Direction adjusting module and automatic feeding device

Abstract

The direction adjusting module and the automatic feeding device provided by the application, the positive and negative turnover mechanism of the direction adjusting module comprises a first rotary driving member, a positive and negative adjusting member, a cam and a baffle assembly; the positive and negative adjusting member and the cam are respectively in transmission connection with the first rotary driving member, one end of the positive and negative adjusting member in the axial direction thereof is connected with a limiting plate, the limiting plate is structured with a through groove for accommodating a target object; the cam is structured with a working surface; the baffle assembly comprises two baffles which are arranged in parallel to each other, the two baffles are arranged through the positive and negative adjusting member at the same time and are respectively in sliding connection with the positive and negative adjusting member; the two baffles are limited by abutting against the working surface at the same time; and one of the two baffles can be stretched out to the position of the through groove under the pushing of the working surface, for carrying the target object located in the through groove, and the other one is retracted and separated from the through groove. In this way, the manufacturing cost of the positive and negative turnover mechanism can be reduced, and good economic benefits are provided for the popularization and application of the positive and negative turnover mechanism in automatic equipment.

Description

Technical Field

[0001] This utility model belongs to the technical field of automation equipment, and in particular relates to a direction adjustment module and an automatic feeding device. Background Technology

[0002] Circuit boards are typically square in shape and have a clearly defined front and back, as well as left and right orientations. In processes such as automated welding, all circuit boards must maintain a uniform orientation to ensure processing accuracy.

[0003] Currently, circuit board loading mainly relies on manual labor. This method is prone to errors in placement, such as incorrect orientation (front / back or left / right), necessitating the ability of subsequent automated equipment to recognize and adjust the orientation. While electric cylinder actuators are commonly used for adjusting the orientation of circuit boards, their high cost makes them uneconomical in upgrading existing automated equipment, severely hindering the widespread adoption of this technology. Utility Model Content

[0004] In view of this, it is necessary to provide a direction adjustment module and an automatic feeding device for solving the above-mentioned technical problems.

[0005] A direction adjustment module includes a forward / reverse flipping mechanism, the forward / reverse flipping mechanism comprising: First rotary drive component; A forward and reverse adjustment component is connected to the first rotary drive component. One end of the forward and reverse adjustment component along its axial direction is connected to a limiting plate. The limiting plate is constructed with a through groove, which is used to insert and cooperate with the target object. A cam is located on the side of the forward and reverse adjustment member away from the limiting plate and is connected to the first rotary drive member for transmission. The cam has a working surface. The baffle assembly includes two baffles arranged parallel to each other. The two baffles pass through the positive and negative adjustment members and are slidably connected to the positive and negative adjustment members respectively. Furthermore, the two baffles simultaneously abut against and limit the working surface. One of the two baffles can extend to the position of the through groove under the push of the working surface to support the target object located in the through groove, while the other retracts and disengages from the through groove.

[0006] Understandably, by using the working surface of the cam to alternately push two stop bars, one of the stop bars works in coordination with the limiting plate to automatically retract after the target object's forward and reverse orientation adjustment is completed. At the same time, the other stop bar provides support for the target object in the through slot of the forward and reverse adjustment component. The entire adjustment process can be achieved with only one first rotary drive component. While meeting the functional requirements of forward and reverse orientation adjustment of the target object, it effectively reduces manufacturing costs and provides good economic benefits for its promotion and application in automated equipment.

[0007] In one embodiment, each of the baffles is rotatably connected to a rolling element; The rolling element has a rolling surface, which is disposed against the working surface.

[0008] It is understandable that by using rolling elements to achieve force transmission between the cam working surface and the stop bar, the friction between the cam working surface and the stop bar becomes rolling friction. This reduces the frictional resistance when the cam pushes the stop bar, which helps to reduce the power requirements of the first rotary drive component, thereby improving the energy efficiency and economy of the forward and reverse reversing mechanism.

[0009] In one embodiment, each of the stop bars is connected to an elastic element, and the elastic element is capable of providing an elastic force to the corresponding stop bar to abut against the working surface.

[0010] Understandably, by using an elastic element to drive the stop bar to continuously abut against the working surface of the cam, the transmission gap between the two can be eliminated at all times during the rotation of the cam. This can improve the action response accuracy of the stop bar when it retracts, thereby ensuring that the stop bar can disengage from the through slot in a timely and reliable manner, and ensuring the smooth progress of subsequent processes.

[0011] In one embodiment, the forward and reverse flipping mechanism further includes a drive shaft; The drive shaft is connected to the first rotary drive component via a coupling; and the cam and the forward and reverse adjustment component are both mounted on the drive shaft and connected to it.

[0012] In one embodiment, the direction adjustment module further includes a left-right flipping mechanism, the left-right flipping mechanism comprising: Second rotary drive component; The left and right adjustment component is connected to the second rotation drive component for transmission, and the left and right adjustment component is used to support the target object.

[0013] It is understandable that by directly driving the left and right adjustment components to rotate through the second rotary drive component, the left and right directions of the target object can be adjusted. This allows the left and right flipping mechanism to meet functional requirements while simplifying the transmission structure, thereby reducing the complexity and manufacturing cost of the left and right flipping mechanism.

[0014] In one embodiment, the orientation adjustment module further includes a housing; Both the forward / reverse flipping mechanism and the left / right flipping mechanism are mounted on the outer casing.

[0015] It is understandable that integrating the forward and reverse flipping mechanism and the left and right flipping mechanism into the same housing can reduce the overall structural size of the orientation adjustment module and reduce the space required for its assembly, which is beneficial for the layout of the orientation adjustment module in the automatic feeding device.

[0016] This application also provides an automatic feeding device, which includes a feeding module, a robot module, and the aforementioned direction adjustment module; The robot module can sequentially transfer the target object provided by the feeding module to the direction adjustment module.

[0017] In one embodiment, the automatic feeding device further includes a vision inspection module; The vision inspection module is installed on the robot module and is used to detect the target object provided by the feeding module and generate a feedback signal. The feedback signal can control the operation of the robot module.

[0018] In one embodiment, the feeding module includes: Fixed bracket; A material rack is detachably mounted on the fixed support, and the material rack is configured with a material bin for storing the target objects arranged in layers; A first telescopic drive component is installed on the fixed bracket. The telescopic drive component is connected to a feeding component. The feeding component is located below the material rack and can sequentially push the target object away from the material rack.

[0019] In one embodiment, the fixing bracket includes a first limiting part and a second limiting part that are vertically arranged; The first limiting part is provided on the movement path of the feeding component and is used to abut and limit the target object pushed by the feeding component. The fixed bracket is also provided with a second telescopic drive member. The second telescopic drive member and the second limiting part are located on two opposite sides of the feeding member, and the second telescopic drive member can push the target object pushed by the feeding member against the second limiting part.

[0020] Understandably, by having the first and second limiting parts work together to act on the target object and form a contact limit with it, the feeding module achieves precise positioning of the target object. This creates conditions for the subsequent robot module to stably and reliably grasp and transport the target object.

[0021] Due to the application of the above technical solution, this utility model has the following advantages compared with the prior art: The direction adjustment module and automatic feeding device claimed in this application utilize a cam's working surface to alternately push two stop bars, causing one stop bar to work in conjunction with a limiting plate to automatically retract after adjusting the target object's orientation. Simultaneously, the other stop bar provides support for the target object in the through slot of the orientation adjustment component. The entire adjustment process requires only one first rotary drive component, effectively reducing manufacturing costs while meeting the target object's orientation adjustment requirements, thus providing good economic benefits for its widespread application in automated equipment. Attached Figure Description

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

[0023] Figure 1 This is a schematic diagram of the direction adjustment module provided in this application.

[0024] Figure 2 This is a schematic diagram of the forward and reverse flipping mechanism provided in this application.

[0025] Figure 3 This is a schematic diagram of the automatic feeding device provided in this application.

[0026] Figure 4 This is a structural schematic diagram of the feeding module provided in this application.

[0027] Reference numerals: 1000, Automatic feeding device; 100, Direction adjustment module; 10, Forward and reverse flipping mechanism; 11, First rotary drive component; 12, Forward and reverse adjustment component; 121, Limiting plate; 122, Through groove; 13, Cam; 131, Working surface; 14, Stop bar assembly; 141, Stop bar; 1411, Extending protrusion; 142, Rolling element; 143, Rolling surface; 144, Elastic element; 15, Drive shaft; 16, Coupling; 20, Left and right flipping mechanism; 21, Second rotary drive component; 22. Left and right adjustment parts; 30. Outer shell; 200. Feeding module; 210. Fixed bracket; 211. Material rack positioning parts; 212. First limiting part; 213. Second limiting part; 214. Second telescopic drive part; 220. Material rack; 221. Material bin; 222. Material box; 223. Cover plate; 224. Positioning pin; 230. First telescopic drive part; 231. Feeding part; 300. Robot module; 310. Gripper module; 400. Vision inspection module; 1100. Target object. Detailed Implementation

[0028] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] It should be noted that when a component is said to be "located on" another component, it can be directly located on the other component or may have an intervening component. When a component is considered to be "located on" another component, it can be directly located on the other component or may have an intervening component. When a component is considered to be "fixed to" another component, it can be directly fixed to the other component or may have an intervening component.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0031] The orientation adjustment module 100 claimed in this application is capable of adjusting the front / back and left / right orientation of a target object 1100 according to usage requirements. Here, the target object 1100 is a board or other object that has a clearly defined front / back and left / right orientation in space.

[0032] like Figure 1 , Figure 2 As shown, the direction adjustment module 100 provided in this application includes a forward / reverse flipping mechanism 10. The forward / reverse flipping mechanism 10 includes a first rotary drive 11, a forward / reverse adjustment component 12, a cam 13, and a stop bar assembly 14. The forward / reverse adjustment component 12 is connected to the first rotary drive 11. One end of the forward / reverse adjustment component 12 along its axial direction is connected to a limiting plate 121. The limiting plate 121 is constructed with a through groove 122 for insertion and engagement with a target object 1100. The cam 13 is located on the side of the forward / reverse adjustment component 12 away from the limiting plate 121 and is connected to the first rotary drive 11. The rotary drive component 11 is connected to the transmission, and the cam 13 is constructed with a working surface 131. The baffle assembly 14 includes two baffles 141 arranged parallel to each other. The two baffles 141 pass through the positive and negative adjustment component 12 and are slidably connected to the positive and negative adjustment component 12 respectively. The two baffles 141 abut against the working surface 131 for limitation. One of the two baffles 141 can extend to the position of the through groove 122 under the push of the working surface 131 to support the target object 1100 located in the through groove 122, while the other retracts and disengages from the through groove 122.

[0033] As can be seen from the above, the direction adjustment module 100 of this application uses the working surface 131 of the cam 13 to alternately push two stop bars 141, so that one of the stop bars 141 works in coordination with the limiting plate 121 and automatically retracts after the forward and reverse adjustment of the target object 1100 is completed. At the same time, the other stop bar 141 provides support for the target object 1100 in the through groove 122 of the forward and reverse adjustment component 12. The entire adjustment process only requires one first rotary drive component 11. While meeting the requirements of the forward and reverse adjustment function of the target object 1100, it effectively reduces the manufacturing cost and provides good economic benefits for its promotion and application in automated equipment.

[0034] In some embodiments, the first rotary drive 11 is configured as a servo motor, a stepper motor, a rotary cylinder, or other device capable of providing rotary driving force, which will not be elaborated here.

[0035] like Figure 2 As shown, in some embodiments, each stop bar 141 is rotatably connected to a rolling element 142; the rolling element 142 is constructed with a rolling surface 143, which is disposed against the working surface 131. That is to say, in this embodiment, the stop bar 141 realizes the force transmission between itself and the working surface 131 of the cam 13 through the rolling element 142. Utilizing the rotatable characteristic of the rolling element 142, the friction between the working surface 131 of the cam 13 and the stop bar 141 is rolling friction. This can reduce the frictional resistance when the cam 13 pushes the stop bar 141, which helps to reduce the power requirement of the first rotary drive member 11, thereby improving the energy efficiency and economy of the forward and reverse flipping mechanism 10.

[0036] Here, the rolling element 142 is configured as a bearing, specifically, the bearing can be mounted to the extended protrusion 1411 formed on the retainer 141. It is understood that those skilled in the art can also configure the rolling element 142 as a bushing, etc., which will not be elaborated here.

[0037] like Figure 2 As shown, in some embodiments, the baffle 141 is disposed against the limiting plate 121, so that the portion of the baffle 141 located below the through groove 122 can serve as the bottom of the through groove 122, thereby improving the stability of the target object 1100 when it is contained in the through groove 122.

[0038] like Figure 2 As shown, in some embodiments, each stop bar 141 is connected to an elastic element 144, and the elastic element 144 can provide the corresponding stop bar 141 with an elastic force to abut against the working surface 131. That is to say, once the stop bar 141 loses the support of the working surface 131 of the cam 13, the stop bar 141 can move towards the working surface 131 under the push of the elastic element 144, so that the stop bar 141 continues to abut against the working surface 131, and ensures that the transmission gap between the two is always eliminated during the rotation of the cam 13. This can improve the action response accuracy of the stop bar 141 when it retracts, thereby ensuring that the stop bar 141 can disengage from the through groove 122 in a timely and reliable manner, and ensuring the smooth progress of subsequent processes.

[0039] Here, the elastic element 144 is configured as a compression spring, with the spring portion extending into the corresponding stop bar 141 and abutting against and limiting the stop bar 141 in a compressed manner. It is understood that those skilled in the art can also configure the elastic element 144 as a tension spring, rubber sleeve, etc., which will not be elaborated here.

[0040] like Figure 2 As shown, in some embodiments, the forward and reverse flipping mechanism 10 further includes a drive shaft 15; the drive shaft 15 is connected to the first rotary drive member 11 via a coupling 16; and the cam 13 and the forward and reverse adjustment member 12 are both mounted on the drive shaft 15 and connected to the drive shaft 15, so that the first rotary drive member 11 can drive the cam 13 and the forward and reverse adjustment member 12 to rotate simultaneously via the drive shaft 15, and cooperate with the limiting plate 121 via a stop bar 141 to achieve the purpose of adjusting the forward and reverse direction of the target object 1100.

[0041] As shown in Figure 1, in some embodiments, the direction adjustment module 100 further includes a left-right flipping mechanism 20. The left-right flipping mechanism 20 includes a second rotary drive member 21 and a left-right adjustment member 22. The left-right adjustment member 22 is connected to the second rotary drive member 21 and is used to support the target object 1100. That is, in this embodiment, the left-right flipping mechanism 20 directly drives the left-right adjustment member 22 to rotate through the second rotary drive member 21 to adjust the left-right direction of the target object 1100. This simplifies the transmission structure while meeting the functional requirements, thereby reducing the complexity and manufacturing cost of the left-right flipping mechanism 20.

[0042] Here, the second rotary drive 21 is configured as a rotary cylinder. It is understood that, to those skilled in the art, the second rotary drive 21 may also be a servo motor, pneumatic motor, etc., which will not be elaborated here.

[0043] In some embodiments, the left and right adjustment member 22 is configured with a receiving cavity (not shown), and the left and right adjustment member 22 can receive the target object 1100 through the receiving cavity, and realize the bearing of the target object 1100 by the left and right adjustment member 22. It should be noted that the shape of the receiving cavity on the left and right adjustment member 22 is adapted to the target object 1100.

[0044] like Figure 1 As shown, in some embodiments, the direction adjustment module 100 also includes a housing 30, and the forward and reverse flipping mechanism 10 and the left and right flipping mechanism 20 are both installed on the housing 30. That is, the forward and reverse flipping mechanism 10 and the left and right flipping mechanism 20 are integrated into the same housing 30. This can reduce the overall structural size of the direction adjustment module 100 and reduce the space required for its assembly, which is beneficial to the layout of the direction adjustment module 100 in the automatic feeding device 1000.

[0045] like Figure 3 As shown, this application also provides an automatic feeding device 1000, including a feeding module 200, a robot module 300 and the aforementioned direction adjustment module 100; and the robot module 300 can sequentially transfer the target object 1100 provided by the feeding module 200 to the direction adjustment module 100.

[0046] It should be noted that the robot module 300 integrates a gripper module 310, and the robot module 300 can grasp the target object 1100 using a suction cup via the gripper module 310. Furthermore, when the robot module 300 is operating, it can transfer the target object 1100 with errors in orientation (positive / negative and / or left / right) to the direction adjustment module 100. Specifically, the target object 1100 with errors in orientation (positive / negative) can be transferred to the through slot 122 of the limiting plate 121; or, the target object 1100 with errors in left / right orientation can be transferred to the receiving cavity on the left / right adjustment member 22.

[0047] like Figure 3 As shown, in some embodiments, the automatic feeding device 1000 further includes a vision detection module 400, which is mounted on the robot module 300. The vision detection module 400 detects the target object 1100 provided by the feeding module 200 and generates a feedback signal, which controls the operation of the robot module 300. In other words, in this embodiment, the robot module 300 can accurately grasp and transport the target object 1100 based on the vision detection results of the vision detection module 400.

[0048] Here, the vision inspection module 400 is configured as a CCD camera.

[0049] like Figure 4 As shown, in some embodiments, the feeding module 200 includes a fixed bracket 210, a material rack 220, and a first telescopic drive member 230. The material rack 220 is detachably installed on the fixed bracket 210 and has a material bin 221 for storing stacked target objects 1100. The first telescopic drive member 230 is installed on the fixed bracket 210 and is connected to a feeding member 231. The feeding member 231 is located below the material rack 220 and can sequentially push the target objects 1100 out of the material rack 220. In other words, when the feeding module 200 of this embodiment is running, after the first telescopic drive member 230 pushes the target object 1100 located at the bottom layer away from the material rack 220 through the feeding member 231, the target object 1100 in the material rack 220 hopper 221 will fall to the feeding member 231 in sequence under its own gravity, thereby realizing the function of the feeding module 200 to provide the target object 1100 in sequence when it is running.

[0050] It should be noted that after the feeding component 231 pushes out the bottommost target object 1100 in the material rack 220, the feeding component 231 will immediately switch to carrying the remaining target objects 1100 above, thereby ensuring that the target objects 1100 in the material rack 220 can be removed from the material rack 220 one by one and stably.

[0051] like Figure 4 As shown, in some embodiments, the fixed bracket 210 is provided with two material rack positioning members 211. The two material rack positioning members 211 can be simultaneously inserted and engaged with the material rack 220, so that the material rack 220 can be assembled and positioned on the fixed bracket 210. This facilitates the assembly and disassembly of the material rack 220 on the fixed bracket 210 and ensures the accuracy of the position of the material rack 220 when it is assembled on the fixed bracket 210.

[0052] like Figure 4As shown, in some embodiments, the fixed bracket 210 includes a vertically arranged first limiting part 212 and a second limiting part 213; the first limiting part 212 is disposed on the movement path of the feeding member 231 and is used to abut and limit the target object 1100 pushed by the feeding member 231; and the fixed bracket 210 is also provided with a second telescopic drive member 214, the second telescopic drive member 214 and the second limiting part 213 are disposed on two opposite sides of the feeding member 231, and the second telescopic drive member 214 can push the target object 1100 pushed by the feeding member 231 against the second limiting part 213. That is to say, the feeding module 200 of this embodiment can work together with the first limiting part 212 and the second limiting part 213 to act on the target object 1100 and form an abutment limit with it, thus realizing the precise positioning of the target object 1100 by the feeding module 200, which creates conditions for the subsequent robot module 300 to stably and reliably grasp and transport the target object 1100.

[0053] Here, both the first telescopic drive component 230 and the second telescopic drive component 214 are configured as telescopic cylinders. It is understood that, to those skilled in the art, the first telescopic drive component 230 and the second telescopic drive component 214 could also be configured as hydraulic cylinders or other drive components that can provide telescopic power, which will not be elaborated here.

[0054] like Figure 4 As shown, in some embodiments, the material rack 220 includes a material box 222 and a cover plate 223. The cover plate 223 is detachably connected to the material box 222 and is used to control the opening / closing of the material box 222. Thus, when it is necessary to load the target object 1100 onto the material rack 220, the user removes the entire material rack 220 from the fixed bracket 210, then opens the cover plate 223 and manually stacks the target object 1100 into the material box 222, and then closes the cover plate 223 again to complete the loading operation.

[0055] like Figure 4 As shown, in some embodiments, the material rack 220 further includes a positioning pin 224, which can be tightly fitted with the cover plate 223 after passing through the material box 222, thereby limiting the cover plate 223 to the material box 222.

[0056] like Figure 4 As shown, there are two positioning pins 224, which can pass through the material box 222 from the top or bottom of the hopper 221, respectively. When the two positioning pins 224 are inserted into the material box 222 from the top, they do not affect the storage of the target object 1100 in the hopper 221; when the two positioning pins 224 are inserted into the material box 222 from the bottom, the part of them extending into the hopper 221 can support the stacked target object 1100, effectively preventing the target object from falling out of the rack 220, thereby meeting the usage requirements when the rack 220 is reassembled on the fixed bracket 210.

[0057] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0058] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present utility model and are not intended to limit the present utility model. Any appropriate changes and variations made to the above embodiments within the scope of the essential spirit of the present utility model shall fall within the scope of protection claimed by the present utility model.

Claims

1. A direction adjustment module, characterized in that, The direction adjustment module (100) includes a forward and reverse flipping mechanism (10), which includes: First rotary drive (11); The forward and reverse adjustment component (12) is connected to the first rotary drive component (11) in a transmission connection. One end of the forward and reverse adjustment component (12) along its axial direction is connected to a limiting plate (121). The limiting plate (121) is constructed with a through groove (122), which is used to insert and cooperate with the target object (1100). A cam (13) is located on the side of the positive and negative adjustment member (12) away from the limiting plate (121) and is connected to the first rotary drive member (11) in a transmission manner. The cam (13) has a working surface (131). The baffle assembly (14) includes two baffles (141) arranged parallel to each other. The two baffles (141) pass through the positive and negative adjustment member (12) and are slidably connected to the positive and negative adjustment member (12) respectively. The two baffles (141) abut against the working surface (131) for limitation. One of the two baffles (141) can extend to the position of the through groove (122) under the push of the working surface (131) to support the target object (1100) located in the through groove (122), while the other retracts and disengages from the through groove (122).

2. The direction adjustment module according to claim 1, characterized in that, Each of the aforementioned baffles (141) is rotatably connected to a rolling element (142). The rolling element (142) is configured with a rolling surface (143), which is disposed against the working surface (131).

3. The direction adjustment module according to claim 1, characterized in that, Each of the baffles (141) is connected to an elastic element (144), and the elastic element (144) can provide the corresponding baffle (141) with an elastic force that abuts against the working surface (131).

4. The direction adjustment module according to claim 1, characterized in that, The forward and reverse flipping mechanism (10) also includes a drive shaft (15). The drive shaft (15) is connected to the first rotary drive (11) via a coupling (16); and the cam (13) and the forward and reverse adjustment member (12) are both mounted on the drive shaft (15) and connected to the drive shaft (15) in a driving manner.

5. The direction adjustment module according to claim 1, characterized in that, The direction adjustment module (100) further includes a left-right flipping mechanism (20), which includes: Second rotary drive (21); The left and right adjustment member (22) is connected to the second rotation drive member (21) for transmission, and the left and right adjustment member (22) is used to carry the target object (1100).

6. The direction adjustment module according to claim 5, characterized in that, The direction adjustment module (100) also includes a housing (30); Both the forward and reverse flipping mechanism (10) and the left and right flipping mechanism (20) are installed on the outer shell (30).

7. An automatic feeding device, characterized in that, The automatic feeding device (1000) includes a feeding module (200), a robot module (300), and a direction adjustment module (100) according to any one of claims 1 to 6. The robot module (300) can sequentially transfer the target object (1100) provided by the loading module (200) to the direction adjustment module (100).

8. The automatic feeding device according to claim 7, characterized in that, The automatic feeding device (1000) also includes a vision inspection module (400). The vision inspection module (400) is installed on the robot module (300) and is used to detect the target object (1100) provided by the feeding module (200) and generate a feedback signal. The feedback signal can control the robot module (300) to work.

9. The automatic feeding device according to claim 7, characterized in that, The feeding module (200) includes: Fixed bracket (210); The rack (220) is detachably mounted on the fixed support (210). The rack (220) is equipped with a hopper (221) for storing the stacked target objects (1100). The first telescopic drive component (230) is installed on the fixed bracket (210). The telescopic drive component is connected to a feeding component (231). The feeding component (231) is located below the material rack (220) and can push the target object (1100) away from the material rack (220) in sequence.

10. The automatic feeding device according to claim 9, characterized in that, The fixed bracket (210) includes a first limiting part (212) and a second limiting part (213) that are vertically arranged. The first limiting part (212) is provided on the movement path of the feeding part (231) and is used to abut and limit the target object (1100) pushed by the feeding part (231); The fixed bracket (210) is also provided with a second telescopic drive member (214). The second telescopic drive member (214) and the second limiting part (213) are located on two opposite sides of the feeding member (231). The second telescopic drive member (214) can push the target object (1100) pushed by the feeding member (231) against the second limiting part (213).

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