back and forth between the two sets of transverse conveyor belts 612 and at the feeding port 93. In other embodiments of this application, the lifting drive component 623 can also be other existing drive structures, such as a motor lead screw drive structure.

[0120] Specifically, in this embodiment, the second storage mechanism 7 is substantially equivalent to the first storage mechanism 6; it is understood that in other embodiments, the structure of the second storage mechanism 7 may also be substantially equivalent to the first storage mechanism 6 without the material tray locking component 63.

[0121] See Figure 1 , 9 10. In this embodiment, the feeding and gripping mechanism 5 includes a multi-axis robotic arm 51, a connecting body 52, a gripper body 53, and multiple gripper assemblies 54. The connecting body 52 is fixed to the gripper body 53. Multiple support bodies 55 surround the side of the gripper body 53. The multiple gripper assemblies 54 are respectively disposed on the multiple support bodies 55 to surround the connecting body 52. ​​The end of the connecting body 52 away from the gripper body 53 is connected to the multi-axis robotic arm 51. The multi-axis robotic arm 51 can drive the gripper body 53 through the connecting body 52, and then grip the material through the multiple gripper assemblies 54 surrounding the side of the gripper body 53 in sequence. This can meet the gripping of materials with different spacing and has better applicability.

[0122] In this embodiment, the connector 52 is disposed along the axial direction of the gripper body 53 and is perpendicular to the gripper body 53.

[0123] In this embodiment, the end of the support body 55 away from the gripper body 53 is provided with an inclined surface 551 that is axially inclined relative to the support body 55, and the gripper assembly 54 is disposed on the inclined surface 551.

[0124] In this embodiment, the gripper assembly 54 includes a connecting seat 541 and a second gripper cylinder 542. One side of the connecting seat 541 is fixed to the inclined surface 551, and one side of the second gripper cylinder 542 is disposed on the other side of the connecting seat 541. A gripping opening 5421 for gripping a workpiece is provided on the other side of the second gripper cylinder 542. The inclined surface 551 prevents other gripper bodies 53 from interfering with the workpiece insertion process when the gripper assembly 54 needs to insert the gripped workpiece into the insertion slot.

[0125] In this embodiment, a slide rail slider structure 543 is provided on the other side of the connecting seat 541, and the second gripper cylinder 542 is movably disposed on the slide rail slider structure 543. A support member 544 is also provided at the end of the connecting seat 541, and a pressure sensor 545 is provided between the support member 544 and the second gripper cylinder 542.

[0126] In this embodiment, anti-detachment parts 5422 are provided on both sides of the clamping opening 5421 to prevent the material from detaching.

[0127] See Figure 1 , 11 In this embodiment, the feeding and conveying mechanism 3 includes two feeding and conveying belts 34 arranged in parallel, and the feeding and locking mechanism 4 is disposed between the two feeding and conveying belts 34. Specifically, the feeding and conveying belts 34 are existing conveying belt structures, and are driven by a motor.

[0128] In this embodiment, the feeding locking mechanism 4 includes a first feeding locking component 41 for locking the front and rear sides of the feeding fixture 2 and a lifting component 42 for controlling the lifting and lowering of the locking component.

[0129] In this embodiment, the lifting assembly 42 includes a loading lifting cylinder 421, and the first loading locking assembly 41 includes a loading locking platform 411, a loading fixing claw 412 for abutting the rear side of the loading fixture 2, a first movable claw 413 for abutting the front side of the loading fixture 2, and a first movable claw cylinder 414 for driving the first movable claw 413 to move. The loading lifting cylinder 421 is drivenly connected to the loading locking platform 411, the loading fixing claw 412 is fixedly disposed on the rear side of the loading locking platform 411, and the first movable claw cylinder 414 is fixedly disposed on the front side of the loading locking platform 411. The first movable claw cylinder 414 is drivenly connected to the first movable claw 413. The loading lifting cylinder 421 can drive the loading locking platform 411 to rise and fall. When the loading fixture 2 passes through the insertion section 32, the loading lifting cylinder 421 drives the loading locking platform 411 to rise to support the loading fixture 2. The first movable claw cylinder 414 drives the first movable claw 413, so that the first movable claw 413 and the loading fixing claw 412 respectively abut against the front and rear sides of the loading fixture 2 to fix the position of the loading fixture 2.

[0130] In this embodiment, the feeding locking mechanism 4 further includes a second feeding locking assembly 43 for locking the left or right side or both sides of the feeding fixture 2. The second feeding locking assembly 43 is disposed on the outer side of the two feeding conveyor belts 34. Here, "outer side" refers to the side of the two feeding conveyor belts 34 that are opposite to each other. Specifically, it is preferable to have two sets of second feeding locking assemblies 43, respectively used to lock the left and right sides of the feeding fixture 2.

[0131] In this embodiment, the second loading and locking assembly 43 includes a second movable claw cylinder 431 and a second movable claw 432 for abutting against the left or right side of the loading fixture 2. The second movable claw cylinder 431 and the second movable claw 432 are drivenly connected.

[0132] See Figure 1 , 12 In this embodiment, the device further includes a first camera mechanism 91 for capturing the posture of the material being fed by the feeding and gripping mechanism 5, and the first camera mechanism 91 is positioned corresponding to the feeding and gripping mechanism 5.

[0133] In this embodiment, the first camera mechanism 91 includes a first camera 911, which corresponds to the position of the feeding and gripping mechanism 5.

[0134] In this embodiment, the device further includes a second camera mechanism 92 for capturing images of the insertion of a component into the insertion slot 21 of the feeding fixture 2 located at the insertion section 32 or within the insertion slot 21.

[0135] In this embodiment, an information code corresponding to the insertion slot 21 is provided on the side of the insertion slot 21, and the second camera mechanism 92 includes a barcode scanner 921 for recognizing the information code. Specifically, the information code can be a barcode or a QR code.

[0136] In this embodiment, the second camera mechanism 92 includes a second camera 922 and a two-axis camera motion assembly 923 that controls the movement of the second camera 922 in the XY axis direction. The second camera 922 is disposed on the two-axis camera motion assembly 923.

[0137] Specifically, the barcode scanner 921 is also mounted on the two-axis camera motion assembly 923. Specifically, the two-axis camera motion assembly 923 is existing technology, such as using two sets of motor lead screws or other drive structures to drive the barcode scanner 921 and the second camera 922 to move in the XY axis directions.

[0138] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An automatic feeding device, characterized by comprising: The device comprises: a positioning jig, which is provided with a placing groove for carrying and positioning a workpiece; a feeding jig, which is provided with an insertion groove for inserting a workpiece; a feeding transmission mechanism for transmitting the feeding jig, which comprises an inflow end for flowing into the feeding jig, an outflow end for flowing out of the feeding jig, and an insertion section for inserting the feeding jig into a workpiece, the insertion section being located between the outflow end and the inflow end; a feeding locking mechanism for locking or releasing the feeding jig at the insertion section, which corresponds to the position of the insertion section; a feeding grabbing mechanism for grabbing and inserting a workpiece in the placing groove into the insertion groove of the feeding jig at the insertion section, which corresponds to the positions of the insertion grooves of the positioning jig and the feeding jig at the insertion section.

2. The automatic feeding device according to claim 1, characterized in that The positioning jig comprises: a jig body, wherein the placing groove is arranged on the jig body; a first pressing assembly for pressing a workpiece into the placing groove, which is movably arranged on the jig body and corresponds to the placing groove; a first pressing driving assembly for driving the first pressing assembly to move, which is fixedly arranged on the jig body and drivingly connected with the first pressing assembly.

3. The automatic feeding device according to claim 1, wherein The device further comprises: a first storage mechanism for stacking and storing workpiece-loaded trays; a second storage mechanism for stacking and storing empty trays; a storage grabbing mechanism for grabbing a workpiece on a tray of the first storage mechanism into the placing groove, and grabbing an empty tray of the first storage mechanism into the second storage mechanism.

4. The automatic feeding device according to claim 1, wherein The feeding grabbing mechanism comprises a multi-axis mechanical arm, a connecting body, a jaw body, and a plurality of jaw assemblies, the connecting body being fixed to the jaw body, the jaw body being surrounded by a plurality of support bodies on the side edges, the plurality of jaw assemblies being arranged on the plurality of support bodies to surround the connecting body, and the connecting body being connected with the multi-axis mechanical arm at the end away from the jaw body.

5. The automatic feeding device according to claim 1, wherein The feeding transmission mechanism comprises two feeding transmission belts, which are arranged in parallel, and the feeding locking mechanism is arranged between the two feeding transmission belts.

6. The automatic feeding device according to claim 5, wherein The feeding locking mechanism comprises a first feeding locking assembly for locking the front and back sides of the feeding jig, and a lifting assembly for controlling the lifting of the locking assembly; The lifting assembly comprises a feeding lifting cylinder, the first feeding locking assembly comprises a feeding locking platform, a feeding fixed jaw for abutting against the back side of the feeding jig, a first movable jaw for abutting against the front side of the feeding jig, and a first movable jaw cylinder for driving the first movable jaw to move, the feeding lifting cylinder is drivingly connected with the feeding locking platform, the feeding fixed jaw is fixedly arranged on the back side of the feeding locking platform, the first movable jaw cylinder is fixedly arranged on the front side of the feeding locking platform, and the first movable jaw cylinder is drivingly connected with the first movable jaw.

7. The automatic feeding device according to claim 6, wherein The feeding locking mechanism further comprises a second feeding locking assembly for locking the left side, the right side, or both sides of the feeding jig, which is arranged on the outer side of the feeding transmission belt.

8. The automatic feeding device according to claim 1, wherein The device also comprises a first camera mechanism for shooting the posture of the feeding piece of the feeding grabbing mechanism, which corresponds to the position of the feeding grabbing mechanism.

9. The automatic feeding device according to claim 8, wherein The device also comprises a second camera mechanism for shooting the insertion of the feeding piece into the insertion slot of the insertion segment or the insertion slot. The second camera mechanism comprises a second camera and a two-axis camera motion assembly for controlling the motion of the second camera in the XY axis direction, and the second camera is arranged on the two-axis camera motion assembly.

10. The automatic feeding device according to claim 9, wherein The side of the insertion slot is provided with an information code corresponding to the insertion slot, and the second camera mechanism comprises a code scanner for identifying the information code.

Images