Feeding mechanism

Abstract

A feeding mechanism, comprising a rack (1), a manipulator (2), a temporary-storage table (3), a lifting taking and placing assembly and a material-box lifting assembly (6), wherein the rack (1) is provided with a transfer bin (11), a feeding port (12) and a docking port (13); the lifting taking and placing assembly and the material-box lifting assembly (6) are arranged in the transfer bin (11); the temporary-storage table (3) comprises supporting arms (31), and the supporting arms (31) can extend into the transfer bin (11) through the docking port (13); the material-box lifting assembly (6) drives a material box (7) to ascend and leave the supporting arms (31); the lifting taking and placing assembly comprises a translation assembly (4) and a material-tray lifting assembly (5), the translation assembly (4) being arranged on the material-tray lifting assembly (5), and the material-tray lifting assembly (5) being capable of driving the translation assembly (4) to move so as to lift a material tray extracted by the translation assembly (4) to the feeding port (12); and the manipulator is configured to clamp a tool turret on the material tray.

Description

A batching mechanism

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed on January 5, 2024, with application number: 202420033588.X, and invention name: "A dispensing mechanism", the entire content of which is incorporated by reference into this application. Technical Field

[0003] The present application relates to a dispensing mechanism. Background Art

[0004] PCB drilling machine is a common processing equipment in the PCB production process. The tool of the PCB drilling machine will continue to wear during the processing and needs to be replaced in time. Usually, the tool is placed in the cutter head. Therefore, the cutter head where the tool is placed needs to be replaced in time to ensure the supply of tools.

[0005] Currently, when replacing the cutter disc, a six-axis collaborative robot is required to grab the cutter disc from the tool box and transfer the cutter disc to the drilling machine so that the drilling machine can replace the cutter disc in time. Both the six-axis collaborative robot and the tool box need to be transported by the AGV smart car, which will result in high transportation costs for the cutter disc.

[0006] Summary of the Invention

[0007] The technical problem to be solved by the present application is to provide a batching mechanism to address the existing problem of high transportation costs when replacing a cutter disc.

[0008] In order to solve the above technical problems, the embodiment of the present application provides a batching mechanism, including a frame, a manipulator, a temporary storage table, a lifting and placing component, and a material box lifting component;

[0009] The frame is provided with a transfer warehouse, a feeding port and a docking port, the manipulator is provided on the frame, and the lifting and placing assembly and the material box lifting assembly are provided in the transfer warehouse;

[0010] The temporary storage platform includes a support arm for supporting the material box, the support arm can be extended into the transfer bin through the docking port, and the material box lifting assembly can drive the material box to rise and leave the support arm;

[0011] The lifting and placing assembly includes a translation assembly and a tray lifting assembly. The translation assembly is arranged on the tray lifting assembly. The translation assembly is used to take out the tray from the material box. The tray lifting assembly can drive the translation assembly to move in the vertical direction to lift the tray taken out by the translation assembly to the feed port; the manipulator is used to clamp the knife disc on the tray.

[0012] Optionally, a plurality of first positioning pins are provided on the support arm, and a plurality of first positioning holes are provided on the material box, and each of the first positioning pins can be inserted into a corresponding first positioning hole.

[0013] Optionally, the temporary storage table further comprises a base, and the support arm is connected to the base;

[0014] There are two support arms, namely a first support arm and a second support arm. The first support arm is provided with a first limit block, and the second support arm is provided with a second limit block. The first limit block and the second limit block are used to limit the placement position of the material box on the temporary storage table.

[0015] Optionally, the material box lifting assembly includes a material box driving component and a material box pallet. The material box driving component is arranged on the connecting seat, and the output end of the material box driving component is connected to the material box pallet. The material box pallet can drive the material box to move up and down under the drive of the material box driving component.

[0016] Optionally, the material box lifting assembly further includes a connecting seat, the connecting seat is arranged in the transfer bin, and the material box driving component is arranged on the connecting seat.

[0017] Optionally, a plurality of second positioning pins are provided on the material box support plate, and a plurality of second positioning holes are provided on the material box, and each of the second positioning pins can be correspondingly inserted into a second positioning hole.

[0018] Optionally, the translation assembly includes a dual-axis motor, a first transmission member, a second transmission member, a first clamping part and a second clamping part, and the two ends of the dual-axis motor are respectively connected to the first transmission member and the second transmission member, the first transmission member can drive the first clamping part to move, and the second transmission member drives the second clamping part to move.

[0019] Optionally, the material box includes a box body and a plurality of supporting members, the box body has a containing cavity, and the plurality of supporting members are spaced apart in a vertical direction to separate the containing cavity into multiple layers.

[0020] Optionally, a first plug interface and a second plug interface are provided on opposite sides of the box body, the first clamping part is plugged into the first plug interface and clamps one side of the material tray, and the second clamping part is plugged into the second plug interface and clamps the other side of the material tray.

[0021] Optionally, the support member includes a first support block and a second support block that are arranged opposite to each other, the first support block is arranged on a side of the material box having the first plug-in port, and the second support block is arranged on a side of the material box having the second plug-in port.

[0022] Optionally, the upper surface of the first support block includes a first exposed surface and a first abutting surface, the first abutting surface is used to abut the material tray, so that a first overlapping space is formed between the first exposed surface and the material tray, and the first clamping portion is located in the first plug interface and the first overlapping space;

[0023] The upper surface of the second support block includes a second exposed surface and a second abutting surface, the second abutting surface is used to abut the material tray and form a second overlapping space between the second exposed surface and the material tray, and the second clamping portion is located in the second plug interface and the second overlapping space.

[0024] Optionally, the first clamping part includes a first moving block, a first cylinder and a first clamping plate, the first moving block is connected to the first transmission member, the first cylinder is arranged on the first moving block, and the output end of the first cylinder is connected to the first clamping plate.

[0025] Optionally, the first clamping portion further includes a first mounting plate and a plurality of first guide rods, the first mounting plate is mounted on the first moving block, and the first guide rods are connected between the first mounting plate and the first clamping plate.

[0026] Optionally, the second clamping part includes a second moving block, a second cylinder and a second clamping plate, the second moving block is connected to the second transmission member, the second cylinder is arranged on the second moving block, and the output end of the second cylinder is connected to the second clamping plate.

[0027] Optionally, the second clamping portion further includes a second mounting plate and a plurality of second guide rods, the second mounting plate is mounted on the second moving block, and the second guide rods are connected between the second mounting plate and the second clamping plate.

[0028] Optionally, the tray lifting assembly includes a support frame, a lifting drive assembly and a bracket, the support frame is arranged in the transfer warehouse, the lifting drive assembly is connected to the support frame and connected to the bracket, the bracket is slidably connected to the support frame, and the bracket can drive the translation assembly to move up and down through the lifting drive assembly.

[0029] Optionally, a temporary storage position for the cutter disc is provided on the machine frame, and the temporary storage position for the cutter disc is suitable for cooperating with the manipulator to replace the cutter disc of the material tray with the cutter disc of the drilling machine.

[0030] The batching mechanism provided in the embodiment of the present application places the material box on the temporary storage table when replacing the cutter disc of the drilling machine, and transfers the material box to the frame through the material box lifting assembly. In order to facilitate the grabbing of the robot, the lifting and placing assembly can extract the material tray from the material box and lift it to the feed port. The cutter disc can be delivered to the drilling machine through the grabbing of the robot to realize batching. The robot is moved by the AGV smart car, and the material box does not need to be set on the smart car for transportation, which reduces the use of the smart car and can reduce the transportation cost of the tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] FIG1 is a schematic diagram of a batching mechanism provided in one embodiment of the present application;

[0032] FIG2 is a schematic diagram of a temporary storage station provided in one embodiment of the present application;

[0033] FIG3 is a schematic diagram of a translation assembly provided in one embodiment of the present application;

[0034] FIG4 is a schematic diagram of a tray lifting assembly provided in one embodiment of the present application;

[0035] FIG5 is a schematic diagram of a material box lifting assembly provided in one embodiment of the present application;

[0036] FIG6 is an axial schematic diagram of a material box provided in one embodiment of the present application;

[0037] FIG7 is a front view schematic diagram of a material box provided in one embodiment of the present application;

[0038] FIG8 is a bottom view schematic diagram of a material box provided in an embodiment of the present application.

[0039] The reference numerals in the specification are as follows:

[0040] 1. Frame; 11. Transfer bin; 12. Feed port; 13. Docking port; 14. Temporary storage position for the cutter head;

[0041] 2. Robotic arm;

[0042] 3. Temporary storage table; 31. Support arm; 311. First support arm; 3111. First stopper; 312. Second support arm; 3121. Second stopper; 313. First positioning pin; 32. Base; 321. First side wall; 322. Second side wall; 323. Third side wall;

[0043] 4. Translation assembly; 41. Dual-axis motor; 42. First transmission member; 43. Second transmission member; 44. First clamping portion; 441. First moving block; 442. First cylinder; 443. First clamping plate; 444. First mounting plate; 445. First guide rod; 45. Second clamping portion; 451. Second cylinder; 452. Second clamping plate; 453. Second mounting plate; 454. Second guide rod; 46. First connecting shaft; 47. Second connecting shaft;

[0044] 5. Tray lifting assembly; 51. Support frame; 52. Lifting drive assembly; 521. Lifting motor; 522. Rack; 53. Bracket;

[0045] 6. Material box lifting assembly; 61. Connecting seat; 62. Material box support plate; 621. Second positioning pin;

[0046] 7. Material box; 71. Box body; 711. First positioning hole; 712. Second positioning hole; 713. First plug interface; 714. Second plug interface; 72. Support member; 721. First support block; 722. Second support block; 73. First overlapping space; 74. Second overlapping space. DETAILED DESCRIPTION

[0047] In order to make the technical problems, technical solutions and beneficial effects solved by this application more clearly understood, this application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0048] As shown in Figures 1 to 8, an embodiment of the present application provides a batching mechanism, including a frame 1, a manipulator 2, a temporary storage table 3, a lifting and placing assembly, and a material box lifting assembly 6. The frame 1 is the frame of the AGV intelligent vehicle and can move on the ground. The material box 7 is placed on the temporary storage table 3, and the material box lifting assembly 6 can drive the material box 7 to move in the vertical direction. The frame 1 is provided with a transfer warehouse 11, a feed port 12 and a docking port 13. The feed port 12 and the docking port 13 can be connected to the transfer warehouse 11. The manipulator 2 is provided on the frame 1, and the lifting and placing assembly and the material box lifting assembly 6 are provided in the transfer warehouse 11.

[0049] The temporary storage table 3 includes a support arm 31 for supporting the material box 7. The frame 1 moves toward the temporary storage table 3, and the support arm 31 can extend into the transfer warehouse 11 through the docking port 13. At this time, the material box lifting assembly 6 is located below the support arm 31. The material box lifting assembly 6 can drive the material box 7 to move upward, so that the material box 7 leaves the support arm 31. The frame 1 is away from the temporary storage table 3 and can drive the material box 7 to move, so that the material box 7 leaves the temporary storage table 3 and remains in the transfer warehouse 11.

[0050] The lifting and placing assembly includes a translation assembly 4 and a tray lifting assembly 5. The translation assembly 4 is mounted on the tray lifting assembly 5 and drives the translation assembly 4 in the vertical direction. The material bin 7 contains multiple layers of trays, which can be removed and held by the translation assembly 4. The translation assembly 4 also drives the trays in the horizontal direction. After the translation assembly 4 removes the tray, the tray lifting assembly 5 drives the translation assembly 4 and the tray up and down together, lifting the tray to the feed port 12. Through the feed port 12, the robot 2 can grab the cutter disc placed on the tray. The cutter disc is used to feed the drilling machine tool.

[0051] When replacing the cutter disc of the drilling machine, the material box 7 is placed on the temporary storage table 3, and the material box 7 is transferred to the frame 1 through the material box lifting component 6. In order to facilitate the grabbing of the manipulator 2, the translation component of the lifting and placing component can take the material tray out of the material box 7, and the material tray lifting component can lift the material tray to the feeding port 12. The cutter disc can be delivered to the drilling machine by grabbing it through the manipulator 2 to realize the material batching. In this embodiment, the manipulator 2 is transported by the frame 1, and the material box 7 does not need to be set on the smart car for transportation, which can reduce the transportation cost of the tool.

[0052] In one embodiment, the manipulator 2 is a conventional multi-degree-of-freedom manipulator 2 , and a gripper assembly is provided at the free end of the manipulator 2 , which can grip the cutter disc from the material disc.

[0053] In one embodiment, as shown in Figures 1 and 2, the temporary storage platform 3 further includes a base 32, to which the support arm 31 is connected. The base 32 supports the material bin 7. The frame 1 moves toward the base 32, allowing the support arm 31 to extend into the transfer bin 11, and the material bin 7 on the support arm 31 to enter the transfer bin 11. The base 32 is a frame structure with an opening on one side. The frame structure has a docking space within it. The width of the frame is greater than the width of the frame. The frame 1 can be plugged into the docking space of the base 32, facilitating the material bin lifting assembly 6 to retrieve materials from the support arm 31.

[0054] In one embodiment, the support arm 31 is connected to the top of the base 32 , and the support arm 31 is a cantilever.

[0055] In one embodiment, as shown in FIG2 , two support arms 31 are provided, namely a first support arm 311 and a second support arm 312 . The first support arm 311 and the second support arm 312 jointly support the material box 7 . In a direction perpendicular to the insertion direction of the frame 1 , the base 32 has a first side wall 321 and a second side wall 322 disposed opposite each other. The frame 1 has a first vertical plate and a second vertical plate disposed opposite each other. The first support arm 311 is disposed adjacent to the first side wall 321 and has a first gap therebetween. The second support arm 312 is disposed adjacent to the second side wall 322 and has a second gap therebetween. When the frame 1 is mated with the base 32 , the first vertical plate is inserted into the first gap, and the second vertical plate is inserted into the second gap. Simultaneously, the first support arm 311 and the second support arm 312 are inserted into the transfer bin 11 through the docking port 13 , allowing the material box lifting assembly 6 to remove the material box 7 from the support arm 31 .

[0056] In one embodiment, the base 32 has a third sidewall 323, which is connected between the end of the first sidewall 321 away from the frame 1 and the end of the second sidewall 322 away from the frame 1. The first sidewall 321, the second sidewall 322, and the third sidewall 323 enclose a docking space. A first stopper 3111 is provided at the end of the first support arm 311 near the third sidewall 323, and a second stopper 3121 is provided at the end of the second support arm 312 near the third sidewall 323. The material box 7 abuts against the first stopper 3111 and the second stopper 3121, which can initially limit the placement of the material box 7 on the temporary storage table 3.

[0057] In one embodiment, as shown in Figures 2 and 8, a plurality of first positioning pins 313 are provided on the support arm 31, and a plurality of first positioning holes 711 are provided on the material box 7. When the material box 7 is placed on the temporary storage table 3, each first positioning pin 313 is inserted into the corresponding first positioning hole 711, so that the material box 7 can be accurately positioned on the support arm 31.

[0058] In one embodiment, as shown in Figures 1 and 5, the material box lifting assembly 6 includes a connecting seat 61, a material box driving member and a material box pallet 62. The connecting seat 61 is installed at the bottom of the frame 1 and is arranged in the transfer warehouse 11. The material box driving member is arranged on the connecting seat 61. The output end of the material box driving member is connected to the material box pallet 62. After the support arm 31 is inserted into the transfer warehouse 11, the material box pallet 62 can drive the material box 7 to move up and down under the drive of the material box driving member, so that the material box 7 can be separated from the temporary storage platform 3. The transfer of the material box 7 between the temporary storage platform 3 and the transfer warehouse 11 can be realized through the cooperation of the AGV intelligent vehicle and the material box lifting assembly 6.

[0059] In one embodiment, the material box driving member is a cylinder or a motor.

[0060] In one embodiment, as shown in Figure 5, a plurality of second positioning pins 621 are provided on the material box pallet 62, and a plurality of second positioning holes 712 are provided on the material box 7. When the material box pallet 62 lifts the material box 7, each second positioning pin 621 is inserted into the corresponding second positioning hole 712, which can realize the precise positioning of the material box 7 on the material box pallet 62 and prevent the material box 7 from shifting during the lifting process.

[0061] In one embodiment, as shown in FIG3 , the translation assembly 4 includes a dual-axis motor 41, a first transmission member 42, a second transmission member 43, a first clamping portion 44, and a second clamping portion 45. The dual-axis motor 41 is connected to the first transmission member 42 and the second transmission member 43 at both ends. The first clamping portion 44 is connected to the first transmission member 42, which drives the first clamping portion 44 to move horizontally. The second clamping portion 45 is connected to the second transmission member 43, which drives the second clamping portion 45 to move horizontally. The first clamping portion 44 and the second clamping portion 45 jointly clamp the material tray, and under the drive of the dual-axis motor 41, the material tray can be pulled out of the material bin 7.

[0062] Among them, as shown in Figure 1, the material box 7 is located below the feeding port 12. When the material tray is delivered to the feeding port 12, the dual-axis motor 41 drives the first clamping part 44 and the second clamping part 45 to move horizontally and approach the material box 7. After clamping the material tray, the first clamping part 44 and the second clamping part 45 drive the material tray away from the material box 7. Then, the material tray lifting assembly 5 drives the translation assembly 4 and the material tray to move upward. When it moves to above the material box 7, the dual-axis motor 41 drives the first clamping part 44 and the second clamping part 45 to move to the top of the material box 7. The material tray lifting assembly 5 lifts the material tray into the feeding port 12. The material tray can be extracted through the cooperation of the translation assembly 4 and the material tray lifting assembly 5, and the material box 7 can be bypassed to smoothly deliver the material tray to the feeding port 12.

[0063] In some alternative embodiments, the material box 7 may not be located below the feed port 12. After the dual-axis motor 41 drives the first clamping part 44 and the second clamping part 45 to extract the material tray, the material tray lifting assembly 5 directly drives the material tray to move upward until it reaches the feed port 12.

[0064] In one embodiment, as shown in FIG3 , the translation assembly 4 includes a first connecting shaft 46 and a second connecting shaft 47. The first transmission member 42 and the second transmission member 43 each include a driving pulley, a synchronous belt, and a driven pulley, with the synchronous belt being disposed around the driving pulley and the driven pulley. The dual-axis motor 41 has two output shafts, one of which is connected to the driving pulley of the first transmission member 42 via the first connecting shaft 46. The first clamping portion 44 is connected to the synchronous belt of the first transmission member 42. The other output shaft of the dual-axis motor 41 is connected to the driving pulley of the second transmission member 43 via the second connecting shaft 47. The second clamping portion 45 is connected to the synchronous belt of the second transmission member 43. When the dual-axis motor 41 is in operation, the first connecting shaft 46 and the second connecting shaft 47 can drive the synchronous belt of the first transmission member 42 and the synchronous belt of the second transmission member 43 to transmit synchronously, thereby causing the first clamping portion 44 and the second clamping portion 45 to move synchronously in the horizontal direction, thereby allowing the material tray to be smoothly withdrawn from the material bin 7.

[0065] In one embodiment, as shown in FIG6 and FIG7, the material box 7 includes a box body 71 and a plurality of support members 72. The box body 71 has a receiving cavity. The plurality of support members 72 are spaced apart in the vertical direction to separate the receiving cavity into multiple layers, and a material tray is provided in each layer.

[0066] A first insertion port 713 and a second insertion port 714 are provided on opposite sides of the housing 71. A first clamping portion 44 and a second clamping portion 45 are located on either side of the material box 7. The first clamping portion 44 plugs into the first insertion port 713 and clamps one side of the material tray, while the second clamping portion 45 plugs into the second insertion port 714 and clamps the other side of the material tray. Driven by the dual-axis motor 41, the first and second clamping portions 44 and 45 then pull the material tray out. The first and second insertion ports 713 and 714 allow the first and second clamping portions 44 and 45 to dock with the material tray without fully entering the accommodating cavity, making operation of the translation assembly 4 simple and convenient.

[0067] The first plug-in port 713 and the second plug-in port 714 penetrate the box body 71 along the direction of withdrawing the tray, so as to avoid interference with the first clamping portion 44 and the second clamping portion 45 during the process of withdrawing the tray.

[0068] In one embodiment, as shown in Figure 7, the support member 72 includes a first support block 721 and a second support block 722 arranged opposite to each other in the box body 71, the first support block 721 is arranged on the side of the material box 7 having the first plug-in port 713, and the second support block 722 is arranged on the side of the material box 7 having the second plug-in port 714. The material tray is supported on the first support block 721 and the second support block 722, and the position of each layer of the material tray is defined by the support member 72.

[0069] The upper surface of the first support block 721 includes a first exposed surface and a first abutting surface. The first abutting surface is used to abut the material tray, and a first overlapping space 73 is formed between the first exposed surface and the material tray. The first abutting surface is higher than the first exposed surface. The first clamping portion 44 is located in the first plug interface 713 and the first overlapping space 73, so that the first clamping portion 44 can extend under the material tray. Driven by the material tray lifting assembly, the first clamping portion 44 lifts the material tray away from the first abutting surface, and the material tray is taken out of the material box 7 through the dual-axis motor 41 and the first transmission member 42.

[0070] The upper surface of the second support block 722 includes a second exposed surface and a second abutting surface. The second abutting surface is used to abut the material tray, and a second overlapping space 74 is formed between the second exposed surface and the material tray. The second abutting surface is higher than the second exposed surface. The second clamping portion 45 is located in the second plug interface 714 and the second overlapping space 74, so that the second clamping portion 45 can extend under the material tray. Driven by the material tray lifting assembly, the second clamping portion 45 lifts the material tray away from the second abutting surface, and the material tray is taken out of the material box 7 by the dual-axis motor 41 and the second transmission member 43.

[0071] The first support block 721 and the second support block 722 are L-shaped structures.

[0072] In one embodiment, as shown in Figure 3, the first clamping part 44 includes a first moving block 441, a first cylinder 442 and a first clamping plate 443. The first moving block 441 is connected to the synchronous belt of the first transmission member 42. The first cylinder 442 is arranged on the first moving block 441. The output end of the first cylinder 442 is connected to the first clamping plate 443. The first cylinder 442 pushes the first clamping plate 443 to move toward the material box 7. The first clamping plate 443 enters the accommodating cavity through the first plug interface 713. The first clamping plate 443 extends to the bottom of the material tray, and under the action of the first cylinder 442, the first clamping plate 443 is tightly abutted against the material tray.

[0073] The second clamping portion 45 includes a second moving block (not shown), a second cylinder 451, and a second clamping plate 452. The second moving block is connected to the synchronous belt of the second transmission member 43. The second cylinder 451 is provided on the second moving block. The output end of the second cylinder 451 is connected to the second clamping plate 452. The second cylinder 451 pushes the second clamping plate 452 toward the material box 7. The second clamping plate 452 enters the accommodating cavity through the second plug port 714. The second clamping plate 452 extends below the material tray and, under the action of the second cylinder 451, is tightly abutted against the material tray. This allows the first clamping portion 44 and the second clamping portion 45 to clamp the material tray and move it, thereby achieving extraction.

[0074] In one embodiment, as shown in Figure 3, the first clamping portion 44 also includes a first mounting plate 444 and a plurality of first guide rods 445. The first mounting plate 444 is mounted on the first moving block 441. The first guide rods 445 are connected between the first mounting plate 444 and the first clamping plate 443. When the first cylinder 442 drives the first clamping plate 443 to move, the first guide rods 445 have a guiding effect on the movement of the first clamping plate 443.

[0075] The second clamping part 45 also includes a second mounting plate 453 and a plurality of second guide rods 454. The second mounting plate 453 is mounted on the second moving block. The second guide rods 454 are connected between the second mounting plate 453 and the second clamping plate 452. When the second cylinder 451 drives the second clamping plate 452 to move, the second guide rods 454 guide the movement of the second clamping plate 452.

[0076] In one embodiment, as shown in Figure 4, the material tray lifting assembly 5 includes a support frame 51, a lifting drive assembly 52 and a bracket 53. The support frame 51 is connected to the frame 1 and is arranged in the transfer warehouse 11. The lifting drive assembly 52 is connected to the support frame 51 and connected to the bracket 53. The bracket 53 is slidably connected to the support frame 51. The translation assembly 4 is arranged on the bracket 53. The bracket 53 can drive the translation assembly 4 to move up and down under the drive of the lifting drive assembly 52, thereby driving the material tray to move up and down.

[0077] The support frame 51 includes a plurality of sliding rods, and the bracket 53 is slidably connected to the sliding rods. The lifting drive assembly 52 includes a lifting motor 521, a gear (not shown in the figure) and a rack 522. The lifting motor 521 is arranged on the bracket 53, and the gear is connected to the output end of the lifting motor 521. The rack 522 is fixed on the support frame 51. The lifting motor 521 can drive the gear to rotate. Under the meshing action of the gear and the rack 522, the bracket 53 can move along the length direction of the rack 522, that is, move in the vertical reverse direction. At the same time, the sliding rod can guide the movement of the bracket 53 to prevent the bracket 53 from being skewed due to uneven force.

[0078] In one embodiment, as shown in Figures 1 and 2, a temporary cutterhead storage location 14 is provided on the machine frame 1. This temporary cutterhead storage location 14 is suitable for cooperating with a robot 2 to replace the cutterhead of the material tray with the cutterhead of the drilling machine. When the cutterhead of the drilling machine needs to be replaced, the robot 2 moves the cutterhead to be replaced to the temporary cutterhead storage location 14. The robot 2 then grabs the cutterhead from the material tray at the feed port 12 and delivers it to the drilling machine.

[0079] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. An ingredient mechanism, wherein, It includes a frame, a manipulator, a temporary storage table, a lifting picking and placing component, and a material box lifting component; The frame is provided with a transfer bin, a feeding port, and a docking port. The manipulator is arranged on the frame, and the lifting picking and placing component and the material box lifting component are arranged in the transfer bin; The temporary storage table includes a support arm for supporting the material box. The support arm can extend into the transfer bin through the docking port, and the material box lifting component can drive the material box to rise and leave the support arm; The lifting picking and placing component includes a translation component and a tray lifting component. The translation component is arranged on the tray lifting component. The translation component is used to take out the tray from the material box, and the tray lifting component can drive the translation component to move in the vertical direction to lift the tray taken out by the translation component to the feeding port; The manipulator is used to clamp the tool disc placed on the tray.

2. The batching mechanism according to claim 1, wherein, A plurality of first positioning pins are arranged on the support arm, and a plurality of first positioning holes are arranged on the material box. Each first positioning pin can be inserted into the corresponding first positioning hole.

3. The ingredient mechanism according to claim 1, wherein, The temporary storage table further includes a base, and the support arm is connected to the base; There are two support arms, namely a first support arm and a second support arm. A first limit block is arranged on the first support arm, and a second limit block is arranged on the second support arm. The first limit block and the second limit block are used for limiting the placement position of the material box on the temporary storage table.

4. The batching mechanism according to claim 1, wherein, The material box lifting component includes a material box driving part and a material box support plate. The output end of the material box driving part is connected to the material box support plate, and the material box support plate can drive the material box to move up and down under the drive of the material box driving part.

5. The batching mechanism according to claim 4, wherein, The material box lifting component further includes a connecting seat arranged in the transfer bin, and the material box driving part is arranged on the connecting seat.

6. The batching mechanism according to claim 4, wherein, A plurality of second positioning pins are arranged on the material box support plate, and a plurality of second positioning holes are arranged on the material box. Each second positioning pin can be correspondingly inserted into one of the second positioning holes.

7. The ingredient dispensing mechanism according to claim 1, wherein, The translation component includes a double-axis motor, a first transmission part, a second transmission part, a first clamping part, and a second clamping part. The two ends of the double-axis motor are respectively connected to the first transmission part and the second transmission part. The first transmission part can drive the first clamping part to move, and the second transmission part drives the second clamping part to move.

8. The batching mechanism according to claim 7, wherein, The material box includes a box body and a plurality of support parts. The box body has a receiving cavity, and the plurality of support parts are arranged at intervals in the vertical direction to divide the receiving cavity into multiple layers.

9. The batching mechanism according to claim 8, wherein, A first insertion port and a second insertion port are arranged on opposite sides of the box body. The first clamping part is inserted into the first insertion port and clamps one side of the tray, and the second clamping part is inserted into the second insertion port and clamps the other side of the receiving tray.

10. The batching mechanism according to claim 9, wherein, The support part includes a first support block and a second support block arranged opposite to each other. The first support block is arranged on the side of the material box with the first insertion port, and the second support block is arranged on the side of the material box with the second insertion port.

11. The batching mechanism according to claim 10, wherein, The upper surface of the first support block includes a first exposed surface and a first abutting surface. The first abutting surface is used to abut against the tray, so that a first overlapping space is formed between the first exposed surface and the tray. The first clamping portion is located within the first insertion opening and the first overlapping space; The upper surface of the second support block includes a second exposed surface and a second abutting surface. The second abutting surface is used to abut against the tray, so that a second overlapping space is formed between the second exposed surface and the tray. The second clamping portion is located within the second insertion opening and the second overlapping space.

12. The batching mechanism according to claim 7, wherein, The first clamping portion includes a first moving block, a first cylinder and a first clamping plate. The first moving block is connected to the first transmission member. The first cylinder is disposed on the first moving block, and the output end of the first cylinder is connected to the first clamping plate.

13. The batching mechanism according to claim 12, wherein, The first clamping portion further includes a first mounting plate and a plurality of first guiding rods. The first mounting plate is mounted on the first moving block, and the first guiding rods are connected between the first mounting plate and the first clamping plate.

14. The batching mechanism according to claim 7, wherein, The second clamping portion includes a second moving block, a second cylinder and a second clamping plate. The second moving block is connected to the second transmission member. The second cylinder is disposed on the second moving block, and the output end of the second cylinder is connected to the second clamping plate.

15. The batching mechanism according to claim 14, wherein, The second clamping portion further includes a second mounting plate and a plurality of second guiding rods. The second mounting plate is mounted on the second moving block, and the second guiding rods are connected between the second mounting plate and the second clamping plate.

16. The batching mechanism according to claim 1, wherein, The tray lifting assembly includes a support frame, a lifting drive assembly and a bracket. The support frame is disposed within the transfer bin. The lifting drive assembly is connected to the support frame and is connected to the bracket. The bracket is slidably connected to the support frame, and the bracket can drive the translation assembly to move up and down through the lifting drive assembly.

17. The ingredient mechanism according to claim 1, wherein, A tool disc temporary storage position is provided on the frame, and the tool disc temporary storage position is adapted to cooperate with the manipulator to replace the tool disc of the tray and the tool disc of the drilling machine.

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