CN214242833U

CN214242833U - Feeding device

Info

Publication number: CN214242833U
Application number: CN202022476207.XU
Authority: CN
Inventors: 高伟; 解东东; 张磊; 路二豪; 赵遂章
Original assignee: Henan Yuzhan Precision Technology Co Ltd
Current assignee: Fulian Yuzhan Technology Henan Co Ltd
Priority date: 2020-10-31
Filing date: 2020-10-31
Publication date: 2021-09-21
Anticipated expiration: 2030-10-31

Abstract

The utility model provides a feedway, be used for automatic unloading of going up, carry the module including the material, transplant the module and go up the unloading module, the material is carried the module and is included parallel arrangement's material loading assembly line and unloading assembly line, it locates between material loading assembly line and the unloading assembly line to move the module, be used for shifting the material between material loading assembly line and unloading assembly line, go up the unloading module including setting up the manipulator in unloading assembly line one side, the manipulator includes robotic arm, connecting piece and two at least sucking discs, the sucking disc is connected with the connecting piece, the connecting piece rotates with robotic arm to be connected and can rotate the position exchange in order to carry out two sucking discs around robotic arm, be used for carry out unloading on the module at the material. Above-mentioned feedway goes up unloading through setting up manipulator and two at least sucking discs on the material transport module to through moving the module and shifting the material between material loading assembly line and unloading assembly line, need not artifical manual material and throw and receive the material, avoid strickling the scratch product.

Description

Feeding device

Technical Field

The application relates to the field of material conveying and feeding and discharging, and relates to a feeding device.

Background

In the manufacturing industry, the traditional feeding mode is mostly manual feeding and discharging, for example, in the field of mobile phone manufacturing, although some work stations are equipped with an automatic on-line operation system, it is still necessary to manually feed and receive materials at one end of the automatic on-line operation system. In the process, the feeding and receiving actions of operators are frequent, the labor intensity is high, the operators frequently feed and receive materials every day, and the operators are easy to operate fatigue to cause the products to be scratched.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is desirable to provide a feeding device capable of automatically feeding and discharging materials and preventing the products from being scratched.

The embodiment of the application provides a feedway for automatic unloading of going up, carry the module, transplant the module and go up the unloading module including the material, the material is carried the module and is included material loading assembly line and unloading assembly line, it locates to move the module the material loading assembly line and unloading assembly line between for shift the material between material loading assembly line and unloading assembly line, go up the unloading module including set up in the manipulator of unloading assembly line one side, the manipulator includes robotic arm, connecting piece and two at least sucking discs, the sucking disc is connected with the connecting piece, the connecting piece rotates with robotic arm and is connected and can wind robotic arm is rotatory in order to carry out two the position exchange of sucking disc is used for go up unloading on the material carries the module.

Further, in some embodiments of this application, move and carry the module and include slide and holder, the slide is located between material loading assembly line and the unloading assembly line, holder sliding connection the slide for press from both sides and get the material and follow the slide removes.

Further, in some embodiments of the present application, the clamping member includes a pair of clamping claws disposed opposite to each other, the clamping claws are connected to the clamping claw cylinder, the transfer module further includes a sliding plate slidably connected to the slideway, and a driving member connected to the sliding plate for driving the sliding plate to slide along the slideway, so that the clamping member slides along the slideway.

Further, in some embodiments of this application, feedway still includes the tray, the tray is located on material loading assembly line and/or the unloading assembly line, the tray includes at least one recess for bearing the weight of the material, the holder is used for pressing from both sides get the tray and move along the slide.

Further, in some embodiments of the present application, the number of suction cups in the robot is twice the number of recesses of the pallet.

Further, in some embodiments of this application, feedway still includes the location module, the location module is connected in the unloading assembly line, the location module includes the positioning seat and sets up in locating part and the detection piece on the positioning seat, the locating part sets up along the material shape for the position of location material, the detection piece is used for detecting the material and is in the direction of placing on the positioning seat.

Further, in some embodiments of the present application, the positioning module includes a partition disposed on the positioning seat, and is configured to partition the positioning seat into at least two positioning areas, where the positioning area is provided with the limiting part and the detecting part.

Further, in some embodiments of the application, the limiting member includes a clamping member and a clamping power member, which are disposed on the positioning seat, and the clamping power member is connected to the clamping member to drive the clamping member and the separating member to cooperate to clamp the material, so as to position the placement position of the material on the positioning seat.

Further, in some embodiments of the present application, the detecting element includes a first detector and a second detector respectively disposed on the positioning seat, the first detector is configured to detect a placement direction of the material, and the second detector is configured to detect whether the positioning seat carries the material.

Further, in some embodiments of this application, feedway still includes that the material deposits the module, the material is deposited the module and is put the material level including carrying the dish, carrying the dish transport mechanism and the first material level of putting that sets gradually, getting material level and second, it is used for placing the material to carry the dish, just carry the dish can be carried to get material level and first material level of putting by second material level in proper order under carrying the drive of dish transport mechanism, the manipulator is used for getting the material in getting the material level and putting.

Above-mentioned feedway goes up unloading through setting up manipulator and two at least sucking discs on the material transport module to through set up between material loading assembly line and unloading assembly line and move the year module, shift the material between material loading assembly line and unloading assembly line, need not artifical manual throwing material and receive the material, can avoid strickling the scratch product, improve greatly and go up unloading efficiency.

Drawings

FIG. 1 is a schematic view showing the structure of a feeding device in one embodiment.

Fig. 2 is a schematic structural diagram of a transfer module according to an embodiment.

Fig. 3 illustrates a structural diagram of a tray in an embodiment.

Fig. 4 illustrates a schematic structural diagram of a robot in an embodiment.

Fig. 5 is a schematic structural diagram illustrating a positioning module according to an embodiment.

Fig. 6 illustrates a schematic structural diagram of the material storage module according to an embodiment.

Description of the main Components

Feeding device 100

Material conveying module 10

Feeding assembly line 11

Blanking line 12

Transfer module 20

Slide rail assembly 21

Slide track 211

The sliding plate 212

Clamping member 22

Clamping paw 221

Gripper cylinder 222

Lifting cylinder 223

Feeding and discharging module 30

Robot hand 31

Mechanical arm 311

Connecting piece 312

Suction cup 313

Positioning module 40

Positioning seat 41

Positioning area 41a

Mounting hole 411

First separator 412

Second separator 413

Stopper 42

Clamping piece 421

First clamping block 4211

Second clamping block 4212

Clamping power piece 422

Detecting member 43

First detector 431

Second detector 432

Tray 50

Groove 51

Barrier strips 511

Convex edge 52

Material storage module 60

First discharge position 61

Catch mechanism 611

Holding strip 6111

Cylinder 6112

Second discharge level 62

Material taking position 63

Lifting mechanism 631

Carrier tray 70

The following specific examples will further illustrate the application in conjunction with the above figures.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.

It will be understood that when an element is referred to as being "mounted on" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present.

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

The embodiment of the application provides a feedway for unloading in the automation, carry the module, transplant the module and go up the unloading module including the material, the material is carried the module and is included parallel arrangement's material loading assembly line and unloading assembly line, moves and carries the module and locate between material loading assembly line and the unloading assembly line for shift the material between material loading assembly line and unloading assembly line, go up the unloading module including set up in the manipulator of unloading assembly line one side, manipulator include robotic arm, connecting piece and two at least sucking discs, the sucking disc is connected with the connecting piece, and the connecting piece rotates with robotic arm to be connected and can rotate around robotic arm in order to carry out two the position exchange of sucking disc for go up unloading on the material is carried the module.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings.

Referring to fig. 1, a feeding device 100 for automatic feeding and discharging is shown. The feeding device 100 comprises a material conveying module 10, a transferring module 20 arranged above the material conveying module 10, and a feeding and discharging module 30 arranged on one side of the material conveying module 10. In one embodiment, the material conveying module 10 includes a loading line 11 and a discharging line 12, wherein the loading line 11 is used for conveying the material to be processed, the discharging line 12 is used for conveying the processed material, and the transferring module 20 is disposed between the loading line 11 and the discharging line 12 and is used for transferring the material between the loading line 11 and the discharging line 12. The feeding and discharging module 30 comprises a manipulator 31 arranged on one side of the feeding assembly line 12 and is used for feeding on the feeding assembly line 12, transferring the processed materials to a temporary storage position, feeding on the feeding assembly line 12, transferring the unprocessed materials to the feeding assembly line 12 and transferring the unprocessed materials to the feeding assembly line 11 through the transfer module 20.

Referring to fig. 2, the transferring module 20 includes a slide rail assembly 21 and a clamping member 22, the slide rail assembly 21 is disposed between the feeding assembly line 11 and the discharging assembly line 12, and the clamping member 22 is slidably connected to the slide rail assembly 21 for clamping the material and moving along the length direction of the slide rail assembly 21. In an embodiment, the slide rail assembly 21 includes a slide rail 211, a sliding plate 212 and a driving member, two ends of the slide rail 211 are respectively fixed to the feeding assembly line 11 and the discharging assembly line 12, and a length direction of the slide rail 211 extends to the outer sides of the feeding assembly line 11 and the discharging assembly line 12 to facilitate the material transfer between the feeding assembly line 11 and the discharging assembly line 12. The sliding plate 212 is disposed on the slide track 211 and connected to the clamping member 22, and the sliding plate 212 drives the sliding plate 212 to move on the slide track 211 through the driving member to drive the clamping member 22 to move back and forth between the feeding line 11 and the discharging line 12, so as to transfer the material between the feeding line 11 and the discharging line 12, for example, the unprocessed material placed by the feeding and discharging module 30 on the discharging line 12 is transferred to the feeding line 11 to be processed through the clamping member 22. In one embodiment, the clamping member 22 includes a pair of clamping claws 221, a clamping claw cylinder 222 connected to the clamping claws 221, and a lifting cylinder 223, wherein the lifting cylinder 223 is connected to the sliding plate 212 and moves along with the sliding plate 212, the lifting cylinder 223 is further connected to the clamping claw cylinder 222 for driving the clamping claw cylinder 222 and the clamping claws 221 connected thereto to move in a vertical direction, and the clamping claw cylinder 222 is used for driving the clamping claws 221 to clamp or release the material. In an embodiment, the slide rail assembly 21 may be a combination of a screw rod and a motor, or an electric cylinder, etc., and can drive the clamping member 22 to move between the feeding assembly line 11 and the discharging assembly line 12. It can be understood that, according to the actual unloading needs of going up, move and carry the quantity of module 20 and can be a plurality of to transport when carrying out a plurality of materials between material loading assembly line 11 and unloading assembly line 12, accelerate the efficiency of unloading of going up. Referring to fig. 3, the feeding device 100 further includes a tray 50 disposed on the feeding line 11 and/or the discharging line 12, and the tray 50 is disposed with at least one groove 51 for carrying the material. The tray 50 is provided with a ledge 52 on the periphery thereof to facilitate the holding of the tray 50 by the holding member 22. In one embodiment, the number of the grooves 51 is four, four grooves 51 are arranged along the length direction of the feeding assembly line 11 and the discharging assembly line 12, and a barrier strip 511 is arranged between adjacent grooves 51 to position the material in the grooves 51. In order to improve the loading and unloading efficiency, in the feeding device 100 provided in this embodiment, the number of the suction cups of the robot 31 may be designed to match the number of the grooves 51 in the tray.

When the tray 50 is used, the tray 50 is respectively placed on the flow direction of the feeding assembly line 11 and the discharging assembly line 12 along the length direction, the manipulator 31 transfers the materials to the tray 50 of the discharging assembly line 12, when the tray 50 moves to the lower part of the clamping piece 22 on the discharging assembly line 12, firstly, the lifting cylinder 223 controls the clamping claw 221 to descend to move towards the tray 50, so that the clamping claw 221 is positioned on the plane of the tray 50, then the clamping claw 222 drives the clamping claw 221 to be clamped on the two sides of the tray 50, the lifting cylinder 223 lifts the positions of the clamping claw 221 and the tray 50, the driving piece drives the sliding plate 212 to slide on the sliding rail 211 to slide from one side of the discharging assembly line 12 to one side of the feeding assembly line 11, when the tray 50 reaches to the upper part of the feeding assembly line 11, the lifting cylinder 223 controls the clamping claw 221 to descend to move towards the feeding assembly line 11, the tray 50 is placed on the upper stream line 11, and the holding claw 221 is driven by the holding claw cylinder 222 to release the tray 50, so that the tray is moved to the upper level on the upper stream line 11.

In one embodiment, the gripper 22 may also be a suction cup mechanism for directly sucking the material in the tray 50 on the lower assembly line 12 and sliding over the tray 50 on the upper assembly line 11, placing the material in the tray 50 on the upper assembly line 11, and then moving the material with the upper assembly line 11 to the upper level.

Referring to fig. 4, the robot 31 includes a robot 311, a connecting member 312, and at least two suction cups 313, the suction cups 313 are connected to the connecting member 312, and the connecting member 312 is rotatably connected to the robot 311. The mechanical arm 311 is used for driving the suction cups 313 to move to suck the material, and the mechanical arm 311 is further used for rotating the connecting piece 312 to drive the suction cups 313 connected with the connecting piece 312 to rotate together, so that the positions of the two suction cups 313 are exchanged to be used for feeding and discharging respectively. In an embodiment, when the number of the suction cups 313 is two, the two suction cups 313 are oppositely arranged and connected to the connecting member 312, the mechanical arm 311 drives one suction cup 313 to move and suck the unprocessed material, the unprocessed material is moved to the upper side of the blanking assembly line 12, then the position of the two suction cups 313 is rotated, the other suction cup 313 sucks the processed material in the tray 50 on the blanking assembly line 12, then the unprocessed material is placed in the corresponding tray 50 by rotating the position of the two suction cups 313, and the processed material is transferred to the temporary storage position by the mechanical arm 311.

In one embodiment, the number of robots 31 is two, and the total number of suction cups 313 in the two robots is twice the number of recesses 51 in one tray 50. In one embodiment, referring to fig. 3, when the number of the grooves 51 is four, the number of the suction cups 313 is eight, and each robot 31 is provided with four suction cups 313, wherein two suction cups 313 are located on the same side, and the other two suction cups 313 are located on the opposite side, so that two robots can suck four unprocessed materials and transfer four processed materials to the temporary storage at one time. It is understood that the number of each robot 31 and the number of suction cups 313 disposed on the corresponding robot 31 can be adjusted according to production requirements, and are not limited to the above limitation, for example, the number of the robot 31 can be 3, and the number of the suction cups 313 disposed on each robot 31 can be 6. In the whole feeding device 100, the number of the suckers for feeding and the number of the suckers for blanking are generally set to be equal, and the number of the suckers for feeding and the number of the suckers for blanking are equal to the number of the grooves in the tray.

Referring to fig. 5, the feeding device 100 further includes a positioning module 40, and the positioning module 40 is connected to the blanking line 12 and disposed near a side of the manipulator 31. The positioning module 40 includes a positioning seat 41, and a limiting member 42 and a detecting member 43 disposed on the positioning seat 41, where the limiting member 42 is used to position the material, and the detecting member 43 is used to detect the placement direction of the material on the positioning seat 41.

The positioning seat 41 is used for bearing materials, and a protective layer is arranged on a bearing surface of the positioning seat 41 and used for placing the materials. Because the material is directly contacted with the surface of the positioning seat 41, the protective layer is added to avoid scraping the material by rubbing. In one embodiment, the protective layer is a teflon tape. The bearing surface of the positioning seat 41 is further provided with a plurality of mounting holes 411 for mounting the detecting member 43.

In an embodiment, the bearing surface of the positioning seat 41 is provided with a first partition 412 and a second partition 413, the first partition 412 is disposed along a first direction, the second partition 413 is disposed along a second direction perpendicular to the first direction, the first partition 412 and the second partition 413 are used for dividing the positioning seat 41 into at least two positioning areas 41a, and each positioning area 41a is provided with the limiting member 42 and the detecting member 43. The first direction is consistent with the placing direction of the materials, namely, the first direction is consistent with the length direction of the materials, and the second direction is perpendicular to the placing direction of the materials, namely, the second direction is consistent with the width direction of the materials. The first separating component 412 and the second separating component 413 are disposed opposite to the limiting component 42, and are further configured to cooperate with the limiting component 42 to position the material in the positioning area 41 a. It is understood that in one embodiment, the number of positioning bases 41 corresponds to the number of robots 31, the number of positioning zones 41a corresponds to the number of suction cups 313 on the same side provided by each robot 31, and the number of positioning zones 41a can be increased by increasing the number of first separating members 412 and extending the length of the second separating members 413. It will be appreciated that to avoid scraping material, in one embodiment, the first and

second partitions

412, 413 are also provided with the protective layer.

The limiting member 42 includes a clamping member 421 and a clamping power member 422, and the clamping power member 422 is connected to the clamping member 421 to drive the clamping member 421 to cooperate with the first separating member 412 and the second separating member 413 to clamp the material, so as to position the placement position of the material on the positioning seat 41. In an embodiment, the clamping power member 422 is fixed on the positioning seat 41 and located at the intersection of two side edges of the positioning seat 41, the clamping member 421 includes a first clamping block 4211 and a second clamping block 4212 respectively connected to the clamping power member 422, the first clamping block 4211 is disposed opposite to the first separating member 412, the second clamping block 4212 is disposed opposite to the second separating member 413, and the clamping power member 422 is configured to drive the first clamping block 4211 to move toward the first separating member 412 along the second direction and drive the second clamping block 4212 to move toward the second separating member 413 along the first direction so as to cooperate with the first separating member 412 and the second separating member 413 to position the placement position of the material on the positioning seat 41, so as to position the material, and ensure that the accuracy of the material position meets the requirement when the manipulator puts the material into the tray in the next step.

The detecting member 43 includes a first detector 431 and a second detector 432 disposed in the mounting hole 411, and the first detector 431 is used to detect the placement direction of the material. In one embodiment, the first detector 431 detects a distance between the first detector 431 and the material to determine the placement direction of the material by emitting infrared rays. Use the cell-phone casing as an example, the cell-phone casing is a groove structure approximately, and the plane of cell-phone casing is the cell-phone back, and the open face of recess is the front of cell-phone casing, and the cell-phone casing openly down or the back is placed in locating area 41a down when, and different distance values can be detected respectively to first detector 431, judges the direction of placing of material in view of the above. Typically, the distance detected by the first detector 431 when the back of the handset housing is facing down will be less than the distance detected when the front of the handset housing is facing down.

Show the positive and negative judgement mode of a material of first detector 431 below, set for two scopes D1 and D2, D1 is that the cell-phone casing back is placed the judgement scope value in positioning area 41a, D2 is that the cell-phone casing is openly placed the judgement scope value in positioning area 41a, when the distance value that first detector 431 detected is located D1 within range, judge that the cell-phone casing sets up in positioning area 41a for the back, when the distance value that first detector 431 detected is located D2 within range, then judge that the cell-phone casing sets up in positioning area 41a for the front.

The second detector 432 is used to detect whether the positioning area 41a is loaded with material. In one embodiment, the second detector 432 detects the distance between the second detector 432 and the material by emitting infrared rays to determine whether the material is present in the positioning area 41 a. In one embodiment, when the distance between the second detector 432 and the material is greater than the set threshold, the positioning area 41a is not loaded with the material, and when the distance between the second detector 432 and the material is less than the set threshold, the positioning area 41a is loaded with the material.

Referring to fig. 6, the feeding device 100 further includes a material storage module 60, and the material storage module 60 is disposed on a side of the manipulator 31 away from the blanking line 12, and is used for providing unprocessed materials for the manipulator 31 and carrying processed materials transported by the manipulator 31. The material storage module 60 includes at least one first discharge position 61, at least one second discharge position 62, and a tray 70. A first discharge location 61 is provided for the processed material and a second discharge location 62 is provided for the unprocessed material. In one embodiment, the material storage module 60 further comprises at least one material taking position 63 between the first material placing position 61 and the second material placing position 62 for the robot 31 to take in unprocessed material and place processed material. The material storage module 60 further comprises a tray carrying mechanism for carrying the tray 70 from the second material placing position 62 to the material taking position 63 and the first material placing position 61 in turn. The carrier tray operation mechanism includes a lifting mechanism 631 and a chucking mechanism 611. The two sides of the material taking position 63 are provided with lifting mechanisms 631, and the lifting mechanisms 631 extend from the second material taking position 62 to the first material placing position 61 for lifting the carrier tray 70 in the material storage module 60. The first discharging position 61 is further provided with a holding mechanism 611 for holding the position of the carrier tray 70 in the first discharging position 61.

It should be understood that, in an embodiment, the first placing positions 61 and the second placing positions 62 correspond to the positions where the material taking positions 63 are arranged, and the number of the first placing positions and the second placing positions corresponds to the number of the mechanical hands 31. For example, when getting material level 63 quantity and being two, the quantity of manipulator 31 is also two for get material level 63 department simultaneously and place the material that has processed and take away unprocessed material, can make a plurality of manipulators 31 simultaneous workings and not influence each other, in order to accelerate the transportation efficiency of material, promote the production rhythm.

It is understood that the first placing position 61 may be used for placing processed materials, and the second placing position 62 may be used for placing unprocessed materials, but the taking position 63 is arranged between the first placing position 61 and the second placing position 62.

In an embodiment, in operation, taking two first material placing positions 61 and two second material placing positions 62 as an example, firstly, manually placing a plurality of stacked loading trays 70 containing unprocessed materials on the two second material placing positions 62, respectively, at this time, the lifting mechanism 631 is located on the second material placing positions 62, lifting the loading trays 70 on the two second material placing positions 62 to the material taking positions 63 through the lifting mechanism 631 for taking materials by the two corresponding manipulators 31, when each manipulator 31 takes materials once, firstly, sucking, for example, two unprocessed materials through the suction cups 313 on one side of the manipulator 31, at this time, two vacant material positions appear on the loading trays 70, then, rotating the manipulator 31 to place the processed materials sucked from the other side of the manipulator 31 on the corresponding two vacant material positions, and by this cycle, after all the unprocessed materials in one loading tray 70 in the material taking positions 63 are transferred as processed materials, the elevating mechanism 631 controls the carrier tray 70 with the processed materials in the material taking position 63 to ascend toward the first material placing position 61, so that the carrier tray 70 in the material taking position 63 moves to the plane of the clamping mechanism 611, and the carrier tray 70 is clamped at the first material placing position 61 by the clamping mechanism 611, so that the carrier trays 70 with the processed materials are sequentially carried to the first material placing position 61 to be taken away.

In an embodiment, the holding mechanism 611 is disposed on the first material placing position 61, the holding mechanism 611 includes a holding bar 6111 connected to an air cylinder 6112 of the holding bar 6111, the holding bar 6111 is disposed along the length direction of the first material placing position 61, and the two opposite holding bars 6111 are controlled by the corresponding air cylinders 6112 to move towards each other or towards opposite directions, so as to hold or release the tray 70.

In this embodiment, the operation process of the loading tray 70 in the material storage module 60 is as follows: taking the example that the second material placing position 62 is provided with 5 sequentially stacked loading trays, namely a first loading tray, a second loading tray, a third loading tray, a fourth loading tray and a fifth loading tray from top to bottom, firstly, manually placing 5 stacked loading trays 70 storing materials to be processed on the second material placing position 62, lifting the 5 loading trays 70 to the material taking position 63 through the lifting mechanism 631, after the manipulator 31 transfers the unprocessed materials in the uppermost loading tray to the processed materials, the lifting mechanism 631 lifting the 5 loading trays together to the position of the first material placing position 61 from the material taking position 63, so that the uppermost loading tray is positioned on the plane of the clamping mechanism 611, the uppermost loading tray 631 storing the processed materials is clamped through the clamping mechanism 611, then the lifting mechanism drives the remaining 4 loading trays 70 back to the material taking position 63, the manipulator 31 continues to transfer the unprocessed materials in the uppermost loading tray to the processed materials at this time to the material taking position 63, after that, the lifting mechanism 631 lifts the remaining 4 carrier trays 70 to the position below the first carrier tray of the first material placing position 61, the clamping mechanism 611 releases the first carrier tray, so that the first carrier tray is supported by the 4 carrier trays 70 lifted by the lifting mechanism 631, then the lifting mechanism 631 continues to lift the height of the first carrier tray 70, so that the second carrier tray is located on the plane where the clamping mechanism 611 is located, the second carrier tray is clamped by the clamping mechanism 611, at this time, in the first material placing position 61, the second carrier tray is located at the lowest position, the first carrier tray is stacked above the second carrier tray, then the lifting mechanism 611 transfers the remaining 3 carrier trays 70 to the material taking position 63, waits for material transfer, and circulates through the manipulator to transfer all the third carrier tray, the fourth carrier tray and the fifth carrier tray to the first material placing position 61, waits for manual taking of all the carrier trays storing the processed materials, and then puts the carrier trays storing the materials to be processed to the second material placing position 62, and circulating in sequence.

When the feeding device 100 is used, firstly, the manipulator 31 absorbs unprocessed materials in the material storage module 60, then the unprocessed materials are placed in the positioning module 40 for positioning, then the manipulator 31 absorbs the positioned unprocessed materials, then the manipulator 31 rotates the position of the suction cup 313 to firstly absorb the processed materials in the tray 50 on the blanking assembly line 12, then the unprocessed materials are placed in the tray 50 on the blanking assembly line 12, the manipulator 31 places the processed materials in the material taking position 63 of the material storage module 60, the unprocessed materials on the blanking assembly line 12 are transferred to the tray 50 of the assembly line 11 through the transfer module 20 and are sent to be processed by the loading assembly line 11, so that the loading and unloading of the materials are automatically completed, manual feeding and receiving are not needed, the labor intensity of workers is reduced, and the products are prevented from being scratched, compare in the manual work and throw the material and receive the material, the efficiency of unloading in multiplicable unloading is effectively improved to the unloading on this application through the unloading of a plurality of manipulators 31.

It should be understood by those skilled in the art that the above embodiments are only for illustrating the present application and are not to be taken as limiting the present application, and that suitable changes and modifications to the above embodiments are within the scope of the present disclosure as long as they are within the spirit and scope of the present application.

Claims

1. The utility model provides a feedway for go up unloading automatically, its characterized in that includes:

the material conveying module comprises a feeding assembly line and a discharging assembly line;

the transferring module is arranged between the feeding assembly line and the discharging assembly line and used for transferring materials between the feeding assembly line and the discharging assembly line; and

go up unloading module, including set up in the manipulator of unloading assembly line one side, the manipulator includes robotic arm, connecting piece and two at least sucking discs, the sucking disc is connected with the connecting piece, the connecting piece rotates with robotic arm to be connected and can wind robotic arm is rotatory in order to carry out two the position exchange of sucking disc is used for go up unloading on the material transport module.

2. The feeder apparatus of claim 1, wherein: move and carry the module and include slide and holder, the slide is located between material loading assembly line and the unloading assembly line, holder sliding connection the slide for press from both sides and get the material and follow the slide removes.

3. The feeder apparatus of claim 2, wherein: the clamping piece comprises a pair of clamping claws which are oppositely arranged, the clamping claws are connected with the clamping claw air cylinders, the transfer module further comprises a sliding plate and a driving piece, the sliding plate is connected to the slide way in a sliding mode, the clamping piece is connected to the sliding plate, and the driving piece is used for driving the sliding plate to slide along the slide way so that the clamping piece can slide along the slide way.

4. The feeder apparatus of claim 2, wherein: the feeding device further comprises a tray, the tray is arranged on the feeding assembly line and/or the discharging assembly line, the tray comprises at least one groove for bearing materials, and the clamping piece is used for clamping the tray and moving along the slide way.

5. The feeder apparatus of claim 4, wherein: the number of the suckers in the manipulator is twice of the number of the grooves in the tray.

6. The feeder apparatus of claim 1, wherein: the feeding device further comprises a positioning module, the positioning module is connected to the blanking assembly line, the positioning module comprises a positioning seat and a limiting part and a detection part, the limiting part is arranged along the shape of the material and used for positioning the position of the material, and the detection part is used for detecting the placement direction of the material on the positioning seat.

7. The feeder apparatus of claim 6, wherein: the positioning module comprises a separator arranged on the positioning seat and used for separating the positioning seat into at least two positioning areas, and each positioning area is internally provided with the limiting part and the detection part.

8. The feeder apparatus of claim 7, wherein: the limiting part comprises a clamping piece and a clamping power piece, the clamping power piece is arranged on the positioning seat, and the clamping power piece is connected with the clamping piece so as to drive the clamping piece and the separating piece to be matched and clamp materials, so that the placement position of the materials on the positioning seat is positioned.

9. The feeder apparatus of claim 6, wherein: the detection piece comprises a first detector and a second detector which are arranged on the positioning seat respectively, the first detector is used for detecting the placing direction of the materials, and the second detector is used for detecting whether the positioning seat carries the materials or not.

10. The feeder apparatus of claim 1, wherein: the feedway still includes that the material deposits the module, the material is deposited the module and is put the material level, is got material level and second including carrying the dish, carrying the dish transport mechanism and the first material level of putting that sets gradually, it is used for placing the material to carry the dish, just carry the dish and can be transported to getting material level and the first material level of putting by second blowing position in proper order under carrying the drive of dish transport mechanism, the manipulator is used for getting the material level and getting the material.