Refilling device

Abstract

The application discloses a feeding device, which comprises a positioning table and a feeding conveying line arranged side by side in a preset direction, and a positioning trough and a feeding trough are matched, so that a material can be accurately pushed from the feeding trough into the positioning trough by a pushing assembly, and the grasped position of the material is at a determined preset position on the positioning table, and the posture stability of the material in the positioning trough is maintained; meanwhile, the positioning table can be lifted to adjust the height of the material according to different sizes of the material, so that the center height of different sizes of the material is kept consistent, and no matter how the size of the material changes, the horizontal and vertical coordinate points of the material grasped by the material moving mechanism are kept consistent, the material moving mechanism only needs to move according to the fixed grasping point coordinates, different materials can be accurately sent into the empty station on the conveying main line, the function that one set of device is suitable for different materials for automatic feeding is realized, and the accuracy of accurate positioning of different materials in the empty station is ensured.

Description

Technical Field

[0001] This application relates to the field of automated manufacturing technology for medical materials, and in particular to a feeding device. Background Technology

[0002] Medical devices, as an important component of modern high-end equipment manufacturing, are widely used in key aspects of diagnosis, treatment, and rehabilitation. With the rapid development of the medical industry, the requirements for the automation level of medical device production processes are increasing.

[0003] Currently, medical device manufacturing is developing towards high speed, integration, and intelligence. Under this trend, the conveyor main line has become an indispensable part of the medical device assembly system. However, in actual operation, some materials are unqualified, so these defective materials need to be removed. After the conveyor main line removes these defective materials, materials need to be replenished to these vacant workstations.

[0004] In existing technologies, empty workstations after defective materials are removed from the medical device delivery line are usually automatically replenished by machines. However, this method cannot adapt to materials of different sizes, resulting in inaccurate replenishment positions. Utility Model Content

[0005] The purpose of this application is to provide a feeding device that enables a single device to automatically feed different materials, while ensuring the accurate positioning of different materials in vacant workstations.

[0006] The embodiments of this application can be implemented as follows:

[0007] This application provides a feeding device, including a feeding conveyor line, a material transfer mechanism, a positioning and pushing mechanism, and a lifting mechanism;

[0008] The feeding conveyor line is equipped with a feeding trough for placing materials, and the feeding trough extends along a preset direction;

[0009] The positioning and pushing mechanism includes a positioning platform and a pushing component. The positioning platform and the feeding conveyor line are arranged side by side in a preset direction, wherein the preset direction forms an angle with the conveying direction of the feeding conveyor line. The positioning platform is provided with a positioning groove extending along the preset direction, and the positioning groove is paired with the feeding groove.

[0010] The pushing component is used to push the material on the feeding trough to the positioning platform along the preset direction, and to make the gripping position of the material on the positioning platform at a preset position;

[0011] The lifting mechanism is connected to the positioning platform and is used to drive the positioning platform to move up and down so that the material moves closer to or away from the material transfer mechanism.

[0012] The material transfer mechanism is used to grab the material on the positioning trough and transfer the material to the main conveyor line.

[0013] In the above embodiment, the positioning platform and the feeding conveyor line are arranged side by side in a preset direction, and the positioning trough and the feeding trough are paired. When the pushing component pushes the material on the feeding conveyor line in the preset direction, the material can be accurately pushed from the feeding trough into the positioning trough, and the grasped position of the material is placed at a specific preset position on the positioning platform, maintaining the stability of the material's posture within the positioning trough. Simultaneously, the positioning platform, driven by the lifting mechanism, can adjust its height according to the size of the material, allowing the material to move closer to or further away from the transfer mechanism. For example, larger materials are closer to the transfer mechanism, while smaller materials are closer to the transfer mechanism. Smaller materials are moved further away from the material transfer mechanism, ensuring that the center height of materials of different sizes remains consistent. This means that regardless of changes in material size, the horizontal and vertical coordinates of the material transfer mechanism remain consistent. The material transfer mechanism only needs to operate based on the fixed coordinates of the gripping points, eliminating the need for reprogramming or path adjustment due to changes in material type. The material transfer mechanism has high repeatability and positioning accuracy during the gripping process, enabling it to accurately deliver different materials to empty stations on the main conveyor line. This allows a single device to adapt to different materials for automated material replenishment, while ensuring accurate positioning of different materials within empty stations.

[0014] In an optional embodiment, the pushing assembly includes a pushing base, a pushing servo actuator, and a pushing plate;

[0015] The pusher servo actuator is mounted on the pusher base and connected to the pusher plate;

[0016] The pusher plate is arranged parallel to the feeding conveyor line in the preset direction. The pusher plate is used to move linearly along the preset direction under the drive of the pushing servo actuator to push the material on the feeding conveyor line onto the positioning table.

[0017] In the above implementation, a pusher base supports the pusher servo actuator and the pusher plate. The pusher servo actuator drives the pusher plate to move linearly in a preset direction, thereby pushing the material in the replenishment trough onto the positioning trough. The use of the pusher servo actuator can precisely control the position of the pusher plate pushing the material to stop on the positioning table, thus ensuring that after materials of various sizes are pushed to the positioning table and stop, their gripping position on the positioning table is a fixed preset position.

[0018] In an optional embodiment, the pusher plate is provided with a pushing part that extends into the positioning groove.

[0019] In the above embodiment, the pushing part of the pusher plate extends into the positioning groove, which is beneficial for the pusher plate to continue pushing the material after it enters the positioning groove, so that the material is grasped at the preset position.

[0020] In an optional embodiment, the pusher base is located in the conveying direction of the replenishment conveyor line.

[0021] The above-described implementation reduces the footprint of the entire feeding device and improves the rationality of the layout by arranging the feeding base in the conveying direction of the feeding conveyor line.

[0022] In an optional embodiment, the pusher assembly further includes an adapter plate slidably disposed on the pusher base, the adapter plate being connected between the pusher servo actuator and the pusher plate.

[0023] In the above implementation, the adapter serves to connect the push plate and the pusher servo actuator, and plays a role in power transmission. At the same time, its structure can be adapted to the positions of the push plate and the pusher base near the replenishment conveyor line to meet different layout requirements.

[0024] In an optional embodiment, the positioning and pushing mechanism further includes a material blocking component that can extend onto the positioning platform to block the material pushed by the pushing component, so that the material is stopped at the preset position.

[0025] In the above embodiment, the material blocking component extends to the positioning platform to block the material being pushed by the material pushing component. This can stop the material and prevent the material from being grabbed beyond the preset position due to inertia, so that the material is accurately stopped at the preset position.

[0026] In an optional embodiment, the material blocking assembly includes a material blocking base, a material blocking servo actuator, and a baffle.

[0027] The material blocking servo actuator is mounted on the material blocking base and connected to the baffle;

[0028] The baffle is used to move linearly along the preset direction under the drive of the baffle servo actuator to change its position on the positioning table.

[0029] In the above embodiment, the baffle servo actuator and the baffle are supported by the baffle base. The baffle servo actuator drives the baffle to move linearly in a preset direction to change the position of the baffle on the positioning table, thereby adjusting the stopping position of the material. The baffle servo actuator can precisely control the position of the baffle on the positioning table, thereby ensuring that after materials of various sizes are pushed to the baffle and stopped, the position of the material being grabbed on the positioning table is a fixed preset position.

[0030] In an optional embodiment, the baffle is provided with a material blocking part that extends into the positioning groove.

[0031] In the above embodiment, the baffle's blocking part extends into the positioning groove, which helps the baffle to still block the material after it enters the positioning groove, so that the material is accurately stopped at the preset position.

[0032] In an optional embodiment, the material blocking base is provided with a guide plate, the guide plate is provided with a guide hole that passes through itself along the preset direction, the material blocking assembly also includes a connecting plate and a guide rod connected together, the connecting plate is slidably disposed on the material blocking base via a material blocking slide rail, the material blocking servo actuator is connected to the connecting plate, the guide rod is slidably disposed through the guide hole and connected to the baffle.

[0033] In the above embodiment, a guide hole is opened on the guide plate on the material blocking base, which passes through in a preset direction. The guide rod that can slide through the guide hole can move linearly in the preset direction. The connecting plate connects the guide rod and the material blocking servo actuator, so that the material blocking servo actuator can move linearly in the preset direction with the guide rod and the baffle.

[0034] In an optional embodiment, the material blocking assembly and the material transfer mechanism are located on the same side of the material replenishment conveyor line.

[0035] The above-described embodiments, by arranging both the material blocking assembly and the material transfer mechanism on the same side of the material replenishment conveyor line, can reduce the footprint of the entire material replenishment device and improve the rationality of the layout.

[0036] In an optional embodiment, the positioning platform is connected to the baffle base, the lifting mechanism is connected to the baffle base, and the baffle base can drive the positioning platform to rise and fall under the drive of the lifting mechanism.

[0037] In the above embodiment, the baffle base is used as an intermediate medium to indirectly connect the lifting mechanism and the positioning platform. The baffle base and the positioning platform can be raised and lowered synchronously under the drive of the lifting mechanism. This ensures that the height of the baffle and the height of the positioning platform are always consistent and compatible, so as to block materials of different sizes.

[0038] In an optional embodiment, the lifting mechanism includes a lifting base, a lifting servo actuator disposed on the lifting base, a lifting plate connected to the lifting servo actuator, and a lifting push rod connected to the lifting plate; the lifting push rod is connected to the positioning platform.

[0039] The lifting plate can drive the lifting push rod to rise and fall under the drive of the lifting servo actuator.

[0040] In the above implementation, the lifting plate is driven to rise and fall by a lifting servo actuator, so that the lifting plate can lift and fall together with the lifting push rod and the positioning platform, thereby precisely controlling the height of the positioning platform.

[0041] In an optional embodiment, the positioning platform includes a first positioning platform and a second positioning platform spaced apart in the preset direction, wherein the first positioning platform is fixedly connected to the feeding conveyor line.

[0042] The second positioning platform is connected to the lifting mechanism and can be raised and lowered relative to the first positioning platform under the drive of the lifting mechanism, so as to move the material closer to or away from the material transfer mechanism.

[0043] In the above embodiment, a positioning platform is formed by a first positioning platform and a second positioning platform spaced apart in a preset direction. The first positioning platform is connected and fixed to the feeding conveyor line, so that the first positioning platform can accurately catch the material pushed out from the feeding trough, avoiding the material falling into the positioning platform due to an excessive height difference between the first positioning platform and the feeding conveyor line. The second positioning platform can be raised and lowered by the lifting mechanism to support the material at different heights, adapting to the size of materials of different sizes, so that the center height of materials of different sizes remains consistent, which is beneficial for the material transfer mechanism to grasp materials of different sizes.

[0044] In an optional embodiment, the material transfer mechanism includes a material transfer base, a material transfer servo actuator, a gripper slide plate, a lifting cylinder, a clamping cylinder, and grippers;

[0045] The material transfer base is located on the side of the positioning platform away from the material replenishment conveyor line in the preset direction;

[0046] The gripper slide plate is slidably disposed on the material transfer base;

[0047] The material transfer servo actuator is connected to the gripper slide plate and is used to drive the gripper slide plate to translate on the material transfer base;

[0048] The lifting cylinder is located on the gripper slide plate and connected to the clamping cylinder, and is used to drive the clamping cylinder to lift and lower.

[0049] The clamping cylinder is connected to the gripper and is used to drive the gripper to open or close.

[0050] In an optional implementation, a transfer base supports the transfer servo actuator, gripper slide, lifting cylinder, clamping cylinder, and grippers. Positioning the transfer base in a preset direction on the side of the positioning platform away from the material supply conveyor line improves the overall structural layout of the supply device. The transfer servo actuator drives the slide on the transfer base to achieve precise control of the gripper position, ensuring accurate material gripping and placement into vacant positions on the main conveyor line. The lifting cylinder drives the clamping cylinder and grippers to move up and down synchronously to accommodate materials of different sizes. The clamping cylinder also drives the grippers to open or close, releasing or gripping the material. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0052] Figure 1 This is one of the schematic diagrams of a feeding device according to an embodiment of this application;

[0053] Figure 2 This is a second schematic diagram of a feeding device according to an embodiment of this application;

[0054] Figure 3 for Figure 2 A magnified view of a portion of region A in the middle;

[0055] Figure 4 for Figure 1 and Figure 2 Schematic diagram of the pusher assembly;

[0056] Figure 5 for Figure 1 and Figure 2 Schematic diagram of the intermediate feeder assembly;

[0057] Figure 6 for Figure 1 and Figure 2 A schematic diagram of the combined structure of the cylinder and the gripper.

[0058] Icons: 100 - Feeding conveyor line; 110 - Feeding trough; 200 - Positioning and pushing mechanism; 210 - Pushing assembly; 211 - Pushing base; 212 - Pushing servo actuator; 213 - Pushing plate; 2130 - Pushing section; 214 - Adapter plate; 220 - Positioning table; 221 - Positioning trough; 222 - First positioning table; 223 - Second positioning table; 230 - Stopping assembly; 231 - Stopping base; 232 - Stopping servo actuator; 233 - Baffle; 23 30-Blocking part; 234-Guide plate; 2340-Guide hole; 235-Connecting plate; 236-Guide rod; 300-Transfer mechanism; 310-Transfer base; 320-Transfer servo actuator; 330-Gripper slide plate; 340-Lifting cylinder; 350-Gripper; 360-Gripping cylinder; 400-Lifting mechanism; 410-Lifting base; 420-Lifting servo actuator; 430-Lifting plate; 440-Lifting push rod; X-Preset direction; Y-Conveying direction. Detailed Implementation

[0059] 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 only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0060] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0061] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0062] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this application is in use. They 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 on this application. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0063] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0064] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0065] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0066] refer to Figures 1 to 3 This application provides a feeding device, including a feeding conveyor line 100, a material transfer mechanism 300, a positioning and pushing mechanism 200, and a lifting mechanism 400;

[0067] The feeding conveyor line 100 is provided with a feeding trough 110 for placing materials, and the feeding trough 110 extends along a preset direction X;

[0068] The positioning and pushing mechanism 200 includes a positioning platform 220 and a pushing component 210. The positioning platform 220 and the feeding conveyor line 100 are arranged side by side in a preset direction X, wherein the preset direction X forms an angle with the conveying direction Y of the feeding conveyor line 100. The positioning platform 220 is provided with a positioning groove 221 extending along the preset direction X, and the positioning groove 221 is paired with the feeding groove 110.

[0069] The lifting mechanism 400 is connected to the positioning table 220 and is used to drive the positioning table 220 to lift so that the material moves closer to or away from the material transfer mechanism 300.

[0070] The material pushing assembly 210 is used to push the material on the feeding trough 110 to the positioning table 220 along the preset direction X, and to make the gripping position of the material on the positioning table 220 a preset position.

[0071] The material transfer mechanism 300 is used to grab the material on the positioning trough 221 and transfer the material to the main conveyor line.

[0072] In this embodiment, the positioning platform 220 and the feeding conveyor line 100 are arranged side by side in a preset direction X. Simultaneously, the positioning trough 221 and the feeding trough 110 are paired. When the pushing component 210 pushes the material on the feeding conveyor line 100 in the preset direction X, the material can be precisely pushed from the feeding trough 110 into the positioning trough 221, ensuring that the material is gripped at a predetermined position on the positioning platform 220. This maintains the stability of the material's posture within the positioning trough 221. Furthermore, the positioning platform 220, driven by the lifting mechanism 400, can adjust its height according to the size of the material, allowing it to move closer to or further away from the material transfer mechanism 300. For example, for larger materials... Smaller materials are placed closer to the transfer mechanism 300, while larger materials are placed further away, ensuring that the center height of materials of different sizes remains consistent. This ensures that the horizontal and vertical coordinates of the transfer mechanism 300 in grasping the materials remain consistent regardless of the material size. The transfer mechanism 300 only needs to operate based on the fixed grasping point coordinates, without the need for reprogramming or path adjustment due to changes in material type. The transfer mechanism 300 has high repeatability and positioning accuracy during the grasping process, thus accurately delivering different materials to empty workstations on the main conveyor line. This enables a single device to adapt to different materials for automated material replenishment, while ensuring the accurate positioning of different materials within the empty workstations.

[0073] The feeding conveyor line 100 can specifically adopt a belt or chain conveyor, with multiple feeding troughs 110 arranged circumferentially on the corresponding conveyor belt or conveyor chain. In this way, the drive motor used to drive the conveyor belt or conveyor chain can only perform unidirectional non-stop movement. Materials can be conveyed by manually or by machine placing materials on the feeding troughs 110.

[0074] refer to Figure 3 and Figure 4 The feeding assembly 210 includes a feeding base 211, a feeding servo actuator 212, and a feeding plate 213;

[0075] The pusher servo actuator 212 is mounted on the pusher base 211 and connected to the pusher plate 213;

[0076] The pusher plate 213 is arranged in parallel with the feeding conveyor line 100 in the preset direction X. The pusher plate 213 is used to move linearly along the preset direction X under the drive of the pusher servo actuator 212 to push the material on the feeding conveyor line 100 onto the positioning table 220.

[0077] In this way, the pusher base 211 supports the pusher servo actuator 212 and the pusher plate 213. The pusher servo actuator 212 drives the pusher plate 213 to move linearly in the preset direction X, so that the pusher plate 213 pushes the material in the feeding trough 110 onto the positioning trough 221. The pusher servo actuator 212 can precisely control the position of the pusher plate 213 pushing the material to stop on the positioning table 220, thereby ensuring that after the materials of various sizes are pushed to the positioning table 220 and stop, their gripping position on the positioning table 220 is a certain preset position.

[0078] The pusher plate 213 is provided with a pushing part 2130, which extends into the positioning groove 221. In this way, the pushing part 2130 of the pusher plate 213 extending into the positioning groove 221 is conducive to the pusher plate 213 still being able to push the material after it enters the positioning groove 221, so that the material is grasped at a preset position.

[0079] Of course, it is understandable that the number of positioning material troughs 221 is the same as the number of unloading parts and corresponds one-to-one, so as to push the material in multiple feeding troughs 110 into each positioning material trough 221 at the same time.

[0080] Optional, continue to refer to Figure 1 and Figure 2 The pusher base 211 is located in the conveying direction Y of the feeding conveyor line 100; the pusher assembly 210 also includes an adapter plate 214, which is slidably disposed on the pusher base 211 and is connected between the pusher servo actuator 212 and the pusher plate 213.

[0081] Thus, by arranging the pusher base 211 in the conveying direction Y of the replenishment conveyor line 100, the footprint of the entire replenishment device can be reduced, and the layout rationality can be improved. The adapter serves to connect the pusher plate 213 and the pusher servo actuator 212, and plays the role of power transmission. At the same time, its structure can be adapted to the positions of the pusher plate 213 and the pusher base 211 near the replenishment conveyor line to meet different layout requirements.

[0082] Of course, in some embodiments, the pusher base 211 may be located on one side of the replenishment conveyor line 100 in the preset direction X, that is, the pusher base 211 and the replenishment conveyor line 100 are arranged side by side in the preset direction X.

[0083] Optional, continue to refer to Figure 3The positioning platform 220 includes a first positioning platform 222 and a second positioning platform 223 spaced apart in a preset direction X. The first positioning platform 222 is fixedly connected to the feeding conveyor line 100, and the second positioning platform 223 is connected to the lifting mechanism 400 and can be raised and lowered relative to the first positioning platform 222 under the drive of the lifting mechanism 400, so that the material moves closer to or away from the material transfer mechanism 300.

[0084] In this way, the positioning platform 220 is formed by the first positioning platform 222 and the second positioning platform 223, which are spaced apart in the preset direction X. The first positioning platform 222 is connected and fixed to the feeding conveyor line 100. This allows the first positioning platform 222 to accurately receive the material pushed out from the feeding trough 110, avoiding the material falling into the positioning platform 220 due to an excessive height difference between the first positioning platform 222 and the feeding conveyor line 100. The second positioning platform 223 can be raised and lowered by the lifting mechanism 400 to support the material at different heights, adapting to the size of materials of different sizes and keeping the center height of materials of different sizes consistent, which is beneficial for the material transfer mechanism 300 to grasp materials of different sizes.

[0085] Of course, in some embodiments, the positioning platform 220 can also be an integral structure, and the whole can be raised and lowered by the lifting mechanism 400. When the material is pushed in by the pusher plate, the positioning groove 221 of the positioning platform 220 is level with the height of the replenishing groove 110. After the material is picked up, it can be raised and lowered so that the center height of materials of different sizes is adapted to the height of the gripper 350 of the transfer mechanism 300, so that the transfer mechanism 300 can accurately pick up materials of different sizes.

[0086] Optional, see reference Figure 3 and Figure 5 The positioning and pushing mechanism 200 also includes a blocking component 230, which can extend onto the positioning table 220 to block the material pushed by the pushing component 210, so that the material is stopped at a preset position.

[0087] In this way, the material blocking component 230 extends onto the positioning platform 220 to block the material pushed by the material pushing component 210, thereby stopping the material and preventing the material from being grabbed beyond the preset position due to inertia, so that the material is accurately stopped at the preset position.

[0088] The material blocking assembly 230 and the material transfer mechanism 300 are located on the same side of the material feeding conveyor line 100, which can reduce the footprint of the entire material feeding device and improve the rationality of the layout.

[0089] In detail, the material blocking assembly 230 includes a material blocking base 231, a material blocking servo actuator 232, and a baffle 233; the material blocking servo actuator 232 is mounted on the material blocking base 231 and connected to the baffle 233; the baffle 233 is used to move linearly along a preset direction X under the drive of the material blocking servo actuator 232 to change its position on the positioning stage 220.

[0090] In this way, the material blocking base 231 supports the material blocking servo actuator 232 and the baffle 233. The material blocking servo actuator 232 drives the baffle 233 to move linearly in the preset direction X, thereby changing the position of the baffle 233 on the positioning table 220 and adjusting the stopping position of the material. The material blocking servo actuator 232 can precisely control the position of the baffle 233 on the positioning table 220, thus ensuring that after materials of various sizes are pushed to the baffle 233 and stopped, the position of the material being grabbed on the positioning table 220 is a fixed preset position.

[0091] The baffle 233 is provided with a material blocking part 2330, which extends into the positioning material groove 221. The material blocking part 2330 extending into the positioning material groove 221 makes it easier for the baffle 233 to block the material after it enters the positioning material groove 221, so that the material is accurately stopped at the preset position.

[0092] Of course, it is understandable that the number of material blocking parts 2330 is the same as the number of positioning material grooves 221 and corresponds one-to-one, so as to simultaneously block the material pushed in by the push plate 213 in each positioning material groove 221.

[0093] Continue to refer to Figure 3 and Figure 5 The material blocking base 231 is provided with a guide plate 234, and the guide plate 234 is provided with a guide hole 2340 that passes through itself in a preset direction X. The material blocking assembly 230 also includes a connecting plate 235 and a guide rod 236 connected together. The connecting plate 235 is slidably disposed on the material blocking base 231 through the material blocking slide rail. The material blocking servo actuator 232 is connected to the connecting plate 235. The guide rod 236 is slidably disposed in the guide hole 2340 and is connected to the baffle 233.

[0094] Thus, by opening a guide hole 2340 through the guide plate 234 on the material stop base 231 along the preset direction X, the guide rod 236 that can slide through the guide hole 2340 can move linearly along the preset direction X. The connecting plate 235 serves to connect the guide rod 236 and the material stop servo actuator 232, so that the material stop servo actuator 232 can move linearly in the preset direction X with the guide rod 236 and the baffle 233.

[0095] Optionally, the positioning platform 220 is connected to the baffle base 231, that is, the second positioning platform 223 is connected to the baffle base 231, the lifting mechanism 400 is connected to the baffle base 231, and the baffle base 231 can drive the positioning platform 220 to rise and fall under the drive of the lifting mechanism 400.

[0096] In this way, the material blocking base 231 is used as an intermediate medium to indirectly connect the lifting mechanism 400 and the second positioning platform 223. The material blocking base 231 and the second positioning platform 223 can be raised and lowered synchronously under the drive of the lifting mechanism 400. This ensures that the height of the baffle 233 and the height of the second positioning platform 223 are always consistent and compatible, so as to block materials of different sizes.

[0097] Continue to refer to Figure 1 and Figure 2 The lifting mechanism 400 includes a lifting base 410, a lifting servo actuator 420 disposed on the lifting base 410, a lifting plate 430 connected to the lifting servo actuator 420, and a lifting push rod 440 connected to the lifting plate 430; the lifting push rod 440 is connected to the stop base 231, thereby indirectly connected to the second positioning table 223.

[0098] The lifting plate 430 can drive the lifting push rod 440 to rise and fall under the drive of the lifting servo actuator 420.

[0099] In this way, the lifting plate is driven to rise and fall by the lifting servo actuator 420, so that the lifting plate 430 can lift and fall together with the lifting push rod 440, the material stop assembly 230 and the second positioning table 223, thereby precisely controlling the height of the material stop assembly 230 and the second positioning table 223.

[0100] Of course, in some embodiments, the lifting push rod 440 of the lifting mechanism 400 can also be directly connected to the second positioning platform 223, and it is feasible to drive the second positioning platform 223 to lift and lower while keeping the height of the material blocking assembly 230 fixed.

[0101] refer to Figure 1 , Figure 2 and Figure 6 The material transfer mechanism 300 includes a material transfer base 310, a material transfer servo actuator 320, a gripper slide plate 330, a lifting cylinder 340, and a gripper 350;

[0102] The material transfer base 310 is located on the side of the positioning table 220 away from the material replenishment conveyor line 100 in the preset direction X;

[0103] The gripper slide plate 330 is slidably mounted on the material transfer base 310;

[0104] The transfer servo actuator 320 is connected to the gripper slide plate 330 and is used to drive the gripper slide plate 330 to translate on the transfer base 310.

[0105] The lifting cylinder 340 is located on the gripper slide plate 330 and connected to the gripper 350, and is used to drive the gripper 350 to open or close.

[0106] Thus, by using the transfer base 310 to support the transfer servo actuator 320, gripper slide 330, lifting cylinder 340, clamping cylinder 360, and gripper 350, and positioning the transfer base 310 on the side of the positioning platform 220 away from the feeding conveyor line 100 in the preset direction X, the structural layout of the entire feeding device can be improved. The transfer servo actuator 320 drives the slide on the transfer base 310 to achieve precise control of the gripper 350's position, ensuring accurate material gripping and placement of materials into vacant positions on the main conveyor line. The clamping cylinder 360 drives the gripper 350 to open or close, thereby releasing or gripping materials. The lifting cylinder 340 synchronizes the lifting of the clamping cylinder 360 and the gripper 350, allowing the gripper 350 to descend to grip or release materials, or to rise to prevent interference with other mechanisms and materials when the gripper 350 moves with the gripper slide 330.

[0107] Optionally, there can be multiple lifting cylinders 340, clamping cylinders 360, and grippers 350, and the number of each type is the same. That is, each lifting cylinder 340 is connected to a clamping cylinder 360, and each clamping cylinder 360 is also connected to a gripper 350. This allows for individual control of the opening / closing action and lifting action of each gripper 350, improving flexibility.

[0108] It should be noted that the lifting of the second positioning stage 223 is achieved through the high-precision drive of the lifting servo actuator 420, which allows the material height to be matched with the fixed height after the lifting cylinder 340 drives the gripper to stop descending, thus adapting to materials of different sizes.

[0109] The working principle of the feeding device according to an embodiment of this application will be described by way of example below:

[0110] First, materials are manually or mechanically placed one by one into the feeding troughs 110 at the front end of the feeding conveyor line 100. Then, the materials are gradually conveyed to the downstream positioning and pushing mechanism 200 through the feeding conveyor line 100. When the feeding trough 110 containing materials moves to the position corresponding to the positioning trough 221 in the preset direction X, the feeding conveyor line 100 stops conveying. Then, the pushing servo actuator 212 drives the push plate 213 to push out towards the baffle 233 in the preset direction X, thereby pushing the materials in the multiple feeding troughs 110. Upon reaching the respective positioning slots, the baffle 233 is pre-positioned at a predetermined position on the second positioning platform 223. This ensures that after the material passes the first positioning platform 222 and falls into the positioning trough 221 of the second positioning platform 223, the baffle 233 can block the material, allowing the gripping point to accurately stop at the preset position. Subsequently, the second positioning platform 223 rises and falls according to the height of the gripper 350, ensuring that the center point height remains consistent when gripping materials of different sizes, facilitating gripping by the gripper 350. After the lifting cylinder 340 drives the gripper 350 to grip the material, the material transfer servo actuator 320 drives the gripper slide plate 330 to deliver it to the main conveyor line. The gripper 350, carrying the material, reaches the material gap on the main conveyor line and releases the material, thus achieving automated material replenishment.

[0111] In summary, this application discloses a feeding device in which the positioning platform 220 and the feeding conveyor line 100 are arranged side by side in a preset direction X, and the positioning trough 221 and the feeding trough 110 are paired. When the pushing component 210 pushes the material on the feeding conveyor line 100 in the preset direction X, the material can be accurately pushed from the feeding trough 110 into the positioning trough 221, and the material is positioned at a predetermined position on the positioning platform 220, maintaining the stability of the material's posture within the positioning trough 221. Simultaneously, the positioning platform 220, driven by the lifting mechanism 400, can adjust its height according to the size of the material, allowing the material to move closer to or further away from the transferring mechanism 300. For example, larger materials are placed closer to the transfer mechanism 300, while smaller materials are placed further away, ensuring that the center height of different materials remains consistent. This way, regardless of material size changes, the horizontal and vertical coordinates of the transfer mechanism 300's gripping points remain consistent. The transfer mechanism 300 only needs to operate based on fixed gripping point coordinates, eliminating the need for reprogramming or path adjustment due to changes in material type. The transfer mechanism 300 exhibits high repeatability and positioning accuracy during gripping, enabling it to accurately deliver different materials to vacant positions on the main conveyor line. This achieves the function of one device adapting to different materials for automated replenishment, while ensuring accurate positioning of different materials within vacant positions.

[0112] 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. A feeding device, characterized in that, It includes a feeding conveyor line (100), a positioning and pushing mechanism (200), a material transfer mechanism (300), and a lifting mechanism (400). The feeding conveyor line (100) is provided with a feeding trough (110) for placing materials, and the feeding trough (110) extends along a preset direction (X); The positioning and pushing mechanism (200) includes a positioning platform (220) and a pushing component (210). The positioning platform (220) and the feeding conveyor line (100) are arranged side by side in a preset direction (X), wherein the preset direction (X) forms an angle with the conveying direction (Y) of the feeding conveyor line (100). The positioning platform (220) is provided with a positioning groove (221) extending along the preset direction (X), and the positioning groove (221) and the feeding groove (110) are paired. The pushing component (210) is used to push the material in the feeding trough (110) along the preset direction (X) to the positioning trough (221), and to make the gripping position of the material on the positioning platform (220) at a preset position; The lifting mechanism (400) is connected to the positioning platform (220) and is used to drive the positioning platform (220) to lift and lower, so that the material moves closer to or away from the material transfer mechanism (300). The material transfer mechanism (300) is used to grab the material on the positioning trough (221) and transfer the material to the main conveyor line.

2. The feeding device according to claim 1, characterized in that, The feeding assembly (210) includes a feeding base (211), a feeding servo actuator (212), and a feeding plate (213). The pusher servo actuator (212) is mounted on the pusher base (211) and connected to the pusher plate (213); The pusher plate (213) is arranged in parallel with the feeding conveyor line (100) in the preset direction (X). The pusher plate (213) is used to move linearly along the preset direction (X) under the drive of the pusher servo actuator (212) to push the material in the feeding trough (110) to the positioning trough (221).

3. The feeding device according to claim 2, characterized in that, The pusher plate (213) is provided with a pusher part (2130), which extends into the positioning groove (221).

4. The feeding device according to claim 2 or 3, characterized in that, The pusher base (211) is located in the conveying direction (Y) of the replenishment conveyor line (100); And / or, The pusher assembly (210) also includes an adapter plate (214), which is slidably disposed on the pusher base (211) and is connected between the pusher servo actuator (212) and the pusher plate (213).

5. The feeding device according to claim 1, characterized in that, The positioning and pushing mechanism (200) also includes a blocking component (230), which can extend onto the positioning platform (220) to block the material pushed by the pushing component (210) so that the material is stopped at the preset position.

6. The feeding device according to claim 5, characterized in that, The material blocking assembly (230) includes a material blocking base (231), a material blocking servo actuator (232), and a baffle (233). The material blocking servo actuator (232) is mounted on the material blocking base (231) and connected to the baffle (233); The baffle (233) and the pusher assembly (210) are arranged side by side in the preset direction (X) for linear movement along the preset direction (X) under the drive of the baffle servo actuator (232) to change the position on the positioning stage (220).

7. The feeding device according to claim 6, characterized in that, The baffle (233) is provided with a material blocking part (2330), which extends into the positioning groove (221); And / or, The baffle base (231) is provided with a guide plate (234), the guide plate (234) is provided with a guide hole (2340) that passes through itself along the preset direction (X), the baffle assembly (230) also includes a connecting plate (235) and a guide rod (236) connected together, the connecting plate (235) is slidably disposed on the baffle base (231) through a baffle slide rail, the baffle servo actuator (232) is connected to the connecting plate (235), the guide rod (236) is slidably disposed through the guide hole (2340) and connected to the baffle (233); And / or, The material blocking assembly (230) and the material transfer mechanism (300) are located on the same side of the material replenishment conveyor line (100); And / or, The positioning platform (220) is connected to the baffle base (231), and the lifting mechanism (400) is connected to the baffle base (231). The baffle base (231) can drive the positioning platform (220) to rise and fall under the drive of the lifting mechanism (400).

8. The feeding device according to claim 1, characterized in that, The lifting mechanism (400) includes a lifting base (410), a lifting servo actuator (420) disposed on the lifting base (410), a lifting plate (430) connected to the lifting servo actuator (420), and a lifting push rod (440) connected to the lifting plate (430); the lifting push rod (440) is connected to the positioning platform (220); The lifting plate (430) can drive the lifting push rod (440) to rise and fall under the drive of the lifting servo actuator (420).

9. The feeding device according to claim 1, characterized in that, The positioning platform (220) includes a first positioning platform (222) and a second positioning platform (223) that are spaced apart in the preset direction (X). Both the first positioning platform (222) and the second positioning platform (223) are provided with the positioning trough (221), and the first positioning platform (222) is fixedly connected to the feeding conveyor line (100). The second positioning platform (223) is connected to the lifting mechanism (400) and can be lifted relative to the first positioning platform (222) under the drive of the lifting mechanism (400) so that the material is closer to or further away from the material transfer mechanism (300).

10. The feeding device according to claim 1 or 8, characterized in that, The material transfer mechanism (300) includes a material transfer base (310), a material transfer servo actuator (320), a gripper slide plate (330), a lifting cylinder (340), a clamping cylinder (360), and a gripper (350). The material transfer base (310) is located on the side of the positioning platform (220) away from the material supply line (100) in the preset direction (X); The gripper slide plate (330) is slidably disposed on the transfer base (310); The transfer servo actuator (320) is connected to the gripper slide plate (330) and is used to drive the gripper slide plate (330) to translate on the transfer base (310); The lifting cylinder (340) is located on the gripper slide plate (330) and connected to the clamping cylinder (360), and is used to drive the clamping cylinder (360) to lift. The clamping cylinder (360) is connected to the gripper (350) and is used to drive the gripper (350) to open or close.

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