An automatic workpiece feeding and picking device

Abstract

This utility model relates to the field of workpiece processing technology, and provides an automatic workpiece feeding and retrieval device. The workpiece has a through hole. The automatic feeding and retrieval device includes: a feeding unit; an orientation unit located on one side of the feeding unit, including a rotating disk and a vision detection component located below it; the workpiece is placed on the rotating disk, and the vision detection component identifies the direction of the through hole; when the position of the through hole deviates from the preset direction, the rotating disk drives the workpiece to rotate to achieve posture correction; a robot arm located on the side of the orientation unit and the processing equipment, used to feed the workpiece to be processed into the processing equipment and take out the processed workpiece; a transport unit located on the side of the robot arm, used to receive the processed workpiece and transport it to a preset position; through the above structural design, a fully automatic processing flow of workpiece from feeding, orientation, processing to unloading is realized, effectively reducing labor costs, improving production efficiency, processing consistency and system operation stability.

Description

Technical Field

[0001] This utility model belongs to the field of workpiece processing technology, specifically relating to an automatic workpiece feeding and picking device. Background Technology

[0002] When processing workpieces, they typically need to be loaded into the processing equipment and removed from the equipment after processing. This process is one of the key links in the production process, directly affecting the operating efficiency of the entire production line and the product quality.

[0003] In existing technologies, workpiece loading and unloading mainly rely on manual operation. This method has many problems in practical applications: First, manual operation not only increases labor costs, but is also prone to problems such as positioning deviation and unstable clamping due to human factors, thus affecting the consistency of processing and the yield rate. Second, work efficiency is limited, as the pace of manual operation is difficult to meet the operating requirements of high-speed equipment, resulting in a slow overall production cycle and thus becoming a bottleneck in the production line. Utility Model Content

[0004] To address the aforementioned shortcomings of existing technologies, the technical problem this invention aims to solve is to provide an automatic workpiece feeding and handling device. This device, by incorporating a loading unit, an orientation unit, a robotic arm, and a conveying unit, achieves a fully automated loading, unloading, and processing flow for workpieces. The orientation unit, through the coordinated control of a vision inspection system and a rotating disk, ensures that the workpiece completes posture adjustment before entering the processing equipment, achieving the preset orientation requirements. This structural design not only reduces manual intervention and lowers labor costs but also improves production efficiency, effectively enhancing processing consistency and system stability. Furthermore, it better matches the operating cycle of high-speed processing equipment, adapting to the needs of modern production lines.

[0005] The technical solution adopted by this utility model to solve its technical problem is to propose an automatic feeding and picking device for workpieces, wherein the workpiece has a through hole, and the automatic feeding and picking device includes:

[0006] Feeding unit;

[0007] An orientation unit is located to the side of the feeding unit and has a rotating disk and a vision inspection component. The vision inspection component is located below the rotating disk. The workpiece transported by the feeding unit is placed on the rotating disk, and the vision inspection component is used to detect the placement position of the through hole.

[0008] When the vision inspection device detects that the position of the through hole deviates from the preset direction, the rotating disk drives the workpiece to rotate, which is used to orient the workpiece;

[0009] A robotic arm, located to the side of the orientation unit and the processing equipment, is used to feed the workpiece to be processed into the processing equipment and to remove the workpiece that has been processed from the processing equipment.

[0010] A transport unit, located to the side of the robotic arm, is used to receive the processed workpiece transported by the robotic arm and transport the workpiece to a preset position.

[0011] In the above-mentioned automatic feeding and picking device for workpieces, the outer periphery of the workpiece is provided with a toothed structure, the rotating disk has a through first receiving groove, the workpiece is inserted into the first receiving groove, and the toothed structure abuts against one side of the first receiving groove in the vertical direction.

[0012] In the aforementioned automatic workpiece feeding and picking device, the orientation unit further includes:

[0013] The first support base has a hollowed-out section, through which the rotating disk passes;

[0014] The first driving component has a pulley assembly connected to its output end. The pulley assembly is connected to the rotating disk, and the first driving component drives the rotating disk to rotate through the pulley assembly.

[0015] In the aforementioned automatic workpiece feeding and unloading device, the pulley assembly includes:

[0016] The drive wheel is connected to the output end of the first drive unit;

[0017] Driven wheel, the rotating disk is connected to the driven wheel;

[0018] A belt is fitted onto the driving pulley and the driven pulley.

[0019] In the aforementioned automatic workpiece feeding and unloading device, the feeding unit includes:

[0020] The vibratory feeder has a material channel at its discharge end, and the first support base has a second receiving groove disposed opposite to the material channel. The workpiece flows into the second receiving groove along the material channel.

[0021] The second support is disposed between the first support and the vibratory plate;

[0022] A baffle plate is movably mounted on the second support base. When the workpiece on the material channel flows into the second receiving groove, the baffle plate is inserted between the material channel and the second receiving groove to prevent subsequent workpieces from continuing to flow into the second receiving groove.

[0023] The second driving component has the baffle plate connected to its output end, and the second driving component is used to drive the baffle plate to move.

[0024] In the aforementioned automatic workpiece feeding and unloading device, the feeding unit further includes:

[0025] The third support is located to the side of the first support;

[0026] A pneumatic gripper, which is movably mounted on the third support and located above the first support, is used to transport the workpiece on the second receiving groove to the rotating disk;

[0027] A third driving element is connected to the third support base;

[0028] A lifting frame is connected to the output end of the third drive component, which is used to drive the lifting frame to rise and fall.

[0029] The fourth driving component is mounted on the lifting frame, which is also equipped with a slider. The slider is connected to the output end of the fourth driving component, and the pneumatic gripper is connected to the slider. The fourth driving component drives the pneumatic gripper to move horizontally through the slider.

[0030] In the aforementioned automatic workpiece feeding and unloading device, the robotic arm includes:

[0031] Two clamping blocks are arranged opposite each other, and a first clamping part and a second clamping part are provided between the two clamping blocks. The first clamping part is used to clamp the workpiece to be processed, and the second clamping part is used to clamp the workpiece after processing.

[0032] A support block located between the two clamping blocks;

[0033] A push block, the support block having a connecting rod, the push block being connected to one end of the connecting rod and movably passing between the two first clamping parts;

[0034] When the clamping block clamps the workpiece to be processed, the push block abuts against the end face of the workpiece; when the clamping block releases the workpiece, the push block pushes the workpiece.

[0035] The elastic element has one end abutting against the connecting rod and the other end abutting against the push block.

[0036] In the above-described automatic workpiece feeding and receiving device, the first clamping part further has a positioning protrusion, which abuts against the toothed structure on the workpiece to provide positioning for the workpiece.

[0037] In the above-described automatic workpiece feeding and receiving device, the conveying unit includes:

[0038] A first conveyor belt is disposed on the side of the robot arm for receiving and transporting the completed workpiece transported by the robot arm.

[0039] A second conveyor belt is disposed to the side of the first conveyor belt, and the transport direction of the second conveyor belt is arranged perpendicular to the first conveyor belt. It is used to receive the workpiece on the first conveyor belt and transport it.

[0040] The gripping claw is movably disposed above the first conveyor belt and the second conveyor belt, and is used to transport the workpiece on the first conveyor belt to the second conveyor belt.

[0041] In the aforementioned automatic workpiece feeding and unloading device, the conveying unit further includes:

[0042] A fourth support is disposed above the end of the first conveyor belt;

[0043] The fifth driving component is disposed on the fourth support base;

[0044] A sixth driving member is connected to the output end of the fifth driving member. The output shaft of the sixth driving member is perpendicular to the output shaft of the fifth driving member. The sixth driving member is used to drive the clamping jaw to move in the vertical direction, and the fifth driving member drives the clamping jaw to move in the horizontal direction through the sixth driving member.

[0045] A seventh driving member is connected to the output end of the sixth driving member, and the clamping jaw is connected to the output end of the seventh driving member. The seventh driving member is used to drive the clamp to clamp or release the workpiece.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] (1) By setting up a loading unit, a orientation unit, a robot and a conveying unit, this utility model realizes a fully automatic loading and unloading and processing flow for workpieces; wherein, the robot is used to efficiently transfer workpieces between processes, and the conveying unit completes the orderly transport of the processed workpieces; this structural design not only reduces manual intervention and lowers labor costs, but also significantly improves production efficiency, effectively enhances processing consistency and system operation stability, and can better match the operating rhythm of high-speed processing equipment, thereby meeting the needs of modern production lines;

[0048] (2) The orientation unit ensures that the workpiece has completed its posture adjustment before entering the processing equipment through the coordinated control of the vision inspection component and the rotating disk, thereby reducing manual intervention and further reducing production costs;

[0049] (3) When the robot grips the workpiece to be processed through the first clamping part between the two clamping blocks, the push block is in close contact with the end face of the workpiece, and the elastic element is deformed under pressure. Then, the robot moves the workpiece to the designated position of the processing equipment. After arriving, the clamping block is released, the elastic element recovers its deformation and pushes the push block, which drives the workpiece to fall smoothly into the predetermined position. The structural design of the push block and the elastic element ensures the stable release and accurate positioning of the workpiece. Attached Figure Description

[0050] Figure 1 This is a 3D view of the workpiece in this solution;

[0051] Figure 2 This is a schematic diagram of the overall structure of this solution;

[0052] Figure 3 This is a 3D view of the feeding unit and orientation unit in this solution;

[0053] Figure 4 yes Figure 3 3D view of the hidden part of the structure;

[0054] Figure 5 yes Figure 4 3D view of the hidden part of the structure;

[0055] Figure 6 This is a 3D structural diagram of the hidden part of the hand mechanism in this design;

[0056] Figure 7 This is a 3D view of the transport unit in this plan.

[0057] In the diagram, 1. Workpiece; 2. Through hole; 3. Toothed structure; 4. Feeding unit; 5. Orientation unit; 6. Rotary disk; 7. Vision inspection component; 8. Robotic arm; 9. Processing equipment; 10. Conveying unit; 11. First support base; 12. First driving component; 13. Driving wheel; 14. Driven wheel; 15. Belt; 16. Vibratory feeder; 17. Material channel; 18. Second support base; 19. Baffle plate; 20. Second driving component; 21. Third support base; 22. 23. Pneumatic gripper; 24. Third drive unit; 25. Lifting frame; 26. Fourth drive unit; 27. Slider; 28. Clamping block; 29. ​​First clamping part; 20. Second clamping part; 31. Support block; 32. Push block; 33. Connecting rod; 34. Elastic element; 35. Positioning protrusion; 36. First conveyor belt; 37. Second conveyor belt; 38. Gripper; 39. Fourth support base; 40. Fifth drive unit; 41. Sixth drive unit; 42. Seventh drive unit. Detailed Implementation

[0058] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0059] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0060] like Figure 1 and Figure 7 As shown, in this solution, an automatic feeding and picking device for workpieces includes a workpiece 1 with a through hole 2. The automatic feeding and picking device includes: a feeding unit 4; an orientation unit 5 located to the side of the feeding unit 4, having a rotating disk 6 and a vision detection element 7 located below the rotating disk 6; the workpiece 1 transported by the feeding unit 4 is placed on the rotating disk 6; the vision detection element 7 is used to detect the placement position of the through hole 2; when the vision detection element 7 detects that the position of the through hole 2 deviates from the preset direction, the rotating disk 6 drives the workpiece 1 to rotate, which is used to orient the workpiece 1; a robot arm 8 located to the side of the orientation unit 5 and the processing equipment 9, used to feed the workpiece 1 to be processed into the processing equipment 9 and take out the workpiece 1 that has been processed in the processing equipment 9; and a conveying unit 10 located to the side of the robot arm 8, used to receive the processed workpiece 1 transported by the robot arm 8 and convey the workpiece 1 to a preset position.

[0061] During operation, the rotating disk 6 receives the workpiece 1 to be processed from the feeding unit 4. The vision detection unit 7 identifies the direction of the through hole 2 on the workpiece 1 on the rotating disk 6. If the direction of the through hole 2 is detected to deviate from the preset direction, the rotating disk 6 drives the workpiece 1 to rotate, adjusting its posture to the correct position. Subsequently, the robot arm 8 grasps the oriented workpiece 1 and sends it into the processing equipment 9 for processing. After processing, the robot arm 8 grasps the workpiece 1 again and transfers it to the conveying unit 10. Finally, the conveying unit 10 transports the workpiece 1 to the designated position, completing the entire feeding and picking process. The automatic feeding and picking device in this solution integrates the feeding unit 4, the orientation unit 5, and the robot arm. The system includes a robot arm 8 and a conveying unit 10, which enable fully automated loading, unloading, and processing of workpiece 1. The orientation unit 5, using a vision inspection component 7 and a rotating disk 6 in coordinated control, ensures that workpiece 1 is adjusted to the correct posture before entering the processing equipment 9. The robot arm 8 efficiently transfers workpiece 1 between processes. The conveying unit 10 then completes the orderly placement of finished products. This structural design not only reduces manual intervention and lowers labor costs but also improves production efficiency, effectively enhancing processing consistency and system stability. It can better match the operating rhythm of high-speed processing equipment and adapt to the needs of modern production lines. The vision inspection component 7 can be an industrial camera or other vision inspection equipment.

[0062] Furthermore, the outer periphery of workpiece 1 is provided with a toothed structure 3, and the rotating disk 6 is provided with a through first receiving groove. When workpiece 1 is placed on the rotating disk 6, one end of it is inserted into the first receiving groove, and the toothed structure 3 contacts one side of the first receiving groove in the vertical direction, thereby providing stable support for workpiece 1. In addition, since the first receiving groove is a through structure, the vision inspection component 7 set below the rotating disk 6 can be used to identify the direction of the through hole 2 of workpiece 1 in the first receiving groove. Through the synergistic effect of the above structural design and the vision inspection system, the posture of workpiece 1 can be automatically adjusted before entering the next process. This design not only enhances the stability of workpiece 1 during rotation, but also improves the direction recognition accuracy of vision inspection, as well as the repeatability and consistency of clamping and positioning in subsequent processing.

[0063] Furthermore, the orientation unit 5 also includes: a first support base 11, on which a hollow portion is provided, and the rotating disk 6 passes through the hollow portion; a first driving member 12, the output end of which is connected to a pulley assembly, the pulley assembly is connected to the rotating disk 6, and the first driving member 12 drives the rotating disk 6 to rotate through the pulley assembly.

[0064] When the workpiece 1 is placed on the rotating disk 6, the vision inspection component 7 inspects the through hole 2 on the workpiece 1 on the rotating disk 6. If the inspection result shows that the direction of the through hole 2 deviates from the preset direction, the first driving component 12 is started, and the rotating disk 6 is driven to rotate on the hollow part on the first support base 11 through the pulley assembly, so that the posture of the workpiece 1 on the rotating disk 6 is adjusted to the correct position; the first driving component 12 can be a rotary motor or a rotary cylinder.

[0065] Furthermore, the pulley assembly includes: a driving pulley 13 connected to the output end of the first driving member 12; a driven pulley 14, on which the rotating disk 6 is connected; and a belt 15 sleeved on the driving pulley 13 and the driven pulley 14. When the first driving member 12 is started, it drives the driving pulley 13 to rotate. The rotation of the driving pulley 13 is transmitted to the driven pulley 14 through the belt 15, causing the driven pulley 14 to rotate synchronously. The rotation of the driven pulley 14 then drives the rotating disk 6 connected thereto to rotate synchronously.

[0066] Furthermore, the feeding unit 4 includes: a vibratory feeder 16, with a material channel 17 at its discharge end; a second receiving groove opposite to the material channel 17 on the first support 11, where the workpiece 1 flows into the second receiving groove along the material channel 17; a second support 18, which is disposed between the first support 11 and the vibratory feeder 16; a baffle plate 19, which is movably disposed on the second support 18, and when the workpiece 1 on the material channel 17 flows into the second receiving groove, the baffle plate 19 is inserted between the material channel 17 and the second receiving groove to prevent subsequent workpieces 1 from continuing to flow into the second receiving groove; and a second driving member 20, where the baffle plate 19 is connected to the output end of the second driving member 20, which drives the baffle plate 19 to move. The second driving member 20 can be a motor, a hydraulic cylinder, or a pneumatic cylinder.

[0067] Furthermore, the loading unit 4 also includes: a third support base 21, which is disposed to the side of the first support base 11; a pneumatic gripper 22, which is movably disposed on the third support base 21 and located above the first support base 11, for transporting the workpiece 1 on the second receiving slot to the rotating disk 6; a third drive member 23, which is connected to the third support base 21; a lifting frame 24, which is connected to the output end of the third drive member 23, and the third drive member 23 is used to drive the lifting frame 24 to lift; a fourth drive member 25, which is disposed on the lifting frame 24, and a slider 26 is also disposed on the lifting frame 24. The slider 26 is connected to the output end of the fourth drive member 25, and the pneumatic gripper 22 is connected to the slider 26. The fourth drive member 25 drives the pneumatic gripper 22 to move horizontally through the slider 26; the third drive member 23 and the fourth drive member 25 are arranged in a cross pattern to form a two-dimensional conveying platform. The third drive member 23 and the fourth drive member 25 can be a motor, a hydraulic cylinder, or a pneumatic cylinder.

[0068] During operation, workpiece 1 flows out of the vibratory feeder 16 in an orderly manner and flows along the feed channel 17 into the second receiving groove on the first support seat 11. The feed channel 17 is designed to fit the shape of workpiece 1, ensuring that workpiece 1 can be arranged in sequence in a set posture and smoothly enter the second receiving groove. When a workpiece 1 completely falls into the second receiving groove, the second drive component 20 is activated, driving the baffle plate 19 to insert into the gap between the feed channel 17 and the second receiving groove along a preset path, thereby preventing subsequent workpiece 1 from continuing to flow in, realizing single intermittent feeding of workpiece 1. Subsequently, the third drive component 23 is activated, driving the lifting frame 24 to descend, causing the fourth drive component 25 and pneumatic gripper 22 on the lifting frame 24 to move down synchronously. During the descent, the pneumatic gripper 22 approaches the workpiece 1 in the second receiving groove and reaches the preset gripping position. At this time, the pneumatic gripper 22 closes and clamps the workpiece 1. After completing the clamping action, the third drive component 23 reverses its direction, driving the lifting frame 24 to rise, causing the pneumatic gripper 22 to move down. The workpiece 1 held by the gripper 22 is released from the second receiving slot. Immediately afterwards, the fourth drive unit 25 is activated, pushing the slider 26 to move horizontally, causing the pneumatic gripper 22 and the workpiece 1 it holds to move horizontally to directly above the rotating disk 6. Subsequently, the third drive unit 23 is activated again, causing the lifting frame 24 to descend, so that the pneumatic gripper 22 can smoothly place the workpiece 1 on the rotating disk 6. After the workpiece 1 is placed, the pneumatic gripper 22 releases, releasing the workpiece 1, which falls stably into the first receiving slot of the rotating disk 6. At the same time, as the pneumatic gripper 22 completes the placement action, the second drive unit 20 drives the baffle plate 19 to return to its initial position, removing the obstruction to the material channel 17, so that the next workpiece 1 in the material channel 17 can automatically flow into the second receiving slot under the action of gravity or vibration, preparing for the next cycle. The entire feeding process achieves efficient and stable automated operation through multi-axis linkage control, improving the overall cycle efficiency and operation consistency of the equipment.

[0069] Furthermore, the robotic arm 8 includes: two opposing clamping blocks 27, each clamping block 27 having a first clamping part 28 and a second clamping part 29, the first clamping part 28 being used to clamp the workpiece 1 to be processed, and the second clamping part 29 being used to clamp the workpiece 1 after processing; a support block 30 located between the two clamping blocks 27; a push block 31, the support block 30 having a connecting rod 32, the push block 31 being connected to one end of the connecting rod 32 and movably passing through the two first clamping parts 28; and an elastic member 33, one end of which abuts against the connecting rod 32, and the other end of which abuts against the push block 31.

[0070] In order to provide positioning for workpiece 1, the first clamping part 28 also has a positioning protrusion 34, which abuts against the toothed structure 3 on workpiece 1.

[0071] After the workpiece 1 to be processed is oriented on the rotating disk 6, the robot arm 8 clamps the workpiece 1 through two clamping blocks 27. At this time, the workpiece 1 is clamped between two first clamping parts 28. The positioning protrusions 34 on the first clamping parts 28 abut against the toothed structure 3 to realize the posture limit and anti-rotation fixation of the workpiece 1, thereby ensuring the stability during the clamping process and the positioning accuracy of subsequent processing. At the same time, the push block 31 is in close contact with one end face of the workpiece 1 during the clamping process, and the elastic element 33 undergoes compression deformation due to the force. Subsequently, the robotic arm 8 moves the clamped workpiece 1 to the designated position of the processing equipment 9; when it reaches the designated position, the clamping block 27 releases the workpiece 1, the clamping force is released, and the elastic element 33 restores its deformation, releasing the previously stored elastic potential energy, which drives the push block 31 to push the workpiece 1, so that the workpiece 1 falls smoothly into the predetermined position of the processing equipment 9, completing the precise placement; after the processing equipment 9 completes the processing task of the workpiece 1, the robotic arm 8 clamps the processed workpiece 1 through the second clamping part 29 of the two clamping blocks 27, and transfers the processed workpiece 1 to the transport unit 10 for the next step of processing; the elastic element 33 is preferably a spring.

[0072] Furthermore, the conveying unit 10 includes: a first conveyor belt 35, which is disposed on the side of the robot arm 8, for receiving and conveying the completed workpiece 1 conveyed by the robot arm 8; a second conveyor belt 36, which is disposed on the side of the first conveyor belt 35, the conveying direction of the second conveyor belt 36 being perpendicular to the first conveyor belt 35, for receiving and conveying the workpiece 1 on the first conveyor belt 35; and a gripping claw 37, which is movably disposed above the first conveyor belt 35 and the second conveyor belt 36, for conveying the workpiece 1 on the first conveyor belt 35 to the second conveyor belt 36.

[0073] Furthermore, the conveying unit 10 also includes: a fourth support base 38, which is disposed above the end of the first conveyor belt 35; a fifth drive member 39, which is disposed on the fourth support base 38; a sixth drive member 40, which is connected to the output end of the fifth drive member 39, the output shaft of the sixth drive member 40 being perpendicular to the output shaft of the fifth drive member 39, the sixth drive member 40 being used to drive the clamping jaw 37 to move in the vertical direction, and the fifth drive member 39 driving the clamping jaw 37 to move in the horizontal direction through the sixth drive member 40; and a seventh drive member 41, which is connected to the sixth drive member 40, the clamping jaw 37 being connected to the output end of the seventh drive member 41, the seventh drive member 41 being used to drive the clamping jaw 37 to clamp or release the workpiece 1.

[0074] The robotic arm 8 places the processed workpiece 1 onto the first conveyor belt 35, which transports the workpiece 1. When the workpiece 1 reaches the end of the first conveyor belt 35, the sixth drive unit 40 is activated, moving the gripper 37 vertically to a preset gripping position. Then, the seventh drive unit 41 is activated, and the gripper 37 grips the workpiece 1 on the first conveyor belt 35. After the gripping action is completed, the sixth drive unit 40 reverses its direction, causing the seventh drive unit 41 and the gripper 37 to rise vertically. At the same time, the fifth drive unit 39 is activated, causing the sixth drive unit 40 to move horizontally, thus moving the seventh drive unit 41 and the gripper 37 vertically. 1. The clamping jaw 37 moves horizontally to directly above the second conveyor belt 36; the sixth drive unit 40 starts again, driving the seventh drive unit 41 and the clamping jaw 37 to descend to the placement position on the second conveyor belt 36; then, the seventh drive unit 41 starts, driving the clamping jaw 37 to release the workpiece 1, and the workpiece 1 is stably placed on the second conveyor belt 36, and the second conveyor belt 36 transports the workpiece 1 to the designated position; wherein, the fifth drive unit 39 and the sixth drive unit 40 are arranged in a cross direction to form a two-dimensional transport platform, and the fifth drive unit 39, the sixth drive unit 40 and the seventh drive unit 41 can all be motors, hydraulic cylinders or pneumatic cylinders.

[0075] It should be noted that in this utility model, the use of terms such as "first," "second," and "a" is for descriptive purposes only and should not be construed as indicating or implying their 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. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly defined. The terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two elements or the interaction between two elements, unless otherwise explicitly defined. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0076] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0077] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. An automatic feeding and picking device for a workpiece, wherein the workpiece has a through hole, characterized in that, The automatic delivery device includes: Feeding unit; An orientation unit is located to the side of the feeding unit and has a rotating disk and a vision inspection device. The vision inspection device is located below the rotating disk. The workpiece transported by the feeding unit is placed on the rotating disk, and the vision inspection device is used to detect the placement position of the through hole. When the vision inspection device detects that the position of the through hole deviates from the preset direction, the rotating disk drives the workpiece to rotate, which is used to orient the workpiece; A robotic arm, located to the side of the orientation unit and the processing equipment, is used to feed the workpiece to be processed into the processing equipment and to remove the workpiece that has been processed from the processing equipment. A transport unit, located to the side of the robotic arm, is used to receive the processed workpiece transported by the robotic arm and transport the workpiece to a preset position.

2. The automatic workpiece feeding and unloading device as described in claim 1, characterized in that, The outer periphery of the workpiece is provided with a toothed structure, the rotating disk has a through first receiving groove, the workpiece is inserted into the first receiving groove, and the toothed structure abuts against one side of the first receiving groove in the vertical direction.

3. The automatic workpiece feeding and unloading device as described in claim 1, characterized in that, The orientation unit further includes: The first support base has a hollowed-out section, through which the rotating disk passes; The first driving component has a pulley assembly connected to its output end. The pulley assembly is connected to the rotating disk, and the first driving component drives the rotating disk to rotate through the pulley assembly.

4. The automatic workpiece feeding and unloading device as described in claim 3, characterized in that, The pulley assembly includes: The drive wheel is connected to the output end of the first drive unit; Driven wheel, the rotating disk is connected to the driven wheel; A belt is fitted onto the driving pulley and the driven pulley.

5. The automatic workpiece feeding and unloading device as described in claim 3, characterized in that, The feeding unit includes: The vibratory feeder has a material channel at its discharge end, and the first support base has a second receiving groove disposed opposite to the material channel. The workpiece flows into the second receiving groove along the material channel. The second support is disposed between the first support and the vibratory plate; A baffle plate is movably mounted on the second support base. When the workpiece on the material channel flows into the second receiving groove, the baffle plate is inserted between the material channel and the second receiving groove to prevent subsequent workpieces from continuing to flow into the second receiving groove. The second driving component has the baffle plate connected to its output end, and the second driving component is used to drive the baffle plate to move.

6. The automatic workpiece feeding and unloading device as described in claim 5, characterized in that, The feeding unit also includes: The third support is located to the side of the first support; A pneumatic gripper, which is movably mounted on the third support and located above the first support, is used to transport the workpiece on the second receiving groove to the rotating disk; A third driving element is connected to the third support base; A lifting frame is connected to the output end of the third drive component, which is used to drive the lifting frame to rise and fall. The fourth driving component is mounted on the lifting frame, which is also equipped with a slider. The slider is connected to the output end of the fourth driving component, and the pneumatic gripper is connected to the slider. The fourth driving component drives the pneumatic gripper to move horizontally through the slider.

7. The automatic workpiece feeding and unloading device as described in claim 2, characterized in that, The robotic arm includes: Two clamping blocks are arranged opposite each other. Each clamping block has a first clamping part and a second clamping part. The first clamping part is used to clamp the workpiece to be processed, and the second clamping part is used to clamp the workpiece after processing. A support block located between the two clamping blocks; A push block, the support block having a connecting rod, the push block being connected to one end of the connecting rod and movably passing between the two first clamping parts; When the clamping block clamps the workpiece to be processed, the push block abuts against the end face of the workpiece; when the clamping block releases the workpiece, the push block pushes the workpiece. The elastic element has one end abutting against the connecting rod and the other end abutting against the push block.

8. The automatic workpiece feeding and unloading device as described in claim 7, characterized in that, The first clamping part also has a positioning protrusion, which abuts against the toothed structure on the workpiece to provide positioning for the workpiece.

9. The automatic workpiece feeding and unloading device as described in claim 1, characterized in that, The transport unit includes: A first conveyor belt is disposed on the side of the robot arm for receiving and transporting the completed workpiece transported by the robot arm. A second conveyor belt is disposed to the side of the first conveyor belt, and the transport direction of the second conveyor belt is arranged perpendicular to the first conveyor belt. It is used to receive the workpiece on the first conveyor belt and transport it. The gripping claw is movably disposed above the first conveyor belt and the second conveyor belt, and is used to transport the workpiece on the first conveyor belt to the second conveyor belt.

10. The automatic workpiece feeding and unloading device as described in claim 9, characterized in that, The transport unit also includes: A fourth support is disposed above the end of the first conveyor belt; The fifth driving component is disposed on the fourth support base; A sixth driving member is connected to the output end of the fifth driving member. The output shaft of the sixth driving member is perpendicular to the output shaft of the fifth driving member. The sixth driving member is used to drive the clamping jaw to move in the vertical direction, and the fifth driving member drives the clamping jaw to move in the horizontal direction through the sixth driving member. A seventh driving member is connected to the output end of the sixth driving member, and the clamping jaw is connected to the output end of the seventh driving member. The seventh driving member is used to drive the clamp to clamp or release the workpiece.

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