A feeding device

Abstract

This utility model discloses a feeding device, including a frame and a control device. The frame has a working chamber, which is divided into a material tray feeding position and an empty tray receiving position. The front end of the frame has a first opening, and the upper end of the frame has a second opening. Both the material tray feeding position and the empty tray receiving position are equipped with brackets and a material tray lifting mechanism for driving the corresponding brackets to move vertically. The upper part of the frame is equipped with a material tray clamping and translation mechanism for conveying the material trays from the material tray feeding position to the empty tray receiving position. This utility model, by simultaneously setting up material tray feeding and empty tray receiving positions on one device, can automatically lift the material trays containing materials to a designated height at the material tray feeding position, and then have a robotic arm grab them one by one. After all the materials on the material trays are grabbed, the material tray clamping and translation mechanism is used to move the empty material trays laterally to the empty tray receiving position for stacking. This achieves the effect of automatic feeding and stacking of empty trays for unloading, greatly improving the feeding efficiency during hair transplantation.

Description

Technical Field

[0001] This utility model relates to the field of automated loading and unloading technology, and in particular to a loading device. Background Technology

[0002] In the production of dolls, hair needs to be implanted into the heads of bald dolls. Currently, in some automated production lines, robotic arms are used to pick up the doll's head and place it on a hair-implanting machine, which then performs the hair implantation. However, there is currently no specialized equipment for feeding the hair-implanting machine, and manual feeding is required, resulting in low overall production efficiency. Utility Model Content

[0003] The purpose of this invention is to provide a feeding device that simultaneously sets up a feeding position and an empty tray receiving position on a single device. The feeding position automatically lifts the trays containing materials to a designated height, where a robotic arm picks them up one by one. This process is repeated until all the materials on the trays are picked up. Then, a tray clamping and translating mechanism is used to move the empty trays laterally to the empty tray receiving position on the right side for stacking. This achieves automatic feeding and empty tray unloading, greatly improving the feeding efficiency during hair transplantation.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A feeding device includes a frame and a control device. The frame has a working chamber, which is divided into a material tray feeding position on one side and an empty tray receiving position on the other side. The front end of the frame has a first opening communicating with the working chamber, and the upper end of the frame has a second opening communicating with the working chamber. Both the material tray feeding position and the empty tray receiving position are provided with brackets and material tray lifting mechanisms for driving the corresponding brackets to move vertically. The brackets located at the material tray feeding position are used to support the material trays containing materials, and the brackets located at the empty tray receiving position are used to support the empty material trays after materials have been removed. The upper part of the frame is provided with a material tray clamping and translation mechanism for conveying the material trays from the material tray feeding position to the empty tray receiving position. The two material tray lifting mechanisms and the material tray clamping and translation mechanism are respectively connected to the control device.

[0006] Furthermore, both of the aforementioned tray lifting mechanisms include guide seats distributed in the vertical direction and lead screws rotatably mounted on the guide seats. The lead screws are distributed along the height direction of the guide seats. The lower part of the guide seats is provided with a drive mechanism for driving the lead screws to rotate. The lead screws are connected to a linkage block connected to the bracket via threads. The guide seats are provided with slide rails distributed parallel to the lead screws. The linkage block is provided with a slider that is slidably connected to the slide rails.

[0007] Furthermore, the guide seat is provided with a first sensor for controlling the up and down movement of the bracket. The first sensor is connected to the control device, and the linkage block or the bracket is provided with a first trigger for triggering the first sensor.

[0008] Furthermore, the material tray clamping and translation mechanism includes a linear drive module distributed in the lateral direction. The drive block of the linear drive module is provided with a cylinder that is perpendicular to the linear drive module. The telescopic end of the cylinder is connected to a push block. The push block is equipped with a first pneumatic gripper facing the working chamber for clamping the material tray.

[0009] Furthermore, the material tray clamping and translation mechanism is provided with a second sensor for controlling the lateral movement stroke of the bracket. The second sensor is connected to the control device, and the drive block of the linear drive module is provided with a second trigger for triggering the second sensor.

[0010] Furthermore, the first opening is provided with a first safety light curtain connected to the control device, and the second opening is provided with a second safety light curtain connected to the control device. Both the first safety light curtain and the second safety light curtain include a transmitting end and a receiving end. The transmitting end and the receiving end of the first safety light curtain are respectively located on both sides of the first opening, and the transmitting end and the receiving end of the second safety light curtain are respectively located on both sides of the second opening.

[0011] Furthermore, a third sensor is provided above the material level on the material tray, and a fourth sensor is provided above the empty tray receiving position. The third sensor and the fourth sensor are respectively connected to the control device.

[0012] Furthermore, the bottom of the tray is provided with several support columns, and the top of the tray and the top of the bracket are respectively provided with positioning grooves corresponding to the support columns.

[0013] Furthermore, the frame is equipped with a main power switch, indicator lights, and several operation buttons, which are respectively connected to the control device.

[0014] Furthermore, the frame is also equipped with a robotic arm, which is equipped with a second pneumatic gripper for holding materials and a CCD camera module for detecting and identifying materials.

[0015] Compared with the prior art, the present invention provides a feeding device with the following advantages:

[0016] This invention, by simultaneously setting up a material loading position and an empty tray receiving position on a single device, allows the material loading position to be automatically raised to a designated height using a material loading lifting mechanism on the left side. Then, a robotic arm picks up the material from the material loading position one by one and places it onto the dispensing machine. This process is repeated until all the material on the material loading position is picked up. Finally, a material loading clamping and translation mechanism moves the empty material loading position to the empty tray receiving position on the right side for stacking. This achieves automatic material loading and stacking of empty trays for unloading, greatly improving the material loading efficiency during hair transplantation. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention from a first-view perspective.

[0019] Figure 2 This is a three-dimensional structural diagram of the present invention from a second perspective.

[0020] Figure 3 This is a three-dimensional structural diagram of the present invention after removing the outer shell from a first-view perspective;

[0021] Figure 4 This is a three-dimensional structural diagram of the present invention after removing the outer shell from a second perspective;

[0022] Figure 5 This is a schematic diagram of material tray stacking;

[0023] Figure 6 This is a three-dimensional structural diagram of the material tray lifting mechanism;

[0024] Figure 7 This is a schematic diagram of the assembly of the material tray lifting mechanism;

[0025] Figure 8 A three-dimensional structural diagram of the material tray clamping and translation mechanism;

[0026] Figure 9 This is a schematic diagram of the assembly of the material tray clamping and translation mechanism.

[0027] Reference numerals: 1. Frame; 11. Material loading position on the tray; 12. Empty tray receiving position; 2. Bracket; 3. Tray lifting mechanism; 31. Guide seat; 32. Lead screw; 33. Drive mechanism; 34. Linkage block; 35. Slide rail; 36. Slider; 37. First trigger; 4. Tray clamping and translating mechanism; 41. Linear drive module; 42. Drive block; 43. Cylinder; 44. Push block; 45. First pneumatic gripper; 46. Second trigger; 5. Tray; 51. Support column; 52. Positioning groove; 6. Control device; 61. First sensor; 62. Second sensor; 63. First safety light curtain; 64. Second safety light curtain; 65. Third sensor; 66. Fourth sensor; 67. Main power switch; 68. Indicator light; 69. Operation button; 7. Robotic arm; 71. Second pneumatic gripper; 72. CCD camera module; 8. Pneumatic dual unit. Detailed Implementation

[0028] The technical solution of this utility model will be clearly and completely described below through detailed embodiments and in conjunction with the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this utility model.

[0029] Please refer to Figures 1-9 This embodiment provides a feeding device, including a frame 1 and a control device 6. The frame 1 is provided with a working chamber, which is divided into a material tray feeding position 11 on the left and an empty tray receiving position 12 on the right. The front end of the frame 1 is provided with a first opening communicating with the working chamber, and the upper end of the frame 1 is provided with a second opening communicating with the working chamber. The material tray feeding position 11 and the empty tray receiving position 12 are each provided with a bracket 2 and a material tray lifting mechanism 3 for driving the corresponding bracket to move vertically. The bracket located at the material tray feeding position is used to support the material tray with material, and the bracket located at the empty tray receiving position is used to support the empty material tray after the material is taken out. The upper part of the frame 1 is provided with a material tray clamping and translation mechanism 4 for conveying the material tray 5 from the material tray feeding position 11 to the empty tray receiving position 12. The two material tray lifting mechanisms 3 and the material tray clamping and translation mechanism 4 are respectively connected to the control device 6. By simultaneously setting up a material loading position and an empty tray receiving position on a single device, the material loading position can automatically lift the material-filled tray to a designated height using the material loading mechanism on the left. Then, a robotic arm will grab the material from the tray one by one and place it onto the delivery machine. This process is repeated until all the material on the tray is grabbed. Finally, the empty tray is moved to the empty tray receiving position on the right by the material clamping and translation mechanism and stacked. This achieves automatic material loading and stacking of empty trays for unloading, greatly improving the material loading efficiency during hair transplantation.

[0030] In some implementations, reference Figures 1-4 , Figure 6 and Figure 7 Both of the aforementioned tray lifting mechanisms 3 include guide seats 31 distributed vertically and lead screws 32 rotatably mounted on the guide seats 31. The lead screws 32 are distributed along the height direction of the guide seats 31. The lower part of the guide seats 31 is provided with a drive mechanism 33 for driving the lead screws 32 to rotate. The lead screws 32 are threadedly connected to a linkage block 34 connected to the bracket 2. The guide seats 31 are provided with slide rails 35 distributed parallel to the lead screws 32. The linkage block 34 is provided with a slider 36 slidably connected to the slide rails 35. Specifically, the drive mechanism 33 includes a motor with a reduction gearbox, and the output end of the reduction gearbox is connected to the lower end of the lead screw. Thus, driven by the motor, the lead screw can rotate, thereby driving the bracket connected to the linkage block to move up and down stably and reliably. The material lifting mechanism at the material tray position on the left is used to lift the material trays. Workers pre-stack neatly arranged material trays and place them into the bracket at the material tray position through the first opening. Driven by the material lifting mechanism on the left, the multiple stacked material trays are lifted to a predetermined height so that the robotic arm can accurately grasp the material according to a preset program. The material lifting mechanism at the empty tray receiving position on the right is used to lower the empty material trays that have been stacked by the material tray clamping and translation mechanism so that workers can retrieve them through the first opening.

[0031] In some specific implementation methods, such as Figure 6 and Figure 7 As shown, in order to accurately control the vertical movement range of the bracket, the guide seat 31 is equipped with a first sensor 61 for controlling the vertical movement of the bracket 2. The first sensor 61 is connected to the control device 6, and the linkage block 34 is correspondingly equipped with a first trigger element 37 for triggering the first sensor 61. Specifically, the guide seat 31 is equipped with three first sensors 61. One first sensor 61 is located on the upper part of the guide seat 31 as a reference for the bracket to rise to its highest position, and the other two first sensors 61 are located on the lower part of the guide seat 31 as references for the bracket to descend to its lowest position and as reset references. As an example, the first sensor 61 is a slotted photoelectric switch. The first trigger element 37 is a thin metal sheet. In addition, the first trigger element 37 can also be adjusted to be mounted on the bracket 2 as needed.

[0032] In some implementations, reference Figures 1-4 , Figure 8 and Figure 9The material tray clamping and translation mechanism 4 includes a linear drive module 41 distributed in the lateral direction. The drive block 42 of the linear drive module 41 is equipped with a cylinder 43 perpendicularly distributed to the linear drive module. A push block 44 is connected to the telescopic end of the cylinder 43. A first pneumatic gripper 45, facing the working chamber, is mounted above the push block 44 for clamping the material tray 5. When the material on the material tray at the material position is completely gripped, the cylinder drives the first pneumatic gripper to move towards the material tray and clamp its edge. Then, as the drive block on the linear drive module moves laterally to the empty tray receiving position on the right, the first pneumatic gripper is released, and the empty material tray is easily placed on the bracket at the empty tray receiving position, thus transferring the empty material tray at the material position to the empty tray receiving position. As an example, the linear drive module 41 is a common linear module structure, and a lead screw type linear module or a linear motor module can be selected.

[0033] As a preferred embodiment, such as Figures 1-4 As shown, there are two material tray clamping and translation mechanisms 4, located on the front and rear sides of the second opening respectively. By simultaneously gripping and clamping the material tray for conveying, stability can be provided.

[0034] In some specific implementation methods, such as Figure 8 and Figure 9 As shown, in order to accurately control the travel range of the lateral translation of the tray, the tray clamping and translation mechanism 4 is equipped with a second sensor 62 for controlling the lateral movement of the tray 2. The second sensor 62 is connected to the control device 6, and the drive block 42 of the linear drive module 41 is equipped with a second trigger element 46 for triggering the second sensor 62. Specifically, three second sensors 62 are installed on the side wall of the linear drive module 41. One second sensor 62 is located at the right end of the linear drive module 41 as a position reference for the corresponding empty tray receiving position, and the other two second sensors 62 are located on the left side of the linear drive module 41 as position references and reset references for the corresponding material positions on the tray. As an example, the second sensor 62 is a slotted photoelectric switch. The second trigger element 46 is a thin metal sheet.

[0035] refer to Figures 1-4 As an improved implementation, in order to improve the stability and safety of equipment operation and prevent workers from putting their hands into the working chamber during operation, the first opening is provided with a first safety light curtain 63 connected to the control device 6, and the second opening is provided with a second safety light curtain 64 connected to the control device 6. Both the first safety light curtain 63 and the second safety light curtain 64 include a transmitting end and a receiving end. The transmitting end and the receiving end of the first safety light curtain 63 are respectively located on both sides of the first opening, and the transmitting end and the receiving end of the second safety light curtain 64 are respectively located on both sides of the second opening.

[0036] In some implementations, to achieve the sequential lifting of full material trays and the sequential stacking of empty material trays, such as Figure 3 and Figure 4 As shown, a third sensor 65 is provided above the material level 11 on the material tray, and a fourth sensor 66 is provided above the empty tray receiving position 12. The third sensor 65 and the fourth sensor 66 are respectively connected to the control device 6. Specifically, as an example, the third sensor 65 and the fourth sensor 66 are infrared photoelectric detection switches. The third sensor 65 is used to detect the uppermost material tray in the material level position, so that multiple material trays stacked on the tray level position can be lifted one by one to a preset height position; when the material trays in the tray level position are transferred and emptied, the tray is lowered back to the initial position, and the worker puts in a material-filled tray again. The fourth sensor 66 is used to detect the material trays transferred from the material tray to the empty tray receiving position, thereby triggering the bracket in the empty tray receiving position to lower the empty material tray by the height of one tray, so that multiple empty material trays can be stacked in sequence; when the material trays at the empty tray receiving position are stacked to a preset number, the worker is automatically reminded to take them out, and then the bracket is raised again to receive the next empty material tray.

[0037] As an example, in a specific application, based on the design of the equipment size, the bracket at material position 11 on the material tray can stack six full material trays at once, and correspondingly, the bracket at empty tray receiving position 12 can also stack six empty material trays, thereby improving product assembly efficiency and reducing the frequency of material tray insertion and removal operations.

[0038] In some implementations, reference Figure 1 , Figures 4-7 The bottom of the tray 5 is provided with several support columns 51, and the top of the tray 5 and the top of the bracket 2 are respectively provided with positioning grooves corresponding to the support columns 51. Through the cooperation of the support columns and the positioning grooves, the trays can be stably stacked and supported on the bracket. Specifically, as shown... Figure 4 and Figure 6 As shown, the overall shape of the tray 5 and the bracket 2 is rectangular; a support column 51 is provided at the lower part of the four corners of the tray 5, and a positioning groove 52 is provided at the top of the four corners of the tray 5 and the top of the four corners of the bracket 2.

[0039] In some implementations, reference Figure 1 and Figure 2The frame 1 is equipped with a main power switch 67, indicator lights 68, and several operation buttons 69. The main power switch 67, indicator lights 68, and operation buttons 69 are respectively connected to the control device 6. Specifically, as an example, there are two indicator lights 68, one located at the front end of the frame 1 and the other at the rear end. The rear end of the frame 1 also has a pneumatic dual-unit 8 for purifying the input compressed air. The control device 6 can be a PLC controller, which is a conventional automation control technology and will not be described in detail here.

[0040] In addition, refer to Figures 1-4 The frame 1 is also equipped with a robotic arm 7, which is equipped with a second pneumatic gripper 71 for holding materials and a CCD camera module 72 for detecting and identifying materials. As an example, the robotic arm 7 can be a small collaborative robot of the Daming brand, model TM5-700, which uses a CCD vision recognition system in combination with a pneumatic gripper to automatically identify and position materials through a preset program.

[0041] It should be noted that the first pneumatic gripper 45 and the second pneumatic gripper 71 are both conventional clamping structures, using compressed air as a power source to drive the clamping function. Suitable models can be selected according to actual needs, so they will not be described in detail.

[0042] In a specific application example, refer to Figures 1-9 The aforementioned feeding device can be used as the feeding equipment for a hair transplant machine, to continuously and stably supply the heads of dolls to be transplanted. The operation process is as follows:

[0043] (1) Material (such as doll head) is placed in each recess on the material tray 5. The worker stacks multiple material trays 5 with neatly arranged materials in order (such as stacking six layers at once) and places them on the bracket 2 at material position 11 on the material tray on the left.

[0044] (2) The material tray 5 is lifted to the specified height by the material tray lifting mechanism 3 on the left. The robotic arm 7 automatically identifies and grabs the material on the material tray 5 one by one through the CCD vision recognition system and puts it on the car generator. After all the material on the material tray is grabbed, the empty material tray is moved to the empty tray receiving position 12 on the right by the material tray clamping and translation mechanism 4, and multiple layers are stacked in sequence (corresponding to six layers of empty material trays). Finally, the stacked empty material trays are taken out, realizing the effect of automatic feeding and stacking empty trays for unloading, which greatly improves the feeding efficiency when transplanting hair.

[0045] It should be noted that, in addition to being used for feeding parts (such as doll heads) of dolls, this utility model can also be used for feeding other smaller-sized parts.

[0046] The above embodiments are merely illustrative of the concept and technical solution of this utility model, and are not intended to limit this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

[0047] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A loading device comprising a frame and a control device, characterized in that, The frame is provided with a working chamber, which is divided into a material tray loading position on one side and an empty tray receiving position on the other side. The front end of the frame is provided with a first opening communicating with the working chamber, and the upper end of the frame is provided with a second opening communicating with the working chamber. Both the material tray loading position and the empty tray receiving position are provided with brackets and material tray lifting mechanisms for driving the corresponding brackets to move vertically. The brackets located at the material tray loading position are used to support the material trays containing materials, and the brackets located at the empty tray receiving position are used to support the empty material trays after the materials have been removed. The upper part of the frame is provided with a material tray clamping and translation mechanism for conveying the material trays from the material tray loading position to the empty tray receiving position. The two material tray lifting mechanisms and the material tray clamping and translation mechanism are respectively connected to the control device.

2. The feeding device according to claim 1, characterized in that Both of the aforementioned tray lifting mechanisms include guide seats distributed in a vertical direction and lead screws rotatably mounted on the guide seats. The lead screws are distributed along the height direction of the guide seats. The lower part of the guide seats is provided with a drive mechanism for driving the lead screws to rotate. The lead screws are connected to a linkage block connected to a bracket via a threaded connection. The guide seats are provided with slide rails distributed parallel to the lead screws. The linkage block is provided with a slider that is slidably connected to the slide rails.

3. The feeding device according to claim 2, characterized in that The guide seat is provided with a first sensor for controlling the up and down movement of the bracket. The first sensor is connected to the control device. The linkage block or the bracket is provided with a first trigger for triggering the first sensor.

4. The feeding device according to claim 1, characterized in that, The tray clamping and translation mechanism includes a linear drive module distributed in the lateral direction. The drive block of the linear drive module is provided with a cylinder distributed perpendicular to the linear drive module. The telescopic end of the cylinder is connected to a push block. The push block is equipped with a first pneumatic gripper facing the working chamber for clamping the tray.

5. The feeding device according to claim 4, characterized in that The material tray clamping and translation mechanism is equipped with a second sensor for controlling the lateral movement stroke of the bracket. The second sensor is connected to the control device, and the drive block of the linear drive module is equipped with a second trigger for triggering the second sensor.

6. The feeding device according to claim 1, characterized in that, The first opening is provided with a first safety light curtain connected to the control device, and the second opening is provided with a second safety light curtain connected to the control device. Both the first safety light curtain and the second safety light curtain include a transmitting end and a receiving end. The transmitting end and the receiving end of the first safety light curtain are respectively located on both sides of the first opening, and the transmitting end and the receiving end of the second safety light curtain are respectively located on both sides of the second opening.

7. The feeding device according to claim 1, characterized in that, A third sensor is provided above the material level on the material tray, and a fourth sensor is provided above the empty tray receiving position. The third sensor and the fourth sensor are respectively connected to the control device.

8. The loading device of claim 1, wherein, The bottom of the tray is provided with several support columns, and the top of the tray and the top of the bracket are respectively provided with positioning grooves corresponding to the support columns.

9. The loading device of claim 1, wherein, The frame is equipped with a main power switch, indicator lights, and several operation buttons. The main power switch, indicator lights, and operation buttons are respectively connected to the control device.

10. The feeding device according to any one of claims 1 to 9, characterized in that, The frame is also equipped with a robotic arm, which is equipped with a second pneumatic gripper for holding materials and a CCD camera module for detecting and identifying materials.

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