CN112456144A - Automatic loading and unloading device - Google Patents
Automatic loading and unloading device Download PDFInfo
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- CN112456144A CN112456144A CN202110108922.4A CN202110108922A CN112456144A CN 112456144 A CN112456144 A CN 112456144A CN 202110108922 A CN202110108922 A CN 202110108922A CN 112456144 A CN112456144 A CN 112456144A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/022—Flat
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention relates to the technical field of optical detection equipment, in particular to an automatic loading and unloading device. The automatic loading and unloading device comprises a machine body, an loading and unloading mechanism, a material transferring mechanism, a lifting mechanism, a first sensor and a second sensor, wherein a control system is arranged in the machine body; the material grabbing module is used for grabbing materials and transferring the materials to the outside of the machine body; the material transfer mechanism is used for loading and transferring materials; the lifting mechanism can lift the materials on the material transfer mechanism to a preset position, so that the material grabbing module can grab the materials; the first sensor is used for detecting whether materials are stored on the material transfer mechanism or not; the second sensor is used for detecting whether the material is positioned at a preset position; the control system can control the lifting mechanism and the feeding and discharging mechanism to carry out feeding and discharging work according to information fed back by the first sensor and the second sensor, feeding and discharging efficiency is improved, and labor cost is reduced.
Description
Technical Field
The invention relates to the technical field of optical detection equipment, in particular to an automatic loading and unloading device.
Background
In the optical detection process of the PCB, the PCB needs to be moved into an optical detection device for detection. The existing PCB loading and unloading device cannot realize automatic loading and unloading, needs manual assistance, and is low in detection efficiency and high in labor cost.
Therefore, an automatic loading and unloading device is needed to solve the above problems.
Disclosure of Invention
The invention aims to provide an automatic feeding and discharging device which can realize automatic feeding and discharging, improve the feeding and discharging efficiency and reduce the labor cost.
In order to realize the purpose, the following technical scheme is provided:
an automatic loading and unloading device comprises:
a machine body, in which a control system is arranged;
the feeding and discharging mechanism is arranged in the machine body and is electrically connected with the control system, the feeding and discharging mechanism comprises a transfer module and a material grabbing module arranged on the transfer module, and the material grabbing module is used for grabbing materials and transferring the materials to the outside of the machine body;
the material transferring mechanism is detachably arranged in the machine body and is used for loading and transferring the materials;
the lifting mechanism is arranged in the machine body and can lift materials on the material transferring mechanism to a preset position, so that the material grabbing module can grab the materials;
The first sensor is used for detecting whether the material is stored on the material transfer mechanism or not;
a second sensor for detecting whether the material is located at the predetermined position;
the control system can control the lifting mechanism and the feeding and discharging mechanism to carry out feeding and discharging according to information fed back by the first sensor and the second sensor.
As an alternative scheme of the automatic feeding and discharging device, the machine body comprises a cross beam and a plurality of stand columns, the cross beam and the stand columns form a frame structure, the frame structure comprises a first cavity and a second cavity, the first cavity is used for containing the feeding and discharging mechanism, the material transferring mechanism and the lifting mechanism, and the second cavity is used for containing the control system.
As an alternative of the automatic loading and unloading device, the lifting mechanism comprises a base, a lifting frame and a lifting driver, the base is arranged on the beam and extends in the vertical direction, the lifting frame is arranged on the base in a liftable manner in the vertical direction, the lifting frame is used for bearing the material, and the lifting driver can drive the lifting frame to lift in the vertical direction.
As an alternative to the automatic loading and unloading device, the first sensor is disposed on the lifting frame, and the material transfer mechanism can enter the machine body and enable the material thereon to be located above the first sensor.
As an alternative of the automatic loading and unloading device, the second sensor comprises an emitting module and a receiving module which are independently arranged, and the emitting module and the receiving module are respectively arranged on the cross beams on the two sides in the first cavity.
As an alternative of the automatic loading and unloading device, the material transfer mechanism comprises a first limiting module for limiting the left and right directions of the material, the first limiting module comprises a first limiting plate, a pair of perforation holes are formed in the first limiting plate, and the pair of perforation holes are used for allowing signals sent by the transmitting module to pass through so that the receiving module receives the signals.
As an alternative scheme of the automatic loading and unloading device, the first limiting module further comprises a first operating hand wheel, a first transmission assembly and a partition plate, the partition plate is arranged between the first limiting plates, and the first operating hand wheel can drive the first limiting plates to move towards or away from the partition plate through the first transmission assembly.
As the alternative of automatic feeding and discharging device, the automatic feeding and discharging device further comprises a guide mechanism, the guide mechanism is arranged on the cross beams on the two sides in the first cavity, and the guide mechanism is used for being matched with the material transfer mechanism so that the material transfer mechanism enters the first cavity.
As an alternative scheme of the automatic loading and unloading device, the guide mechanism comprises a support frame and guide wheels, the support frame is fixed on the cross beam, the guide wheels are parallelly arranged at intervals and rotatably arranged on the support frame, and wheel surfaces of the guide wheels can be in contact with the material transfer mechanism.
As automatic unloader's alternative, it includes apart from adjustment subassembly and sucking disc subassembly to grab the material module, the sucking disc subassembly is used for adsorbing the material, apart from adjustment subassembly including backup pad, connecting plate and distance adjustment driver, the backup pad sets up move and carry on the activity of die group holds, the quantity of connecting plate is a plurality of, all be provided with on the connecting plate the sucking disc subassembly, and at least part the connecting plate is movably to be set up in the backup pad, distance adjustment driver can drive the connecting plate for the backup pad removes.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides an automatic loading and unloading device which comprises a machine body, an loading and unloading mechanism, a material transfer mechanism, a lifting mechanism, a first sensor and a second sensor. A control system is arranged in the machine body; the feeding and discharging mechanism is arranged in the machine body and electrically connected with the control system, and comprises a transfer module and a material grabbing module arranged on the transfer module, and the material grabbing module is used for grabbing materials and transferring the materials to the outside of the machine body; the material transfer mechanism is detachably arranged in the machine body and is used for loading and transferring materials; the lifting mechanism is arranged in the machine body and can lift materials on the material transferring mechanism to a preset position, so that the material grabbing module can grab the materials; the first sensor is used for detecting whether materials are stored on the material transfer mechanism or not; the second sensor is used for detecting whether the material is positioned at a preset position; the control system can control the lifting mechanism and the feeding and discharging mechanism to carry out feeding and discharging work according to information fed back by the first sensor and the second sensor, so that automatic feeding and discharging are realized, the feeding and discharging efficiency is improved, and the labor cost is reduced; the invention has compact structure, effectively reduced floor area and high space utilization rate.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an automatic loading and unloading device provided in an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a rack according to an embodiment of the present invention, with a portion of a panel removed;
FIG. 3 is a schematic structural diagram of a rack according to an embodiment of the present invention in another state with a part of a panel removed;
FIG. 4 is a schematic structural diagram of a first sensor disposed on a lift rack according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a lifting mechanism and a loading and unloading mechanism provided in the embodiment of the present invention;
fig. 6 is a schematic structural diagram of a material grabbing module according to an embodiment of the present invention;
FIG. 7 is a schematic structural view of a material transfer mechanism provided in an embodiment of the present invention in one direction;
FIG. 8 is a schematic structural view of the material transfer mechanism provided in the embodiment of the present invention in another direction;
FIG. 9 is a schematic structural diagram of a positioning mechanism and a positioning sensor provided in an embodiment of the present invention;
fig. 10 is a schematic structural view illustrating the engagement between the claw and the latch according to the embodiment of the present invention;
FIG. 11 is a schematic structural diagram of a guide mechanism provided in an embodiment of the present invention;
FIG. 12 is a schematic structural diagram of an optical inspection system according to an embodiment of the present invention;
FIG. 13 is a schematic structural diagram of an optical inspection apparatus and an automatic loading/unloading apparatus according to an embodiment of the present invention;
fig. 14 is a schematic structural diagram of an feeding and discharging mechanism in automatic discharging equipment provided by an embodiment of the present invention.
Reference numerals:
100-automatic loading and unloading device; 100 a-automatic feeding equipment; 100 b-automatic blanking equipment; 200-an optical detection device; 201-machine table; 202-a gantry; 203-CCD camera; 204-contact line camera; 205-detection station;
1-body; 1 a-a blanking machine body; 11-a cross beam; 12-a column; 13-a panel; 14-a first cavity; 15-a second cavity; 16-a third cavity;
2-a loading and unloading mechanism; 2 a-a discharging and feeding mechanism; 21-a transfer module; 211-a first translation drive assembly; 212-a second translation drive assembly; 213-a lift drive assembly; 22-a material grabbing module; 221-a distance adjustment assembly; 2211-support plate; 2212-connecting plate; 2213-distance adjustment drive; 222-a suction cup assembly; 2221-suction cup mounting plate; 2222-suction cup; 21 a-a translation mechanism; 22 a-an X-axis module; 23 a-a lifting mechanism; 24 a-a material grabbing mechanism;
3-a material transfer mechanism; 3 a-a good product material transfer mechanism; 3 b-a defective material transfer mechanism; 31-a frame; 32-a first limit module; 321-a first operating handwheel; 322-a first transmission assembly; 323-a first limiting plate; 3231-perforating; 33-a second limit module; 331-a second operating handwheel; 332-a second transmission assembly; 333-a second limiting plate; 334-connecting frames; 3341-vertical plate; 3342-transverse plate; 34-a buffer;
4-a lifting mechanism; 41-a base; 42-a lifting frame; 43-a lift drive; 44-lifting frame bottom plate; 45-lifting the guide assembly; 451-lifting rails; 452-a lift slide;
5-a positioning mechanism; 51-a mounting seat; 511-a rotating shaft; 52-jaw driver; 53-claws; 531-movable plate; 532-a stop block; 54-a fixture block;
6-a guide mechanism; 61-a support frame; 62-a guide wheel;
7-a first sensor;
8-a second sensor;
9-positioning the sensor.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
As shown in fig. 1 to 5, the embodiment provides an automatic loading and unloading device 100, which includes a machine body 1, an loading and unloading mechanism 2, a material transfer mechanism 3, a lifting mechanism 4, a first sensor 7, and a second sensor 8. A control system is arranged in the machine body 1; the feeding and discharging mechanism 2 is arranged in the machine body 1 and electrically connected with the control system, the feeding and discharging mechanism 2 comprises a transfer module 21 and a material grabbing module 22 arranged on the transfer module 21, and the material grabbing module 22 is used for grabbing materials and transferring the materials to the outside of the machine body 1; the material transfer mechanism 3 is detachably arranged in the machine body 1, and the material transfer mechanism 3 is used for loading and transferring materials; the lifting mechanism 4 is arranged in the machine body 1, and the lifting mechanism 4 can lift the materials on the material transfer mechanism 3 to a preset position, so that the material grabbing module 22 can grab the materials; the first sensor 7 is used for detecting whether the material is stored on the material transfer mechanism 3; the second sensor 8 is used for detecting whether the materials are positioned at a preset position; the control system can control the lifting mechanism 4 and the feeding and discharging mechanism 2 to perform feeding and discharging work according to information fed back by the first sensor 7 and the second sensor 8, so that automatic feeding and discharging are realized, feeding and discharging efficiency is improved, and labor cost is reduced.
It should be noted that the material may be a PCB board or other components that need to be optically inspected.
As shown in fig. 3, the machine body 1 includes a cross beam 11 and a vertical column 12, the plurality of cross beams 11 and the plurality of vertical columns 12 form a frame structure, the frame structure includes a first cavity 14 and a second cavity 15, the first cavity 14 is used for accommodating the loading and unloading mechanism 2, the material transfer mechanism 3 and the lifting mechanism 4, and the second cavity 15 is used for accommodating the control system. In addition, the second cavity 15 may also be used to house weak and strong electrical control modules. Further, the frame structure further comprises a third cavity 16, and the third cavity 16 is used for accommodating the pipeline. The machine body 1 further comprises a panel 13, which panel 13 is arranged outside the frame structure built up by the cross beams 11 and the uprights 12.
As shown in fig. 4 to 5, the lifting mechanism 4 includes a base 41, a lifting frame 42, and a lifting driver 43, the base 41 is disposed on the cross beam 11 and extends in the vertical direction, the lifting frame 42 is disposed on the base 41 in a liftable manner in the vertical direction, the lifting frame 42 is used for carrying the material, and the lifting driver 43 can drive the lifting frame 42 to ascend and descend in the vertical direction.
The first sensor 7 is arranged on the lifting frame 42, the material transfer mechanism 3 can enter the machine body 1, and materials on the material transfer mechanism are located above the first sensor 7, so that the first sensor 7 can detect whether the materials are stored on the material transfer mechanism 3 or not. When the first sensor 7 detects that the material is stored on the material transfer mechanism 3, the lifting driver 43 is started and drives the lifting frame 42 to lift the material. When the material reaches the preset position, the lifting driver 43 stops automatically, and the lifting frame 42 stops lifting. The first sensor 7 is exemplarily a proximity switch.
The lifting mechanism 4 further comprises a lifting frame base plate 44 and a lifting guide assembly 45, the lifting frame base plate 44 is arranged on the base 41 in a lifting manner through the lifting guide assembly 45, the lifting frame 42 is arranged on the lifting frame base plate 44, and the lifting guide assembly 45 is used for enabling the lifting frame base plate 44 to be stably lifted. The lift guide assembly 45 includes a lift rail 451 and a lift slider 452, wherein the lift rail 451 is fixed to the base 41 and extends in a vertical direction, the lift slider 452 is slidably engaged with the lift rail 451, and the lift frame bottom plate 44 is fixed to the lift slider 452. In order to reduce the interference between the lifting mechanism 4 and the material transfer mechanism 3 during the operation, the base 41 is fixed on the cross beam 11 at the rear of the machine body 1.
In order to ensure the stability of the lifting frame base plate 44, the number of the lifting guide assemblies 45 is two, that is, one lifting frame base plate 44 is fixedly connected with two lifting sliders 452. Illustratively, the lifting driver 43 employs a motor, and the motor drives the lifting frame bottom plate 44 to lift through a screw nut or a rack-and-pinion combination. Further, the lifting frame 42 may include a plurality of lifting rods, and the number of the lifting rods may be 2, 3, or 4 or more, which is not limited herein. In this embodiment, the lifting frame 42 includes two lifting rods that are secured in parallel to the lifting frame base 44. The lifting rod is a rod body structure extending along the horizontal direction, and the cross section of the lifting rod can be square, circular, polygonal or other shapes. When the material transfer mechanism 3 moves into the machine body 1, the two lifting rods are just positioned under the material on the material transfer mechanism 3; the material is then lifted and lowered on the material transfer mechanism 3 by lifting and lowering the lifting frame 42.
As shown in fig. 5, in order to adjust the position of the material grabbing module 22, the transferring module 21 includes a first translation driving component 211, a second translation driving component 212, and a lifting driving component 213, wherein the second translation driving component 212 is disposed on the movable end of the first translation driving component 211, the lifting driving component 213 is disposed on the movable end of the second translation driving component 212, and the movable end of the lifting driving component 213 is connected to the material grabbing module 22. In short, the first translation driving assembly 211, the second translation driving assembly 212 and the lifting driving assembly 213 can realize the adjustment of the plurality of positions of the material grabbing module 22 in the space, so that the position of the material grabbing module 22 can be adjusted as required to grab the material.
As shown in fig. 6, the material grabbing module 22 includes a distance adjusting assembly 221 and a suction cup assembly 222, the suction cup assembly 222 is used for adsorbing materials, the distance adjusting assembly 221 includes a support plate 2211, a connection plate 2212 and a distance adjusting driver 2213, the support plate 2211 is disposed on the movable end of the transferring module 21, the number of the connection plates 2212 is plural, the suction cup assemblies 222 are disposed on the connection plates 2212, at least a portion of the connection plates 2212 is movably disposed on the support plate 2211, and the distance adjusting driver 2213 can drive the connection plates 2212 to move relative to the support plate 2211. Through setting up distance adjustment subassembly 221, can realize adjusting the distance between a plurality of sucking disc subassemblies 222, and then the distance between the material of adjustment by sucking disc subassembly 222 absorption guarantees that optical detection device 200 can detect a plurality of materials simultaneously.
Sucking disc subassembly 222 includes sucking disc mounting panel 2221 and sucking disc 2222, sucking disc mounting panel 2221 and connecting plate 2212 fixed connection, and sucking disc mounting panel 2221 is provided with a plurality of sucking discs 2222, and a plurality of sucking discs 2222 snatch the material jointly, can guarantee sucking disc subassembly 222 and adsorb the material steadily, avoid the material to drop.
Alternatively, at least a portion of the suction cup 2222 may be movably disposed on the suction cup mounting plate 2221. Illustratively, the suction cup mounting plate 2221 is provided with an elongated hole, the rod portion of the suction cup 2222 is inserted into the elongated hole, and the suction cup 2222 can be fixed to the suction cup mounting plate 2221 by a fastener. When the position of the suction cup 2221 needs to be adjusted, the fasteners can be loosened to adjust the position of the suction cup 2222.
Alternatively, the moving direction of the movable end of the first translation driving component 211 is the same as the moving direction of the movable end of the second translation driving component 212, so that the lifting driving component 213 can move in a large range under a small size. The movable end of the first translational drive assembly 211 and the movable end of the second translational drive assembly 212 both move in the left-right direction. Of course, at this time, the position of the movable end of the lifting mechanism 4 and the position of the suction cup assembly 222 need to correspond in the front-rear direction, so as to ensure that the material on the lifting mechanism 4 can be adsorbed only by adjusting the positions of the suction cup assembly 222 in the left-right direction and the vertical direction.
Illustratively, the first translation drive assembly 211 may be constructed using rodless cylinder guide slides. In other embodiments, the first translational drive component 211 may also be a linear motor. In this embodiment, the second translation drive assembly 212 is also constructed using cylinder guide slides. The lifting driving assembly 213 comprises an air cylinder, and an output end of the air cylinder is fixedly connected with the supporting plate 2211 to drive the supporting plate 2211 to lift.
As shown in fig. 7-8, the material transfer mechanism 3 includes a frame 31, a first limit module 32 and a second limit module 33, and universal wheels are disposed at the bottom of the frame 31 to enable the frame 31 to move; the first limit module 32 is used for limiting the left and right directions of the material, and the second limit module 33 is used for limiting the front and back directions of the material.
The first limiting module 32 comprises a first operating handwheel 321, a first transmission assembly 322 and first limiting plates 323, the two first limiting plates 323 are symmetrically arranged on two sides of the frame 31, and the first operating handwheel 321 can drive the two first limiting plates 323 to approach or leave each other through the first transmission assembly 322.
The first transmission assembly 322 comprises a transmission rod, a driving gear, a driven gear, a screw rod and a screw rod nut seat, the first operating hand wheel 321 is connected with the transmission rod, the driving gear is fixed on the transmission rod, the driven gear is fixed on the screw rod and meshed with the driving gear, external threads in opposite directions are respectively arranged at two ends of the screw rod, the screw rod nut seat is respectively connected at two ends of the screw rod, and the screw rod nut seat is fixedly connected with the first limiting plate 323. The first operating hand wheel 321 is rotated to enable the transmission rod to drive the driving gear to rotate, the driven gear drives the screw rod to rotate, and the screw rod nut seats at the two ends of the screw rod drive the two first limiting plates 323 to approach or keep away from each other.
In addition, when the circuit board that needs to transport is the less board of size, be provided with the baffle between two first limiting plate 323, be used for placing the circuit board between baffle and two first limiting plate 323 respectively to can practice thrift the space in order to place more less circuit boards of size. Opposite holes 3231 are formed at positions of the two first limiting plates 323 opposite to the partition plate, so that the second sensor 8 can detect whether the material reaches a preset position.
All be provided with the spacing module 33 of second on every first limiting plate 323, the spacing module 33 of second is used for spacing the front end of material.
The second limiting module 33 comprises a second operating handwheel 331, a second transmission assembly 332 and a second limiting plate 333, the second transmission assembly 332 comprises a screw rod and a screw rod nut seat, the second operating handwheel 331 is connected with the screw rod, the screw rod nut seat is matched with the screw rod and fixedly connected with the second limiting plate 333, and the second limiting plate 333 can move relative to the first limiting plate 323 by rotating the second operating handwheel 331 so as to limit the front end of the material.
Exemplarily, the screw nut seat is connected with the connecting frame 334, the connecting frame 334 includes a vertical plate 3341 and a horizontal plate 3342, the vertical plate 3341 is fixedly connected with the screw nut seat, the two horizontal plates 3342 are fixed at the upper and lower ends of the vertical plate 3341 and avoid the first limiting plate 323, and the second limiting plate 333 is fixed at the end of the two horizontal plates 3342, so that the second limiting plate 333 can move relative to the first limiting plate 323.
The second sensor 8 is an optoelectronic switch, and includes an emitting module and a receiving module which are independently arranged, and a signal emitted by the emitting module can pass through the opposite perforations 3231 on the two first limiting plates 323 and be received by the receiving module. The transmitting module and the receiving module can be connected to the left side and the right side in the machine body 1 through the bracket as required, and only the sent signals are required to cover the preset positions of the materials; in this embodiment, the transmitting module and the receiving module are respectively fixed on the left and right sides of the machine body 1, and exemplarily, the transmitting module and the receiving module are respectively located on the cross beam 11 in the middle of the left and right sides of the machine body 1, or the transmitting module and the receiving module are respectively located on the upright posts 12 on the left and right sides of the machine body 1; of course, the technician can fix the transmitting module and the receiving module at other positions, and only needs to ensure that the installation height is at a preset position. When the receiving module can receive the signal sent by the transmitting module, the material does not reach the preset position; when the material blocks the signal transmission between the transmitting module and the receiving module, that is, the receiving module cannot receive the signal sent by the transmitting module, it indicates that the material reaches the preset position, and the material grabbing module 22 in the loading and unloading mechanism 2 starts to grab the material.
As shown in fig. 9-10, the automatic loading and unloading device 100 further includes a positioning device, which is used to lock the material transfer mechanism 3 at a preset position in the machine body 1, so as to prevent the material transfer mechanism 3 from deviating from a preset position during loading and unloading, and ensure that the material can be taken and placed at the preset position. The positioning device comprises a positioning mechanism 5 and a positioning sensor 9, and the positioning sensor 9 is arranged in the first cavity 14 and used for detecting whether the material transfer mechanism 3 reaches a feeding position; positioning mechanism 5 is connected with positioning sensor 9 communication, and positioning mechanism 5 can lock material transport mechanism 3 in first cavity 14 according to positioning sensor 9's testing result. The position sensor 9 may employ a proximity switch.
The positioning mechanism 5 comprises an installation seat 51, a jaw driver 52, a jaw 53 and a fixture block 54, the installation seat 51 is arranged in the first cavity 14, the jaw driver 52 is arranged on the installation seat 51, the jaw 53 is rotatably arranged on the installation seat 51, the fixture block 54 is arranged on the material transfer mechanism 3, the movable end of the jaw driver 52 is connected with one end of the jaw 53 and can drive the jaw 53 to rotate, so that the jaw 53 is clamped or abutted against the fixture block 54. When the material transfer mechanism 3 reaches the loading position in the machine body 1, the positioning sensor 9 can trigger the jaw driver 52, so that the jaw 53 rotates and abuts against the clamping block 54 on the material transfer mechanism 3, and the positioning and locking of the material transfer mechanism 3 are realized. The pawl driver 52 is illustratively an air cylinder. After the material transfer mechanism 3 triggers the positioning sensor 9, the positioning sensor 9 triggers the electromagnetic valve of the cylinder, so that the piston rod of the cylinder extends, and the clamping jaw 53 rotates and clamps or abuts against the clamping block 54.
The positioning mechanism 5 can be provided with two sets of which are respectively arranged at the left side and the right side of the machine body 1, so that the left side and the right side of the material transfer mechanism 3 are simultaneously limited, and the material transfer mechanism 3 can be better prevented from moving randomly during feeding/discharging. The positioning mechanism 5 can be arranged on the machine body 1 at a position close to the bottom, such as on a cross beam 11 arranged at the bottom; of course, it may be arranged at other positions as required, as long as it is ensured that a locking fit with the material transfer mechanism 3 can be established.
In an alternative embodiment, the pawl 53 includes a movable plate 531 and a stop 532, the movable plate 531 is rotatably connected to the output rod of the pawl driver 52 near one end of the movable plate 531, the stop 532 is fixedly or detachably connected to the movable plate 531 near the other end of the movable plate 531, a rotating shaft 511 is disposed between two ends of the movable plate 531 and rotatably connected to the mounting seat 51, and the extension and contraction of the output rod of the pawl driver 52 can drive the movable plate 531 to rotate around the rotating shaft 511. The mounting seats 51 are fixed near the bottoms of both ends of the machine body 1, and the jaw drivers 52 are fixed to the mounting seats 51 through support blocks. The movable plate 531 is a plate structure with a predetermined length, so that the movable plate 531 can reach the position of the fixture block 54 when rotated to a position approximately perpendicular to the mounting seat 51, and the movable plate 531 can not interfere with the movement of the material transfer mechanism 3 when rotated to a position approximately parallel to or at a small angle with the mounting seat 51. The stopper 532 may be a rectangular or other geometric flat plate structure as long as it can be ensured to stably abut against the latch 54; alternatively, the designer may remove the stop 532 and use the movable plate 531 to abut the latch 54. Illustratively, the jaw actuator 52 may be selected from a stretch cylinder or an electric or hydraulic cylinder.
In order to reduce the collision force between the material transfer mechanism 3 and the machine body 1, a buffer member 34 is further provided on the frame 31 of the material transfer mechanism 3. When the positioning sensor 9 detects that the buffer member 34 approaches, the positioning sensor 9 can trigger the claw driver 52 to drive the claw 53 to rotate. Further, the buffer 34 may be made of buffer rubber.
In order to reduce the friction force between the material transfer mechanism 3 and the machine body 1 during the moving process and guide the movement of the material transfer mechanism 3, the automatic loading and unloading device 100 further comprises a guide mechanism 6, the guide mechanism 6 is arranged on the cross beams 11 at the left side and the right side in the first cavity 14, and the guide mechanism 6 is used for being matched with the material transfer mechanism 3 so that the material transfer mechanism 3 enters the first cavity 14. Optionally, the guiding mechanism 6 is disposed near the bottom of the first chamber 14.
As shown in fig. 11, the guiding mechanism 6 includes a supporting frame 61 and a plurality of guiding wheels 62 disposed on the supporting frame 61, the plurality of guiding wheels 62 are arranged in a row along the length direction of the supporting frame 61, and the wheel surfaces of the guiding wheels 62 can contact with the material transferring mechanism 3. The supporting frame 61 can be formed separately from or integrally with the cross beam 11 in the machine body 1, as long as it is ensured that the guide wheel 62 can partially extend out of the supporting frame 61. The guide wheel 62 is fixed to the support frame 61 by a rotation shaft installed in a direction close to the vertical direction so that the guide wheel 62 can rotate in the horizontal direction. The number of guide wheels 62 may be 1-25 or more, several guide wheels 62 being arranged substantially along a straight line. When material transport mechanism 3 got into the first cavity 14 of organism 1 for lead to material transport mechanism 3, can reduce the frictional force between material transport mechanism 3 and the organism 1 simultaneously.
For convenience of understanding, the working process of the automatic loading and unloading device 100 provided by the embodiment is as follows:
1) the material discharging process comprises the following steps: after the material is put in the material transfer mechanism 3, the material transfer mechanism 3 is pushed into the machine body 1 along the guide wheel 62 and reaches the material loading position, the material transfer mechanism 3 is close to the positioning sensor 9 on the machine body 1, and the jaw driver 52 drives the jaw 53 to clamp the clamping block 54 on the material transfer mechanism 3, so that the material transfer mechanism 3 is kept static. At this time, the lifting frame 42 is located right under the material, and the lifting driver 43 drives the lifting frame 42 to lift the material to a predetermined position.
When the first sensor 7 detects that the materials are stored on the material transfer mechanism 3, the lifting frame 42 in the lifting mechanism 4 lifts the materials, and when the second sensor 8 detects that the materials are located at a preset position, the lifting frame 42 stops lifting, and the transfer module 21 in the loading and unloading mechanism 2 drives the material grabbing module 22 to grab the materials; when the second sensor 8 detects that no material is at the preset position, the lifting frame 42 continues to ascend to the preset position and then stops, the feeding and discharging mechanism 2 continues to grab the material, and the material is sequentially fetched in this way until all the material on the lifting frame 42 is fetched. In the detection process, the transferring module 21 in the loading and unloading mechanism 2 drives the material grabbing module 22 to retract to the original position.
2) A material receiving process: after the material detection is finished, the material loading and unloading mechanism 2 absorbs the material of the detection station and transfers the material to the designated station. Two automatic loading and unloading devices 100 are arranged, one automatic loading and unloading device 100 is used for loading materials, and the other automatic loading and unloading device 100 is used for unloading materials.
When the material transfer mechanism 3 needs to be pulled out of the machine body 1, the jaw driver 52 can be started to drive the jaws 53 to rotate so as to release the clamping blocks 54 on the material transfer mechanism 3, and then the material transfer mechanism 3 can be pulled out.
As shown in fig. 12, the embodiment further provides an optical detection system, which includes an automatic feeding device 100a, an optical detection apparatus 200, an automatic discharging device 100b and an automatic control system, where the automatic feeding device 100a and the automatic discharging device 100b both include a machine body, a feeding and discharging mechanism, a material transfer mechanism 3 and a positioning device, where the automatic feeding device 100a and the automatic discharging device 100b may adopt the aforementioned automatic feeding and discharging device 100, the automatic feeding device 100a is used to feed materials to a detection station of the optical detection apparatus 200, and after the optical detection apparatus 200 performs optical detection on the materials, the automatic discharging device 100b located at the downstream of the optical detection apparatus 200 is used to perform discharging operation on the materials on the detection station of the optical detection apparatus 200, and store the materials according to good products and defective products in a classified manner.
For convenience of description, the body of the automatic feeding apparatus 100a is recorded as the body 1, the feeding and discharging mechanism of the automatic feeding apparatus 100a is recorded as the feeding and discharging mechanism 2, the body of the automatic discharging apparatus 100b is recorded as the discharging body 1a, and the feeding and discharging mechanism of the automatic discharging apparatus 100b is recorded as the discharging and discharging mechanism 2 a.
The automatic control system in this embodiment is a PLC control system. In the operation process, the material transfer mechanism 3 is pushed into or withdrawn from the automatic feeding equipment 100a and the automatic discharging equipment 100b only by manpower, the whole process of feeding, detecting and discharging does not need manual intervention, the operation is carried out fully automatically under the control of an automatic control system, the detection efficiency is high, and the labor intensity is low.
As shown in fig. 13-14, the automatic blanking apparatus 100b includes a blanking machine body 1a, a discharging and loading and unloading mechanism 2a, and a plurality of material transfer mechanisms 3, where the discharging and loading and unloading mechanism 2a includes a translation mechanism 21a, an X-axis module 22a disposed on the translation mechanism 21a, a lifting mechanism 23a disposed on the X-axis module 22a, and a material grabbing mechanism 24a disposed on the lifting mechanism 23a, where the X-axis module 22a and the second translation driving component 212 have substantially the same structure, the lifting mechanism 23a and the lifting driving component 213 have substantially the same structure, and the material grabbing mechanism 24a has substantially the same structure as the material grabbing module 22; the blanking machine body 1a is different from the machine body 1 in that at least two first cavities 14 are arranged, and a first sensor 7, a second sensor 8, a lifting mechanism 4, a positioning mechanism 5, a positioning sensor 9 and a material transfer mechanism 3 are arranged in each first cavity 14. The translation mechanism 21a is fixed in the blanking machine body 1a and spans the two first cavities 14, so that the material grabbing mechanism 24a can grab and store the material outside the blanking machine body 1a onto the material transfer mechanism 3 in the two first cavities 14. In alternative embodiments, the translation mechanism 21a may be a motor-driven X-axis rack and pinion transfer mechanism or other motor-driven lead screw translation mechanism. In this embodiment, the blanking machine body 1a is provided with two first cavities 14 and two material transfer mechanisms 3, and for convenience of description, the two material transfer mechanisms 3 are respectively recorded as a good product material transfer mechanism 3a for storing good product materials and a defective product material transfer mechanism 3b for storing defective product materials; of course, the skilled person may provide more first cavities 14 and more material transfer mechanisms 3 as required. In operation, unloading of automatic unloading equipment 100b goes up unloading mechanism 2a and shifts the yields material and defective products material respectively to two material transport mechanism 3 on, realizes receiving the receipts respectively of yields material and defective products material, need not follow-up manual work and distinguishes, improves the operating efficiency.
Alternatively, in the automatic blanking apparatus 100b located downstream of the optical detection device 200, the structure of at least one material transfer mechanism 3 is the same as that of the material transfer mechanism 3 of the automatic feeding apparatus 100 a. In this embodiment, the structures of the good product material transfer mechanism 3a for storing good product workpieces and the defective product material transfer mechanism 3b for storing defective product workpieces in the automatic blanking apparatus 100b are the same as the structure of the material transfer mechanism 3 of the automatic feeding apparatus 100 a. In other alternative embodiments, the structure of the defective product material transferring mechanism 3b for storing defective product materials in the automatic blanking apparatus 100b is a common material trolley, on which only a material placing table is arranged, and the first limiting module 32 and the second limiting module 33 are not arranged.
As shown in fig. 13, the optical inspection apparatus 200 includes a machine 201, a gantry 202, a CCD camera 203 and a contact line camera 204, the gantry 202 is movably disposed on the machine 201 through a cylinder and a guide rail module, the machine 201 is provided with a movable inspection table 205 for placing a material to be inspected, the inspection table 205 is an inspection station, the CCD camera 203 is disposed on a beam of the gantry 202 so that the CCD camera 203 is located above the inspection table 205, and the contact line camera 204 is disposed on the machine 201 and located below the inspection table 205. The detection table 205 comprises a movable base arranged on the table 201, a lower glass cover plate fixed on the base and an upper glass cover plate which can move horizontally and is arranged on the base, wherein the lower glass cover plate is used for placing materials (such as a circuit board), the upper glass cover plate is used for pressing the materials, the horizontal movement of the upper glass cover plate is staggered with the lower glass cover plate during feeding, and the horizontal movement of the upper glass cover plate is overlapped with the lower glass cover plate during detection.
When the device of the invention operates, firstly, a material transfer mechanism 3 loaded with materials to be detected (such as a circuit board) is pushed into an automatic feeding device 100a, a positioning sensor 9 in the automatic feeding device 100a transmits signals to a PLC, the PLC transmits instructions to an electromagnetic valve of a claw driver 52 of a positioning device, the electromagnetic valve acts to enable an air cylinder (namely the claw driver 52) to extend, a claw 53 on the air cylinder is abutted against a clamping block 54 on the material transfer mechanism 3, a first sensor 7 fixed on the side edge of a lifting frame 42 senses signals but a second sensor 8 does not sense the signals, the PLC transmits instructions to the lifting driver 43, the lifting driver 43 drives the lifting frame 42 to move upwards, and when the circuit board rises to a position where the second sensor 8 senses the signals, the PLC transmits instructions to the lifting driver 43 to stop the motor movement; at this time, the PLC transmits a command to the solenoid valve of the elevation driving unit 213 to operate, and the elevation driving unit 213 becomes a retracted state; the PLC simultaneously transmits a command to the second translational drive assembly 212, and the second translational drive assembly 212 retracts into the elevation drive assembly 213 along the x-axis direction; when the origin proximity switch of the second translation driving component 212 receives the information, the PLC transmits an instruction to the first translation driving component 211 to operate, the first translation driving component 211 further retracts to the elevation driving component 213, at this time, the PLC transmits an instruction to the solenoid valve of the elevation driving component 213 to operate, the elevation driving component 213 extends, and the suction cup component 222 is in a state of sucking the PCB; when the pressure switch connected with the sucker assembly 222 displays pressure, the PLC transmits an instruction to the electromagnetic valve of the lifting driving assembly 213 to act, and the lifting driving assembly 213 becomes a retraction state; the PLC transmits a command to the first translation driving component 211 to operate, and the first translation driving component 211 extends the second translation driving component 212 and the lifting driving component 213 out of the machine body 1; the rear PLC transmits an instruction to the second translation driving assembly 212 to extend the elevation driving assembly 213; PLC transmits the solenoid valve action that the instruction gave lift drive assembly 213, and PLC transmission instruction simultaneous control goes up glass apron horizontal migration and staggers with lower glass apron this moment, and lift drive assembly 213 transfers the material to optical detection device 200's lower glass apron on, realizes the material loading and detects the function.
The optical detection device 200 has two functions of CCD camera detection and contact linear array camera detection; when the contact linear array camera 204 is selected for detection, the PLC transmits an instruction to operate an air cylinder electromagnetic valve on the portal frame 202, at the moment, an air cylinder on the portal frame 202 is retracted to drive the portal frame 202 to move forwards, after the materials are in place, the PLC controls the upper glass cover plate to move horizontally and overlap with the lower glass cover plate, and the rear control base is translated backwards to realize scanning detection through the contact linear array camera 204. When the CCD is selected for detection, the PLC transmits an instruction to operate an air cylinder electromagnetic valve on the portal frame 202, the air cylinder extends forwards to drive the portal frame 202 to move backwards, after the materials are in place, the PLC controls the upper glass cover plate to move horizontally and overlap with the lower glass cover plate, and the rear control base is translated backwards to realize detection through the CCD camera 203.
After the detection is finished, the PLC receives an instruction of finishing board collection detected by the industrial personal computer; the PLC transmits instructions to respectively return the translation mechanism 21a, the X-axis module 22a and the lifting mechanism 23a of the automatic blanking device 100b to the initial state; the rear PLC transmits an instruction to the translation mechanism 21a and the X-axis module 22a of the automatic blanking device 100b to extend out to drive the material grabbing mechanism 24a to move towards the optical detection device 200; the PLC transmits an instruction to an electromagnetic valve of the lifting mechanism 23a, after a sucking disc of the material grabbing mechanism 24a takes out the material from the optical detection device 200, the electromagnetic valve of the lifting mechanism 23a acts to enable the lifting mechanism 23a to retract, whether the material is good or defective is judged according to shape information of the PCB by the industrial personal computer, when the industrial personal computer judges that the material is good, the industrial personal computer transmits a PLC signal, transmits the instruction to a motor driver of the translation mechanism 21a, drives the material grabbing mechanism 24a to move above the good material transfer mechanism 3a, and finally stops right above the good material transfer mechanism 3 a; the PLC transmits an instruction to the electromagnetic valve of the lifting mechanism 23a to act, the sucker of the material grabbing mechanism 24a places materials on the good product material transfer mechanism 3a, when the second sensor 8 and the first sensor 7 at the position of the good product material transfer mechanism 3a sense signals simultaneously, the PLC transmits an instruction to the lifting driver 43, the lifting driver 43 drives the lifting frame 42 to move downwards until the second sensor 8 does not sense a signal, and the PLC stops the movement of the lifting driver 43; reciprocating in proper order until lifting driver 43 moves to its lower limit, PLC transmits the solenoid valve of the jack catch driver 52 of instruction for good product material transfer mechanism 3a position, and the solenoid valve action makes jack catch driver 52 withdraw, and good product material transfer mechanism 3a is loosened, and PLC transmits information to the display screen and reports to the police and requires the workman to clear up the material.
When the industrial personal computer judges that the defective product exists, the industrial personal computer sends a signal to the PLC, the PLC sequentially transmits an instruction to the motor drivers of the translation mechanism 21a and the X-axis module 22a, and the two motors drive the whole lifting mechanism 23a and the material grabbing mechanism 24a to retract and finally stop right above the defective product material transferring mechanism 3 b; the PLC transmits an instruction to the electromagnetic valve of the lifting mechanism 23a to act, the sucker places materials on the defective material transferring mechanism 3b, when the second sensor 8 and the first sensor 7 at the position of the defective material transferring mechanism 3b sense signals simultaneously, the PLC transmits an instruction to the lifting driver 43, the lifting driver 43 drives the motor to move to drive the lifting frame 42 to move downwards, and the PLC stops the movement of the lifting driver 43 until the second sensor 8 does not sense a signal; the PLC transmits an instruction to the solenoid valve of the jaw driver 52 corresponding to the position of the defective material transferring mechanism 3b, the solenoid valve acts to enable the jaw driver 52 to retract, the defective material transferring mechanism 3b is loosened, and the PLC transmits information to the display screen and gives an alarm to require a worker to clean the material.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. The utility model provides an automatic unloader that goes up which characterized in that includes:
a machine body (1) in which a control system is arranged;
the feeding and discharging mechanism (2) is arranged in the machine body (1) and is electrically connected with the control system, the feeding and discharging mechanism (2) comprises a transfer module (21) and a material grabbing module (22) arranged on the transfer module (21), and the material grabbing module (22) is used for grabbing materials and transferring the materials to the outside of the machine body (1); the material grabbing module (22) comprises a distance adjusting assembly (221) and a sucker assembly (222), the sucker assembly (222) is used for adsorbing materials, the distance adjusting assembly (221) comprises a supporting plate (2211), a plurality of connecting plates (2212) and a distance adjusting driver (2213), the supporting plate (2211) is arranged at the movable end of the transferring module (21), the sucker assemblies (222) are arranged on the connecting plates (2212), at least part of the connecting plates (2212) are movably arranged on the supporting plate (2211), and the distance adjusting driver (2213) can drive the connecting plates (2212) to move relative to the supporting plate (2211);
The material transferring mechanism (3) is detachably arranged in the machine body (1), and the material transferring mechanism (3) is used for loading and transferring the materials;
the lifting mechanism (4) is arranged in the machine body (1), and the lifting mechanism (4) can lift the materials on the material transfer mechanism (3) to a preset position so that the material grabbing module (22) can grab the materials;
the first sensor (7) is used for detecting whether the material is stored on the material transfer mechanism (3);
a second sensor (8) for detecting whether the material is located at the predetermined position;
the control system can control the lifting mechanism (4) and the loading and unloading mechanism (2) to carry out loading and unloading work according to information fed back by the first sensor (7) and the second sensor (8).
2. The automatic loading and unloading device according to claim 1, wherein the first sensor (7) is arranged on the lifting mechanism (4), and the material transfer mechanism (3) can enter the machine body (1) and make the material thereon above the first sensor (7).
3. The automatic loading and unloading device according to claim 1, wherein the second sensor (8) is a photoelectric switch, which comprises an emitting module and a receiving module which are independently arranged, and the emitting module and the receiving module are used for detecting the material at the predetermined position.
4. The automatic loading and unloading device according to claim 1, wherein the material transfer mechanism (3) comprises a first limiting module (32) for limiting the material, the first limiting module (32) comprises a first limiting plate (323), a pair of through holes (3231) are formed in the first limiting plate (323), and the pair of through holes (3231) are used for the second sensor (8) to detect whether the material reaches a preset position.
5. The automatic loading and unloading device as claimed in claim 4, wherein the first limiting module (32) further comprises a first operating handwheel (321), a first transmission assembly (322) and a partition plate, the partition plate is arranged between the two first limiting plates (323), and the first operating handwheel (321) can drive the two first limiting plates (323) to move towards or away from the partition plate through the first transmission assembly (322).
6. The automatic loading and unloading device according to any one of claims 1-5, wherein the machine body (1) comprises a cross beam (11) and a plurality of upright columns (12), the plurality of cross beams (11) and the plurality of upright columns (12) form a frame structure, the frame structure comprises a first cavity (14) and a second cavity (15), the first cavity (14) is used for accommodating the loading and unloading mechanism (2), the material transfer mechanism (3) and the lifting mechanism (4), and the second cavity (15) is used for accommodating the control system.
7. The automatic loading and unloading device according to claim 6, further comprising a guide mechanism (6) disposed in the first cavity (14), wherein the guide mechanism (6) is adapted to cooperate with the material transfer mechanism (3) to allow the material transfer mechanism (3) to enter the first cavity (14).
8. The automatic loading and unloading device according to claim 7, wherein the guide mechanism (6) comprises a support frame (61) and guide wheels (62), the support frame (61) is fixed on the cross beam (11), a plurality of guide wheels (62) are parallelly arranged on the support frame (61) in a spaced and rotatable mode, and the wheel surfaces of the guide wheels (62) can be in contact with the material transfer mechanism (3); the guide mechanisms (6) are arranged in two groups, and the two groups are respectively arranged on the cross beams (11) on the left side and the right side of the machine body (1).
9. The automatic loading and unloading device according to any one of claims 1 to 5, wherein the lifting mechanism (4) comprises a base (41), a lifting frame (42) and a lifting driver (43), the base (41) is arranged in the machine body (1) and extends in the vertical direction, the lifting frame (42) is arranged on the base (41) in a lifting manner in the vertical direction, the lifting frame (42) is used for bearing the material, and the lifting driver (43) can drive the lifting frame (42) to lift in the vertical direction.
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