A feeding device

Abstract

The utility model relates to a kind of feeding devices, it includes: grabbing mechanism, it includes: first conveying component, first grabbing component, first conveying component is used to convey workpiece to be grabbed;Tray mechanism, it includes: second grabbing component, second conveying component, first lifting assembly and second lifting assembly, second conveying component is set in the other side of first conveying component, first lifting assembly and second lifting assembly are respectively located at the both ends of second conveying component, second grabbing component is used to move and send to-be-loaded tray from first lifting assembly to second lifting assembly, first grabbing component is used to move and send to-be-loaded workpiece from first conveying component to to-be-loaded tray.The utility model is moved by above setting, feeding action does not need to wait for each full load tray to move and send, multiple full load trays can be concentrated to move and send, new empty tray moves to feeding station can and take material synchronously.

Description

Technical Field

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

[0002] In industrial automated production, the workpiece placement operation, which involves orderly placing workpieces on a tray, is a key link connecting the upstream processing and the downstream assembly. Its efficiency and accuracy directly affect the capacity and product quality of the entire production line. In the above process, a feeding device is usually used to move the workpiece from the upstream production line to an empty tray, and then the full tray with the workpiece is transferred to the downstream production line for workpiece retrieval.

[0003] While current feeding devices have improved the level of automation and efficiency of operation to some extent, they still have some limitations. For example, in the process of tray placement in existing equipment, empty trays need to be placed at the feeding station before feeding can begin. This makes it impossible to perform the feeding tray placement operation when an empty tray is placed. At the same time, after a tray is filled, it is necessary to wait for the full tray to be removed and a new empty tray to be placed before a new feeding operation can be performed, which seriously affects the feeding cycle. Utility Model Content

[0004] Therefore, the technical problem to be solved by this utility model is to overcome the problem in the existing technology that after a material tray is filled, it is necessary to wait for the full material tray to be removed and a new empty material tray to be placed before a new material feeding operation can be carried out, thereby providing a material feeding device.

[0005] To solve the above-mentioned technical problems, this utility model provides a feeding device, which includes:

[0006] A gripping mechanism includes: a first conveying component and a first gripping component, wherein the first conveying component is used to convey a workpiece to be gripped, and the first gripping component is disposed on one side of the first conveying component;

[0007] The tray-loading mechanism includes: a second gripping component, a second conveying component, a first lifting component, and a second lifting component. The second conveying component is disposed on the other side of the first conveying component. The first lifting component and the second lifting component are respectively located at both ends of the second conveying component. The second gripping component is used to transfer the tray to be loaded from the first lifting component to the second lifting component. The first gripping component is used to transfer the workpiece to be loaded from the first conveying component to the tray to be loaded. The first lifting component is used to drive the tray to be loaded from the second conveying component to move closer to the second gripping component. The second lifting component is used to adjust the distance between the loaded tray and the second gripping component.

[0008] In one embodiment of the present invention, the two-axis drive assembly includes a first drive member and a second drive member. The second gripping assembly and the second drive member are both connected to the output end of the first drive member. The first gripping assembly is connected to the output end of the second drive member. The first drive member can drive the second drive member and the second gripping assembly along a first direction, and the second drive member can drive the first gripping assembly along a second direction.

[0009] In one embodiment of the present invention, the first gripping component includes a third driving member and a first suction cup. The third driving member is connected to the output end of the two-axis driving component, and the first suction cup is connected to the output end of the third driving member to move in a third direction.

[0010] In one embodiment of this utility model, the output end of the third driving member is rotatably connected to a support rod, and the third driving member is also provided with a rotating motor, which is used to drive the support rod to rotate, and the first suction cup is connected to the end of the support rod.

[0011] In one embodiment of the present invention, the second gripping component includes a fourth driving member and a second suction cup. The fourth driving member is connected to the output end of the two-axis driving component, and the second suction cup is connected to the output end of the fourth driving member to move in a third direction.

[0012] In one embodiment of the present invention, the output end of the fourth driving member is connected to a suction cup frame, and the suction cup frame is provided with a plurality of second suction cups at intervals along the plane containing the first direction and the second direction.

[0013] In one embodiment of the present invention, the first conveying assembly includes: a first motor, a first conveyor belt, and a stop member, wherein the first conveyor belt is connected to the output shaft of the first motor, and the stop member is disposed on the output side of the first conveyor belt.

[0014] In one embodiment of the present invention, the first conveyor belt is further provided with a clamping wheel assembly, the clamping wheel assembly including: a clamping cylinder, clamping wheel brackets respectively connected to the output ends on both sides of the clamping cylinder and located on both sides of the first conveyor belt, and a clamping wheel rotatably connected to the clamping wheel bracket, the clamping wheel and the stop member forming a positioning space.

[0015] In one embodiment of the present invention, the second conveying component includes: a second motor, a first sub-conveyor belt and a second sub-conveyor belt spaced apart, the first sub-conveyor belt and the second sub-conveyor belt being connected to the output end of the second motor; the first lifting component includes: a fifth driving member and a first lifting frame, the fifth driving member being capable of driving the first lifting frame in a third direction; the distance between the first sub-conveyor belt and the second sub-conveyor belt is greater than the size of the first lifting frame and smaller than the size of the material tray to be loaded.

[0016] In one embodiment of the present invention, the second lifting assembly includes a sixth driving member and a second lifting frame, wherein the sixth driving member is capable of driving the second lifting frame in a third direction.

[0017] In one embodiment of this utility model, a frame is also included, and both the gripping mechanism and the tray-swing mechanism are disposed on the frame, which is equipped with a lighting lamp.

[0018] In one embodiment of this utility model, the frame is provided with a first sensor and a second sensor. The first sensor is used to detect whether there is a tray to be loaded on the first lifting frame, and the second sensor is used to detect the height of the uppermost loaded tray on the second lifting frame.

[0019] In one embodiment of the present invention, the input side of the second conveying component and the second lifting component are both disposed on the first side of the feeding device, and the first sensor and the second sensor are both disposed on the second side of the feeding device.

[0020] The above-mentioned technical solution of this utility model has the following advantages compared with the prior art:

[0021] The feeding device of this utility model moves the pallet to be loaded to the first lifting component via a second conveying component. The first lifting component then moves the pallet to the upper loading station. A first gripping component transfers the workpiece to be loaded from the first conveying component to the pallet at the feeding station. When the empty pallet is full, the second lifting component moves downward to provide a new feeding station on the already full pallet. The second gripping component then grips a new pallet and an empty pallet at the upper loading station and places the new empty pallet on the new feeding station. This allows for continuous pallet loading and pallet recycling. The feeding action does not require waiting for each full pallet to be moved; multiple full pallets can be moved together. The movement of a new empty pallet to the feeding station can be synchronized with the material retrieval, thereby optimizing the feeding cycle speed. Attached Figure Description

[0022] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0023] Figure 1 This is a schematic diagram of the feeding device of this utility model;

[0024] Figure 2 This is a schematic diagram of the structure of the two-axis drive assembly, the first gripping assembly, and the second gripping assembly of this utility model;

[0025] Figure 3 This is a schematic diagram of the structure of the first conveying component of this utility model;

[0026] Figure 4 This is a schematic diagram of the structure of the second conveying component, the first lifting component, and the second lifting component of this utility model;

[0027] Figure 5 This is a schematic diagram of the structure of the first sensor, the second sensor, the frame, and the first lifting assembly of this utility model;

[0028] Figure 6 This is a schematic diagram of the material tray of this utility model.

[0029] Explanation of reference numerals in the accompanying drawings: 1. Frame; 2. Two-axis drive assembly; 21. First drive component; 22. Second drive component; 3. Second gripping assembly; 31. Fourth drive component; 32. Suction cup frame; 33. Second suction cup; 4. First gripping assembly; 41. Third drive component; 42. Rotary motor; 43. Support rod; 44. First suction cup; 5. First conveying assembly; 51. First conveyor belt; 52. Clamping cylinder; 53. Clamping wheel bracket; 54. Clamping wheel; 55. Stop; 56. Baffle; 6. Second conveying assembly; 61. First sub-conveyor belt; 62. Second sub-conveyor belt; 7. First lifting assembly; 71. Fifth drive component; 72. First lifting frame; 73. Clearance hole; 8. Second lifting assembly; 81. Sixth drive component; 82. Second lifting frame; 9. Material tray; 91. Material trough; 10. First sensor; 11. Second sensor. Detailed Implementation

[0030] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0031] Example

[0032] Reference Figures 1-6 As shown, a feeding device of this utility model includes:

[0033] The gripping mechanism includes: a first conveying component 5 and a first gripping component 4, wherein the first conveying component 5 is used to convey the workpiece to be gripped, and the first gripping component 4 is disposed on one side of the first conveying component 5;

[0034] The tray-loading mechanism includes: a second gripping component 3, a second conveying component 6, a first lifting component 7, and a second lifting component 8. The second conveying component 6 is located on the other side of the first conveying component 5. The first lifting component 7 and the second lifting component 8 are located at opposite ends of the second conveying component 6. The second gripping component 3 is used to transfer the tray to be loaded 9 from the first lifting component 7 to the second lifting component 8. The first gripping component 4 is used to transfer the workpiece to be loaded from the first conveying component 5 to the tray to be loaded. The first lifting component 7 is used to drive the tray to be loaded 9 to move from the second conveying component 6 to be close to the second gripping component 3. The second lifting component 8 is used to adjust the distance between the loaded tray 9 and the second gripping component 3.

[0035] The present invention discloses a feeding device that connects to an upstream device via a first conveying component 5, allowing the workpiece to be loaded to be transferred from the upstream device to this device. The device includes an upper tray station and a feeding station. The loading tray 9 is initially empty, and workpieces are placed at the feeding station. After the downstream production line uses the workpieces from the loaded tray 9, the loaded tray 9 becomes empty. The empty tray 9 is then placed on the input side of the second conveying component 6. The second conveying component 6 moves the loading tray 9 to the first lifting component 7, which in turn moves the loading tray 9 to the upper tray station. This is achieved through a set... The first gripping component 4 transfers the workpiece to be loaded from the first conveying component 5 to the loading tray 9 located at the loading station. When the empty loading tray 9 is full, it moves downward through the second lifting component 8 to provide a new loading station on the already full tray 9. The second gripping component 3 grips the new loading tray 9 and the empty tray 9 at the loading station and places the new empty tray 9 on the new loading station. This enables continuous loading and recycling of trays 9, can simultaneously carry multiple sets of full trays, and can centrally pick up multiple sets of full trays 9.

[0036] Reference Figures 1-2As shown, the two-axis drive assembly 2 includes a first drive member 21 and a second drive member 22. The second gripping assembly 3 and the second drive member 22 are both connected to the output end of the first drive member 21. The first gripping assembly 4 is connected to the output end of the second drive member 22. The first drive assembly can drive the second drive member 22 and the second gripping assembly 3 in a first direction. The second drive member 22 can drive the first gripping assembly 4 in a second direction. The two-axis drive assembly 2 is an orthogonally arranged linear module system used to provide driving power along the first direction, i.e., the left-right direction of the device, and the second direction, i.e., the front-back direction of the device. The first drive member 21 and the second drive member 22 are both linear motors or drive cylinders. In this embodiment, they are linear motors, using servo motors and ball screw linear modules, and both are equipped with linear guides to assist the slider sliding. The second drive member 22 and the second gripping assembly 3 are movably connected to the first drive member 21 through sliding. The first gripping assembly 4 is also movably connected to the second drive member 22 through a slider. In this embodiment, a support frame is connected to the slider of the first drive member 21. The second gripping assembly 3 and the second drive member 22 are driven and connected to the output end of the second drive member 22 through the support frame.

[0037] Since the second gripping component 3 is used to grip the material tray 9, it has a larger load, while the first gripping component 4 is used to grip the workpiece. The material tray 9 is provided with multiple material slots 91 for placing workpieces. Therefore, the first gripping component 4 moves more frequently. It is set along the first direction along the loading station and the upper tray station. The first driving component can drive the second gripping component 3 to grip the material tray 9 from the upper tray station to the loading station. Since the material slots 91 on the material tray 9 are arranged in an array, the first gripping component 4 needs to move along the first direction and the second direction, that is, move in the plane. The first driving component 21 and the second driving component 22 can cooperate to drive the first gripping component 4 to move in the plane.

[0038] Reference Figure 2As shown, the first gripping component 4 includes a third driving element 41 and a first suction cup 44. The third driving element 41 is connected to the output end of the two-axis drive component 2, and the first suction cup 44 is connected to the output end of the third driving element 41 to move along a third direction. The first gripping component 4 is used to realize the vertical, i.e., third-direction, picking and placing of the workpiece. After the two-axis drive component 2 is positioned in the plane, or simultaneously driven by the third driving element 41, the first suction cup 44 moves along the third direction, thereby completing the gripping and placement of the workpiece. The third driving element 41 is a linear drive element, such as a pneumatic cylinder or linear motor. The output shaft of the third driving element 41 extends, driving the first suction cup 44 to move downward until the bottom surface of the suction cup contacts the surface of the workpiece. If it is a vacuum suction cup, the vacuum generator is activated, generating negative pressure inside the suction cup to firmly adsorb the workpiece; if it is an electromagnetic suction cup, electricity is applied to generate magnetic force to adsorb the workpiece. After the workpiece is adsorbed, the output shaft of the third driving element 41 shortens, driving the first suction cup 44 and the workpiece to move upward in the height direction until the workpiece leaves the top surface of the first conveying component 5. When used with the two-axis drive assembly 2, the workpiece can be moved in three-dimensional space.

[0039] Reference Figure 2 As shown, to accommodate non-planar surfaces or directional placement requirements of the workpiece, an angle adjustment mechanism is added to the first gripping assembly 4. Specifically, a support rod 43 is rotatably connected to the output end of the third driving component 41. The third driving component 41 is also equipped with a rotating motor 42, which drives the support rod 43 to rotate. The first suction cup 44 is connected to the end of the support rod 43. The angle adjustment mechanism works in conjunction with the two-axis drive assembly 2 and the third driving component 41 to achieve three-dimensional movement and angle adjustment. The rotating motor 42 drives the support rod 43 to rotate via a belt or gear. The output end of the third driving component 41 is fitted with the rotating motor 42 and a bearing via a bracket, and the support rod 43 is rotatably connected to the bearing. This ensures that the workpiece is aligned with the orientation of the tray 9 during placement.

[0040] Reference Figure 2 As shown, the second gripping component 3 includes a fourth driving element 31 and a second suction cup 33. The fourth driving element 31 is connected to the output end of the two-axis driving component 2, and the second suction cup 33 is connected to the output end of the fourth driving element 31 to move along a third direction. The second gripping component 3 transfers the empty tray 9 on the first lifting component 7 to the loading station of the second lifting component 8. The fourth driving element 31 is a linear driving element, such as a pneumatic cylinder or linear motor. The second suction cup 33 is a planar adsorption element, preferably a vacuum suction cup. Similar to the first suction cup 44, the fourth driving element 31 can drive the second suction cup 33 to move up and down along the height direction. In conjunction with the first driving element 21, it can move the empty tray along the first direction.

[0041] Reference Figure 2As shown, the output end of the fourth driving component 31 is connected to a suction cup frame 32. The suction cup frame 32 has multiple second suction cups 33 spaced apart along the planes of the first and second directions. Each individual second suction cup 33 adheres to the same adsorption principle as the first suction cup 44. The material tray 9 to be loaded and the empty material tray 9 are the same size. To accommodate the large size of the material tray 9, a suction cup frame 32 is added to the second gripping assembly 3, and multiple second suction cups 33 are provided to achieve uniform force adsorption of the material tray 9. In this embodiment, there are four second suction cups 33, which are rectangularly distributed and have their bottoms flush on the same horizontal plane. The uniform force from the multiple suction cups ensures that the material tray 9 remains horizontal and will not shift due to inertia or vibration during movement. The shape of the suction cup frame 32 and the number of second suction cups 33 can be adjusted according to the size and shape of the material tray 9, such as by replacing the suction cup frame 32 with a different shape or increasing or decreasing the number of suction cups, so that the second gripping assembly 3 can adapt to material trays 9 of various sizes or weights, expanding the applicability of the equipment.

[0042] Reference Figure 3 As shown, the first conveying assembly 5 includes a first motor, a first conveyor belt 51, and a stop 55. The first conveyor belt 51 is connected to the output shaft of the first motor, and the stop 55 is disposed on the output side of the first conveyor belt 51. The first conveying assembly 5 is the workpiece conveying unit of the upstream device of this utility model, stably conveying the workpiece to be loaded from the upstream to a preset gripping position, providing a precise and repeatable gripping object for the first gripping assembly 4. The stop 55 is disposed above the first conveyor belt 51 and has a gap with the first conveyor belt 51 to avoid obstructing the movement of the first conveyor belt 51. The first motor is the power source of the first conveying assembly 5, used to drive the conveyor belt to move. The first conveyor belt 51 is a belt conveyor mechanism used to carry the workpiece to be loaded and convey it from the feed end to the output end. The entire workpiece is located on the first conveyor belt 51. Its structure and materials meet the requirements of wear resistance, anti-slip, and stability. The system includes a first driving roller connected to a first motor, a first driven roller located at the output end, a conveyor belt body wound between the two rollers, and a support structure. A stop 55 is provided on the output side of the first conveyor belt 51 to meet the requirements of rigidity, adjustability, and accurate positioning. It is installed on the support structure of the conveying assembly through a waist-shaped hole and bolts or pins to achieve fine-tuning of the position. In this embodiment, the extension direction of the waist-shaped hole, the transport direction of the first conveying assembly 5, and the transport direction of the second conveying assembly 6 are all the first direction.

[0043] Reference Figure 3As shown, the first conveyor belt 51 is also equipped with a clamping wheel 54 assembly. The clamping wheel 54 assembly includes: a clamping cylinder 52, clamping wheel brackets 53 respectively connected to the output ends on both sides of the clamping cylinder 52 and located on both sides of the first conveyor belt 51, and clamping wheels 54 rotatably connected to the clamping wheel brackets 53. The clamping wheels 54 and the stop member 55 enclose a positioning space. The clamping wheel 54 assembly is used for workpiece guidance and auxiliary positioning. It is set on both sides of the first conveyor belt 51, between the feed end and the stop member 55, preferably adjacent to the stop member 55. Its core function is to apply a slight clamping force to both sides of the workpiece during the workpiece conveying process by the clamping wheels 54 moving in opposite directions, to prevent the workpiece from deviating from the center line of the conveyor belt due to conveyor belt vibration, inertia, or its own shape such as cylindrical or irregular shape, and to ensure accurate positioning of the workpiece when it reaches the stop member 55, providing a stable gripping object for the first gripping component 4. The clamping cylinder 52 drives the two clamping wheel supports 53 to move towards or away from each other, allowing the clamping wheels 54 to move closer to or further away from the workpiece, preventing excessive workpiece offset along the second direction. In this embodiment, the first conveyor belt 51 has baffles 56 on both sides along the second direction. The distance between the two clamping wheels 54 can be less than the spacing between the two baffles 56. The surface of the clamping wheels 54 is made of plastic or rubber, or similar materials, to avoid damaging the workpiece, such as nylon. When the workpiece passes through, the clamping wheels 54 contact the sides of the workpiece, reducing friction by rotating.

[0044] Reference Figure 4 As shown, the second conveying assembly 6 includes: a second motor, a first sub-conveyor belt 61 and a second sub-conveyor belt 62 spaced apart, the first sub-conveyor belt 61 and the second sub-conveyor belt 62 being connected to the output end of the second motor; the first lifting assembly 7 includes: a fifth driving member 71 and a first lifting frame 72, the fifth driving member 71 being able to drive the first lifting frame 72 along a third direction; the distance between the first sub-conveyor belt 61 and the second sub-conveyor belt 62 is greater than the size of the first lifting frame 72 and smaller than the size of the loading tray 9: ensuring that the first lifting frame 72 can rise vertically from the gap between the two conveyor belts, lifting the loading tray 9 above, while ensuring that the loading tray 9 can be stably placed on the first sub-conveyor belt 61 and the second sub-conveyor belt 62 along the second direction, and will not fall from the gap. The second conveying assembly 6 transports the empty material tray 9 returning from the downstream side from the input side to the first lifting station. The first lifting assembly 7 lifts the material tray 9 to be loaded from the conveyor belt to the gripping height of the second gripping assembly 3, providing conditions for the material tray 9 to be transferred to the loading station of the second lifting assembly 8. The second motor drives the drive roller to rotate via a belt. The right sides of the first sub-conveyor belt 61 and the second sub-conveyor belt 62 are respectively fitted onto both ends of the drive roller, and the left sides of the first sub-conveyor belt 61 and the second sub-conveyor belt 62 are fitted onto the driven wheels. There are two driven wheels, which are independent to provide gaps. The drive roller extends along the second direction, so that the second motor can synchronously drive the first sub-conveyor belt 61 and the second sub-conveyor belt 62 to operate.

[0045] Reference Figure 4 As shown, the second lifting assembly 8 includes a sixth driving component 81 and a second lifting frame 82. The sixth driving component 81 can drive the second lifting frame 82 along a third direction. This enables the stacking and height adjustment of loaded trays 9, carrying trays 9 to be loaded or trays 9 with loaded workpieces transferred from the second gripping assembly 3. Through lifting and lowering movement along a third direction, the top surface of the uppermost tray 9 is always at the preset placement height of the second gripping assembly 3, thereby achieving continuous stacking and loading of trays 9. The sixth driving component 81 is the power output unit of the second lifting assembly 8, used to drive the second lifting frame 82 to move linearly along a third direction. A linear motor or cylinder can be selected to meet the requirements of frequent start-stop, precise stroke, and load adaptability. After the tray 9 is placed, the sixth driving component 81 drives the second lifting frame 82 to move downwards along a third direction, the distance of descent being equal to the thickness of the tray 9 to be loaded.

[0046] Reference Figure 1 As shown, the system also includes a frame 1, on which both the gripping mechanism and the tray-swing mechanism are mounted. The frame 1 is equipped with lighting. The frame 1 adopts a rigid frame structure, consisting of a base, columns, beams, and auxiliary supports connected by bolts or welding. The gripping mechanism and the tray-swing mechanism are rigidly connected to preset positions on the frame 1 by bolts, welding, or plug-in connections. The lighting provides sufficient and uniform illumination to the working area of ​​the equipment, facilitating operator observation of the workpiece and tray 9 status, ensuring operational safety, and providing convenience for equipment maintenance.

[0047] Reference Figure 1 , Figure 5As shown, the frame 1 is equipped with a first sensor 10 and a second sensor 11. The first sensor 10 is used to detect whether there is a tray 9 to be loaded on the first lifting frame 72, and the second sensor 11 is used to detect the height of the uppermost loaded tray 9 on the second lifting frame 82. The first sensor 10 and the second sensor 11 are used to realize real-time monitoring of the status of the tray 9, providing a basis for the controller to make decisions. Specifically, the first sensor 10 is used to detect the presence of the tray 9 to be loaded, ensuring that there is a tray 9 on the first lifting frame 72 that can be grabbed, and the second sensor 11 is used to detect the height of the loaded tray 9, ensuring that the top surface of the uppermost tray 9 on the second lifting frame 82 is at a preset working height. The first sensor 10 and the second sensor 11 include, but are not limited to, photoelectric sensors, laser sensors, and infrared sensors. The first sensor 10 is fixed to the first lifting frame 72 of the frame 1. The first lifting frame 72 has a clearance hole 73 adapted to the first sensor 10. The detection direction of the first sensor 10 is the height direction, so that the first sensor 10 can detect upwards to the bottom of the empty tray 9 to determine whether the first lifting frame 72 has an empty tray 9. The second sensor 11 is fixedly installed at a preset height of the frame 1, which corresponds to the height of the loading station. The detection direction of the second sensor 11 is horizontal, so that the second sensor 11 can detect whether there is a material tray 9 at this height for loading.

[0048] Reference Figure 1 , Figure 4 , Figure 5 As shown, the input side of the second conveying component 6 and the second lifting component 8 are both located on the first side, i.e., the right side, of the feeding device, while the first sensor 10 and the second sensor 11 are both located on the second side, i.e., the left side, of the feeding device. The right side of the device is set as the operating station. At the operating station, empty trays are placed onto the second conveying component 6 manually or by a robotic arm, or full trays 9 on the second lifting frame 82 are moved outward. To avoid interference from the first lifting frame 72 on the detection of the second sensor 11, the height of the upper tray station is less than that of the feeding station, and the first sensor 10 and the second sensor 11 are both arranged on the left side of the device to avoid the operation of personnel or robotic arms affecting the judgment of the first sensor 10 or the second sensor 11.

[0049] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A feeding device, characterized in that, include: A gripping mechanism includes: a first conveying component and a first gripping component, wherein the first conveying component is used to convey a workpiece to be gripped, and the first gripping component is disposed on one side of the first conveying component; The tray-loading mechanism includes: a second gripping component, a second conveying component, a first lifting component, and a second lifting component. The second conveying component is disposed on the other side of the first conveying component. The first lifting component and the second lifting component are respectively located at both ends of the second conveying component. The second gripping component is used to transfer the tray to be loaded from the first lifting component to the second lifting component. The first gripping component is used to transfer the workpiece to be loaded from the first conveying component to the tray to be loaded. The first lifting component is used to drive the tray to be loaded from the second conveying component to move closer to the second gripping component. The second lifting component is used to adjust the distance between the loaded tray and the second gripping component.

2. The feeding device according to claim 1, characterized in that: The two-axis drive assembly includes a first drive member and a second drive member. The second gripping component and the second drive member are both connected to the output end of the first drive member. The first gripping component is connected to the output end of the second drive member. The first drive member can drive the second drive member and the second gripping component in a first direction, and the second drive member can drive the first gripping component in a second direction.

3. The feeding device according to claim 2, characterized in that: The first gripping component includes a third driving member and a first suction cup. The third driving member is connected to the output end of the two-axis driving component, and the first suction cup is connected to the output end of the third driving member to move in a third direction.

4. The feeding device according to claim 3, characterized in that: The output end of the third driving component is rotatably connected to a support rod. The third driving component is also equipped with a rotating motor, which is used to drive the support rod to rotate. The first suction cup is connected to the end of the support rod.

5. A feeding device according to claim 2, characterized in that: The second gripping component includes a fourth driving member and a second suction cup. The fourth driving member is connected to the output end of the two-axis driving component, and the second suction cup is connected to the output end of the fourth driving member to move in a third direction.

6. A feeding device according to claim 5, characterized in that: The output end of the fourth driving component is connected to a suction cup frame, and the suction cup frame is provided with multiple second suction cups at intervals along the plane containing the first and second directions.

7. A feeding device according to claim 1, characterized in that: The first conveying assembly includes: a first motor, a first conveyor belt, and a stop member. The first conveyor belt is connected to the output shaft of the first motor, and the stop member is disposed on the output side of the first conveyor belt.

8. A feeding device according to claim 7, characterized in that: The first conveyor belt is also provided with a clamping wheel assembly, which includes: a clamping cylinder, clamping wheel brackets respectively connected to the output ends on both sides of the clamping cylinder and located on both sides of the first conveyor belt, and a clamping wheel rotatably connected to the clamping wheel bracket. The clamping wheel and the stop member enclose a positioning space.

9. A feeding device according to claim 1, characterized in that: The second conveying assembly includes: a second motor, a first sub-conveyor belt and a second sub-conveyor belt spaced apart, the first sub-conveyor belt and the second sub-conveyor belt being connected to the output end of the second motor; the first lifting assembly includes: a fifth driving member and a first lifting frame, the fifth driving member being able to drive the first lifting frame in a third direction, the distance between the first sub-conveyor belt and the second sub-conveyor belt being greater than the size of the first lifting frame and smaller than the size of the material tray to be loaded.

10. A feeding device according to claim 1, characterized in that: The second lifting assembly includes a sixth driving member and a second lifting frame, wherein the sixth driving member is capable of driving the second lifting frame in a third direction.

11. A feeding device according to claim 1, characterized in that: It also includes a frame, on which the gripping mechanism and the tray-swing mechanism are both mounted, and the frame is equipped with lighting.

12. A feeding device according to claim 11, characterized in that: The frame is equipped with a first sensor and a second sensor. The first sensor is used to detect whether there is a tray to be loaded on the first lifting frame, and the second sensor is used to detect the height of the uppermost loaded tray on the second lifting frame.

13. A feeding device according to claim 12, characterized in that: The input side of the second conveying component and the second lifting component are both located on the first side of the feeding device, and the first sensor and the second sensor are both located on the second side of the feeding device.

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