CN116281142A

CN116281142A - Feeding device and feeding method

Info

Publication number: CN116281142A
Application number: CN202310539300.6A
Authority: CN
Inventors: 裴侨解; 曲东升; 柏锴霖; 李长峰; 王吉; 李坤; 王洪兵; 魏云飞; 焦状武; 查进
Original assignee: Changzhou Mingseal Robotic Technology Co Ltd
Current assignee: Changzhou Mingseal Robotic Technology Co Ltd
Priority date: 2023-05-15
Filing date: 2023-05-15
Publication date: 2023-06-23
Anticipated expiration: 2043-05-15
Also published as: CN116281142B

Abstract

The invention discloses a feeding device and a feeding method. The loading attachment includes: the feeding mechanism is used for conveying the workpiece tray assembly; the movement mechanism can take the workpiece tray assembly out of the material receiving mechanism and move the workpiece tray assembly to a workpiece grabbing position; the conveying mechanism is used for grabbing workpieces from the workpiece tray assembly; and the turnover conveying mechanism is used for receiving the workpiece from the conveying mechanism and can convey and turn the workpiece. The automatic extraction to the work piece can be realized through the motion, can follow the motion through transport mechanism and snatch the work piece voluntarily, can accept the work piece and transfer the work piece to the next link from transport mechanism through upset transfer mechanism. From this, through the mutual cooperation of feed mechanism, motion, transport mechanism and upset transfer mechanism, can realize the automatic feeding of work piece, not only can improve work efficiency, can reduce artifical working strength moreover.

Description

Feeding device and feeding method

Technical Field

The invention relates to the technical field of conveying industrial equipment, in particular to a feeding device and a feeding method.

Background

In the manufacturing industry, automated manufacturing is a trend in the development of the manufacturing industry. At present, an automatic production line mode is adopted for most workpiece processing, but although the processing mode is automatically designed, the workpiece feeding mode is also a manual feeding mode, and the manual mode at least has the following hidden trouble: 1. the labor intensity is high, and mistakes are easy to be made; 2. the working efficiency is low.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems existing in the prior art.

Therefore, the invention provides the feeding device and the feeding method, which can improve the working efficiency and lighten the labor intensity.

According to the embodiment of the invention, the feeding device comprises: the feeding mechanism is used for conveying a workpiece tray assembly, and workpieces to be processed are placed on the workpiece tray assembly; the motion mechanism can take the workpiece tray assembly out of the feeding mechanism and drive the workpiece tray assembly to move to a workpiece grabbing position along the z direction; a handling mechanism for gripping a workpiece from the workpiece tray assembly; the overturning and transferring mechanism can move along the z direction to receive the workpiece from the carrying mechanism, can drive the workpiece to move along the y direction to the next working procedure and can also overturn the workpiece to an angle required by the next working procedure.

The invention has the advantages that the workpiece tray assembly can be taken out from the material receiving mechanism through the movement mechanism, and the empty workpiece tray assembly is put back into the material receiving mechanism, and the two functions of material taking and recycling can be realized through one mechanism; the workpiece can be automatically grabbed from the workpiece tray assembly through the carrying mechanism; the turnover transfer mechanism is arranged in a modularized integrated manner, so that workpiece turnover can be realized, workpiece conveying can be performed, production efficiency is improved, and the integrated arrangement is also beneficial to reducing the structural space of equipment. From this, through the mutual cooperation of feed mechanism, motion, transport mechanism and upset transfer mechanism, can realize the automatic feeding of work piece, not only can improve work efficiency, can reduce artifical working strength moreover.

According to one embodiment of the invention, the feeding mechanism comprises:

the frame is provided with a first supporting piece and a second supporting piece, and the first supporting piece and the second supporting piece are oppositely arranged; two ends of the workpiece tray assembly are respectively placed on the first supporting piece and the second supporting piece;

the material blocking assembly is arranged on one side, close to the moving mechanism, of the frame, and the workpiece tray assembly can be limited by the material blocking assembly.

According to one embodiment of the invention, the movement mechanism comprises:

a sled assembly capable of extracting the workpiece tray assembly from the frame;

the z-direction motion assembly is connected with the dragging assembly and can drive the dragging assembly to move along the z direction.

According to one embodiment of the invention, the towing assembly comprises:

the first support plate is connected with the z-direction movement assembly, a first driving piece, a first guide piece and a second guide piece are arranged on the support plate, and the first guide piece and the second guide piece are respectively positioned on two sides of the first driving piece;

The second support plate is connected with the first driving piece, the second support plate is connected with the first guiding piece through a first connecting plate, and the second support plate is connected with the second guiding piece through a second connecting plate.

According to one embodiment of the invention, a pushing component is arranged on one side of the second supporting plate, which is close to the workpiece tray component.

According to one embodiment of the invention, the z-motion assembly comprises:

the bottom plate is provided with a second driving piece, a third guide piece and a fourth guide piece, and the third guide piece and the fourth guide piece are respectively positioned at two sides of the second driving piece;

the sliding plate is connected with the second driving piece, one end of the sliding plate is connected with the third guiding piece, and the other end of the sliding plate is connected with the fourth guiding piece;

the sliding plate is connected with the first supporting plate.

According to one embodiment of the invention, the sliding plate is provided with a first reinforcing block and a second reinforcing block, and one side of the first supporting plate is positioned between the first reinforcing block and the second reinforcing block.

According to one embodiment of the invention, the handling mechanism comprises:

X-direction moving assembly

The y-direction moving assembly is arranged on the x-direction moving assembly, and the x-direction moving assembly can drive the y-direction moving assembly to move along the x-direction;

the z-direction moving assembly is arranged on the y-direction moving assembly, and the y-direction moving assembly can drive the z-direction moving assembly to move along the y-direction;

the clamping assembly is arranged on the z-direction moving assembly, and the z-direction moving assembly can drive the clamping assembly to move along the z-direction.

According to one embodiment of the invention, the gripping assembly comprises:

the adapter plate is connected with the z-direction moving assembly;

the clamping jaw air cylinder is connected with the adapter plate and comprises a first clamping jaw and a second clamping jaw;

the buffer module is arranged on the clamping jaw cylinder and is positioned between the first clamping jaw and the second clamping jaw;

and the detection module is arranged on the buffer module.

According to one embodiment of the invention, the buffer module comprises: the buffer plate is connected with the clamping jaw cylinder, the buffer is arranged on the buffer plate in a penetrating mode, one end of the buffer is connected with the adapter plate, and the other end of the buffer is connected with the pressing plate.

According to an embodiment of the present invention, the turnover transfer mechanism includes:

lifting assembly

The mounting plate is connected with the lifting assembly, and the lifting assembly can drive the mounting plate to move along the z direction;

a drive assembly mounted on the mounting plate;

the overturning assembly is arranged on the driving assembly, the driving assembly can drive the overturning assembly to move along the y direction, and the overturning assembly can receive the workpiece grabbed by the conveying mechanism and overturn the workpiece.

According to one embodiment of the invention, the flipping assembly comprises:

the overturning bottom plate is connected with the driving assembly;

the rotary cylinder is arranged on the overturning bottom plate;

one end of the overturning platform is connected with the output end of the rotary cylinder through a first supporting block, and the other end of the overturning platform is connected with a second supporting block;

the first limiting module penetrates through the overturning platform and is used for limiting the workpiece in the y direction;

the second limiting module is arranged on the overturning bottom plate and is positioned on one side of the overturning table and used for limiting the workpiece in the x direction.

According to one embodiment of the present invention, further comprising: a transfer mechanism, the transfer mechanism comprising: the lifting assembly and the mounting plate are connected, and the driving assembly is mounted on the mounting plate.

According to the feeding method provided by the embodiment of the invention, the feeding device is adopted, and the feeding method comprises the following steps:

s1, moving a dragging component to a designated position along the z direction through a z-direction movement component, taking out a workpiece tray component from a frame by using the dragging component, and moving the dragging component to a workpiece grabbing position along the z direction through the z-direction movement component;

s2, sequentially taking out the workpieces from the workpiece tray assembly through the conveying mechanism and moving the workpieces to the position right above the overturning and conveying mechanism;

and S3, the overturning and conveying mechanism receives the workpiece and conveys the workpiece to an angle and a position required by the next working procedure operation.

According to one embodiment of the present invention, step S1 specifically includes:

when the dragging assembly moves to a designated position, a first driving piece is started to drive a first connecting plate and a second connecting plate to move in a direction close to the workpiece tray assembly until the first connecting plate and the second connecting plate are positioned below a tray;

The z-direction movement assembly drives the first connecting plate and the second connecting plate to move upwards to be clung to the lower surface of the tray;

and starting the first driving piece to drive the first connecting plate and the second connecting plate to move in the direction away from the feeding mechanism so that the workpiece tray assembly is taken out from the feeding mechanism.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

The invention will be further described with reference to the drawings and examples.

Fig. 1 is a schematic view of a feeding device according to the present invention.

Fig. 2 is another schematic view of the feeding device of the present invention.

Fig. 3 is a perspective view of the feed mechanism of the present invention.

Fig. 4 is an enlarged view of the invention at fig. 3A.

Fig. 5 is a perspective view of the bit and the cone seat of the present invention.

Fig. 6 is a side view of the bit and the cone seat of the present invention.

Fig. 7 is a schematic view of the movement mechanism of the present invention.

Fig. 8 is another schematic view of the movement mechanism of the present invention.

Fig. 9 is a schematic view of a tow assembly of the present invention.

Fig. 10 is a schematic view of the z-motion assembly of the present invention.

FIG. 11 is another schematic view of the z-motion assembly of the present invention.

Fig. 12 is a schematic view of the conveying mechanism of the present invention.

Fig. 13 is a schematic view of an x-direction moving assembly of the present invention.

Fig. 14 is a schematic view of a y-direction moving assembly and a z-direction moving assembly of the present invention.

Fig. 15 is a schematic view of a gripping assembly of the present invention.

Fig. 16 is a schematic view of the flip transfer mechanism of the present invention.

Fig. 17 is a schematic view of the drive assembly and flipping assembly of the present invention.

Fig. 18 is a schematic view of the flip assembly of the present invention.

In the figure:

11. a material feeding mechanism; 111. a frame; 112. a first support; 113. a second support; 114. a workpiece tray assembly; 115. a material blocking component; 116. a roller; 117. a conical head; 1141. a tray; 1142. a guide bar; 1143. a workpiece box; 1151. a material blocking base block; 1152. a blocking piece; 1171. a through hole;

12. a movement mechanism; 121. a drag-and-load assembly; 122. a z-direction motion assembly; 1211. a first support plate; 1212. a first driving member; 1213. a first guide; 1214. a second guide; 1215. a second support plate; 1216. a first connection plate; 1217. a second connecting plate; 1218. a pushing component; 1219. a guide block; 1221. a bottom plate; 1222. a second driving member; 1223. a third guide member; 1224. a fourth guide member; 1225. a sliding plate; 1226. a first reinforcing block; 1227. a second reinforcing block; 1228. a lifting block; 1229. a first photoelectric limiter; 12181. a pushing cylinder; 12182. a pushing block; 12151. a photoelectric sensing mounting piece; 12152. a second photosensor; 12111. a first limiting block; 12112. a second limiting block; 12153. a third limiting block; 12113. a buffer structure; 12221. a servo motor; 12222. a speed reducer; 12223. a coupling; 12224. a screw rod; 12225. a screw rod fixing block; 12211. a mounting block; 12226. a lead screw nut; 12212. a fourth limiting block; 12281. a first photoelectric barrier;

13. A carrying mechanism; 131. an x-direction moving assembly; 132. a y-direction moving assembly; 133. a z-direction moving assembly; 134. a clamping assembly; 135. a visual positioning module; 1341. an adapter plate; 1342. a clamping jaw cylinder; 1343. a buffer module; 1344. a detection module; 13421. a first jaw; 13422. a second jaw; 13431. a buffer plate; 13432. a buffer; 13433. a pressing plate; 13434. briquetting; 1311. an x-direction driving member; 1312. an x-direction guide; 1313. an active connection plate; 1314. a driven connecting plate; 1321. a y-direction cross beam; 1322. a y-direction driving member; 1331. a z-direction connecting plate; 1332. a z-direction mounting plate; 1333. a z-direction drive; 1334. a z-direction motion plate; 13441. a second photoelectric limiter; 13442. a second photoelectric barrier; 1315. a third photoelectric barrier; 1316. a third photoelectric limiter; 1317. a limit strut; 1323. a fourth photoelectric barrier; 1324. a fourth photoelectric limiter;

14. a turnover transfer mechanism; 141. a lifting assembly; 142. a mounting plate; 143. a drive assembly; 144. a flip assembly; 1440. turning over the bottom plate; 1441. a rotary cylinder; 1442. a turnover table; 1443. a first support block; 1444. a second support block; 1445. the first limiting module; 1446. the second limiting module; 1447. a limit column; 1431. a driving bottom plate; 1432. a driving cylinder; 1433. a drive guide; 1434. a guide slide block; 14421. a first side plate; 14422. a second side plate; 14423. a third side plate; 14424. a rotating plate; 14451. a first slipway cylinder; 14452. a first limiting plate; 14461. a second slipway cylinder; 14462. a second limiting plate;

15. A housing mechanism; 151. a first photosensor; 152. a cone seat; 153. jacking the air cylinder; 154. a jacking shaft; 155. a base.

Detailed Description

The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, features defining "first", "second" may include one or more such features, either explicitly or implicitly. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

As shown in fig. 1 to fig. 2, a feeding device provided by an embodiment of the present invention includes: the workpiece tray assembly 114 is placed on a workpiece to be processed, and the workpiece tray assembly 114 can be taken out from the feeding mechanism 11 by the movement mechanism 12 and driven to move to a workpiece grabbing position along the z direction by the workpiece tray assembly 114; the carrying mechanism 13 is used for grabbing workpieces from the workpiece tray assembly 114, and the overturning and transferring mechanism 14 is used for moving the overturning and transferring mechanism 14 along the z direction to receive the workpieces from the carrying mechanism 13, driving the workpieces to move along the y direction to the next working procedure and overturning the workpieces to the angles required by the next working procedure.

According to the invention, the workpiece tray assembly 114 can be taken out from the material receiving mechanism 11 through the movement mechanism 12, and the empty workpiece tray assembly 114 is put back into the material receiving mechanism 11, so that two functions of material taking and material recovery can be realized through one mechanism; the workpiece can be automatically grasped from the workpiece tray assembly 114 by the carrying mechanism 13; the turnover transfer mechanism 14 is arranged in a modularized integrated manner, so that not only can workpiece turnover be realized, but also workpiece conveying can be performed, the production efficiency is improved, and the integrated arrangement is also beneficial to reducing the structural space of equipment. Therefore, through the mutual matching of the feeding mechanism 11, the moving mechanism 12, the carrying mechanism 13 and the overturning and transferring mechanism 14, the automatic feeding of workpieces can be realized, the working efficiency can be improved, and the manual working strength can be reduced.

As shown in fig. 3 to 4, the feeding mechanism 11 includes: the frame 111 and keep off material subassembly 115 are equipped with first support piece 112 and second support piece 113 on the frame 111, and first support piece 112 and second support piece 113 set up relatively, and workpiece tray subassembly 114's both ends are placed respectively on first support piece 112, second support piece 113, keep off material subassembly 115 and install in the frame 111 one side that is close to motion 12, keep off material subassembly 115 can carry out spacingly to workpiece tray subassembly 114. For example, the number of the workpiece tray assemblies 114 is multiple, the number of the first supporting members 112 and the second supporting members 113 are matched with the number of the workpiece tray assemblies 114, the workpiece tray assemblies 114 are sequentially arranged from bottom to top, a space is reserved between two adjacent workpiece tray assemblies 114, a plurality of rollers 116 are arranged on the first supporting members 112 and the second supporting members 113, and when the workpiece tray assemblies 114 are extracted by the moving mechanism 12, the rollers 116 can enable the workpiece tray assemblies 114 to be easily taken out. The workpiece tray assembly 114 includes: the tray 1141, a plurality of guide strips 1142 and a workpiece box 1143, the plurality of guide strips 1142 are respectively located at two sides and in the middle of the tray 1141, so as to divide the surface of the tray 1141 into two areas, the workpiece box 1143 is placed in the two areas, and a plurality of workpieces are arranged in the workpiece box 1143. The stop assembly 115 includes a stop base 1151 and a stop block 1152, the stop base 1151 is fixed on the frame 111, the stop block 1152 is mounted on the stop base 1151, and one end of the stop block 1152 extends in a direction close to the workpiece tray assembly 114, so that the stop block 1152 can act as a stop for the tray 1141 to prevent the workpiece tray assembly 114 from falling from the frame 111 during movement. The number of the material blocking assemblies 115 is equal to the number of the workpiece tray assemblies 114.

The feeding device further comprises a shell mechanism 15, a plurality of first photoelectric sensors 151 are arranged on one side, close to the feeding mechanism 11, of the shell mechanism 15, the first photoelectric sensors 151 are arranged in a 1-shaped mode from bottom to top, the positions of the first photoelectric sensors 151 correspond to the positions of the workpiece tray assemblies 114 one by one, the first photoelectric sensors 151 can detect whether the workpiece tray assemblies 114 are taken out, and when the workpiece tray assemblies 114 are taken out, light rays emitted by the first photoelectric sensors 151 cannot be blocked, and therefore the taking out and the recycling of the workpiece tray assemblies 114 can be identified through signals.

As shown in fig. 5 and 6, a conical head 117 is arranged at the bottom of the frame 111, a conical seat 152, a jacking cylinder 153 and a jacking shaft 154 are arranged at the bottom of the shell mechanism 15, the jacking cylinder 153 is fixed at the bottom of the shell mechanism 15 through a connecting block, the jacking shaft 154 is connected with the output end of the jacking cylinder 153, the extending direction of the jacking cylinder 153 is z direction, the conical seat 152 is connected with the jacking cylinder 153 through the connecting block, a groove is formed in the conical seat 152, the shape of the groove is matched with that of the conical head 117, a through hole 1171 is formed in the conical head 117, and after the conical head 117 is embedded in the groove, the jacking cylinder 153 ejects the jacking shaft 154 to penetrate through the through hole 1171 so as to lock the frame 111 with the shell mechanism 15; when the feeding mechanism 11 needs to be replaced, the lifting cylinder 153 drives the lifting shaft 154 to retract from the through hole 1171, so that the frame 111 and the housing mechanism 15 can be unlocked.

As shown in fig. 7 to 11, the movement mechanism 12 includes: the dragging component 121 and the z-direction moving component 122, the dragging component 121 can extract the workpiece tray component 114 from the frame 111, the z-direction moving component 122 is connected with the dragging component 121, and the z-direction moving component 122 can drive the dragging component 121 to move along the z-direction. The drag-and-load assembly 121 includes: the first support plate 1211 and the second support plate 1215, the first support plate 1211 is connected with the z-direction movement assembly 122, the first support plate 1211 is provided with a first driving piece 1212, a first guiding piece 1213 and a second guiding piece 1214, the first guiding piece 1213 and the second guiding piece 1214 are respectively positioned at two sides of the first driving piece 1212, the second support plate 1215 is connected with the first guiding piece 1213 through a first connecting plate 1216, and the second support plate 1215 is connected with the second guiding piece 1214 through a second connecting plate 1217. The first driver 1212 is, for example, a rodless cylinder, and the first guide 1213 and the second guide 1214 are each guide tracks. When the first driver 1212 is activated, the second support plate 1215, the first connector plate 1216 and the second connector plate 1217 are moved together. In other words, the z-direction movement assembly 122 can drive the first support plate 1211 to move up and down, and the first driving element 1212 can drive the first connecting plate 1216 and the second connecting plate 1217 to extend and retract. For example, the two sides of the first support plate 1211 are further provided with guide blocks 1219, and the two guide blocks 1219 are respectively located at one ends of the first guide member 1213 and the second guide member 1214, and the guide blocks 1219 can function to support the first connection plate 1216 and the second connection plate 1217. Since the work pallet assembly 114 is of a certain weight, the guide block 1219 can keep the first and

second connection plates

1216, 1217 balanced against tilting when the first and

second connection plates

1216, 1217 are extended. For example, when the bottom-most workpiece tray assembly 114 in the frame 111 needs to be taken out, the z-direction motion assembly 122 drives the drag assembly 121 to move to one side of the bottom-most workpiece tray assembly 114 along the z-direction, at this time, the positions of the first connecting plate 1216 and the second connecting plate 1217 are slightly lower than the tray 1141, and then the first driving piece 1212 drives the second supporting plate 1215, the first connecting plate 1216 and the second connecting plate 1217 to move towards the direction close to the tray 1141, so that the first connecting plate 1216 and the second connecting plate 1217 are located under the tray 1141, and then the z-direction motion assembly 122 drives the first connecting plate 1216 and the second connecting plate 1217 to move upwards to contact with the bottom surface of the tray 1141, at this time, the first driving piece 1212 drives the second supporting plate 1215, the first connecting plate 1216 and the second connecting plate 1217 to move away from the frame 111 until the workpiece tray assembly 114 is completely taken out from the frame 111. At this time, the workpiece tray assembly 114 may be driven by the z-direction movement assembly 122 to move upward to the workpiece gripping position, so that the handling mechanism 13 may grip the workpiece from the workpiece box 1143. The moving mechanism 12 of the present invention can not only extract the workpiece tray assembly 114 from the feeding mechanism 11, but also send the empty workpiece tray assembly 114 back into the feeding mechanism 11 after the workpieces in the workpiece tray assembly 114 are gripped by the conveying mechanism 13. Thus, the workpiece tray assembly 114 can be taken out and returned by one mechanism, which is beneficial to improving the utilization rate of the equipment space and reducing the whole volume and size of the equipment.

For example, the second support plate 1215 is provided with a pusher assembly 1218 on a side thereof adjacent to the workpiece tray assembly 114. The pushing assembly 1218 includes: the pushing block 12182 is connected with the output end of the pushing cylinder 12181. It should be noted that the length of the second support plate 1215 is smaller than the length of the first support plate 1211, so that a majority of the area of the first and

second connection plates

1216, 1217 is used to place the workpiece tray assembly 114, and the remainder of the area of the first and

second connection plates

1216, 1217 is used to mount the second support plate 1215. The second support plate 1215 is further provided with a photoelectric sensing mounting plate 12151 and a second photoelectric sensor 12152 on a side close to the workpiece tray assembly 114, one end of the photoelectric sensing mounting plate 12151 is fixed on the second support plate 1215, the other end of the photoelectric sensing mounting plate 12151 is connected with the second photoelectric sensor 12152, the position of the second photoelectric sensor 12152 corresponds to the tray 1141, the second photoelectric sensor 12152 is used for detecting whether the workpiece tray assembly 114 is smoothly taken out, and when the workpiece tray assembly 114 is located on the first connecting plate 1216 and the second connecting plate 1217, light emitted by the second photoelectric sensor 12152 is blocked. The number of the second photosensors 12152 is two, and the second photosensors are respectively located on both sides of the second support plate 1215. The number of the pushing assemblies 1218 is two, and the pushing assemblies are respectively located at two sides of the second supporting plate 1215 and between the two second photoelectric sensors 12152. When the workpiece tray assembly 114 is drawn out from the frame 111 by the drag-and-load assembly 121, the pushing assembly 1218 can finely adjust the position of the workpiece tray assembly 114, for example, the pushing block 12182 is located between the tray 1141 and the second support plate 1215, when the pushing block 12181 extends, the pushing block 12182 is driven to move towards the direction close to the tray 1141, and when the pushing block 12182 contacts with the tray 1141 and the pushing block 12181 continues to extend, the pushing block 12182 can push the tray 1141 to move, so that fine adjustment of the position of the workpiece tray assembly 114 is realized. After fine tuning the position of the workpiece tray assembly 114, the handling mechanism 13 is facilitated to grasp the workpiece. For example, the number of pushing blocks 12182 may be two, and the positions may be set corresponding to the work box 1143 and the tray 1141, respectively, so that the positions may be better adjusted.

For example, the first support plate 1211 is further provided with a first limiting block 12111 and a second limiting block 12112, the first limiting block 12111 and the second limiting block 12112 are respectively located at two sides of the first support plate 1211, the first limiting block 12111 and the second limiting block 12112 are oppositely arranged, and a connecting line of the first limiting block 12111 and the second limiting block 12112 is parallel to the first driving element 1212. The third limiting block 12153 is arranged on the lower surface of the second supporting plate 1215, and when the second supporting plate 1215 moves towards the direction approaching to the frame 111, the moving distance of the second supporting plate 1215 can be limited by the cooperation of the first limiting block 12111 and the third limiting block 12153; when the second support plate 1215 moves in a direction away from the frame 111, the cooperation of the second stopper 12112 and the third stopper 12153 can limit the moving distance of the second support plate 1215. The first stopper 12111 and the second stopper 12112 are further provided with a buffer structure 12113.

Specifically, the z-motion assembly 122 includes: a base plate 1221 and a sliding plate 1225, wherein the second driving member 1222, the third guiding member 1223 and the fourth guiding member 1224 are mounted on the base plate 1221, the third guiding member 1223 and the fourth guiding member 1224 are respectively positioned at both sides of the second driving member 1222, the sliding plate 1225 is connected with the second driving member 1222, one end of the sliding plate 1225 is connected with the third guiding member 1223, the other end of the sliding plate 1225 is connected with the fourth guiding member 1224, and the sliding plate 1225 is connected with the first supporting plate 1211. The base plate 1221 is fixedly connected to the housing mechanism 15. The second driving piece 1222 includes: the device comprises a servo motor 12221, a speed reducer 12222, a coupler 12223, a screw rod 12224 and two screw rod fixing blocks 12225, wherein an installation block 12211 is arranged at the top of a bottom plate 1221, the speed reducer 12222 is installed on the installation block 12211, the output end of the speed reducer 12222 penetrates through the installation block 12211, the output end of the servo motor 12221 is connected with the speed reducer 12222, the output end of the speed reducer 12222 is connected with the coupler 12223, the screw rod fixing blocks 12225 are fixed on the bottom plate 1221, two ends of the screw rod 12224 are respectively installed on the two screw rod fixing blocks 12225, and one end of the screw rod 12224 is connected with the coupler 12223. The screw rod 12224 is provided with a screw rod nut 12226, and when the servo motor 12221 is started, the screw rod 12224 can be driven to rotate through the speed reducer 12222 and the coupler 12223, so that the screw rod nut 12226 performs linear motion on the screw rod 12224. The sliding plate 1225 is fixedly connected with the lead screw nut 12226, and when the lead screw nut 12226 moves, the sliding plate 1225 is driven to move along the z direction, so as to drive the drag-and-load assembly 121 to move along the z direction. For example, the third guide 1223 and the fourth guide 1224 are guide rails, and both ends of the sliding plate 1225 are connected to the third guide 1223 and the fourth guide 1224 through the elevating blocks 1228, respectively.

For example, two fourth limiting blocks 12212 are further disposed at the bottom of the bottom plate 1221, and the positions of the two fourth limiting blocks 12212 correspond to the positions of the two elevating blocks 1228, so that when the sliding plate 1225 moves down to the lowest end, the fourth limiting blocks 12212 can prevent the sliding plate 1225 from moving excessively. For example, a first photoelectric baffle 12281 is disposed on one side of a lifting block 1228 on the third guide member 1223, three first photoelectric limiters 1229 are disposed on the base plate 1221 at a position on one side of the third guide member 1223, one first photoelectric limiter 1229 is disposed at the bottom of the base plate 1221, two first photoelectric limiters 1229 are disposed at the top of the base plate 1221, when the lifting block 1228 moves up and down, the first photoelectric baffle 12281 can be driven to move up and down, and when the first photoelectric baffle 12281 is just disposed inside the first photoelectric limiter 1229, a signal can be triggered to limit the limit position of the sliding plate 1225 to move up and down.

For example, the sliding plate 1225 is provided with a first reinforcing block 1226 and a second reinforcing block 1227, and one side of the first support plate 1211 is located between the first reinforcing block 1226 and the second reinforcing block 1227. The number of the first and second reinforcing

blocks

1226 and 1227 is two, and the first support plate 1211 can be more stably fixed. For example, the first reinforcing block 1226 is closely attached to the upper surface of the first support plate 1211, the second reinforcing block 1227 is closely attached to the lower surface of the first support plate 1211, the second reinforcing block 1227 has a length longer than that of the first reinforcing block 1226, and the two second reinforcing blocks 1227 are connected by a reinforcing rib to improve the stability of the second reinforcing block 1227, thereby improving the stability of the first support plate 1211.

As shown in fig. 12 to 15, the conveyance mechanism 13 includes: the x-direction moving assembly 131, the y-direction moving assembly 132, the z-direction moving assembly 133 and the clamping assembly 134, the y-direction moving assembly 132 is arranged on the x-direction moving assembly 131, and the x-direction moving assembly 131 can drive the y-direction moving assembly 132 to move along the x-direction; the z-direction moving component 133 is mounted on the y-direction moving component 132, and the y-direction moving component 132 can drive the z-direction moving component 133 to move along the y-direction; the gripping assembly 134 is mounted on the z-moving assembly 133, and the z-moving assembly 133 can drive the gripping assembly 134 to move along the z-direction. For example, the x-direction moving assembly 131 includes: the x-direction driving member 1311, the x-direction guiding member 1312, the driving web 1313 and the driven web 1314 are disposed in parallel with each other, the x-direction driving member 1311 and the x-direction guiding member 1312, the driving web 1313 is connected to the x-direction driving member 1311, and the driven web 1314 is connected to the x-direction guiding member 1312. The y-direction movement assembly 132 includes: y-beam 1321 and y-drive 1322, one end of y-beam 1321 is coupled to driving web 1313, the other end of y-beam 1321 is coupled to driven web 1314, and y-drive 1322 is mounted to y-beam 1321. The z-direction moving assembly 133 includes: the z-direction connecting plate 1331, the z-direction mounting plate 1332, the z-direction driving piece 1333 and the z-direction moving piece 1334, the z-direction connecting plate 1331 is connected with the y-direction driving piece 1322, the z-direction mounting plate 1332 is fixedly connected with the z-direction connecting plate 1331, the z-direction driving piece 1333 is mounted on the z-direction mounting plate 1332, the z-direction moving piece 1334 is connected with the z-direction driving piece 1333, and the clamping assembly 134 is connected with the z-direction moving piece 1334.

Specifically, the gripping assembly 134 includes: the device comprises an adapter plate 1341, a clamping jaw cylinder 1342, a buffer module 1343 and a detection module 1344, wherein the adapter plate 1341 is connected with the z-direction moving assembly 133, the clamping jaw cylinder 1342 is connected with the adapter plate 1341, the clamping jaw cylinder 1342 comprises a first clamping jaw 13421 and a second clamping jaw 13422, the buffer module 1343 is arranged on the clamping jaw cylinder 1342, the buffer module 1343 is arranged between the first clamping jaw 13421 and the second clamping jaw 13422, and the detection module 1344 is arranged on the buffer module 1343. For example, the adapter plate 1341 is connected to the bottom of the z-moving plate 1334, and when the z-driving piece 1333 drives the z-moving plate 1334 to move up and down, the z-moving plate 1334 drives the adapter plate 1341 to move up and down, so as to realize the overall up and down movement of the clamping assembly 134. The jaw cylinder 1342 may drive the first and

second jaws

13421, 13422 away from or toward each other, and may clamp a workpiece when the first and

second jaws

13421, 13422 are moved toward each other.

The buffer module 1343 includes: the buffer plate 13431, the buffer 13432 and the pressing plate 13433, the buffer plate 13431 is connected with the clamping jaw cylinder 1342, the buffer 13432 is arranged on the buffer plate 13431 in a penetrating mode, one end of the buffer 13432 is connected with the adapter plate 1341, and the other end of the buffer 13432 is connected with the pressing plate 13433. For example, the number of the buffering plates 13431 is two, the number of the buffering plates 13432 is four, two buffering plates 13432 are provided on one buffering plate 13431, the other two buffering plates 13432 are provided on the other buffering plate 13431, and the two buffering plates 13431 are respectively installed at both sides of the jaw cylinder 1342. The pressure plate 13433 is located between the first and

second jaws

13421, 13422. When the gripping assembly 134 is to grip a workpiece, the gripping assembly 134 is moved directly over the workpiece by the x-direction moving assembly 131, the y-direction moving assembly 132, then the gripping assembly 134 is moved downward by the z-direction moving assembly 133 so that the platen 13433 is brought into contact with the surface of the workpiece, and then the jaw cylinders 1342 drive the first and

second jaws

13421, 13422 to grip both sides of the workpiece to take the workpiece out of the workpiece box 1143. The buffer 13432 allows the platen 13433 to have a certain elasticity, and does not crush the workpiece when contacting the workpiece. The detection module 1344 includes: the second photoelectric limiter 13441 and the second photoelectric baffle 13442, the second photoelectric baffle 13442 is installed on one side of the pressing plate 13433, the second photoelectric limiter 13441 is installed on the buffer plate 13431, the positions of the second photoelectric baffle 13442 and the second photoelectric limiter 13441 correspond to each other, when the pressing plate 13433 contacts with a workpiece, the pressing plate 13433 has a tendency to move upwards, when the second photoelectric baffle 13442 shields light emitted by the second photoelectric limiter 13441, a signal can be generated, and the triggering clamping jaw cylinder 1342 drives the first clamping jaw 13421 and the second clamping jaw 13422 to clamp two sides of the workpiece. For example, two pressing blocks 13434 may be further disposed on the lower surface of the pressing plate 13433, when the pressing block 13434 is disposed on the lower surface of the pressing plate 13433, the contact with the surface of the workpiece is changed from surface contact to point contact, and when the surface contact is performed, if the force is too large, the workpiece is easily inclined, and the situation of loose clamping may occur after grabbing, and the point contact can be avoided.

For example, the z-direction motion plate 1334 is further provided with a visual positioning module 135 for detecting and identifying the position of the workpiece, so that the workpiece can be accurately clamped by the clamping assembly 134. For example, the housing mechanism 15 includes a base 155, and both an x-drive 1311 and an x-guide 1312 are mounted on the base 155. One side of the active connection plate 1313 is provided with a third photoelectric baffle 1315, one side of the base 155, which is located in the x-direction driving piece 1311, is provided with three third photoelectric limiters 1316 and limiting supports 1317, one third photoelectric limiter 1316 is located at one end of the x-direction driving piece 1311, and two third photoelectric limiters 1316 and limiting supports 1317 are located at the other end of the x-direction driving piece 1311. When the active connection plate 1313 moves along the x direction, the third photoelectric baffle 1315 also moves, and when the third photoelectric baffle 1315 reaches the position where the third photoelectric limiter 1316 is located, a signal can be generated to monitor the movement travel of the active connection plate 1313 in the x direction, and the limiting support columns 1317 can hard limit the active connection plate 1313 to prevent the movement travel of the active connection plate 1313 from exceeding a preset range. For example, a fourth photoelectric blocking piece 1323 is disposed on one side of the z-direction connecting plate 1331 near the y-direction beam 1321, and fourth photoelectric limiters 1324 are disposed at two ends of the y-direction beam 1321, when the z-direction connecting plate 1331 moves along the y-direction, the fourth photoelectric blocking piece 1323 can be driven to move along the y-direction, and when the fourth photoelectric blocking piece 1323 blocks the light of the fourth photoelectric limiters 1324, a signal can be triggered, so that the travel limit of the z-direction moving assembly 133 in the y-direction is realized, and the movement of the z-direction moving assembly 133 is prevented from exceeding the preset range to damage equipment.

As shown in fig. 16 to 18, the inverting transfer mechanism 14 includes: lifting assembly 141, mounting panel 142, drive assembly 143 and upset subassembly 144, mounting panel 142 is connected with lifting assembly 141, and drive assembly 143 installs on mounting panel 142, and upset subassembly 144 installs on drive assembly 143, and drive assembly 143 can drive upset subassembly 144 and follow y direction and remove, and upset subassembly 144 can accept the work piece that transport mechanism 13 snatched and overturn the work piece. For example, the mounting plate 142 is connected to the housing mechanism 15, and the lifting assembly 141 can drive the driving assembly 143 and the turning assembly 144 to move up and down integrally through the mounting plate 142. The driving assembly 143 includes: the driving base plate 1431, the driving air cylinder 1432, the driving guide piece 1433 and the guide sliding block 1434, the driving air cylinder 1432 and the driving guide piece 1433 are all installed on the driving base plate 1431, the driving base plate 1431 is connected with the mounting plate 142 through a supporting plate, the driving air cylinder 1432 and the driving guide piece 1433 are arranged in parallel, and the guide sliding block 1434 is installed on the driving guide piece 1433. The flipping assembly 144 includes: the turnover bottom plate 1440, the rotary cylinder 1441, the turnover table 1442, the first limiting module 1445 and the second limiting module 1446, the turnover bottom plate 1440 is connected with the driving assembly 143, the rotary cylinder 1441 is arranged on the turnover bottom plate 1440, one end of the turnover table 1442 is connected with the output end of the rotary cylinder 1441 through the first supporting block 1443, the other end of the turnover table 1442 is connected with the second supporting block 1444, the first limiting module 1445 penetrates the turnover table 1442 and is used for limiting a workpiece in the y direction, the second limiting module 1446 is arranged on the turnover bottom plate 1440 and is located on one side of the turnover table 1442 and is used for limiting the workpiece in the x direction.

It will be appreciated that the bottom surface of the flipping base plate 1440 is connected to the driving cylinder 1432 and the guiding slide 1434, and when the driving cylinder 1432 is activated, the flipping base plate 1440 is driven to move back and forth along the y direction, so as to realize the overall movement of the flipping assembly 144. The drive guides 1433, 1434 can improve stability of the flip assembly 144 as it moves. For example, the flipping table 1442 includes: the first side plate 14421, the second side plate 14422, the third side plate 14423 and the rotating plate 14424, the first side plate 14421 is connected to an end of the rotating plate 14424 near the rotating cylinder 1441, the second side plate 14422 is connected to an end of the rotating plate 14424 far away from the rotating cylinder 1441, that is, the first side plate 14421 is opposite to the second side plate 14422, the third side plate 14423 is mounted on one side of the rotating plate 14424, and two ends of the third side plate 14423 are connected to the first side plate 14421 and the second side plate 14422 respectively. The first support block 1443 is connected with the first side plate 14421, and the second support block 1444 is connected with the second side plate 14422, and when the rotary cylinder 1441 works, the whole overturning table 1442 can be driven to overturn, for example, overturning by 90 °. After the workpiece is clamped by the carrying mechanism 13, the workpiece can be moved to the area where the turnover transfer mechanism 14 is located, then the turnover table 1442 is moved to the position right below the workpiece by the driving cylinder 1432, the lifting assembly 141 is started to lift the turnover table 1442 to pick up the workpiece, and after the workpiece is picked up, the lifting assembly 141 lowers the turnover table 1442.

For example, the overturning bottom plate 1440 is further provided with two limiting posts 1447, the two limiting posts 1447 are located below the rotating plate 14424 and on the same side of the rotating plate 14424, and the limiting posts 1447 can limit the rotation direction and the rotation angle of the overturning table 1442. The first limit module 1445 includes: the first sliding table cylinder 14451 and the first limiting plate 14452, the first limiting plate 14452 is connected with the output end of the first sliding table cylinder 14451, the first sliding table cylinder 14451 is installed on the lower surface of the rotating plate 14424, and the first limiting plate 14452 penetrates the rotating plate 14424. The second limit module 1446 includes: the second sliding table cylinder 14461 and the second limiting plate 14462, the second limiting plate 14462 is connected with the output end of the second sliding table cylinder 14461, the second sliding table cylinder 14461 is mounted on the turnover bottom plate 1440, and the second limiting plate 14462 is located at one side of the rotating plate 14424 far away from the third side plate 14423. Through the cooperation of first limiting plate 14452, second limiting plate 14462, second curb plate 14422, third curb plate 14423, can carry out the omnidirectional spacing to the work piece, prevent that the work piece from dropping from roll-over table 1442.

The workpiece is placed in a flat posture (in order to be placed in the feeding mechanism 11) when being placed in the workpiece box 1143, but the workpiece needs to be kept in a vertical posture during the next working procedure, and if the workpiece is turned into the vertical posture manually before being fed, the time is long and the working strength is high. Therefore, the invention designs the turnover transfer mechanism 14, and when the workpiece is transferred to the designated position by the turnover transfer mechanism 14, the turnover transfer mechanism 14 can turn the workpiece by 90 degrees, so that the workpiece is in a vertical posture, and the next working procedure operation is facilitated. The turnover transfer mechanism 14 is arranged in a modularized integrated manner, so that automatic turnover of workpieces can be realized, workpiece conveying can be performed, and the production efficiency is improved; the integrated arrangement is also advantageous for reducing the installation space of the device.

The embodiment of the invention also provides a feeding method, and the feeding device is adopted. The feeding method comprises the following steps: s1, the dragging component 121 is moved to a designated position along the z direction through the z-direction movement component 122, the workpiece tray component 114 is taken out of the frame 111 through the dragging component 121, and the dragging component 121 is moved to a workpiece grabbing position along the z direction through the z-direction movement component 122. S2, the workpieces are sequentially taken out from the workpiece tray assembly 114 through the conveying mechanism 13 and are moved to the position right above the overturning and conveying mechanism 14. S3, the overturning and conveying mechanism 14 moves upwards to receive the workpiece along the z direction, then moves downwards to the bottom along the z direction, and conveys the workpiece to the next process.

Specifically, a plurality of workpiece tray assemblies 114 are placed in the feeding mechanism 11, and the designated position refers to a horizontal position corresponding to the workpiece tray assemblies 114. For example, the workpiece tray assembly 114 may be extracted in a bottom-to-top sequence, or in a top-to-bottom sequence. This will be described by taking the bottom-up example.

Firstly, the drag-and-load assembly 121 is driven to move downward to the position of the bottom workpiece tray assembly 114 by the z-direction movement assembly 122, at this time, the horizontal positions of the first connecting plate 1216 and the second connecting plate 1217 are slightly lower than the horizontal position of the tray 1141, the first driving element 1212 is started to drive the first connecting plate 1216 and the second connecting plate 1217 to move towards the direction close to the workpiece tray assembly 114 until the first connecting plate 1216 and the second connecting plate 1217 are positioned right below the tray 1141, then the first connecting plate 1216 and the second connecting plate 1217 are driven to move upward to be tightly attached to the lower surface of the tray 1141 by the z-direction movement assembly 122, and then the first driving element 1212 is started to drive the first connecting plate 1216 and the second connecting plate 1217 to move towards the direction far away from the frame 111, so that the workpiece tray assembly 114 is moved out of the frame 111. The position of the workpiece tray assembly 114 is then fine-tuned using the pusher assembly 1218.

Then, the z-direction movement assembly 122 drives the dragging assembly 121 and the workpiece tray assembly 114 to move upwards to the workpiece grabbing position. For example, let i=1, 2,..n, n be the number of workpieces in the workpiece tray assembly 114. The clamping assembly 134 is moved to a position right above the position of the first workpiece by the x-direction moving assembly 131 and the y-direction moving assembly 132, the clamping assembly 134 is driven to move downwards by the z-direction moving assembly 133, and when the pressing plate 13433 contacts with the surface of the workpiece and the second photoelectric blocking piece 13442 shields the light of the second photoelectric limiter 13441, the clamping jaw cylinder 1342 is triggered to drive the first clamping jaw 13421 and the second clamping jaw 13422 to clamp two sides of the workpiece so as to take out the workpiece.

After the workpiece is taken out, the clamping assembly 134 is moved to the position right above the overturning and conveying mechanism 14 through the x-direction moving assembly 131 and the y-direction moving assembly 132, the lifting assembly 141 is started to lift the overturning platform 1442, the overturning platform 1442 is moved to the position right below the workpiece through the driving assembly 143, and the clamping assembly 134 releases the workpiece and places the workpiece on the overturning platform 1442. The elevating assembly 141 drives the overturning table 1442 to move downward to the bottommost portion. The workpiece is moved to the next process by the drive assembly 143.

The above process is repeated until all n workpieces in the workpiece tray assembly 114 are removed.

The z-direction movement assembly 122 then drives the dragging assembly 121 and the empty workpiece tray assembly 114 to move downwards to the horizontal position of the workpiece tray assembly 114 in the frame 111, the first driving piece 1212 is started, and the first connecting plate 1216 and the second connecting plate 1217 extend to send the empty workpiece tray assembly 114 back to the frame 111.

Then, the first driving element 1212 is started to retract the first connecting plate 1216 and the second connecting plate 1217, the drag-and-load assembly 121 is moved to the position of the workpiece tray assembly 114 of the next-to-last layer by moving the z-direction movement assembly 122 upwards for a certain distance, the workpiece tray assembly 114 of the next-to-last layer is taken out, and the process is repeated until all workpieces in the feeding mechanism 11 are moved to the next process.

According to the feeding device and the feeding method, through the mutual matching of the moving mechanism 12, the carrying mechanism 13 and the overturning and transferring mechanism 14, automatic feeding of workpieces can be realized, the working efficiency of a production line can be improved, the manual working intensity can be reduced, and accidents are reduced. The workpiece with a large number can be prepared at one time through the feeding mechanism 11, so that the processing efficiency of the subsequent automatic feeding is further improved.

With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined as the scope of the claims.

Claims

1. Feeding device, its characterized in that includes:

the feeding mechanism (11) is used for conveying a workpiece tray assembly (114), and workpieces to be processed are placed on the workpiece tray assembly (114);

the motion mechanism (12) can take the workpiece tray assembly (114) out of the feeding mechanism (11) and drive the workpiece tray assembly (114) to move to a workpiece grabbing position along the z direction;

-a handling mechanism (13), the handling mechanism (13) being adapted to grasp a workpiece from the workpiece tray assembly (114);

and the turnover transfer mechanism (14) can move along the z direction to receive the workpiece from the conveying mechanism (13), can drive the workpiece to move to the next working procedure along the y direction and can turn the workpiece to an angle required by the next working procedure.

2. Feeding device according to claim 1, wherein the feed mechanism (11) comprises:

the device comprises a frame (111), wherein a first supporting piece (112) and a second supporting piece (113) are arranged on the frame (111), and the first supporting piece (112) and the second supporting piece (113) are oppositely arranged; two ends of the workpiece tray assembly (114) are respectively placed on the first supporting piece (112) and the second supporting piece (113);

the material blocking assembly (115), the material blocking assembly (115) is installed on one side, close to the moving mechanism (12), of the frame (111), and the material blocking assembly (115) can limit the workpiece tray assembly (114).

3. The loading device of claim 2, wherein the movement mechanism (12) comprises:

-a sled assembly (121), the sled assembly (121) being capable of extracting the workpiece tray assembly (114) from the frame (111);

the z-direction movement assembly (122), the z-direction movement assembly (122) is connected with the dragging assembly (121), and the z-direction movement assembly (122) can drive the dragging assembly (121) to move along the z direction.

4. A loading device according to claim 3, wherein the dragging assembly (121) comprises:

A first support plate (1211), wherein the first support plate (1211) is connected with the z-direction movement assembly (122), a first driving piece (1212), a first guiding piece (1213) and a second guiding piece (1214) are arranged on the support plate (1211), and the first guiding piece (1213) and the second guiding piece (1214) are respectively positioned at two sides of the first driving piece (1212);

-a second support plate (1215), the second support plate (1215) being connected to the first drive (1212), and the second support plate (1215) being connected to the first guide (1213) by a first connection plate (1216), the second support plate (1215) being connected to the second guide (1214) by a second connection plate (1217).

5. The loading device as recited in claim 4, wherein a pushing assembly (1218) is provided on a side of the second support plate (1215) adjacent to the workpiece tray assembly (114).

6. The loading device of claim 4, wherein the z-motion assembly (122) comprises:

a base plate (1221), on which a second driving member (1222), a third guide member (1223) and a fourth guide member (1224) are mounted, the third guide member (1223) and the fourth guide member (1224) being located at both sides of the second driving member (1222), respectively;

-a sliding plate (1225), said sliding plate (1225) being connected to said second drive member (1222), and one end of said sliding plate (1225) being connected to said third guide member (1223), the other end of said sliding plate (1225) being connected to said fourth guide member (1224);

the sliding plate (1225) is connected to the first support plate (1211).

7. The feeding device according to claim 6, wherein the sliding plate (1225) is provided with a first reinforcing block (1226) and a second reinforcing block (1227), and one side of the first supporting plate (1211) is located between the first reinforcing block (1226) and the second reinforcing block (1227).

8. Feeding device according to claim 2, wherein the handling means (13) comprise:

an x-direction moving assembly (131)

The y-direction moving assembly (132), the y-direction moving assembly (132) is arranged on the x-direction moving assembly (131), and the x-direction moving assembly (131) can drive the y-direction moving assembly (132) to move along the x-direction;

the z-direction moving assembly (133), the z-direction moving assembly (133) is arranged on the y-direction moving assembly (132), and the y-direction moving assembly (132) can drive the z-direction moving assembly (133) to move along the y-direction;

The clamping assembly (134), the clamping assembly (134) is installed on the z-direction moving assembly (133), and the z-direction moving assembly (133) can drive the clamping assembly (134) to move along the z-direction.

9. The loading device of claim 8, wherein the gripping assembly (134) comprises:

an adapter plate (1341), the adapter plate (1341) being connected with the z-direction movement assembly (133);

a jaw cylinder (1342), the jaw cylinder (1342) being connected with the adapter plate (1341), the jaw cylinder (1342) comprising a first jaw (13421) and a second jaw (13422);

a buffer module (1343), the buffer module (1343) being mounted on the jaw cylinder (1342), the buffer module (1343) being located between the first jaw (13421) and the second jaw (13422);

a detection module (1344), the detection module (1344) being mounted on the buffer module (1343).

10. The feeding device according to claim 9, wherein the buffer module (1343) comprises: the buffer comprises a buffer plate (13431), a buffer (13432) and a pressing plate (13433), wherein the buffer plate (13431) is connected with a clamping jaw cylinder (1342), the buffer (13432) is arranged on the buffer plate (13431) in a penetrating mode, one end of the buffer (13432) is connected with the adapter plate (1341), and the other end of the buffer (13432) is connected with the pressing plate (13433).

11. The loading device as recited in claim 1, wherein the turnover transfer mechanism (14) includes:

lifting assembly (141)

The mounting plate (142), the mounting plate (142) is connected with the lifting assembly (141), and the lifting assembly (141) can drive the mounting plate (142) to move along the z direction;

-a drive assembly (143), the drive assembly (143) being mounted on the mounting plate (142);

the overturning assembly (144), the overturning assembly (144) is installed on the driving assembly (143), the driving assembly (143) can drive the overturning assembly (144) to move along the y direction, and the overturning assembly (144) can receive the workpiece grabbed by the conveying mechanism (13) and overturn the workpiece.

12. The loading device of claim 11, wherein the flipping assembly (144) comprises:

a flip floor (1440), the flip floor (1440) being coupled to the drive assembly (143);

a rotary cylinder (1441), wherein the rotary cylinder (1441) is arranged on the overturning bottom plate (1440);

the overturning platform (1442), one end of the overturning platform (1442) is connected with the output end of the rotary cylinder (1441) through a first supporting block (1443), and the other end of the overturning platform (1442) is connected with a second supporting block (1444);

The first limiting module (1445) penetrates through the overturning platform (1442) and is used for limiting the workpiece in the y direction;

the second limiting module (1446), the second limiting module (1446) is installed on the overturning bottom plate (1440), and the second limiting module (1446) is located on one side of the overturning platform (1442) and used for limiting the workpiece in the x direction.

13. A feeding method, characterized in that a feeding device according to any one of claims 1-12 is used, said feeding method comprising:

s1, moving a dragging component (121) to a designated position along the z direction through a z-direction movement component (122), taking out a workpiece tray component (114) from a frame (111) by utilizing the dragging component (121), and moving the dragging component (121) to a workpiece grabbing position along the z direction through the z-direction movement component (122);

s2, sequentially taking out workpieces from the workpiece tray assembly (114) through the conveying mechanism (13) and moving the workpieces to the position right above the overturning and conveying mechanism (14);

and S3, the turnover conveying mechanism (14) receives the workpiece and conveys the workpiece to an angle and a position required by the next working procedure operation.

14. The feeding method as set forth in claim 13, wherein the step S1 specifically includes:

when the dragging assembly (121) moves to a designated position, a first driving piece (1212) is started to drive a first connecting plate (1216) and a second connecting plate (1217) to move towards a direction close to the workpiece tray assembly (114) until the first connecting plate (1216) and the second connecting plate (1217) are positioned below a tray (1141);

the first connecting plate (1216) and the second connecting plate (1217) are driven to move upwards by the z-direction movement assembly (122) to be clung to the lower surface of the tray (1141);

the first driving piece (1212) is started to drive the first connecting plate (1216) and the second connecting plate (1217) to move away from the feeding mechanism (11) so that the workpiece tray assembly (114) is taken out of the feeding mechanism (11).