CN111532781A

CN111532781A - Feeding device

Info

Publication number: CN111532781A
Application number: CN202010504065.5A
Authority: CN
Inventors: 蔡浩良
Original assignee: Borunte Robot Co Ltd
Current assignee: Borunte Robot Co Ltd
Priority date: 2020-06-05
Filing date: 2020-06-05
Publication date: 2020-08-14

Abstract

The invention relates to a feeding device. The feeding device of the invention comprises: the coarse positioning mechanism is used for coarse positioning of the workpiece; the fine positioning mechanism is used for fine positioning of the workpiece; the vibration disc is used for feeding the workpiece into the coarse positioning mechanism; and a conveying mechanism for conveying the workpiece from the coarse positioning mechanism to the fine positioning mechanism. The feeding device has the advantages of saving the area of a field and saving the time for manual feeding and discharging.

Description

Feeding device

Technical Field

The invention relates to the field of mechanical feeding equipment, in particular to a feeding device.

Background

Referring to fig. 1 and 2, fig. 1 is a perspective view of a stepped rotary body, and fig. 2 is a front view of the stepped rotary body, wherein the stepped rotary body 10 includes a disk portion 11 and a disk portion 12, wherein a large circular end surface of the disk portion 11 is disposed on a bottom surface of the disk portion 12, an axis of the disk portion 12 and an axis of the disk portion 11 are located on the same straight line, and a diameter of the large circular end surface of the disk portion 12 is smaller than a diameter of the bottom surface of the disk portion 11. Two ribs 13 are provided on the circumferential side surface of the circular table portion 12, and the two ribs 13 are symmetrical on both sides of the circular table portion 12 with respect to the axis of the circular table portion 12.

At present, the feeding mode of the round special-shaped product similar to the step-shaped rotator is basically a mode of using an artificial material placing table, a fool-proof structure is designed on the material placing table, and after the round special-shaped product is positioned, a robot grabs the round special-shaped product for feeding and discharging. However, the mode of using the manual material placing table has large occupied area, and the manual material placing and discharging is frequently needed, so that the storage capacity is small, and the manual work cannot be saved in a real sense.

Disclosure of Invention

Based on this, the invention aims to provide a feeding device, which has the advantages of saving the area of a field and saving the time for manual feeding and discharging.

A loading device, comprising: the coarse positioning mechanism is used for coarse positioning of the workpiece; the fine positioning mechanism is used for fine positioning of the workpiece; the vibration disc is used for feeding the workpiece into the coarse positioning mechanism; and a conveying mechanism for conveying the workpiece from the coarse positioning mechanism to the fine positioning mechanism.

Compared with the prior art, the feeding device disclosed by the invention adopts the vibration disc for feeding, the vibration disc is large in material storage, the field area can be saved, and the manual feeding and discharging time can be saved. And the coarse positioning mechanism is used for primarily adjusting the posture of the workpiece, then the conveying mechanism is used for conveying the workpiece with the adjusted posture to the fine positioning mechanism, and then the fine positioning mechanism is used for adjusting the direction of the workpiece, so that the directional feeding is realized.

Further, thick positioning mechanism includes thick locating support, the top of thick locating support is provided with the confession the work piece slides in and the first spout of location, the one end of first spout is the open end, the other end of first spout is the closed end, the open end of first spout is seted up the first side of thick locating support, the open end of first spout with the discharge end intercommunication of vibration dish, first spout is followed horizontally on the first side to keeping away from the direction of vibration dish extends in order to constitute the closed end of first spout, the width of first spout is less than the maximum diameter of work piece.

Further, the first chute may accommodate only a single said workpiece.

Further, the rough positioning mechanism further comprises an in-place sensor, the in-place sensor is arranged on one side of the first sliding groove, and the in-place sensor is used for detecting whether the workpiece is arranged at the closed end of the first sliding groove.

Further, fine positioning mechanism includes first power supply, fine positioning support, first power supply is used for the drive fine positioning support vertical lift, the both ends of fine positioning support all are provided with V type fastener, be equipped with on the V type fastener with work piece complex V type bayonet socket.

Further, the first power source may be a cylinder or a lead screw motor.

Furthermore, a discharging rail is arranged on the vibrating disc, a discharging end of the discharging rail is communicated with a feeding end of the coarse positioning mechanism, and the distance between the discharging end of the discharging rail and the feeding end of the coarse positioning mechanism allows the workpiece to slide into the coarse positioning mechanism from the discharging rail.

Furthermore, the position of the discharge rail close to the coarse positioning mechanism is provided with a second sliding groove, one end of the second sliding groove is an open end, the other end of the second sliding groove is a closed end, the open end of the second sliding groove is arranged on the discharge end face of the discharge rail, the second sliding groove extends along the feeding direction of the discharge rail on the discharge end face of the discharge rail to form the closed end of the second sliding groove, and the width of the second sliding groove is smaller than the maximum diameter of the workpiece.

Further, the carrying mechanism comprises a horizontal moving assembly, a vertical moving assembly and an object taking assembly, the horizontal moving assembly is used for driving the object taking assembly to horizontally move, the vertical moving assembly is used for driving the object taking assembly to vertically lift, and the object taking assembly is used for taking and placing the workpiece.

Further, the carrying mechanism further comprises a correcting mechanism, and the correcting mechanism is used for adjusting the direction of the workpiece.

Further, the horizontal movement assembly comprises a first guide rail, a first sliding block and a second power source, the guiding direction of the first guide rail is horizontally arranged, the first sliding block is arranged on the first guide rail in a sliding mode, and the second power source is used for driving the first sliding block to move.

Further, the second power source may be a screw motor or a cylinder.

Further, the vertical moving assembly comprises a second guide rail, a second sliding block and a third power source, the second guide rail is arranged on the first sliding block, the guide direction of the second guide rail is perpendicular to the guide direction of the second guide rail, the second sliding block is arranged on the second guide rail in a sliding mode, and the third power source is used for driving the second sliding block to move.

Further, the third power source may be a screw motor or a cylinder.

Furthermore, the object taking assembly comprises an object taking frame and a sucker, the object taking frame and the second sliding block move synchronously, and the sucker is arranged at the bottom of the object taking frame.

Furthermore, a position adjusting groove is formed in the article taking frame, the position adjusting groove extends along the radial direction of the workpiece, the sucking disc is arranged in the position adjusting groove in a sliding mode, and the sucking disc is detachably connected with the article taking frame.

Further, the straightening mechanism comprises a fourth power source and a detector, the fourth power source is arranged on the second sliding block and used for driving the article taking frame to rotate horizontally, the detector is arranged on the peripheral side of the workpiece and used for identifying the direction of the workpiece, and the fourth power source controls the rotation angle of the article taking frame according to the direction identified by the detector.

Further, the fourth power source is a motor.

Furthermore, the correcting mechanism further comprises a positioning plate, the positioning plate is located right above the fine positioning mechanism, a through hole for the workpiece to penetrate is formed in the positioning plate, the diameter of the through hole is smaller than the maximum diameter of the workpiece, and the detector is arranged on one side of the through hole.

For a better understanding and practice, the invention is described in detail below with reference to the accompanying drawings.

Drawings

FIG. 1 is a perspective view of a stepped rotary body;

FIG. 2 is a front view of a stepped rotary body;

FIG. 3 is a schematic structural diagram of a feeding device according to the first embodiment;

FIG. 4 is a schematic structural diagram of a coarse positioning mechanism according to a first embodiment;

FIG. 5 is a schematic structural diagram of a fine positioning mechanism according to an embodiment;

FIG. 6 is a schematic structural diagram of a vibrating disk according to an embodiment;

FIG. 7 is a schematic structural diagram of a carrying mechanism according to a first embodiment;

FIG. 8 is a schematic structural diagram of an orthotic mechanism according to one embodiment;

reference numerals:

10. a stepped rotary body; 11. a cake section; 12. a circular table portion; 13. a rib portion; 100. a frame; 110. a universal wheel; 120. supporting the adjusting foot; 200. a coarse positioning mechanism; 210. a coarse positioning bracket; 211. a first chute; 212. a first side surface; 220. an in-position sensor; 300. a fine positioning mechanism; 310. a base; 320. a first power source; 330. a fine positioning bracket; 331. a V-shaped clamping piece; 332. a V-shaped bayonet; 400. a vibrating pan; 410. a discharge rail; 411. a second chute; 500. a carrying mechanism; 510. a horizontal movement assembly; 511. a first guide rail; 512. a first slider; 513. a second power source; 514. a first buffer; 520. a vertical movement assembly; 521. a second guide rail; 522. a second slider; 523. a third power source; 524. a second buffer; 530. a fetching component; 531. taking the shelf; 532. a suction cup; 533. a position adjusting groove; 600. a correction mechanism; 610. a connecting seat; 620. a fourth power source; 630. a detector; 640. positioning a plate; 650. and (4) a support column.

Detailed Description

Example one

A feeding device, referring to fig. 1 to 3, comprises a frame 100, a coarse positioning mechanism 200, a fine positioning mechanism 300, a vibration plate 400, a carrying mechanism 500 and a straightening mechanism 600. The rack 100 is used for placing the coarse positioning mechanism 200, the fine positioning mechanism 300, the vibration plate 400, the carrying mechanism 500 and the straightening mechanism 600. The coarse positioning mechanism 200 is used for coarse positioning of the workpiece. The fine positioning mechanism 300 is used for fine positioning of a workpiece. The vibratory pan 400 is used to feed the workpiece into the coarse positioning mechanism 200. The conveyance mechanism 500 is used to convey the workpiece from the rough positioning mechanism 200 to the fine positioning mechanism 300. The alignment mechanism 600 is used to adjust the orientation of the workpiece. In the present embodiment, the workpiece is exemplified by a stepped rotary body 10, and the stepped rotary body 10 includes a disk portion 11 and a disk portion 12, wherein a large circular end surface of the disk portion 12 is provided on a bottom surface of the disk portion 11, an axis of the disk portion 12 and an axis of the disk portion 11 are located on the same straight line, and a diameter of the large circular end surface of the disk portion 12 is smaller than a diameter of the bottom surface of the disk. Two ribs 13 are provided on the circumferential side surface of the circular table portion 12, and the two ribs 13 are symmetrical on both sides of the circular table portion 12 with respect to the axis of the circular table portion 12.

The working process of the feeding device is as follows: firstly, the vibration disc 400 sends the workpiece into the coarse positioning mechanism 200, and the coarse positioning mechanism 200 performs coarse positioning on the workpiece; then, the conveying mechanism 500 conveys the workpiece in the coarse positioning mechanism 200 to the position right above the fine positioning mechanism 300; then, the correcting mechanism 600 adjusts the direction of the workpiece to match the workpiece with the fine positioning mechanism 300; finally, the carrying mechanism 500 puts the corresponding workpiece into the fine positioning mechanism 300, and waits for the manipulator of the next process to grab the workpiece.

Referring to fig. 3, in order to facilitate moving the apparatus, universal wheels 110 are installed at the bottom of the housing 100. In order to avoid the movement of the feeding device during operation, a supporting and adjusting foot 120 is further arranged at the bottom of the rack 100, and after the feeding device is moved in place, the rack 100 is supported by the supporting and adjusting foot 120, so that the universal wheel 110 is separated from the ground.

Referring to fig. 3 and 4, the coarse positioning mechanism 200 includes a coarse positioning bracket 210, and the coarse positioning bracket 210 is mounted on the frame 100 by bolts. A first sliding groove 211 for sliding and positioning the workpiece is provided on the top surface of the rough positioning bracket 210. One end of the first sliding groove 211 is an open end, and the other end of the first sliding groove 211 is a closed end. The open end of the first sliding chute 211 is opened on the first side surface 212 of the coarse positioning bracket 210, and the open end of the first sliding chute 211 is communicated with the discharge end of the vibrating plate 400. The first sliding groove 211 extends horizontally from the first side 212 of the rough positioning bracket 210 in a direction away from the vibratory pan 400 to constitute a closed end of the first sliding groove 211. The width of the first slide groove 211 is smaller than the maximum diameter of the workpieces so that the workpieces can be moved one by one to the closed end of the first slide groove 211. In actual operation, after the workpiece is fed into the first chute 211 by the vibrating tray 400, the posture of the workpiece from the vibrating tray 400 is corrected by the first chute 211, so that the cake part 11 of the workpiece is located above the first chute 211, the cake part 12 of the workpiece is located in the first chute 211, that is, the top surface of the coarse positioning support 210 abuts against the bottom surface of the cake part 11 of the workpiece to limit the degree of freedom of the workpiece in the vertical direction, and the two side walls of the first chute 211 abut against the peripheral side surfaces of the cake part 12 of the workpiece to limit the degree of freedom of the workpiece in the horizontal direction. Then, the workpiece moves to the closed end of the first slide groove 211 along the extending direction of the first slide groove 211. After the workpiece reaches the closed end of the first sliding chute 211, the closed end of the first sliding chute 211 abuts against the peripheral side surface of the circular table part 12 of the workpiece, so that the workpiece is roughly positioned. In addition, the first sliding chute 211 can only accommodate a single workpiece, and of course, the first sliding chute 211 can also accommodate a plurality of workpieces, and can be designed according to specific requirements.

Referring to fig. 3 and 4, the rough positioning mechanism 200 further includes an in-position sensor 220, the in-position sensor 220 is mounted on the rough positioning bracket 210, the in-position sensor 220 is located at one side of the closed end of the first slide groove 211, and the in-position sensor 220 is used for detecting whether the workpiece reaches the closed end of the first slide groove 211. When the arrival sensor 220 detects that an article is at the closed end of the first chute 211, the conveying mechanism 500 is started, and the conveying mechanism 500 conveys the roughly positioned workpiece to the fine positioning mechanism 300. In the present embodiment, the in-position sensor 220 employs a commercially available E2B-M12KN08 proximity switch. Of course, the in-place sensor 220 may also be an ultrasonic sensor, an infrared distance measuring sensor, or the like on the market, and is not limited in actual design.

Referring to fig. 3 and 5, the fine positioning mechanism 300 includes a base 310, a first power source 320, and a fine positioning bracket 330. Wherein the base 310 is mounted on the frame 100 by bolts. The first power source 320 is installed on the base 310 by bolts, and the first power source 320 is used for driving the fine positioning bracket 330 to vertically lift. The fine positioning bracket 330 is fixedly connected with the power output end of the first power source 320. Both ends of the fine positioning bracket 330 are provided with V-shaped catches 331, and the V-shaped catches 331 vertically extend upward from the ends of the fine positioning bracket 330. The V-shaped bayonet 332 is arranged at the top of the V-shaped clamping piece 331, and the V-shaped bayonet 332 is matched with the rib part 13 of the workpiece to realize the fine positioning of the workpiece. Specifically, the first power source 320 may be an air cylinder or a lead screw motor, in this embodiment, the first power source 320 employs a three-axis air cylinder on the market, and an expansion rod of the three-axis air cylinder is connected to a bottom surface of the fine positioning bracket 330. Specifically, after the workpiece is conveyed from the coarse positioning mechanism 200 to a position right above the V-shaped clamping piece 331 by the conveying mechanism 500, the direction of the workpiece is adjusted by the straightening mechanism 600, so that the rib 13 of the workpiece corresponds to the corresponding V-shaped clamping piece 331, then the V-shaped clamping piece 331 is driven to rise by the first power source 320, and the V-shaped bayonet 332 of the V-shaped clamping piece 331 is matched with the rib 13 of the workpiece, so that the workpiece can be placed on the fine positioning bracket 330, and the fine positioning of the workpiece is completed.

Referring to fig. 3 and 6, the vibration plate 400 is provided with a discharging rail 410. The discharge end of the discharge rail 410 corresponds to and communicates with the open end of the first chute 211 of the coarse positioning mechanism 200, and the distance between the discharge end of the discharge rail 410 and the open end of the first chute 211 is capable of allowing the workpiece to slide into the first chute 211 from the discharge rail 410, in this embodiment, the distance between the discharge end of the discharge rail 410 and the open end of the first chute 211 is 1-5 mm. By separating the vibration disk 400 from the coarse positioning mechanism 200, the vibration of the vibration disk 400 is prevented from affecting the coarse positioning mechanism 200, the fine positioning mechanism 300, the conveying mechanism 500, and the straightening mechanism 600.

Referring to fig. 3 and 6, a second sliding chute 411 is further disposed on the discharging rail 410 near the coarse positioning mechanism 200. One end of the second sliding slot 411 is an open end, the other end of the second sliding slot 411 is a closed end, and the width of the second sliding slot 411 is smaller than the maximum diameter of the workpiece. The open end of the second sliding chute 411 is opened on the discharging end face of the discharging rail 410, the open end of the second sliding chute 411 corresponds to and is communicated with the open end of the first sliding chute 211 of the coarse positioning mechanism 200, and the width of the open end of the second sliding chute 411 is smaller than that of the open end of the first sliding chute 211, so that the workpiece can slide into the first sliding chute 211 from the second sliding chute 411. The second sliding groove 411 extends from the discharge end surface of the discharge rail 410 along the feeding direction of the discharge rail 410 to form a closed end of the second sliding groove 411. In actual operation, the vibration plate 400 sends the workpiece to the discharging rail 410 by using its pulse battery iron, and the rail on the vibration plate 400 is used to adjust the posture of the workpiece in the process. After the workpiece falls into the second chute 411, the second chute 411 corrects the posture of the workpiece from the vibrating tray 400, such that the cake portion 11 of the workpiece is located above the second chute 411, the cake portion 12 of the workpiece is located in the second chute 411, that is, the inner bottom surface of the discharge rail 410 abuts against the bottom surface of the cake portion 11 of the workpiece to define the degree of freedom of the workpiece in the vertical direction, and both side walls of the second chute 411 abut against the circumferential side surfaces of the cake portion 12 of the workpiece to define the degree of freedom of the workpiece in the horizontal direction. Next, the workpieces after the posture adjustment slide into the first chute 211 of the rough positioning mechanism 200 along the second chute 411 one by one, and the feeding of the vibration plate 400 is completed.

Referring to fig. 3 and 7, the carrying mechanism 500 includes a horizontal moving assembly 510, a vertical moving assembly 520, and an object taking assembly 530. Wherein, the horizontal moving assembly 510 is used for driving the fetching assembly 530 to move horizontally. The vertical moving assembly 520 is used for driving the fetching assembly 530 to vertically ascend and descend. The picking assembly 530 is used for picking and placing a workpiece.

Referring to fig. 3 and 7, the horizontal moving assembly 510 includes a first guide rail 511, a first slider 512, and a second power source 513. The first slide rail is mounted on the frame 100 by a bolt, and the guiding direction of the first guide rail 511 is horizontally arranged. The first slider 512 is slidably disposed on the first guide rail 511, the first slider 512 horizontally reciprocates along the first guide rail 511, and the vertical movement assembly 520 and the fetching assembly 530 are mounted on the first slider 512. The second power source 513 is installed at one end of the first guide rail 511, a power output end of the second power source 513 is fixedly connected with the first sliding block 512, and the second power source 513 is used for driving the first sliding block 512 to move. The second power source 513 may be a screw motor or an air cylinder, and in this embodiment, the second power source 513 is a commercially available air cylinder. The loading device can realize the movement of the workpiece in the horizontal direction by using the horizontal moving component 510. In actual operation, when the arrival sensor 220 detects that a workpiece is placed at the closed end of the first chute 211 of the coarse positioning mechanism 200, the second power source 513 drives the first slider 512 to move, the first slider 512 horizontally moves along the first guide rail 511 in a direction close to the coarse positioning mechanism 200, so that the fetching assembly 530 reaches a position right above the workpiece in the coarse positioning mechanism 200, and the fetching assembly 530 corresponds to the workpiece, so that the fetching assembly 530 can conveniently suck the workpiece. After the object fetching assembly 530 fetches an object, the second power source 513 drives the first sliding block 512 to move, and the first sliding block 512 moves horizontally along the first guide rail 511 toward the fine positioning mechanism 300, so that the workpiece sucked by the object fetching assembly 530 reaches a position right above the fine positioning mechanism 300, and the workpiece corresponds to the fine positioning mechanism 300.

Referring to fig. 3 and 7, in order to limit and slow down the first slider 512, at least one first buffer 514 is disposed at both ends of the first guide rail 511, and these first buffers 514 are disposed in the moving space of the first slider 512, when the first slider 512 abuts against the first buffer 514 at one end of the first guide rail 511, it means that the fetching component 530 reaches right above the coarse positioning mechanism 200 to perform the fetching operation; when the first slider 512 abuts against the first buffer 514 at the other end of the first guide rail 511, the picking unit 530 reaches a position directly above the fine positioning mechanism 300, and the object placing operation is performed. In this embodiment, the first buffer 514 is a commercial buffer.

Referring to fig. 3 and 7, the vertical moving assembly 520 includes a second rail 521, a second slider 522, and a third power source 523. The second guide rail 521 is fixedly mounted on the first slider 512 through a bolt, and the guide direction of the second guide rail 521 is perpendicular to the guide direction. The second slider 522 is slidably disposed on the second guide rail 521, the second slider 522 vertically moves along the second guide rail 521, and the above-mentioned fetching assembly 530 is mounted on the second slider 522. The third power source 523 is installed at one end of the second rail 521, a power output end of the third power source 523 is fixedly connected with the second slider 522, and the third power source 523 is used for driving the second slider 522 to move. The third power source 523 may be a screw motor or an air cylinder, and in this embodiment, the third power source 523 is an air cylinder available on the market. The loading device can realize the lifting of the workpiece in the vertical direction by utilizing the vertical moving component 520. In actual operation, after the assembly 530 to be taken out moves to a position right above the coarse positioning mechanism 200, the third power source 523 drives the second slider 522 to move, and the second slider 522 moves vertically and downwardly along the second guide rail 521 in a direction close to the coarse positioning mechanism 200, so that the assembly 530 to be taken out can conveniently take out a workpiece. After the object fetching assembly 530 fetches an object, the third power source 523 drives the second slider 522 to move, the second slider 522 vertically moves upwards along the second guide rail 521 in a direction away from the coarse positioning mechanism 200, and the horizontally moving assembly 510 is used for conveying the fetched workpiece to a position right above the fine positioning mechanism 300. After the workpiece reaches the position right above the fine positioning mechanism 300, the third power source 523 drives the second slider 522 to move, and the second slider 522 vertically moves downwards along the second guide rail 521 in the direction close to the fine positioning mechanism 300, so that the workpiece is placed on the V-shaped clamp 331 of the fine positioning mechanism 300.

Referring to fig. 3 and 7, in order to limit and slow down the second sliding block 522, at least one second buffer 524 is disposed at both ends of the second guiding rail 521, and the second buffers 524 are in the moving space of the second sliding block 522, when the second sliding block 522 abuts against the second buffer 524 at one end of the second guiding rail 521, it means that the fetching assembly 530 reaches the highest position; when the second slider 522 abuts on the second buffer 524 at the other end of the second rail 521, it means that the fetching member 530 reaches the lowest position. In this embodiment, the second buffer 524 is a commercial buffer.

Referring to fig. 3 and 7, the fetching assembly 530 includes a fetching frame 531 and a sucking disc 532. The object-taking frame 531 and the second slider 522 move synchronously, and in this embodiment, the object-taking frame 531 is fixedly connected to the second slider 522 through bolts. The suction cup 532 is arranged at the bottom of the article taking frame 531, one end of the suction cup 532 is used for sucking the workpiece, and the other end of the suction cup 532 is detachably arranged on the article taking frame 531. In this embodiment, the fetching assembly 530 adopts four suction cups 532 to suck the workpiece, that is, one suction cup 532 is installed at each of four corners of the fetching frame 531, which helps to ensure that the fetching assembly 530 can suck the workpiece each time. Further, in order to accommodate workpieces of different diameters, a position adjustment groove 533 is provided on the fetching frame 531, the position adjustment groove 533 extends in a radial direction of the workpiece, and the suction cup 532 is slidably provided in the position adjustment groove 533. In order to adapt to the adjustment manner, an external thread is provided at an end portion of the suction cup 532, at least one nut is provided above and below the article taking frame 531, the nut is in threaded connection with the external thread, the suction cup 532 is fixed on the article taking frame 531 by using the upper nut and the lower nut, and the suction cup 532 and the article taking frame 531 may be in pin connection, bolt connection, and the like in addition to the above installation manner.

Referring to fig. 3 and 8, the corrective mechanism 600 includes a connecting seat 610, a fourth power source 620, and a detector 630. The connecting seat 610 is fixedly connected to the second slider 522 through a bolt. The fourth power source 620 and the second slider 522 move synchronously, that is, the fourth power source 620 is installed on the connecting seat 610 through a bolt, the power output end of the fourth power source 620 is detachably connected with the object fetching frame 531, and the fourth power source 620 is used for driving the object fetching frame 531 to rotate horizontally. The detector 630 is disposed on the peripheral side of the workpiece, and the detector 630 is used to identify the direction of the workpiece. In this embodiment, the detector 630 is a commercially available E2B-M12KN04 proximity switch. In actual operation, fourth power source 620 controls the rotation angle of object extracting rack 531 according to the direction identified by detector 630.

Referring to fig. 3 and 8, further, in order to prevent the workpiece from suddenly falling off the picking assembly 530 or falling off the fine positioning mechanism 300, the straightening mechanism 600 further includes a positioning plate 640, the positioning plate 640 is mounted on the base 310 of the fine positioning mechanism 300 through four supporting columns 650, and the positioning plate 640 is located right above the base 310. A through hole (not shown) for placing a workpiece is provided in the positioning plate 640, and the diameter of the through hole is smaller than the maximum diameter of the workpiece, that is, when the workpiece drops on the positioning plate 640, the top surface of the positioning plate 640 abuts against the bottom surface of the disk portion 11 of the workpiece to limit the degree of freedom of the workpiece in the vertical direction, and the disk portion 12 of the workpiece is inserted into the through hole. The detector 630 is mounted on the positioning plate 640, the detector 630 is positioned between the positioning plate 640 and the base 310 of the fine positioning mechanism 300, and the detector 630 is disposed on one side of the through hole. In actual operation, after the workpiece is moved to the position right above the fine positioning mechanism 300 by the horizontal moving assembly 510, the workpiece is firstly sent into the through hole of the positioning plate 640 by the vertical moving assembly 520, so that the workpiece enters the identification range of the detector 630; then the detector 630 recognizes the direction of the workpiece, and the fourth power source 620 controls the rotation angle of the object holding frame 531 according to the direction recognized by the detector 630, thereby adjusting the direction of the workpiece so that the rib 13 of the workpiece corresponds to the corresponding V-shaped clamper 331; finally, the V-shaped bayonet 332 of the V-shaped clamping piece 331 is matched with the rib part 13 of the workpiece, and the fetching component 530 releases the workpiece.

Example two

A loading device, its difference with embodiment one the loading device is: the object taking rack 531 is mounted on the second slider 522, and the fourth power source 620 is used for driving the fine positioning mechanism 300 to rotate horizontally; specifically, the output end of the fourth power source 620 is connected to the first power source 320, and the output end of the first power source 320 is connected to the fine positioning bracket 330, that is, the fourth power source 620 drives the first power source 320 and the fine positioning bracket 330 to rotate horizontally and synchronously, and the first power source 320 drives the fine positioning bracket 330 to vertically lift.

EXAMPLE III

A loading device is different from the loading device in the second embodiment in that: the output of first power supply 320 is connected with fourth power supply 620, and the output of fourth power supply 620 is connected with smart locating support 330, and first power supply 320 drives fourth power supply 620 and goes up and down with smart locating support 330 is synchronous vertical promptly, and fourth power supply 620 drives smart locating support 330 horizontal rotation.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.

Claims

1. A loading device, characterized in that, loading device includes:

a rough positioning mechanism (200) for rough positioning of the workpiece;

a fine positioning mechanism (300) for fine positioning of the workpiece;

a vibratory pan (400) for feeding the workpiece to the coarse positioning mechanism (200);

a transport mechanism (500) for transporting the workpiece from the coarse positioning mechanism (200) to the fine positioning mechanism (300).

2. The loading device according to claim 1, characterized in that: thick positioning mechanism (200) are including thick locating support (210), the top of thick locating support (210) is provided with the confession the work piece slides in and first spout (211) of location, the one end of first spout (211) is the open end, the other end of first spout (211) is the closed end, the open end of first spout (211) is seted up first side (212) of thick locating support (210), the open end of first spout (211) with the discharge end intercommunication of vibration dish (400), first spout (211) are followed first side (212) are improved level ground and are kept away from the direction of vibration dish (400) extends in order to constitute the closed end of first spout (211), the width of first spout (211) is less than the maximum diameter of work piece.

3. The loading device according to claim 2, characterized in that: the first chute (211) can accommodate only a single said workpiece.

4. The loading device according to claim 2, characterized in that: the rough positioning mechanism (200) further comprises an in-place sensor (220), the in-place sensor (220) is arranged on one side of the first sliding groove (211), and the in-place sensor (220) is used for detecting whether the workpiece exists at the closed end of the first sliding groove (211).

5. The loading device according to claim 1, characterized in that:

the fine positioning mechanism (300) comprises a first power source (320) and a fine positioning bracket (330), wherein the first power source (320) is used for driving the fine positioning bracket (330) to vertically lift, V-shaped clamping pieces (331) are arranged at two ends of the fine positioning bracket (330), and V-shaped bayonets (332) matched with the workpiece are arranged on the V-shaped clamping pieces (331);

the first power source (320) may be a cylinder or a lead screw motor.

6. The loading device according to claim 1, characterized in that: be provided with ejection of compact track (410) on vibration dish (400), the discharge end of ejection of compact track (410) with the feed end intercommunication of thick positioning mechanism (200), the discharge end of ejection of compact track (410) with distance between the feed end of thick positioning mechanism (200) allows the work piece is followed ejection of compact track (410) of locating and is slided in the thick positioning mechanism (200).

7. The loading device according to claim 6, characterized in that: the position that ejection of compact track (410) is close to coarse positioning mechanism (200) is provided with second spout (411), the one end of second spout (411) is the open end, the other end of second spout (411) is the closed end, the open end of second spout (411) is seted up on the discharge end face of ejection of compact track (410), second spout (411) are followed on the discharge end face of ejection of compact track (410) along the feeding direction of ejection of compact track (410) extends in order to constitute the closed end of second spout (411), the width of second spout (411) is less than the maximum diameter of work piece.

8. The loading device according to claim 1, characterized in that: the carrying mechanism (500) comprises a horizontal moving assembly (510), a vertical moving assembly (520) and an fetching assembly (530), wherein the horizontal moving assembly (510) is used for driving the fetching assembly (530) to move horizontally, the vertical moving assembly (520) is used for driving the fetching assembly (530) to vertically lift, and the fetching assembly (530) is used for fetching and placing the workpiece.

9. The loading device according to claim 8, characterized in that: the feeding device further comprises a correcting mechanism (600), and the correcting mechanism (600) is used for adjusting the direction of the workpiece.

10. The loading device according to claim 9, characterized in that:

the horizontal moving assembly (510) comprises a first guide rail (511), a first sliding block (512) and a second power source (513), the guiding direction of the first guide rail (511) is horizontally arranged, the first sliding block (512) is arranged on the first guide rail (511) in a sliding manner, and the second power source (513) is used for driving the first sliding block (512) to move;

the second power source (513) may be a screw motor or a cylinder;

the vertical moving assembly (520) comprises a second guide rail (521), a second sliding block (522) and a third power source (523), the second guide rail (521) is arranged on the first sliding block (512), the guide direction of the second guide rail (521) is vertically arranged, the second sliding block (522) is arranged on the second guide rail (521) in a sliding manner, and the third power source (523) is used for driving the second sliding block (522) to move;

the third power source (523) may be a screw motor or a cylinder;

the fetching assembly (530) comprises a fetching frame (531) and a sucking disc (532), the fetching frame (531) and the second sliding block (522) move synchronously, and the sucking disc (532) is arranged at the bottom of the fetching frame (531);

a position adjusting groove (533) is formed in the object fetching frame (531), the position adjusting groove (533) extends along the radial direction of the workpiece, the suction cup (532) is slidably arranged in the position adjusting groove (533), and the suction cup (532) is detachably connected with the object fetching frame (531);

the straightening mechanism (600) comprises a fourth power source (620) and a detector (630), wherein the fourth power source (620) is arranged on the second sliding block (522), the fourth power source (620) is used for driving the object taking frame (531) to rotate horizontally, the detector (630) is arranged on the peripheral side of the workpiece, the detector (630) is used for identifying the direction of the workpiece, and the fourth power source (620) controls the rotating angle of the object taking frame (531) according to the direction identified by the detector (630);

the fourth power source (620) is a motor;

straightening mechanism (600) still includes locating plate (640), locating plate (640) are located finish positioning mechanism (300) directly over be provided with the confession on locating plate (640) the through-hole that the work piece wore to establish, the diameter of through-hole is less than the maximum diameter of work piece, detector (630) set up one side of through-hole.