CN220501939U - Loading attachment and motor production line - Google Patents

Abstract

The utility model relates to a feeding device and a motor production line, comprising a supporting module, a lifting module, a material tray, a manipulator, a visual identification unit and a control unit, wherein the supporting module is arranged on the lifting module; the lifting module is provided with a first bearing surface for placing the material tray, and a plurality of first positioning columns are arranged on the first bearing surface; the tray is provided with a plurality of first positioning holes; the manipulator is used for transferring the materials on the material tray positioned at the preset position to the target station; the visual identification unit is used for identifying the position of the material on the tray at the preset position relative to the support module. Each first positioning column can extend into each first positioning hole respectively to limit the placing position of the material tray on the first bearing surface, so that deviation between the actual placing position of the material tray on the first bearing surface and the preset position can be effectively avoided, and after the material on the material tray is transferred to the target station by the mechanical arm, deviation between the placing position of the material on the target station can be effectively avoided.

Description

Loading attachment and motor production line

Technical Field

The utility model belongs to the technical field of motor production, and particularly relates to a feeding device and a motor production line.

Background

In the motor production process, the PCB needs to be transferred from the tray to a corresponding target station, such as to a corresponding soldering station, by using a manipulator, so as to perform a corresponding soldering operation on the PCB.

During feeding, the tray with the PCBs is placed on the bearing surface of the lifting module, then the lifting module lifts the tray to a preset position, and then the mechanical arm transfers the PCBs on the tray at the preset position to a corresponding target station.

However, when the tray is placed on the carrying surface, there may be a deviation in the actual placement position of the tray compared to the predetermined placement position, and when the PCB is carried to the target station by the subsequent robot, the placement position of the PCB on the target station may also be easily deviated, which may cause subsequent processing failure of the PCB on the target station.

Disclosure of Invention

The technical problems to be solved by the utility model are as follows: the feeding device and the motor production line are provided for solving the problem that when the existing feeding device is used for feeding, the placement position of a PCB on a target station is easy to deviate.

In order to solve the problems, an embodiment of the utility model provides a feeding device, which comprises a supporting module, a lifting module, a charging tray, a manipulator, a visual identification unit and a control unit; the lifting module, the manipulator and the visual identification unit are all connected with the control unit; the lifting module and the manipulator are connected to the supporting module; the lifting module is provided with a first bearing surface for placing the material tray and is used for lifting the material tray placed on the first bearing surface to a preset position; a plurality of first positioning columns are arranged on the first bearing surface; the material tray is provided with a first surface and a second surface which are arranged in a back-to-back manner, a plurality of first positioning holes are formed in the first surface, and materials are placed on the second surface; each first positioning column can extend into each first positioning hole respectively so as to limit the placing position of the tray on the first bearing surface; the manipulator is used for transferring the materials on the material tray positioned at the preset position to a target station; the visual identification unit is used for identifying the position of the material on the tray at the preset position relative to the support module.

Optionally, the first surface is further provided with a plurality of limiting holes, the second surface is provided with a plurality of limiting columns, and each limiting column of one tray can be respectively inserted into each limiting hole of another tray so as to limit the relative positions of two stacked trays.

Optionally, the lifting module comprises a first lifting assembly and a second lifting assembly, the first bearing surface is located on the first lifting assembly, and the first lifting assembly is used for driving the tray placed on the first bearing surface to vertically move; the second lifting assembly is provided with a second bearing surface and is used for driving the tray placed on the second bearing surface to vertically move; the manipulator can transfer the tray on the first bearing surface to the second bearing surface.

Optionally, the first lifting assembly comprises a lifting motor, a lifting screw rod mechanism, a lifting guide mechanism, a supporting plate and a bearing plate; the lifting motor, the lifting screw rod mechanism and the lifting guide mechanism are connected to the support module; the lifting motor drives the supporting plate to vertically move through the lifting screw rod mechanism, and the lifting guide mechanism is used for guiding the vertical movement of the supporting plate; the upper surface of the supporting plate is used for supporting and placing the bearing plate; the upper surface of the supporting plate is provided with a plurality of connecting columns, and the lower surface of the bearing plate is provided with a plurality of connecting holes; each connecting column can extend into each connecting hole respectively so as to limit the relative position of the bearing plate and the supporting plate; the upper surface of the bearing plate is the first bearing surface.

Optionally, the feeding device further comprises a trolley, wherein the trolley is provided with a supporting surface, and the supporting surface is used for placing the bearing plate; the supporting module is provided with a feeding space, and the feeding space is used for parking the trolley; the supporting plate can jack up a bearing plate on a trolley parked in the feeding space; the support surface is provided with a plurality of third positioning columns, and the lower surface of the bearing plate is provided with a plurality of second positioning holes; each third positioning column can extend into each second positioning hole respectively so as to limit the placement position of the bearing plate on the supporting surface.

Optionally, the manipulator includes a mechanical arm and a grabbing unit, where the mechanical arm is connected with the grabbing unit and is used to drive the grabbing unit to be close to the preset position so as to grab the material on the tray, and can drive the grabbing unit to be far away from the preset position so as to transfer the material to the target station; the visual identification unit is connected to the mechanical arm and can synchronously move along with the visual identification unit; the feeding device further comprises a light supplementing unit, wherein the light supplementing unit is connected to the mechanical arm and used for projecting light rays to the preset position.

Optionally, the feeding device further comprises a driving module, the driving module comprises a first driving component, a second driving component and a third driving component, the first driving component is connected to the supporting module, the second driving component is connected to the first driving component, the third driving component is connected to the second driving component, and the visual identification unit is connected to the third driving component; the first driving component is used for driving the visual identification unit to move along a first direction, the second driving component is used for driving the visual identification unit to move along a second direction, and the third driving component is used for driving the visual identification unit to move along a third direction; the first direction and the second direction are perpendicular, and the first direction and the second direction are perpendicular to a third direction.

Optionally, the first driving assembly comprises a bottom plate, a first supporting plate, a second supporting plate, a screw rod mechanism, a guiding mechanism and an indicating module; the bottom plate is connected to the support module, and the first support plate and the second support plate are arranged on the first support plate at intervals along a first direction; a first mounting hole is formed in the first supporting plate, and a second mounting hole is formed in the second supporting plate; the screw rod of the screw rod mechanism is arranged in the first mounting hole and the second mounting hole in a penetrating way, and the nut of the screw rod mechanism is connected with the second driving assembly; a screw rod of the screw rod mechanism is provided with a force application structure so as to receive external force application and rotate, and further drive the visual identification unit to move along a first direction; the guide mechanism is used for guiding the movement of the visual identification unit along the first direction, a guide rail of the guide mechanism is arranged on the first supporting plate, and a sliding block of the guide mechanism is connected with a nut of the screw rod mechanism; the scale of the indicating module is arranged on the first supporting plate, the pointer of the indicating module is arranged on the sliding block, and the pointer is matched with the scale to indicate the moving distance of the visual identification unit in the first direction.

Optionally, the first driving assembly further comprises a spring, and the spring is sleeved on a screw rod of the screw rod mechanism; the force application structure is positioned on one side of the first support plate, which is away from the second support plate, and the spring is compressed between the first support plate and the force application structure.

In order to solve the problems, the embodiment of the utility model also provides a motor production line, which comprises the feeding device.

In the feeding device and the motor production line provided by the embodiment of the utility model, the placement position of the material tray on the first bearing surface can be limited by the cooperation of the first positioning columns and the corresponding first positioning holes, and the horizontal movement of the material tray is avoided, so that the deviation between the actual placement position of the material tray on the first bearing surface and the preset position can be effectively avoided, and after the material on the material tray is transferred to the target station by the manipulator, the deviation between the placement position of the material on the target station can be effectively avoided, and the processing of the material on the target station is facilitated.

In addition, the position of the material on the tray at the preset position relative to the support module can be identified through the visual identification unit, so that whether the position of the material relative to the support module meets the preset requirement or not is judged, if not (namely, the deviation exists between the actual relative position of the material and the support module and the preset relative position), the control unit can compensate the deviation by controlling the movement of the manipulator, and then the placement position of the material after being placed at the target station meets the preset requirement.

Drawings

Fig. 1 is a schematic structural diagram of a feeding device according to an embodiment of the present utility model;

fig. 2 is a schematic partial structure of a feeding device according to an embodiment of the present utility model;

FIG. 3 is a schematic diagram of a supporting module and a lifting module of a feeding device according to another embodiment of the present utility model;

fig. 4 is a schematic structural diagram of a carrier plate of a loading device according to an embodiment of the present utility model;

fig. 5 is a schematic structural diagram of a carrier plate of a loading device according to an embodiment of the present utility model;

fig. 6 is a schematic structural diagram of a tray of a feeding device according to an embodiment of the present utility model;

fig. 7 is a schematic structural diagram II of a tray of a feeding device according to an embodiment of the present utility model;

fig. 8 is a schematic structural diagram of a trolley of a feeding device according to an embodiment of the present utility model;

fig. 9 is a schematic structural diagram of a manipulator of a feeding device according to an embodiment of the present utility model;

fig. 10 is a schematic structural diagram of a first driving assembly of a feeding device according to an embodiment of the present utility model.

Reference numerals in the specification are as follows:

100. a feeding device;

1. a support module; 10. a feeding space; 11. a first rectangular frame; 12. a second rectangular frame; 13. a first link; 14. a second link; 15. a third link; 16. a first reinforcing rod; 17. a second reinforcing rod; 18. a third reinforcing rod; 19. a fourth reinforcing bar;

2. a lifting module; 21. a first bearing surface; 22. a first positioning column; 23. a first lifting assembly; 231. a lifting motor; 232. a lifting screw rod mechanism; 233. a supporting plate; 234. a carrying plate; 235. a connecting column; 236. a connection hole; 237. a second positioning hole; 24. a second lifting assembly;

3. a material tray; 31. a first surface; 32. a second surface; 33. a first positioning hole; 34. a groove; 35. a limiting hole; 36. a limit column;

4. a manipulator; 41. a mechanical arm; 42. a grabbing unit;

5. a visual recognition unit;

6. a trolley; 61. a support surface; 62. a third positioning column; 63. a first support frame; 64. a second support frame; 65. a first support block; 66. a third support frame; 67. a second support block;

7. a light supplementing unit;

8. a first drive assembly; 81. a bottom plate; 82. a first support plate; 83. a second support plate; 84. a first screw mechanism; 85. a force application structure; 86. and (3) a spring.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects solved by the utility model more clear, the utility model is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.

As shown in fig. 1 to 7, in an embodiment, the feeding device 100 includes a support module 1, a lifting module 2, a tray 3, a manipulator 4, a visual recognition unit 5, and a control unit. The lifting module 2, the manipulator 4, the visual identification unit 5 and the control unit can be connected to the supporting module 1, the lifting module 2, the manipulator 4 and the visual identification unit 5 are connected with the control unit, and the control unit can control the lifting module 2, the manipulator 4 and the visual identification unit 5 to work when in work. The control unit can be a PLC, a singlechip and the like.

As shown in fig. 1 and 2, the lifting module 2 has a first carrying surface 21 on which the tray 3 is placed, and after the tray 3 is placed on the first carrying surface 21, the lifting module 2 is further configured to lift the tray 3 placed on the first carrying surface 21 to a predetermined position, that is, the lifting module 2 may lift the tray 3 to a predetermined height.

As shown in fig. 4 to 7, the first bearing surface 21 is provided with a plurality of first positioning columns 22; the tray 3 is provided with a first surface 31 and a second surface 32 which are arranged oppositely, the first surface 31 is provided with a plurality of first positioning holes 33, and the second surface 32 is used for placing materials; when the tray 3 is placed on the first bearing surface 21, each first positioning column 22 can respectively extend into each first positioning hole 33 to define the placement position of the tray 3 on the first bearing surface 21. I.e. a first positioning post 22 extends into a first positioning hole 33, the placement position of the tray 3 on the first carrying surface 21 is defined by the cooperation of the first positioning post 22 and the first positioning hole 33. The first positioning post 22 and the first positioning hole 33 may be in clearance fit, and axes of the first positioning post and the first positioning hole are parallel to the vertical direction. In addition, after the tray 3 is placed on the first bearing surface 21, the first surface 31 is located below the second surface 32, that is, the first surface 31 is a lower surface of the tray 3, and the second surface 32 is an upper surface of the tray 3.

The manipulator 4 is used for transferring the materials on the material tray 3 positioned at the preset position to a target station; the visual recognition unit 5 is used for recognizing the position of the material on the tray 3 at a predetermined position relative to the support module 1.

Wherein, the material can be PCB etc., and the subsequent processing of PCB on the target station can be welding PCB.

In this embodiment, by matching each first positioning column 22 with a corresponding first positioning hole 33, the placement position of the tray 3 on the first bearing surface 21 can be limited, and the tray 3 is prevented from moving horizontally, so that the deviation between the actual placement position of the tray 3 on the first bearing surface 21 and the predetermined position can be effectively avoided, and after the material on the tray 3 is transferred to the target station by the manipulator 4, the deviation between the placement position of the material on the target station can be effectively avoided, which is beneficial to processing the material on the target station.

In addition, the position of the material on the tray 3 at the predetermined position relative to the support module 1 can be identified through the visual identification unit 5, so as to determine whether the position of the material relative to the support module 1 meets the predetermined requirement, if not (i.e. if the position of the material relative to the support module 1 is deviated from the predetermined relative position), the control unit can compensate the deviation by controlling the movement of the manipulator 4, so that the placement position of the material after being placed at the target station meets the predetermined requirement.

Wherein, the deviation between the actual relative position of the material and the support module 1 and the preset relative position is usually the deviation in the horizontal position. In addition, the relative position between the material and the support module 1 may refer to the relative position between the first mark on the material and the second mark on the support module 1.

As shown in fig. 1, the X-axis and the Y-axis form a horizontal coordinate system, and when the actual relative position of the material and the support module 1 meets the requirement, the manipulator 4 needs to drive the material to move 1000mm along the positive direction of the X-axis at the initial position, and after moving 1000mm along the positive direction of the Y-axis, the material is placed on the target station, so that the placement position of the material on the target station meets the requirement. If the deviation between the actual relative position of the material and the support module 1 is (1 mm, -2 mm), that is, the actual relative position deviates 1mm in the positive direction of the X axis and deviates-2 mm in the positive direction of the Y axis relative to the predetermined relative position, the manipulator 4 drives the material to move 999mm in the positive direction of the X axis and after moving 1002mm in the positive direction of the Y axis, the material is placed on the target station, so that the placement position of the material on the target station can meet the requirements. The positive X-axis direction may be a left-to-right direction, and the positive Y-axis direction may be a front-to-back direction.

In an actual scene, the problem that the placement position of the material on the tray 3 is deviated exists, so that the manipulator 4 cannot grasp the material at the initial position, and after the deviation between the actual relative position of the material and the support module 1 and the preset relative position is judged by the visual recognition unit 5, the control unit can drive the manipulator 4 to move so as to compensate the deviation, so that the manipulator 4 can grasp the material. For example, if the deviation between the actual relative position of the material and the support module 1 is (-10 mm,20 mm), that is, the actual relative position deviates from the predetermined relative position by-10 mm in the positive direction of the X-axis and 20mm in the positive direction of the Y-axis, the manipulator 4 drives the material to move by-10 mm in the positive direction of the X-axis (i.e., move to the left by 10 mm), and moves by 20mm in the positive direction of the Y-axis (i.e., move backward by 20 mm), then moves downward again to grasp the material.

Furthermore, the principle of identifying the relative position between two objects by the visual identification unit 5 is prior art. The control unit may also be of prior art, based on the recognition result of the visual recognition unit 5, the principle of controlling the movement of the robot 4.

In a practical scenario, as shown in fig. 1, the trays 3 may be stacked together, so that a plurality of trays 3 may be stacked on the first carrying surface 21. When the automatic lifting device works, all trays 3 can be driven to move upwards, the uppermost tray 3 is moved to a preset position, when materials in the uppermost tray 3 are transferred away by the manipulator 4, the uppermost empty tray 3 can be removed firstly, then the lifting module 2 drives all the rest trays 3 to move upwards again, the uppermost tray 3 in the rest trays 3 is moved to the preset position, and then the operations are repeated in sequence until all the trays 3 are moved to the preset position.

In addition, as shown in fig. 7, a plurality of grooves 34 are generally formed on the upper surface of the tray 3, and one material can be placed in each groove 34. At the same time, the material can be limited by the walls of the grooves 34, so as to avoid horizontal deflection of the material in the tray 3.

As shown in fig. 2 and 3, in an embodiment, the lifting module 2 includes a first lifting assembly 23 and a second lifting assembly 24, the first bearing surface 21 is located on the first lifting assembly 23, and the first lifting assembly 23 is used for driving the tray 3 placed on the first bearing surface 21 to vertically move; the second lifting assembly 24 is provided with a second bearing surface, and the second lifting assembly 24 is used for driving the tray 3 placed on the second bearing surface to vertically move; the robot 4 is able to transfer the tray 3 on the first bearing surface 21 to the second bearing surface. In operation, the second carrying surface can be used as a storage station for the empty trays 3, and the empty trays 3 placed on the second carrying surface can be stacked together. After the manipulator 4 places one empty tray 3 on the second carrying surface at a time, the second lifting assembly 24 may drive all trays 3 to move downward for a certain distance.

In addition, a plurality of second positioning columns are disposed on the second bearing surface, and when the tray 3 is placed on the second bearing surface, each second positioning column can respectively extend into each first positioning hole 33 to define a placement position of the tray 3 on the second bearing surface. The second positioning post may be of the same structure as the first positioning post 22.

As shown in fig. 2 to 5, the first lifting assembly 23 includes a lifting motor 231, a lifting screw mechanism 232, a lifting guide mechanism, a supporting plate 233 and a bearing plate 234, wherein the lifting motor 231, the lifting screw mechanism 232 and the lifting guide mechanism are all disposed on the support module 1, the lifting motor 231 drives the supporting plate 233 to vertically move through the lifting screw mechanism 232, and the lifting guide mechanism is used for guiding the vertical movement of the supporting plate 233; the upper surface of the pallet 233 is used for supporting the placement carrier plate 234; the upper surface of the supporting plate 233 is provided with a plurality of connecting columns 235, and the lower surface of the bearing plate 234 is provided with a plurality of connecting holes 236; each connecting post 235 can extend into each connecting hole 236 to define the relative position of the bearing plate 234 and the supporting plate 233; wherein the upper surface of the bearing plate 234 is the first bearing surface 21. In addition, in use, a connecting post 235 extends into a connecting hole 236, with the axes of both being parallel to the vertical

After the loading plate 234 is placed on the upper surface of the supporting plate 233, stable placement of the loading plate 234 on the supporting plate 233 can be achieved by the engagement of the connection posts 235 with the connection holes 236 (one connection post 235 engages with one connection hole 236). When the loading plate 234 is damaged, the loading plate 234 can be easily replaced.

Wherein, the lifting motor 231 is connected with the screw rod of the lifting screw rod mechanism 232, the nut of the lifting screw rod mechanism 232 is connected with the supporting plate 233 plate, and the lifting motor 231 can drive the screw rod of the lifting screw rod mechanism 232 to rotate when rotating, thereby driving the nut of the lifting screw rod mechanism 232 to move up and down, and further driving the supporting plate 233 to move up and down. The supporting plate 233 is also connected with a slider of a lifting guide mechanism, and a guide rail of the lifting guide mechanism is vertically installed on the support module 1.

In addition, the structure of the second lifting assembly 24 is the same as that of the first lifting assembly 23, and the upper surface of the bearing plate 234 of the second lifting assembly 24 is the second bearing surface.

As shown in fig. 6 and 7, in an embodiment, the first surface 31 of the tray 3 is further provided with a plurality of limiting holes 35, and the second surface 32 is provided with a plurality of limiting posts 36, and each limiting post 36 of one tray 3 can be inserted into each limiting hole 35 of another tray 3, so as to define the relative positions of two stacked trays 3. I.e. when two trays 3 are stacked together, the limiting posts 36 on the lower tray 3 can cooperate with the limiting holes 35 of the upper tray 3 to limit the relative positions of the two trays 3, so that a plurality of trays 3 can be stably stacked together. When in use, the limiting column 36 can extend into the limiting hole 35, and the axes of the limiting column and the limiting hole are parallel to the vertical direction.

In one embodiment, each of the first positioning holes 33 is a limiting hole 35.

As shown in fig. 1 and 8, in an embodiment, the loading device 100 further includes a trolley 6, the trolley 6 having a support surface 61, the support surface 61 being for placing the carrier plate 234; the support module 1 is provided with a feeding space 10, and the feeding space 10 is used for parking the trolley 6; the pallet 233 can jack up the loading plate 234 parked on the cart 6 of the loading space 10 so that the loading plate 234 is placed on the upper surface of the pallet 233; the support surface 61 is provided with a plurality of third positioning columns 62, and the lower surface of the bearing plate 234 is provided with a plurality of second positioning holes 237; each third positioning post 62 can extend into each second positioning hole 237 to define a placement position of the carrier plate 234 on the support surface 61. Wherein, a third locating post 62 stretches into a second locating hole 237, and the axis of two is parallel to vertical direction.

In operation, a carrier plate 234 can be placed on the support surface 61 of the trolley 6; then, stacking a plurality of trays 3 on the upper surface of the bearing plate 234, wherein each first positioning column 22 is respectively inserted into the corresponding first positioning hole 33; the loading plate 234 and the tray 3 are then pushed to the loading space 10 by the cart 6, so that the labor intensity of workers can be reduced.

In addition, the outer side of the feeding space 10 is provided with a limiting structure to limit the trolley 6, so as to limit the relative position of the trolley 6 in the Y-axis direction and the X-axis direction, and further facilitate alignment of the first positioning column 22 of the lifting module 2 with the first positioning hole 33 of the tray 3 on the trolley 6.

As shown in fig. 3, the support module 1 is in a rectangular frame structure, and includes a first rectangular frame 11, a second rectangular frame 12, a first connecting rod 13, a second connecting rod 14, a third connecting rod 15, a first reinforcing rod 16, a second reinforcing rod 17, a third reinforcing rod 18 and a fourth reinforcing rod 19, where the first rectangular frame 11 and the second rectangular frame 12 are arranged at intervals from front to back, two ends of the first connecting rod 13 are respectively connected with the upper left ends of the two rectangular frames, two ends of the second connecting rod 14 are respectively connected with the lower left ends of the two rectangular frames, the third connecting rod 15 is respectively connected with the upper right ends of the two rectangular frames, two ends of the first reinforcing rod 16 are respectively connected with the middle parts of the upper rims of the two rectangular frames, two ends of the second reinforcing rod 17 are respectively connected with the middle parts of the upper rims and the lower rims of the first rectangular frame 11, and two ends of the fourth reinforcing rod 19 are respectively connected with the middle parts of the upper rims and the lower rims of the second rectangular frame 12.

Four reinforcing rods enclose a third rectangular frame, the feeding space 10 is located between the first rectangular frame 11 and the second rectangular frame 12 and is located at one side of the third rectangular frame close to the third connecting rod 15, and the trolley 6 can be pushed into the feeding space 10 from the lower side of the third connecting rod 15. The first rectangular frame 11 and the second rectangular frame 12 may limit the trolley 6 in the Y direction (front-rear direction), and the third rectangular frame may limit the trolley 6 in the lateral direction.

As shown in fig. 8, the trolley 6 includes two supporting frames (a first supporting frame 63 and a second supporting frame 64 respectively) arranged at intervals, and a plurality of first supporting blocks 65 respectively arranged on the two supporting frames, wherein a plurality of first supporting blocks 65 are arranged on the first supporting frame 63 and the second supporting frame 64 at intervals, and a limit post 36 is arranged on the upper surface of each first supporting block 65, wherein the upper surfaces of the first supporting blocks 65 are flush (i.e. in the same plane), and the upper surfaces of the first supporting blocks 65 together form the supporting surface 61 (defined as the first supporting surface 61). When the carrier plate 234 is placed on the supporting surface 61, each of the connection holes 236 is opposite to the space between the first supporting frame 63 and the second supporting frame 64. In addition, the first support frame and the second support frame are connected together through corresponding support rods.

After the trolley 6 is pushed into the feeding space 10, the supporting plate 233 of the lifting module 2 (actually, the supporting plate 233 of the first lifting assembly 23) extends between the first supporting frame 63 and the second supporting frame 64 and is located below the supporting surface 61, each connecting column 235 is also located below the bearing plate 234, when the supporting plate 233 moves upwards, each connecting column 235 can extend into each connecting hole 236 respectively, and when the following supporting plate 233 continues to ascend, the bearing plate 234 can be jacked up, so as to drive each tray 3 to move upwards.

In addition, the trolley 6 further comprises a third supporting frame 66, the third supporting frame 66 is located on one side, away from the first supporting frame 63, of the second supporting frame 64, the third supporting frame 66 and the second supporting frame 64 are arranged at intervals, a plurality of second supporting blocks 67 are arranged on the third supporting frame 66 and the second supporting frame 64, the upper surfaces of the second supporting blocks 67 are flush, so that a second supporting surface 61 is formed, and the second lifting assembly 24 can place the empty tray 3 on the second supporting surface 61.

Specifically, when the carrying plate 234 of the second lifting assembly 24 moves downward, the tray 3 may enter between the second supporting frame 64 and the third supporting frame 66, and further be placed on the second supporting surface 61. Wherein a carrier plate 234 may be placed on the second support surface 61 before the empty tray 3 is placed on the carrier plate 234. In addition, the second support frame and the third support frame are also connected together through corresponding support rods.

As shown in fig. 9, the manipulator 4 includes a manipulator 41 and a gripping unit 42, and the manipulator 41 is connected to the gripping unit 42 for driving the gripping unit 42 to be close to a predetermined position to grip the material on the tray 3 and capable of driving the gripping unit 42 to be away from the predetermined position to transfer the material to the target station. The mechanical arm 41 may move back and forth, left and right, and up and down of the region gripping unit 42, and the mechanical arm 41 may be designed in the prior art. The gripping unit 42 may be a vacuum chuck connected to a corresponding negative pressure device. The front-back movement, the left-right movement, and the up-down movement of the manipulator 4 are the front-back movement, the left-right movement, and the up-down movement of the grasping unit 42.

In addition, the visual recognition unit 5 is connected to the robot arm 41 and can move synchronously with the visual recognition unit 5. The visual recognition unit 5 may be a camera or the like, and the initial position of the manipulator 4 needs to be determined during the device debugging process, so that the visual recognition unit 5 can shoot and recognize the mark on the support module 1. In the process, the visual recognition unit 5 can be driven to move by the mechanical arm 41, so that the debugging is more convenient.

Moreover, after assembly, the relative positions of the visual recognition unit 5 and the grabbing unit 42 are determined, and when the mechanical arm 41 is operated, the visual recognition unit 5 and the grabbing unit 42 are driven to synchronously move, whether the relative positions of the visual recognition unit 5 and the grabbing unit are changed or not is not required to be considered, so that the movement distance of the mechanical arm 41 for driving the grabbing unit 42 is more conveniently controlled.

In addition, initially, the gripping unit 42 and the visual recognition unit 5 are both located above the predetermined position, and the mechanical arm 41 drives the gripping unit 42 to move downward so as to approach the predetermined position, thereby enabling the gripping unit 42 to grip the material.

As shown in fig. 9, in an embodiment, the feeding device 100 further includes a light supplementing unit 7, where the light supplementing unit 7 is configured to project light to a predetermined position, so that light can be supplemented to the material on the tray 3 at the predetermined position, which is more beneficial to the identification of the marks by the visual identification unit 5. The light supplementing unit 7 may be connected to the mechanical arm 41.

It should be appreciated that the above-described related designs may be replaced in other ways, such as:

in other embodiments, the feeding device 100 further includes a driving module for driving the visual recognition unit 5 to move in three dimensions, so as to adjust the position of the visual recognition unit 5 relative to the supporting module 1. The driving module comprises a first driving component 8 (refer to fig. 10), a second driving component and a third driving component, wherein the first driving component is connected to the supporting module 1, the second driving component is connected to the first driving component, the third driving component is connected to the second driving component, and the visual recognition unit 5 is connected to the third driving component; the first driving component is used for driving the visual identification unit 5 to move along a first direction, the second driving component is used for driving the visual identification unit 5 to move along a second direction, and the third driving component is used for driving the visual identification unit 5 to move along a third direction; the first direction and the second direction are perpendicular, and both the first direction and the second direction are perpendicular to the third direction. Wherein the third direction may be parallel to the vertical direction, the first direction may be parallel to the X-axis direction, and the second direction may be parallel to the Y-axis direction.

In addition, the first driving assembly may be to drive the second driving assembly, the third driving assembly, and the visual recognition unit 5 to move synchronously in the first direction, and the second driving assembly may be to drive the first driving assembly and the visual recognition unit 5 to move synchronously in the second direction.

The first driving assembly 8, the second driving assembly and the third driving assembly may be configured in the same manner, and the first driving assembly 8 will be described as an example.

As shown in fig. 10, the first driving assembly 8 includes a base plate 81, a first support plate 82, a second support plate 83, a screw mechanism (defined as a first screw mechanism 84), a guide mechanism (defined as a first guide mechanism), and an indication module; the base plate 81 is connected to the support module 1, and the first support plate 82 and the second support plate 83 are disposed on the first support plate 82 at intervals along the first direction; the first support plate 82 is provided with a first mounting hole, and the second support plate 83 is provided with a second mounting hole; the screw rod of the first screw rod mechanism 84 is arranged in the first mounting hole and the second mounting hole in a penetrating way, and the nut of the screw rod mechanism is connected with the second driving component; the screw rod of the first screw rod mechanism 84 is provided with a force application structure 85 to receive external force to rotate (wherein the force application is usually manual force application), so as to drive the nut of the first screw rod mechanism 84 to move along the first amplifying motion, and drive the visual recognition unit 5 to move along the first direction; the first guiding mechanism is used for guiding the movement of the visual identification unit 5 along the first direction, a guide rail of the first guiding mechanism is arranged on the first supporting plate 82, and a sliding block of the first guiding mechanism is connected with a nut of the first screw rod mechanism 84; the indicating module includes a scale and a pointer, the scale is disposed on the first support plate 82, the pointer is disposed on the slider, and the pointer cooperates with the scale to indicate a moving distance of the visual recognition unit 5 in the first direction.

The force applying structure 85 may be a hand wheel or the like to receive manual force application.

In one embodiment, the first driving assembly 8 further comprises a spring 86, and the spring 86 is sleeved on the screw rod of the first screw rod mechanism 84; the force applying structure 85 is located on a side of the first support plate 82 facing away from the second support plate 83, and the spring 86 is compressed between the first support plate 82 and the force applying structure 85. A certain preload can be provided by the spring 86, avoiding shaking of the visual recognition unit 5 in the first direction.

Of course, in other embodiments, the visual recognition unit 5 may be connected to the mechanical arm 41 through a driving module. At this time, the mechanical arm 41 remains stationary, and adjustment of the three-dimensional coordinates of the visual recognition unit 5 can be achieved by adjusting the driving module.

In other embodiments, the supporting plate 233 may not be disposed in the first lifting assembly 23, and the bearing plate 234 is directly connected to the lifting screw mechanism 232 and the lifting guide mechanism. In this embodiment, the support surface 61 of the trolley 6 can directly support the placement tray 3. In this embodiment, a plurality of second positioning holes 237 may be disposed on the first surface 31 of the tray 3, and in operation, each third positioning post 62 may extend into each second positioning hole 237 to define a placement position of the tray 3 on the supporting surface 61.

In other embodiments, after the loading device is assembled, the position between the first bearing surface and the supporting module in the horizontal direction may be determined, and the placement position of the tray on the first bearing surface may be considered as determined, so after the tray is placed on the first bearing surface, the position between the tray and the supporting module in the horizontal direction may be considered as determined, so the relative position between the material on the tray and the tray is identified by the visual identification unit, and the position of the material on the tray relative to the supporting module may also be obtained. At this time, the second mark may be provided on the tray.

The embodiment of the utility model also provides a motor production line, which comprises the feeding device 100 according to any one of the embodiments.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.

Claims (10)

1. The feeding device is characterized by comprising a supporting module, a lifting module, a material tray, a manipulator, a visual identification unit and a control unit;

the lifting module, the manipulator and the visual identification unit are all connected with the control unit;

the lifting module and the manipulator are connected to the supporting module;

the lifting module is provided with a first bearing surface for placing the material tray and is used for lifting the material tray placed on the first bearing surface to a preset position; a plurality of first positioning columns are arranged on the first bearing surface;

the material tray is provided with a first surface and a second surface which are arranged in a back-to-back manner, a plurality of first positioning holes are formed in the first surface, and materials are placed on the second surface;

each first positioning column can extend into each first positioning hole respectively so as to limit the placing position of the tray on the first bearing surface;

the manipulator is used for transferring the materials on the material tray positioned at the preset position to a target station;

the visual identification unit is used for identifying the position of the material on the tray at the preset position relative to the support module.

2. The loading device of claim 1, wherein the first surface is further provided with a plurality of limiting holes, and the second surface is provided with a plurality of limiting posts, and each limiting post of one tray can be inserted into each limiting hole of another tray respectively to define the relative positions of two stacked trays.

3. The feeding device of claim 1, wherein the lifting module comprises a first lifting assembly and a second lifting assembly, the first bearing surface is positioned on the first lifting assembly, and the first lifting assembly is used for driving a tray placed on the first bearing surface to vertically move;

the second lifting assembly is provided with a second bearing surface and is used for driving the tray placed on the second bearing surface to vertically move;

the manipulator can transfer the tray on the first bearing surface to the second bearing surface.

4. The loading device of claim 3, wherein the first lifting assembly comprises a lifting motor, a lifting screw mechanism, a lifting guide mechanism, a pallet and a carrier plate;

the lifting motor, the lifting screw rod mechanism and the lifting guide mechanism are connected to the support module;

the lifting motor drives the supporting plate to vertically move through the lifting screw rod mechanism, and the lifting guide mechanism is used for guiding the vertical movement of the supporting plate;

the upper surface of the supporting plate is used for supporting and placing the bearing plate;

the upper surface of the supporting plate is provided with a plurality of connecting columns, and the lower surface of the bearing plate is provided with a plurality of connecting holes;

each connecting column can extend into each connecting hole respectively so as to limit the relative position of the bearing plate and the supporting plate;

the upper surface of the bearing plate is the first bearing surface.

5. The loading device of claim 4, further comprising a trolley having a support surface for placement of the carrier plate;

the supporting module is provided with a feeding space, and the feeding space is used for parking the trolley;

the supporting plate can jack up a bearing plate on a trolley parked in the feeding space;

the support surface is provided with a plurality of third positioning columns, and the lower surface of the bearing plate is provided with a plurality of second positioning holes;

each third positioning column can extend into each second positioning hole respectively so as to limit the placement position of the bearing plate on the supporting surface.

6. The feeding device according to claim 1, wherein the manipulator comprises a mechanical arm and a grabbing unit, the mechanical arm is connected with the grabbing unit and used for driving the grabbing unit to be close to the preset position so as to grab materials on a material tray and driving the grabbing unit to be far away from the preset position so as to transfer the materials to a target station;

the visual identification unit is connected to the mechanical arm and can synchronously move along with the visual identification unit; the feeding device further comprises a light supplementing unit, wherein the light supplementing unit is connected to the mechanical arm and used for projecting light rays to the preset position.

7. The feeding device of claim 1, further comprising a drive module, wherein the drive module comprises a first drive assembly, a second drive assembly and a third drive assembly, wherein the first drive assembly is connected to the support module, the second drive assembly is connected to the first drive assembly, the third drive assembly is connected to the second drive assembly, and the visual recognition unit is connected to the third drive assembly;

the first driving component is used for driving the visual identification unit to move along a first direction, the second driving component is used for driving the visual identification unit to move along a second direction, and the third driving component is used for driving the visual identification unit to move along a third direction;

the first direction and the second direction are perpendicular, and the first direction and the second direction are perpendicular to a third direction.

8. The feeding device of claim 7, wherein the first driving assembly comprises a bottom plate, a first support plate, a second support plate, a screw mechanism, a guide mechanism and an indication module;

the bottom plate is connected to the support module, and the first support plate and the second support plate are arranged on the first support plate at intervals along a first direction;

a first mounting hole is formed in the first supporting plate, and a second mounting hole is formed in the second supporting plate;

the screw rod of the screw rod mechanism is arranged in the first mounting hole and the second mounting hole in a penetrating way, and the nut of the screw rod mechanism is connected with the second driving assembly;

a screw rod of the screw rod mechanism is provided with a force application structure so as to receive external force application and rotate, and further drive the visual identification unit to move along a first direction;

the guide mechanism is used for guiding the movement of the visual identification unit along the first direction, a guide rail of the guide mechanism is arranged on the first supporting plate, and a sliding block of the guide mechanism is connected with a nut of the screw rod mechanism;

the scale of the indicating module is arranged on the first supporting plate, the pointer of the indicating module is arranged on the sliding block, and the pointer is matched with the scale to indicate the moving distance of the visual identification unit in the first direction.

9. The feeding device of claim 8, wherein the first drive assembly further comprises a spring sleeved on a lead screw of the lead screw mechanism;

the force application structure is positioned on one side of the first support plate, which is away from the second support plate, and the spring is compressed between the first support plate and the force application structure.

10. A motor production line comprising a loading device according to any one of claims 1-9.