Automatic feeding tool for disordered materials

Abstract

The automatic disordered material feeding tool comprises a material box, a material taking device and a material pushing device, a cavity used for containing disordered materials is formed in the material box, an opening is formed in the end, in the first direction, of the material box, and the opening communicates with the cavity; the material taking device is arranged above the material box in the first direction. The material taking device comprises a material taking clamping jaw, a material taking driving piece and a lifting mechanism. The material taking driving piece is connected with the material taking clamping jaw and used for controlling the material taking clamping jaw to be opened or closed. The lifting mechanism is connected with the material taking driving piece and used for driving the material taking driving piece and the material taking clamping jaw to move in the first direction. The material pushing device is arranged on one side, in the second direction, of the material box and can move back and forth in the second direction so that at least part of the material pushing device can gather the materials in the cavity. A visual recognition device does not need to be arranged, so that the cost is reduced, and stable and efficient material taking can be achieved.

Description

Technical Field

[0001] This application relates to the field of wire harness feeding technology, and in particular to an automatic feeding fixture for disordered materials. Background Technology

[0002] In production, it is often necessary to retrieve one material from multiple randomly placed items for subsequent operations. Related technical solutions include manual material retrieval or tooling equipped with vision-guided devices. However, manual methods are costly and inefficient. While using tooling with vision-guided devices involves complex systems and high costs, the visual recognition devices are susceptible to interference during retrieval, affecting both stability and efficiency. Utility Model Content

[0003] In order to overcome the above-mentioned defects in related technologies, the purpose of this application is to provide an automatic feeding fixture for disordered materials. This application has a simple structure, low cost, and can achieve stable and efficient material feeding.

[0004] This application provides an automatic feeding fixture for disordered materials, including:

[0005] A material box having a cavity for containing disordered materials, and an opening at one end of the material box along a first direction, the opening being connected to the cavity;

[0006] A material handling device is disposed above the material box along the first direction. The material handling device includes a material handling gripper, a material handling drive, and a lifting mechanism. The material handling drive is connected to the material handling gripper and is used to control the opening or closing of the material handling gripper. The lifting mechanism is connected to the material handling drive and is used to drive the material handling drive and the material handling gripper to move along the first direction.

[0007] A material pushing device is disposed on one side of the material box along a second direction. The material pushing device can move back and forth along the second direction so that at least part of the material pushing device gathers the material in the cavity.

[0008] Wherein, the first direction and the second direction are perpendicular to each other.

[0009] In one possible implementation, the picking gripper includes a blocking mechanism disposed near the free end of the picking gripper, the blocking mechanism being used to control the amount of material entering the picking gripper.

[0010] In one possible implementation, the material gripper includes a first gripper and a second gripper, with the middle portion of the first gripper hinged to the middle portion of the second gripper, and the blocking mechanism is disposed on the first gripper and located between the hinge point of the first gripper and the second gripper and the free end of the gripper.

[0011] In one possible implementation, the disordered material includes a wire harness, and the blocking mechanism includes a wire baffle plate located on the side of the first gripper facing the second gripper. Along the first direction, the distance between the wire baffle plate and the free end of the picking gripper is greater than the diameter of the wire harness but less than 1.5 times the diameter of the wire harness.

[0012] In one possible implementation, the material handling drive includes a mounting bracket and a gripper drive cylinder. The mounting bracket includes a mounting plate and a first adapter plate arranged opposite to each other along the first direction, as well as a plurality of guide posts. The mounting plate is arranged close to the material box, and the plurality of guide posts are all arranged on the mounting plate and are slidably connected to the first adapter plate.

[0013] The gripper drive cylinder is mounted on the mounting plate, and the output end of the gripper drive cylinder is hinged to the second gripper. The first gripper is fixed on the side of the mounting plate facing the material box, and the second gripper passes through the mounting plate.

[0014] In one possible implementation, a material handling sensor is also included, which is disposed within the gripper drive cylinder to detect the position of the piston within the gripper drive cylinder.

[0015] In one possible implementation, the lifting mechanism includes a fixed plate, a lifting cylinder, and a second adapter plate. The lifting cylinder is disposed on the fixed plate, and its output end is connected to the second adapter plate, which is connected to the first adapter plate.

[0016] In one possible implementation, the guide post is further provided with a linear bearing and a buffer spring, one end of the linear bearing is connected to the first adapter plate, and the buffer spring is disposed between the linear bearing and the mounting plate.

[0017] In one possible implementation, the material box further includes a first sidewall and a second sidewall disposed opposite to each other along the second direction, wherein a notch is formed on the first sidewall;

[0018] The pushing device includes a pushing cylinder and a pushing plate. The output end of the pushing cylinder is connected to the pushing plate. The pushing cylinder can drive the pushing plate through the notch and into the cavity, so that the pushing plate gathers the material in the cavity.

[0019] In one possible implementation, the gripping center of the picking claw is located in the same plane as the second sidewall, and the second sidewall is also provided with a clearance groove for accommodating the second claw.

[0020] In one possible implementation, a removal device is further included, which is disposed above the material box along the first direction; the removal device includes a removal cylinder, a removal cylinder mounting base, and a third adapter plate, the removal cylinder mounting base is disposed above the material box, the removal cylinder is disposed on the removal cylinder mounting base, the output end of the removal cylinder is connected to the third adapter plate, and can drive the third adapter plate to move along the second direction, the third adapter plate being connected to the lifting mechanism.

[0021] This application provides an automatic feeding fixture for disordered materials, including a material box, a picking device, and a pushing device. The material box has a cavity for accommodating disordered materials, and an opening is formed at one end of the material box along a first direction, which communicates with the cavity. The picking device is disposed above the material box along the first direction and includes a picking gripper, a picking drive, and a lifting mechanism. The picking drive is connected to the picking gripper and controls the picking gripper to open or close. The lifting mechanism is connected to the picking drive and drives the picking drive and the picking gripper to move along the first direction. The pushing device is disposed on one side of the material box along a second direction and can move back and forth along the second direction to gather materials in the cavity by at least part of the pushing device. The first direction and the second direction are perpendicular to each other. This application uses a lifting mechanism to move the material-grabbing jaws along a first direction, allowing the jaws to enter the cavity. A material-grabbing drive then opens the jaws to pick up the material. The pushing device can disperse and reassemble the disordered material in the cavity after each pickup, facilitating the next pickup. This application eliminates the need for a visual recognition device, thus reducing costs and achieving stable and efficient material handling. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A simplified structural diagram of an automatic feeding fixture for disordered materials provided in an embodiment of this application;

[0024] Figure 2 A simplified structural diagram of a material handling device provided in an embodiment of this application;

[0025] Figure 3 This is a partial schematic diagram of a material handling gripper provided in an embodiment of this application;

[0026] Figure 4 A simplified structural diagram of the feeding device and the material box provided in an embodiment of this application.

[0027] Figure label:

[0028] 10 - Base; 20 - Disordered materials;

[0029] 100 - Material box; 110 - First side wall; 120 - Second side wall; 130 - Clearance groove;

[0030] 200-Material handling device; 210-Material handling gripper; 211-Blocking mechanism; 212-First gripper; 213-Second gripper; 214-First hinge shaft; 220-Material handling drive component; 221-Mounting bracket; 2211-Mounting plate; 2212-First adapter plate; 2213-Guide post; 2214-Linear bearing; 2215-Buffer spring; 222-Gripper drive cylinder; 2221-Second hinge shaft; 230-Lifting mechanism; 231-Fixed plate; 232-Lifting cylinder; 233-Second adapter plate; 240-Material handling sensor;

[0031] 300 - Pushing device; 310 - Pushing cylinder; 320 - Pushing plate;

[0032] 410 - Remove cylinder; 420 - Remove cylinder mounting base; 430 - Third adapter plate;

[0033] X - First direction; Y - Second direction; Z - Third direction. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments.

[0035] Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0036] As described in the background section, in production, retrieving materials from a disordered arrangement often involves manual picking or using a tooling equipped with vision guidance equipment. However, manual picking suffers from high costs and low efficiency. Tooling equipped with vision guidance equipment has the problems of complex system structure and high cost, and the vision recognition device is easily interfered with during picking, thus affecting the stability and efficiency of picking.

[0037] In view of this, the embodiments of this application aim to provide an automatic feeding fixture for disordered materials. A lifting mechanism drives the material-grabbing jaws to move along a first direction, allowing the jaws to enter the cavity. A material-grabbing drive then opens the jaws to pick up the material. A pushing device can disperse and reassemble the disordered material in the cavity after each pickup, facilitating the next pickup. This application eliminates the need for a visual recognition device, thereby reducing costs and achieving stable and efficient material handling.

[0038] The embodiments of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can gain a more detailed understanding of the content of this application. It should be noted that, in the description of the embodiments of this application, the first direction X, the second direction Y, and the third direction Z are three different directions in three-dimensional space. For example, the first direction X, the second direction Y, and the third direction Z can be perpendicular to each other, and the first direction X can be a vertical direction.

[0039] Please refer to Figures 1-4 This embodiment provides an automatic feeding fixture for disordered materials, including:

[0040] The material box 100 has a shape that can be configured as needed, such as a polygonal prism or a cylinder. A cavity is formed within the material box 100 to accommodate disordered material 20. The disordered material 20 describes the placement state of the material within the material box 100; it refers to the material being placed in the material box 100 without a specific order or orientation. The disordered material 20 may include wire harnesses, screws, or other loose materials. An opening is formed at one end of the material box 100 along a first direction X, and this opening communicates with the cavity, allowing the disordered material 20 to be placed into or removed from the material box 100 through the opening.

[0041] A material handling device 200 is positioned above the material box 100, specifically above the opening, along a first direction X. The material handling device 200 includes a material handling gripper 210, a material handling drive 220, and a lifting mechanism 230. The material handling drive 220 is connected to the material handling gripper 210 and controls its opening and closing. The lifting mechanism 230 is connected to the material handling drive 220 and drives both the material handling drive 220 and the material handling gripper 210 to move along the first direction X. Understandably, during use, the lifting mechanism 230 can drive the picking claw 210 to move along the first direction X toward the material box 100, so that the picking claw 210 passes through the opening and enters the cavity inside the material box 100; subsequently, the picking drive 220 can drive the picking claw 210 to open, and after the material enters the picking claw 210, it can drive the picking claw 210 to close, so as to clamp the material; finally, the lifting mechanism 230 can drive the picking claw 210 to move away from the material box 100 along the first direction X, so that the picking claw 210 can bring the material out of the material box 100.

[0042] A pushing device 300 is disposed on one side of the material box 100 along the second direction Y. The pushing device 300 can be used in conjunction with the picking device 200 to achieve the function of disordered material picking. Specifically, the pushing device 300 can move back and forth along the second direction Y so that at least part of the pushing device 300 gathers the material in the cavity. It can be understood that before the picking device 200 enters the material box 100, the pushing device 300 can first move along the second direction Y toward one side of the material box 100 to gather the disordered material 20 in the cavity together. When the picking device 200 picks up the material, since the disordered material 20 is piled up on one side of the material box 100, the success rate of picking up the material is improved. After the material taking device 200 takes the material, the disordered material 20 that has gathered together is dispersed again by the impact of the material taking claw 210. The material taking device 300 can move back and forth along the second direction Y (i.e., first move away from the material box 100 and then move towards the side of the material box 100) to gather the disordered material 20 in the cavity together again for the next material taking.

[0043] This embodiment may also include a base 10, which provides an installation base for other components of the tooling. The aforementioned material box 100, material picking device 200 and material pushing device 300 can all be directly or indirectly installed on the base 10.

[0044] As described above, in this embodiment, the lifting mechanism 230 drives the material-grabbing claw 210 to move along the first direction X, so that the material-grabbing claw 210 enters the cavity. The material-grabbing drive component 220 drives the material-grabbing claw 210 to open for material grabbing. The pushing device 300 can disperse and reassemble the disordered material 20 in the cavity after each material grabbing, so as to facilitate the next material grabbing. This embodiment does not require a visual recognition device, which helps to reduce costs and can achieve stable and efficient material grabbing.

[0045] Please continue to refer to Figure 2 and Figure 3 In this embodiment, the material-grabbing gripper 210 includes a blocking mechanism 211. The blocking mechanism 211 is located near the free end of the material-grabbing gripper 210 (i.e., the end of the material-grabbing gripper 210 used to hold materials). The blocking mechanism 211 is used to control the amount of material entering the material-grabbing gripper 210. With the above structure, this embodiment can use the blocking mechanism 211 to control the amount of material picked up by the material-grabbing gripper 210 each time, so that the material-grabbing gripper 210 can pick up a specific amount of material from multiple disordered materials 20 each time according to production needs, so as to meet the usage cycle of subsequent production.

[0046] Furthermore, the material-grabbing gripper 210 of this embodiment includes a first gripper 212 and a second gripper 213. The middle portion of the first gripper 212 is hinged to the middle portion of the second gripper 213. For example, the middle portions of the first gripper 212 and the second gripper 213 can be hinged via a first hinge shaft 214. A blocking mechanism 211 is disposed on the first gripper 212 and located between the hinge point of the first gripper 212 and the second gripper 213 and the free end of the gripper. By placing the blocking mechanism 211 in the above position, the depth of material entering the material-grabbing gripper 210 can be limited, thereby controlling the amount of material gripped by the material-grabbing gripper 210 each time.

[0047] In some possible implementations, the disordered material 20 of this embodiment includes a wire harness, and the blocking mechanism 211 includes a wire baffle plate located on the side of the first gripper 212 facing the second gripper 213. Along the first direction X, the distance between the wire baffle plate and the free end of the picking gripper 210 is greater than the diameter of the wire harness but less than 1.5 times the diameter of the wire harness. With the above structure, this embodiment can use the wire baffle plate to control the picking gripper 210 to pick up only one wire harness at a time, thereby making the wire harness feeding speed match the usage cycle of subsequent production.

[0048] Please continue to refer to Figure 2In this embodiment, the material handling drive 220 includes a mounting bracket 221 and a gripper drive cylinder 222. The mounting bracket 221 provides a mounting base for other parts. Specifically, the mounting bracket 221 includes a mounting plate 2211 and a first adapter plate 2212 arranged opposite each other along the first direction X, as well as a plurality of guide posts 2213. The mounting plate 2211 is located close to the material box 100, and the plurality of guide posts 2213 are all arranged on the mounting plate 2211 and are slidably connected to the first adapter plate 2212. The lifting mechanism 230 is connected to the first adapter plate 2212, thereby driving the material handling drive 220 to move along the first direction X.

[0049] A gripper drive cylinder 222 is mounted on a mounting plate 2211. The output end of the gripper drive cylinder 222 is hinged to the second gripper 213. For example, the output end of the gripper drive cylinder 222 and the end of the second gripper 213 can be hinged through a second hinge shaft 2221. The first gripper 212 is fixed to the side of the mounting plate 2211 facing the material box 100, and the second gripper 213 passes through the mounting plate 2211.

[0050] It is understood that in this embodiment, the first gripper 212 is fixed, and the gripper drive cylinder 222 can drive the second gripper 213 to move, thereby realizing the opening or closing of the material picking gripper 210.

[0051] Furthermore, the material handling device 200 of this embodiment also includes a material handling sensor 240, which is disposed inside the gripper drive cylinder 222 to detect the position of the piston inside the gripper drive cylinder 222. This embodiment can determine whether the material handling gripper 210 has picked up material based on the position of the piston inside the gripper drive cylinder 222. Since the position of the piston inside the gripper drive cylinder 222 is directly related to the opening degree of the material handling gripper 210, the position of the piston inside the gripper drive cylinder 222 reflects the opening degree of the material handling gripper 210. Specifically, when the material handling gripper 210 picks up material, the gripper 210 will have a certain opening degree, at which time the piston inside the gripper drive cylinder 222 extends a certain length and is not in the initial position. When the material handling gripper 210 does not pick up material, the gripper 210 closes, at which time the piston inside the gripper drive cylinder 222 is in the initial position.

[0052] Please continue to refer to Figure 2The lifting mechanism 230 in this embodiment includes a fixed plate 231, a lifting cylinder 232, and a second adapter plate 233. The lifting cylinder 232 is mounted on the fixed plate 231, and its output end is connected to the second adapter plate 233. The second adapter plate 233 is generally L-shaped, with one part connected to the lifting cylinder 232 and the other part connected to the first adapter plate 2212. The lifting cylinder 232 can drive the second adapter plate 233 to move along the first direction X, thereby driving the material handling drive 220 and the material handling gripper 210 to move along the first direction X.

[0053] In this embodiment, the guide post 2213 is also provided with a linear bearing 2214 and a buffer spring 2215. One end of the linear bearing 2214 is connected to the first adapter plate 2212, and the buffer spring 2215 is disposed between the linear bearing 2214 and the mounting plate 2211. With the above structure, the buffer spring 2215 can be used to reduce the impact force when the picking claw 210 moves towards the material box 100, so as to avoid the picking claw 210 damaging the disordered material 20 in the material box 100.

[0054] Please continue to refer to Figure 4 The material box 100 in this embodiment also includes a first sidewall 110 and a second sidewall 120 disposed opposite to each other along the second direction Y. A notch is formed on the first sidewall 110, and the size of the notch can be set according to actual needs.

[0055] The pushing device 300 includes a pushing cylinder 310 and a pushing plate 320. The output end of the pushing cylinder 310 is connected to the pushing plate 320. For example, a mounting plate can be connected to the output end of the pushing cylinder 310, and the pushing plate 320 can be fixedly connected to the mounting plate by screws or other fasteners. The pushing cylinder 310 can drive the pushing plate 320 through the notch and into the cavity, so that the pushing plate 320 gathers the material in the cavity. It can be understood that when the pushing cylinder 310 drives the pushing plate 320 to move through the notch into the cavity, it can gather the disordered material 20 in the cavity to one side of the second sidewall 120, thereby improving the success rate of material picking.

[0056] Furthermore, in this embodiment, the gripping center of the picking claw 210 is located in the same plane as the second sidewall 120; that is, the picking claw 210 picks up the material closest to the second sidewall 120 each time. Since the pushing device 300 gathers the material in the cavity to one side of the second sidewall 120, ensuring that the picking claw 210 picks up the material closest to the second sidewall 120 each time guarantees a high success rate in picking up materials and ensures that the picking claw 210 can completely remove the material from the cavity. The second sidewall 120 is also provided with a clearance groove 130, which is used to accommodate the second claw 213, thereby avoiding interference between the second claw 213 and the second sidewall 120.

[0057] Please continue to refer to Figure 1 The tooling in this embodiment also includes a removal device, which is positioned above the material box 100 along the first direction X. The removal device is used to drive the picking device 200 to move along the second direction Y or the third direction Z (the specific direction can be set as needed), thereby moving the material picked up by the picking device 200 to a subsequent workstation. Specifically, the removal device includes a removal cylinder 410, a removal cylinder mounting base 420, and a third adapter plate 430. The removal cylinder mounting base 420 is mounted on the base 10 and is located above the material box 100 in the first direction X. A slide rail can be provided on the removal cylinder mounting base 420, for example, extending along the second direction Y. The removal cylinder 410 is mounted on the slide rail of the removal cylinder mounting base 420. The output end of the removal cylinder 410 is connected to the third adapter plate 430 and can drive the third adapter plate 430 to move along the second direction Y. The third adapter plate 430 is generally "L" shaped, with one part connected to the removal cylinder 410 and the other part connected to the lifting mechanism 230. When the removal cylinder 410 moves along the second direction Y, it can drive the material picking device 200 to move along the second direction Y as well, thereby moving the material picked up by the material picking device 200 to the subsequent work station.

[0058] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0059] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0060] It should be noted that in the description of this application, the terms "first" and "second" are used only for convenience in describing different components and should not be construed as indicating or implying a sequential relationship, relative importance, or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features.

[0061] The embodiments or implementation methods in this application are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0062] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with an embodiment or example that are included in at least one embodiment or example of this application. In this application, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. An automatic feeding fixture for disordered materials, characterized in that, include: A material box having a cavity for containing disordered materials, and an opening at one end of the material box along a first direction, the opening being connected to the cavity; A material handling device is disposed above the material box along the first direction. The material handling device includes a material handling gripper, a material handling drive, and a lifting mechanism. The material handling drive is connected to the material handling gripper and is used to control the opening or closing of the material handling gripper. The lifting mechanism is connected to the material handling drive and is used to drive the material handling drive and the material handling gripper to move along the first direction. A material pushing device is disposed on one side of the material box along a second direction. The material pushing device can move back and forth along the second direction so that at least part of the material pushing device gathers the material in the cavity. Wherein, the first direction and the second direction are perpendicular to each other.

2. The automatic feeding fixture for disordered materials according to claim 1, characterized in that, The material handling gripper includes a blocking mechanism, which is located near the free end of the material handling gripper and is used to control the amount of material entering the material handling gripper.

3. The automatic feeding fixture for disordered materials according to claim 2, characterized in that, The material handling gripper includes a first gripper and a second gripper. The middle part of the first gripper is hinged to the middle part of the second gripper. The blocking mechanism is disposed on the first gripper and is located between the hinge point of the first gripper and the second gripper and the free end of the gripper.

4. The automatic feeding fixture for disordered materials according to claim 3, characterized in that, The disordered material includes a wire harness, and the blocking mechanism includes a wire baffle plate located on the side of the first gripper facing the second gripper. Along the first direction, the distance between the wire baffle plate and the free end of the picking gripper is greater than the diameter of the wire harness but less than 1.5 times the diameter of the wire harness.

5. The automatic feeding fixture for disordered materials according to claim 3, characterized in that, The material handling drive includes a mounting bracket and a gripper drive cylinder. The mounting bracket includes a mounting plate and a first adapter plate arranged opposite to each other along the first direction, as well as a plurality of guide posts. The mounting plate is arranged close to the material box, and the plurality of guide posts are all arranged on the mounting plate and are slidably connected to the first adapter plate. The gripper drive cylinder is mounted on the mounting plate, and the output end of the gripper drive cylinder is hinged to the second gripper. The first gripper is fixed on the side of the mounting plate facing the material box, and the second gripper passes through the mounting plate.

6. The automatic feeding fixture for disordered materials according to claim 5, characterized in that, It also includes a material handling sensor, which is disposed inside the gripper drive cylinder to detect the position of the piston inside the gripper drive cylinder.

7. The automatic feeding fixture for disordered materials according to claim 5, characterized in that, The lifting mechanism includes a fixed plate, a lifting cylinder, and a second adapter plate. The lifting cylinder is mounted on the fixed plate, and its output end is connected to the second adapter plate. The second adapter plate is connected to the first adapter plate.

8. The automatic feeding fixture for disordered materials according to claim 7, characterized in that, The guide post is also provided with a linear bearing and a buffer spring. One end of the linear bearing is connected to the first adapter plate, and the buffer spring is disposed between the linear bearing and the mounting plate.

9. The automatic feeding fixture for disordered materials according to claim 3, characterized in that, The material box also includes a first sidewall and a second sidewall disposed opposite to each other along the second direction, and a notch is formed on the first sidewall; The pushing device includes a pushing cylinder and a pushing plate. The output end of the pushing cylinder is connected to the pushing plate. The pushing cylinder can drive the pushing plate through the notch and into the cavity, so that the pushing plate gathers the material in the cavity.

10. The automatic feeding fixture for disordered materials according to claim 9, characterized in that, The gripping center of the material-grabbing claw is located in the same plane as the second side wall, and the second side wall is also provided with a clearance groove for accommodating the second claw.

11. The automatic feeding fixture for disordered materials according to claim 1, characterized in that, It also includes a removal device, which is disposed above the material box along the first direction; the removal device includes a removal cylinder, a removal cylinder fixing seat and a third adapter plate, the removal cylinder fixing seat is disposed above the material box, the removal cylinder is disposed on the removal cylinder fixing seat, the output end of the removal cylinder is connected to the third adapter plate and can drive the third adapter plate to move along the second direction, and the third adapter plate is connected to the lifting mechanism.

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