CN113370226A - Loading and unloading equipment - Google Patents

Loading and unloading equipment Download PDF

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Publication number
CN113370226A
CN113370226A CN202110606686.9A CN202110606686A CN113370226A CN 113370226 A CN113370226 A CN 113370226A CN 202110606686 A CN202110606686 A CN 202110606686A CN 113370226 A CN113370226 A CN 113370226A
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China
Prior art keywords
limiting
driving
clamping jaw
clamping
plate
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Granted
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CN202110606686.9A
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Chinese (zh)
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CN113370226B (en
Inventor
孙有为
朱培侠
滕顺意
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Goertek Inc
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Goertek Inc
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Priority to CN202110606686.9A priority Critical patent/CN113370226B/en
Publication of CN113370226A publication Critical patent/CN113370226A/en
Priority to PCT/CN2021/139488 priority patent/WO2022252571A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0095—Manipulators transporting wafers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • 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
    • B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
    • 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
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/07—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for semiconductor wafers Not used, see H01L21/677

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • De-Stacking Of Articles (AREA)

Abstract

The invention discloses a feeding and discharging device, which comprises: the lifting device comprises a material carrying platform and a lifting driving piece, wherein the material carrying platform is used for carrying materials, and the lifting driving piece is used for driving the material carrying platform to lift; the first positioning device comprises a first driving mechanism and two clamping jaw mechanisms arranged at intervals along a first direction, each clamping jaw mechanism is slidably arranged on the material loading platform, a material placing space for placing materials is formed between the two clamping jaw mechanisms, and the first driving mechanism is used for driving the two clamping jaw mechanisms to move towards or away from each other relative to the material loading platform; and the second positioning device comprises a limiting plate, a limiting mechanism and a second driving mechanism, the limiting plate and the limiting mechanism are arranged on two sides of the material placing space at intervals along a second direction, the first direction is perpendicular to the second direction, the limiting plate is arranged on the material loading platform, the limiting mechanism is slidably arranged on the material loading platform, and the second driving mechanism is used for driving the limiting mechanism to be close to or far away from the limiting plate. The invention can avoid manual participation, reduce the pollution risk of products and improve the production efficiency.

Description

Loading and unloading equipment
Technical Field
The invention relates to the technical field of processing and manufacturing, in particular to feeding and discharging equipment.
Background
In the semiconductor process, the wafer (wafer) magazine is generally loaded and unloaded manually, the whole wafer magazine to be processed is placed in a magazine of process equipment, the accurate placement position of the magazine is ensured manually during placement, and the magazine is manually taken down and transferred to the process equipment of the next procedure after the wafer (wafer) magazine is processed. Because this go up unloading process all adopts the mode of artifical unloading of going up, too much artifical participation increases the pollution risk of product, and degree of automation is low, has the defect that production efficiency is low and artifical intensity of labour is big.
Disclosure of Invention
The invention mainly aims to provide a feeding and discharging device, and aims to solve the problems that the product pollution risk is increased and the production efficiency is low due to the adoption of a manual feeding and discharging mode in the conventional semiconductor process.
In order to achieve the above object, the present invention provides a loading and unloading apparatus, including:
the lifting device comprises a material carrying platform and a lifting driving piece, wherein the material carrying platform is used for carrying materials, and the lifting driving piece is used for driving the material carrying platform to lift;
the first positioning device comprises a first driving mechanism and two clamping jaw mechanisms arranged at intervals along a first direction, each clamping jaw mechanism is slidably arranged on the material loading platform, a material placing space for placing the material is formed between the two clamping jaw mechanisms, and the first driving mechanism is used for driving the two clamping jaw mechanisms to move towards or away from each other relative to the material loading platform;
second positioner, including limiting plate, stop gear and second actuating mechanism, the limiting plate with stop gear along second direction interval arrangement in put material space both sides, first direction with second direction mutually perpendicular, the limiting plate is installed carry the material bench, stop gear slidable set up in carry the material bench, second actuating mechanism is used for the drive stop gear is close to or keeps away from the limiting plate.
Preferably, the clamping jaw mechanism comprises a first clamping jaw and a second clamping jaw, and the first clamping jaw and the second clamping jaw are arranged on the same side of the material placing space at intervals along the first direction; the edge of the material carrying platform is provided with a first sliding groove for the first clamping jaw to slide, and the first clamping jaw penetrates through the first sliding groove and extends out of the material carrying surface of the material carrying platform; the second clamping jaw is positioned on one side, facing the material placing space, of the first clamping jaw, the material carrying platform is provided with a second sliding groove for the second clamping jaw to slide, and the second clamping jaw can penetrate through the second sliding groove and extend out of a material carrying surface of the material carrying platform or retract into the second sliding groove.
Preferably, the first driving mechanism comprises two first driving assemblies, and the two first driving assemblies are arranged in one-to-one correspondence with the two clamping jaw mechanisms; the first driving assembly comprises a first driving piece and a first driving plate connected with the first driving piece, and the first driving piece is installed on the bottom surface of the material loading platform; in each clamping jaw mechanism, the first clamping jaw and the second clamping jaw are mounted on the corresponding first driving plate; the first driving piece is used for driving the first driving plate so as to drive the first clamping jaw and the second clamping jaw to synchronously move towards or away from the material placing space relative to the material loading platform.
Preferably, the first clamping jaw comprises a first clamping plate, the lower end of the first clamping plate is mounted on the first driving plate, the first clamping plate vertically penetrates through the first sliding groove, and the upper end of the first clamping plate extends out of the loading surface of the loading platform.
Preferably, the first clamping jaw further comprises a first roller, a first mounting groove is formed in a position, close to the upper end of the first clamping plate, the first roller is rotatably mounted in the first mounting groove, a rotating shaft of the first roller is vertically arranged, and a rim of the first roller extends out of one side, facing the material placing space, of the first clamping plate and is used for abutting against the material.
Preferably, the second clamping jaw comprises a second clamping plate and a mounting seat, the mounting seat is mounted on the first driving plate, the lower end of the second clamping plate is hinged to the mounting seat through a rotating shaft, so that the second clamping plate can rotate between an abutting position and an avoiding position relative to the mounting seat, the second clamping plate vertically penetrates through the second sliding groove and extends out of a material carrying surface of the material carrying table when being in the abutting position, and the second clamping plate is horizontally arranged and retracts into the second sliding groove when being in the avoiding position.
Preferably, the mounting seat includes a seat body and two mounting lugs, the seat body is mounted on the first driving plate, the two mounting lugs are arranged on two sides of the seat body at intervals along the second direction, two ends of the rotating shaft are respectively inserted into the two mounting lugs and hinged to the corresponding mounting lugs, a groove is formed between the seat body and the two mounting lugs, the lower end of the first clamping plate extends into the groove, and a cavity communicated with the groove is formed in the seat body; the second clamping jaw further comprises a locking mechanism contained in the cavity, and the locking mechanism is used for being matched with the first clamping plate so that the first clamping plate is locked when the first clamping plate is located at the abutting position or the avoiding position.
Preferably, the locking mechanism comprises an elastic piece and a floating block, the lower end of the elastic piece is connected with the bottom cavity wall of the cavity, and the upper end of the elastic piece is connected with the floating block; the lower extreme of first splint is provided with and stretches into the butt piece in the recess, the butt piece is located the below of axis of rotation, the bottom of butt piece has first butt face and second butt face, first butt face with second butt face circular arc transitional coupling, just first butt face with the distance between the axis of rotation is less than second butt face with the distance between the axis of rotation, first splint are in when dodging the position the floating block with first butt face supports tightly, first splint are in when the butt position the floating block with second butt face supports tightly.
Preferably, the second clamping jaw further comprises a second roller, a second mounting groove is formed in a position, close to the upper end of the second clamping plate, the second roller is rotatably mounted in the second mounting groove, a rotating shaft of the second roller is vertically arranged, and a rim of the second roller extends out of one side, facing the material placing space, of the second clamping plate and is used for abutting against the material.
Preferably, in each of the jaw mechanisms, the number of the first jaws is at least two, at least two of the first jaws are arranged at intervals along the second direction, and the number of the first chutes is consistent with that of the first jaws and corresponds to that of the first jaws one by one; the number of the second clamping jaws is at least two, the second clamping jaws are arranged at intervals along the second direction, and the number of the second sliding grooves is consistent with that of the second clamping jaws and corresponds to that of the second clamping jaws one by one.
Preferably, the limiting mechanism comprises a first limiting claw and a second limiting claw, and the first limiting claw and the second limiting claw are arranged on the same side of the material placing space at intervals along the second direction; the edge of the material carrying platform is provided with a first limiting sliding groove for the first limiting claw to slide, and the first limiting claw penetrates through the first limiting sliding groove and extends out of the material carrying surface of the material carrying platform; the second limiting claw is positioned on one side, facing the material placing space, of the first limiting claw, the material carrying platform is provided with a second limiting sliding groove for the second limiting claw to slide, and the second limiting claw penetrates through the second limiting sliding groove and extends out of the material carrying surface of the material carrying platform.
Preferably, the second driving mechanism comprises a second driving piece and a second driving plate connected with the second driving piece, and the second driving piece is mounted on the bottom surface of the material loading platform; the first limiting claw and the second limiting claw are both arranged on the second driving plate; the second driving piece is used for driving the second driving plate so as to drive the first limiting claw and the second limiting claw to synchronously move towards the direction close to or far away from the limiting plate relative to the material carrying platform.
Preferably, the number of the first limiting claws is two, the two first limiting claws are arranged at intervals along the first direction, and the number of the first limiting sliding grooves is consistent with that of the first limiting claws and corresponds to that of the first limiting claws one by one; the number of the second limiting claws is two, the two second limiting claws are arranged at intervals along the second direction, and the number of the second limiting chutes is consistent with that of the second limiting claws and corresponds to that of the second limiting claws one by one; the distance between the two second limiting claws is smaller than the distance between the two first limiting claws.
According to the technical scheme, in the working process, the robot places the material in the material placing space of the material carrying table, and the first driving mechanism drives the two clamping jaw mechanisms to move in opposite directions, so that the two clamping jaw mechanisms are respectively abutted against two sides of the material and move the material to a proper position along the first direction, and the material is positioned in the first direction. And second actuating mechanism drive stop gear is close to the limiting plate, and then promotes the material until with the limiting plate butt to with the material location on the second direction, thereby with the material accurately location, accomplish automatic feeding process. And moreover, a lifting driving piece in the lifting device can also drive the material carrying table to lift up and down so as to switch materials with different heights to align to a feeding hole of the processing equipment, and a continuous feeding process is realized. After the processing is finished, the first driving mechanism drives the two clamping jaw mechanisms to move back to back respectively, so that the two clamping jaw mechanisms loosen the material, the second driving mechanism drives the limiting mechanism to be away from the limiting plate, the limiting mechanism loosens the material, the robot is convenient to take the material away, and the automatic discharging process is finished. The loading and unloading equipment can realize accurate positioning of materials and automatic loading and unloading processes, correct the loading deviation of the robot, has high automation degree, can avoid manual participation, reduce the pollution risk of products, improve the production efficiency and reduce the manual labor intensity.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, 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 structures shown in the drawings without creative efforts.
Fig. 1 is a perspective view of a loading and unloading apparatus according to an embodiment of the present invention;
FIG. 2 is a partially enlarged schematic view of a loading and unloading apparatus according to an embodiment of the present invention;
fig. 3 is a perspective view of the loading and unloading apparatus at another viewing angle according to an embodiment of the present invention;
FIG. 4 is a perspective view of the feeding and discharging apparatus positioning a 12-inch magazine according to one embodiment of the present invention;
FIG. 5 is a perspective view of the feeding and discharging apparatus positioning an 8-inch magazine according to one embodiment of the present invention;
fig. 6 is a schematic perspective view of a second clamping jaw in the loading and unloading apparatus according to an embodiment of the present invention;
FIG. 7 is a perspective view of a second clamping plate of the loading and unloading apparatus according to an embodiment of the present invention;
fig. 8 is a schematic perspective view of a second clamping plate in the loading and unloading apparatus according to an embodiment of the present invention in an avoiding position.
The reference numbers illustrate:
Figure BDA0003093306200000051
Figure BDA0003093306200000061
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a feeding and discharging device.
As shown in fig. 1 to 5, the loading and unloading apparatus 100 of the present embodiment includes a lifting device 30, a first positioning device 10 and a second positioning device 20, wherein the lifting device 30 includes a material loading platform 31 and a lifting driving member 32, the material loading platform 31 is used for loading materials, and the lifting driving member 32 is used for driving the material loading platform 31 to lift; the first positioning device 10 comprises a first driving mechanism 11 and two clamping jaw mechanisms 12 arranged at intervals along a first direction, each clamping jaw mechanism 12 is slidably arranged on the material loading platform 31, a material placing space 40 for placing materials is formed between the two clamping jaw mechanisms 12, and the first driving mechanism 11 is used for driving the two clamping jaw mechanisms 12 to move towards or away from each other relative to the material loading platform 31; the second positioning device 20 comprises a limiting plate 21, a limiting mechanism 22 and a second driving mechanism 23, the limiting plate 21 and the limiting mechanism 22 are arranged at two sides of the material placing space 40 at intervals along a second direction, the first direction is perpendicular to the second direction, the limiting plate 21 is arranged on the material loading platform 31, the limiting mechanism 22 can be slidably arranged on the material loading platform 31, and the second driving mechanism 23 is used for driving the limiting mechanism 22 to be close to or far away from the limiting plate 21.
Specifically, the first direction of the present embodiment is the left-right direction shown in fig. 1, and the second direction is the front-back direction shown in fig. 1. The two clamping jaw mechanisms 12 of the first positioning device 10 are respectively positioned at the left side and the right side of the material placing space 40, and the limiting mechanism 22 and the limiting plate 21 of the second positioning device 20 are respectively positioned at the front side and the rear side of the material placing space 40. The loading and unloading device 100 of the embodiment can be applied to a semiconductor process to complete the loading and unloading process of the wafer magazine 200, and it can be understood that a plurality of wafer racks 300 are installed in the wafer magazine 200, and the wafer racks 300 are stacked up and down, and the material of the embodiment is described by taking the wafer magazine 200 as an example, and the wafer magazine 200 is simply referred to as the magazine 200 hereinafter. The lift drive 32 of this embodiment may be implemented using a prior art lift cylinder.
In the working process, the robot places the material box 200 in the material placing space 40 of the material loading platform 31, the first driving mechanism 11 drives the two clamping jaw mechanisms 12 to move towards each other, namely, the first driving mechanism 11 drives the clamping jaw mechanism 12 on the left side to move towards the right relative to the material loading platform 31, and simultaneously drives the clamping jaw mechanism 12 on the right side to move towards the left relative to the material loading platform 31, so that the two clamping jaw mechanisms 12 are respectively abutted against the left side and the right side of the material box 200, the material box 200 is moved to a proper position from left to right, and the material box 200 is positioned in the left and right directions. And second actuating mechanism 23 drive stop gear 22 is close to limiting plate 21, promptly, drives stop gear 22 rearward movement, and then promotes magazine 200 rearward movement until with limiting plate 21 butt, and then makes stop gear 22 and limiting plate 21 respectively with the both sides butt around magazine 200 to fix a position magazine 200 in the front and back direction, and then accurately fix a position magazine 200 from all around diversified direction, accomplish the automatic feeding process. In addition, in this embodiment, the lifting driving member 32 in the lifting device 30 can also drive the material loading platform 31 to lift up and down, so as to switch the wafer rack 300 with different heights to align with the material loading port of the processing equipment, thereby implementing a continuous material loading process. It can be understood that, after finishing, first actuating mechanism 11 drives two clamping jaw mechanism 12 back-to-back respectively, namely, first actuating mechanism 11 drives left clamping jaw mechanism 12 and moves left relatively to material loading platform 31, and simultaneously drives right clamping jaw mechanism 12 and moves right relatively to material loading platform 31, make two clamping jaw mechanism 12 loosen magazine 200, and second actuating mechanism 23 then drives stop gear 22 and keeps away from limiting plate 21, namely, drives stop gear 22 and moves forward, stop gear 22 loosens magazine 200, make things convenient for the robot to take magazine 200 away, accomplish automatic unloading process.
Unloading equipment 100 can realize the pinpointing of magazine 200 and the automatic unloading process of going up in this embodiment, rectifies the robot material loading deviation, and degree of automation is high, can avoid artifical the participation, reduces the pollution risk of product, can improve production efficiency again, reduces artifical intensity of labour.
The clamping jaw mechanism 12 of the present embodiment includes a first clamping jaw 121 and a second clamping jaw 122, and the first clamping jaw 121 and the second clamping jaw 122 are arranged on the same side of the material placing space 40 at an interval along the first direction; a first chute 311 for the first clamping jaw 121 to slide is formed in the edge of the material loading platform 31, and the first clamping jaw 121 penetrates through the first chute 311 and extends out of the material loading surface of the material loading platform 31; the second clamping jaw 122 is located on one side of the first clamping jaw 121 facing the material placing space 40, the material loading platform 31 is provided with a second chute 312 for the second clamping jaw 122 to slide, and the second clamping jaw 122 can penetrate through the second chute 312 to extend out of the material loading surface of the material loading platform 31 or retract into the second chute 312.
As shown in fig. 1 to 5, each of the jaw mechanisms 12 includes a first jaw 121 and a second jaw 122, and the first jaw 121 and the second jaw 122 in the same jaw mechanism 12 are arranged on the same side of the material placing space 40 at an interval in the left-right direction, and the second jaw 122 is closer to the material placing space 40. It is understood that in the left-side clamping jaw mechanism 12, the first clamping jaw 121 and the second clamping jaw 122 are both positioned at the left side of the material placing space 40, and in the right-side clamping jaw mechanism 12, the first clamping jaw 121 and the second clamping jaw 122 are both positioned at the right side of the material placing space 40. In the two jaw mechanisms 12, the two first jaws 121 are disposed opposite to each other in the left-right direction, the two second jaws 122 are disposed opposite to each other in the left-right direction, and the distance between the two first jaws 121 is greater than the distance between the two second jaws 122. The material loading platform 31 is provided with a first chute 311 corresponding to the first clamping jaw 121, so that the first clamping jaw 121 can slide conveniently, and the material loading platform 31 is provided with a second chute 312 corresponding to the second clamping jaw 122, so that the second clamping jaw 122 can slide conveniently. In order to facilitate the left-right sliding of the first clamping jaw 121 and the second clamping jaw 122, the extending directions of the first sliding chute 311 and the second sliding chute 312 are both left-right directions.
Generally, the material box 200 has two sizes of 8 inches and 12 inches, when the material to be processed is the 8-inch material box 200, the 8-inch material box 200 is placed in the material placing space 40, the first driving mechanism 11 drives the two second clamping jaws 122 to move in opposite directions, at this time, the second clamping jaws 122 extend out of the material loading surface of the material loading table 31 through the second sliding grooves 312, and understandably, the material loading surface of the material loading table 31 is the top surface of the material loading table 31, so that in the process that the first driving mechanism 11 drives the two second clamping jaws 122 to move in opposite directions, the two second clamping jaws 122 can be respectively abutted against the left side and the right side of the material box 200 and position the material box 200 in the left-right direction. When the material to be processed is the 12-inch material box 200, the 12-inch material box 200 is placed in the material placing space 40, so as to avoid interference of the second clamping jaw 122 on the material box 200, at the moment, the second clamping jaw 122 retracts into the second sliding groove 312, the first driving mechanism 11 drives the two first clamping jaws 121 to move oppositely, and the two first clamping jaws 121 can be respectively abutted against the left side and the right side of the material box 200 and position the material box 200 in the left-right direction. Through setting up first clamping jaw 121 and second clamping jaw 122 for unloading equipment 100 can be applicable to two kinds of magazine 200 that the size is different on this embodiment, and is compatible good.
In this embodiment, the first driving mechanism 11 includes two first driving assemblies, and the two first driving assemblies and the two clamping jaw mechanisms 12 are arranged in a one-to-one correspondence; the first driving assembly comprises a first driving piece 111 and a first driving plate 112 connected with the first driving piece 111, and the first driving piece 111 is installed on the bottom surface of the loading platform 31; in each jaw mechanism 12, the first jaw 121 and the second jaw 122 are both mounted on the corresponding first driving plate 112; the first driving member 111 is used for driving the first driving plate 112 to drive the first clamping jaw 121 and the second clamping jaw 122 to synchronously move towards or away from the material placing space 40 relative to the material loading platform 31.
Specifically, the first driving member 111 may be a cylinder in the related art, and hereinafter, the first driving member 111 is referred to as a first cylinder. Each gripper mechanism 12 is correspondingly provided with a first drive assembly, each of which includes a first cylinder and a first drive plate 112. During operation, the two first cylinders respectively drive the corresponding first driving plates 112 to move, and further respectively drive the two clamping jaw mechanisms 12 to move towards or away from each other. In each jaw mechanism 12, the first jaw 121 and the second jaw 122 are both mounted on the first drive plate 112, and the structure is compact. When the first cylinder drives the first driving plate 112, the first clamping jaw 121 and the second clamping jaw 122 of each clamping jaw mechanism 12 synchronously move towards or away from the material placing space 40 relative to the material loading platform 31, so that the material box 200 with larger size is positioned or released by the two first clamping jaws 121 arranged oppositely left and right, or the material box 200 with smaller size is positioned or released by the two second clamping jaws 122 arranged oppositely left and right.
As shown in fig. 1 to 5, the first clamping jaw 121 of the present embodiment includes a first clamping plate 1211, a lower end of the first clamping plate 1211 is mounted on the first driving plate 112, the first clamping plate 1211 vertically passes through the first chute 311, and an upper end of the first clamping plate 1211 extends out of the loading surface of the loading table 31. Further, the first clamping jaw 121 further includes a first roller 1212, a first mounting groove 12111 is opened at a position of the first clamping plate 1211 near the upper end thereof, the first roller 1212 is rotatably mounted in the first mounting groove 12111, a rotating shaft of the first roller 1212 is vertically disposed, and a rim of the first roller 1212 extends out of one side of the first clamping plate 1211 facing the material placing space 40 and is used for abutting against the material. It will be appreciated that the first roller 1212 is positioned horizontally, the rim of the first roller 1212 in the first jaw 121 in the right position protruding beyond the left side of the first plate 1211 and being intended to abut against the cartridge 200, and the rim of the first roller 1212 in the first jaw 121 in the left position protruding beyond the right side of the first plate 1211 and being intended to abut against the cartridge 200.
During the left-right movement of the first drive plate 112 driven by the first cylinder, the first clamp 1211 may abut against or disengage from the left or right side of the cartridge 200 to correspondingly push the cartridge 200 to the ready position or release the cartridge 200. When the magazine 200 is pushed by the limiting mechanism 22 to move, the rim of the first roller 1212 can abut against the magazine 200 and roll along with the movement of the limiting mechanism 22, so that the friction between the first clamping plate 1211 and the side wall of the magazine 200 when the magazine 200 moves is reduced, and the movement of the magazine 200 is facilitated.
In this embodiment, the second clamping jaw 122 includes a second clamping plate 1221 and a mounting seat 1222, the mounting seat 1222 is mounted on the first driving plate 112, a lower end of the second clamping plate 1221 is hinged to the mounting seat 1222 through a rotating shaft 1223, so that the second clamping plate 1221 can rotate relative to the mounting seat 1222 between an abutting position and a retracted position, the second clamping plate 1221 vertically passes through the second sliding groove 312 and extends out of the loading surface of the loading platform 31 when in the abutting position, and the second clamping plate 1221 horizontally extends and retracts into the second sliding groove 312 when in the retracted position.
As shown in fig. 1 to 3 and 5, when the material to be processed is an 8-inch material box 200, the 8-inch material box 200 is placed in the material placing space 40, at this time, the second clamping plate 1221 rotates to the abutting position relative to the mounting seat 1222, the second clamping plate 1221 is digitally displayed to pass through the second sliding groove 312 and extend out of the material carrying surface of the material carrying table 31, the two first cylinders respectively drive the corresponding driving plates to move, and then respectively drive the two second clamping plates 1221 to move in opposite directions, and the second clamping plates 1221 are respectively abutted to the left side and the right side of the material box 200 and position the material box 200 in the left-right direction. As shown in fig. 1 to 4, when the material to be processed is a 12-inch material box 200, the 12-inch material box 200 is placed in the material placing space 40, at this time, the second clamping plate 1221 is pulled to rotate from the abutting position to the avoiding position relative to the mounting seat 1222, so that the vertically placed second clamping plate 1221 is switched to be placed horizontally, and the second clamping plate 1221 is retracted into the second sliding groove 312 when being placed horizontally, thereby avoiding interference on the 12-inch material box 200, and being flexible and convenient.
Further, as shown in fig. 6 to 8, the mounting seat 1222 includes a seat body 12221 and two mounting lugs 12222, the seat body 12221 is mounted on the first driving plate 112, the two mounting lugs 12222 are disposed at two sides of the seat body 12221 at intervals along the second direction, two ends of the rotating shaft 1223 are respectively inserted into the two mounting lugs 12222 and hinged to the corresponding mounting lugs 12222, a groove 12223 is formed between the seat body 12221 and the two mounting lugs 12222, a lower end of the first clamping plate 1211 extends into the groove 12223, and a cavity 12224 communicated with the groove 12223 is formed in the seat body 12221; the second jaw 122 also includes a locking mechanism 1224 received within the cavity 12224, the locking mechanism 1224 being adapted to cooperate with the first clip 1211 to lock the first clip 1211 when the first clip 1211 is in the abutting or retracted position.
Specifically, two mounting lugs 12222 of the mounting base 1222 are disposed at two sides of the base 12221 at intervals along the front-rear direction, the rotating shaft 1223 of the second clamping plate 1221 is horizontally disposed, and the front end and the rear end of the rotating shaft 1223 are respectively inserted into the two mounting lugs 12222 and hinged to the corresponding mounting lugs 12222, so that the second clamping plate 1221 can rotate relative to the mounting base 1222. The locking mechanism 1224 is received in the cavity 12224 of the base 12221, and when the first clip 1211 rotates to an abutting position or a retracted position relative to the mounting base 1222, the locking mechanism 1211 can be locked with the first clip 1211, so as to prevent the first clip 1211 from rotating by itself without being pulled, thereby ensuring the normal use of the first clip 1211.
The locking mechanism 1224 comprises an elastic member 12241 and a floating block 12242, the lower end of the elastic member 12241 is connected with the bottom cavity wall of the cavity 12224, and the upper end of the elastic member 12241 is connected with the floating block 12242; the lower end of the first clamping plate 1211 is provided with an abutting block 1225 extending into the groove 12223, the abutting block 1225 is located below the rotating shaft 1223, the bottom of the abutting block 1225 is provided with a first abutting surface 12251 and a second abutting surface 12252, the first abutting surface 12251 and the second abutting surface 12252 are in circular arc transition connection, the distance between the first abutting surface 12251 and the rotating shaft 1223 is smaller than the distance between the second abutting surface 12252 and the rotating shaft 1223, the floating block 12242 abuts against the first abutting surface 12251 when the first clamping plate 1211 is in the avoiding position, and the floating block 12242 abuts against the second abutting surface 12252 when the first clamping plate 1211 is in the abutting position.
The elastic member 12241 of this embodiment may be a spring of the prior art, the lower end of the spring is connected to the bottom wall of the cavity 12224, and the upper end of the elastic member 12241 is connected to the floating block 12242. The bottom of the abutting block 1225 connected to the lower end of the first splint 1211 forms a first abutting surface 12251 and a second abutting surface 12252, wherein the first abutting surface 12251 and the second abutting surface 12252 are both flat surfaces, the first abutting surface 12251 and the second abutting surface 12252 are transitionally connected through an arc surface 12253, the distance between the first abutting surface 12251 and the rotating shaft 1223 is small, the distance between the second abutting surface 12252 and the rotating shaft 1223 is large, and the distance between the arc surface 12253 and the center of the rotating shaft 1223 can be gradually enlarged from the first abutting surface 12251 to the second abutting surface 12252. As shown in fig. 8, when the second clamping plate 1221 rotates from the abutting position to the avoiding position, the second clamping plate 1221 is switched from the vertical placement to the horizontal placement, and at this time, the floating block 12242 floats upwards under the action of the spring and abuts against the first abutting surface 12251, so that the second clamping plate 1221 is locked, and the second clamping jaw 122 can maintain self-locking when being in the avoiding position. As shown in fig. 7, when the second clamping plate 1221 rotates from the avoiding position to the abutting position, the second clamping plate 1221 is vertically placed by switching from horizontal placement, and at this time, the floating block 12242 sinks after being pressed, and the spring is pressed and abuts against the floating block 12242 to abut against the second abutting surface 12252, so that the second clamping plate 1221 is locked, and the second clamping jaw 122 can maintain the self-locking state when being in the abutting position.
The second clamping jaw 122 of this embodiment further includes a second roller 1226, a second mounting groove 12211 is opened at a position of the second clamping plate 1221 near the upper end thereof, the second roller 1226 is rotatably mounted in the second mounting groove 12211, a rotating shaft of the second roller 1226 is vertically disposed, and a rim of the second roller 1226 extends out of one side of the second clamping plate 1221 facing the material placing space 40 and is used for abutting against the material. It will be appreciated that the second roller 1226 is positioned horizontally, the rim of the second roller 1226 in the second jaw 122 in the right position extending beyond the left side of the second jaw 1221 and being arranged to abut the cartridge 200, and the rim of the second roller 1226 in the second jaw 122 in the left position extending beyond the right side of the second jaw 1221 and being arranged to abut the cartridge 200.
During the left-right movement of the first drive plate 112 driven by the first cylinder, the second clamping plate 1221 may abut against or disengage from the left or right side of the magazine 200 to correspondingly push the magazine 200 to the ready position or release the magazine 200. In the process that the material box 200 is pushed by the limiting mechanism 22 to move, the rim of the second roller 1226 can abut against the material box 200 and roll along with the movement of the limiting mechanism 22, so that the friction force between the second clamping plate 1221 and the side wall of the material box 200 is reduced when the material box 200 moves, and the movement of the material box 200 is facilitated.
As shown in fig. 1 to 5, in each of the jaw mechanisms 12 of the present embodiment, the number of the first jaws 121 is at least two, at least two first jaws 121 are arranged at intervals along the second direction, and the number of the first sliding grooves 311 is consistent with and corresponds to the number of the first jaws 121; the number of the second clamping jaws 122 is at least two, the at least two second clamping jaws 122 are arranged at intervals along the second direction, and the number of the second sliding grooves 312 is consistent with that of the second clamping jaws 122 and corresponds to one another. In an embodiment, the number of the first clamping jaws 121 is two, the two first clamping jaws 121 are arranged at intervals in the front-back direction, and the number of the first sliding grooves 311 is also two, so that the two first clamping jaws 121 slide in the first sliding grooves 311 in a one-to-one correspondence manner; the number of the second clamping jaws 122 is two, the two second clamping jaws 122 are arranged at intervals in the front-back direction, and the number of the second sliding grooves 312 is also two, so that the two second clamping jaws 122 can slide in the second sliding grooves 312 in a one-to-one correspondence manner.
As can be understood, in each jaw mechanism 12, the two first jaws 121 and the two second jaws 122 are both mounted on the first drive plate 112, so that the structure is compact, the design of parts is reduced, the structure of the jaw mechanism 12 is simplified, and by providing the two first jaws 121 and the two second jaws 122, the abutting area between the first jaws 121 or the second jaws 122 and the magazine 200 can be increased, and the magazine 200 can be conveniently and quickly pushed to position the magazine 200 to an accurate position. In other embodiments, in each of the jaw mechanisms 12, the number of the first jaws 121 and the second jaws 122 is three, four, or other numbers, and the number of the first jaws 121 and the second jaws 122 can be flexibly set according to actual situations, and the number of the first jaws 121 and the second jaws 122 is not limited in this embodiment.
The limiting mechanism 22 of the present embodiment includes a first limiting claw 221 and a second limiting claw 222, and the first limiting claw 221 and the second limiting claw 222 are arranged at the same side of the material placing space 40 at intervals along the second direction; the edge of the material loading platform 31 is provided with a first limiting chute 313 for the first limiting claw 221 to slide, and the first limiting claw 221 passes through the first limiting chute 313 and extends out of the material loading surface of the material loading platform 31; the second limiting claw 222 is located on one side of the first limiting claw 221 facing the material placing space 40, the material loading platform 31 is provided with a second limiting chute 314 for the second limiting claw 222 to slide, and the second limiting claw 222 passes through the second limiting chute 314 and extends out of the material loading surface of the material loading platform 31.
As shown in fig. 1 and fig. 3 to fig. 5, the limiting mechanism 22 includes a first limiting claw 221 and a second limiting claw 222, the first limiting claw 221 and the second limiting claw 222 are arranged at the front side of the material placing space 40 at intervals along the front-rear direction, and the second limiting claw 222 is closer to the material placing space 40. The position of the material loading platform 31 corresponding to the first limiting claw 221 is provided with a first limiting chute 313, which is convenient for the first limiting claw 221 to slide, and the first limiting claw 221 can be arranged at the edge of the material loading platform 31, so that the first limiting chute 313 can be arranged at the edge of the material loading platform 31. The position of the material loading platform 31 corresponding to the second position-limiting claw 222 is provided with a second position-limiting sliding groove 314, which facilitates the sliding of the second position-limiting claw 222. In order to facilitate the forward and backward sliding of the first and second stopping claws 221 and 222, the extending directions of the first and second stopping sliding grooves 313 and 314 are both forward and backward.
When the material to be processed is 8 inches of material box 200, place 8 inches of material box 200 in putting the material space 40, first actuating mechanism 11 drives two clamping jaw mechanisms 12 and fixes a position material box 200 in the left and right direction, and second actuating mechanism 23 can drive second spacing claw 222 to be close to limiting plate 21 to fix a position material box 200 in the front and back direction through the cooperation of second spacing claw 222 and limiting plate 21, fix a position material box 200 accurately, realize the automatic alignment of material box 200. When the material to be processed is 12 inches magazine 200, place 12 inches magazine 200 in putting the material space 40, first actuating mechanism 11 drives two clamping jaw mechanisms 12 and fixes a position magazine 200 in the left and right direction, and second actuating mechanism 23 can drive first spacing claw 221 and be close to limiting plate 21, with the cooperation through first spacing claw 221 and limiting plate 21 with the magazine 200 location in the front and back direction, fix a position magazine 200 accurately, realize the automatic alignment of magazine 200, and then make this embodiment go up unloading equipment 100 can be applicable to the different magazine 200 of two kinds of sizes, it is compatible good.
In this embodiment, the second driving mechanism 23 includes a second driving member 231 and a second driving plate 232 connected to the second driving member 231, and the second driving member 231 is installed on the bottom surface of the material loading platform 31; the first and second holding claws 221 and 222 are mounted on the second drive plate 232; the second driving member 231 is used for driving the second driving plate 232 to drive the first position-limiting claw 221 and the second position-limiting claw 222 to synchronously move towards or away from the position-limiting plate 21 relative to the loading platform 31.
Specifically, the second driver 231 may be a cylinder in the related art, and the second driver 231 will be referred to as a second cylinder hereinafter. In the limiting claw mechanism, the first limiting claw 221 and the second limiting claw 222 are both arranged on the second driving plate 232, and the structure is compact. When the second cylinder drives the second driving plate 232, the first limiting claw 221 and the second limiting claw 222 of the limiting mechanism 22 synchronously move towards or away from the direction of the limiting plate 21 relative to the material loading platform 31, that is, the first limiting claw 221 and the second limiting claw 222 of the limiting mechanism 22 synchronously move backwards, so that the material box 200 with a larger size is positioned or loosened by the cooperation of the first limiting claw 221 and the limiting plate 21, or the material box 200 with a smaller size is positioned or loosened by the cooperation of the second limiting claw 222 and the limiting plate 21. It should be noted that the sidewall of the material box 200 may be supported on the material loading platform 31, and the bottom wall of the material box 200 may be suspended, when the material box 200 is a 12-inch material box 200, the second driving member 231 drives the first position-limiting claw 221 and the second position-limiting claw 222 to move rightwards synchronously, the second position-limiting claw 222 closer to the material placing space 40 may pass through the suspended position between the bottom wall of the material box 200 and the material loading platform 31, and will not interfere with the material box 200, and the first position-limiting claw 221 may abut against the sidewall of the material box 200 and push the material box 200.
In this embodiment, the number of the first limiting claws 221 is two, the two first limiting claws 221 are arranged at intervals along the first direction, and the number of the first limiting sliding grooves 313 is consistent with that of the first limiting claws 221 and corresponds to that of the first limiting claws 221 one by one; the number of the second limiting claws 222 is two, the two second limiting claws 222 are arranged at intervals along the second direction, and the number of the second limiting sliding grooves 314 is consistent with that of the second limiting claws 222 and corresponds to that of the second limiting claws 222; the distance between the two second stopping claws 222 is smaller than the distance between the two first stopping claws 221.
Because the magazine 200 has two left and right side walls, the number of the first limiting claws 221 is two in this embodiment, the two first limiting claws 221 are arranged at intervals in the left and right direction, and the number of the first limiting sliding grooves 313 is also two, so that the two first limiting claws 221 can slide in the first limiting sliding grooves 313 in a one-to-one correspondence manner; the number of the second limiting claws 222 is two, the two second limiting claws 222 are arranged at intervals in the left-right direction, and the number of the second limiting sliding grooves 314 is also two, so that the two second limiting claws 222 can slide in the second limiting sliding grooves 314 in a one-to-one correspondence manner.
In this embodiment, the distance between the two second limiting claws 222 is smaller than the distance between the two first limiting claws 221, when the magazine 200 is an 8-inch magazine 200, and the second cylinder drives the second driving plate 232, the two first limiting claws 221 and the two second limiting claws 222 synchronously move backward, and the two first limiting claws 221 respectively abut against the left and right side walls of the magazine 200 and then push the magazine 200 to move backward; when the magazine 200 is a 12-inch magazine 200, when the second cylinder drives the second driving plate 232, the two first limiting claws 221 and the two second limiting claws 222 synchronously move backwards, and the two second limiting claws 222 respectively abut against the left side wall and the right side wall of the magazine 200 to push the magazine 200 to move backwards, so that the structural design is reasonable. In addition, in the limiting mechanism 22, the two first limiting claws 221 and the two second limiting claws 222 are both mounted on the second driving plate 232, so that the structure is compact, the part design is reduced, and the structure of the limiting mechanism 22 is simplified
It should be noted that, in order to expand the compatibility of the loading and unloading apparatus 100 and enable the apparatus to be suitable for more than two, for example, three, magazine 200 sizes, a third clamping jaw may be additionally provided in each clamping jaw mechanism 12, and a third limiting jaw may be additionally provided in the limiting mechanism 22, wherein the third clamping jaw may be mounted on the first drive plate 112, the third limiting jaw may be mounted on the second drive plate 232, the third clamping jaw may be located between the first clamping jaw 121 and the second clamping jaw 122 disposed on the same side, and the third clamping jaw has a similar structure to the second clamping jaw 122 and may rotate between an avoiding position and an abutting position, the third limiting jaw may be located between the first limiting jaw 221 and the second limiting jaw 222, so that the third clamping jaw and the third limiting jaw are suitable for positioning of magazine 200 sizes between 8 inches and 12 inches; or, the second clamping jaw 122 arranged on the same side of the third clamping jaw can face one side of the material placing space 40, the third clamping jaw is similar to the second clamping jaw 122 in structure and can rotate between the avoiding position and the abutting position, and the third limiting jaw is located on one side of the second limiting jaw 222 facing the material placing space 40, so that the third clamping jaw and the third limiting jaw are suitable for positioning the material box 200 with the size smaller than 8 inches.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (13)

1. The utility model provides a go up unloading equipment, its characterized in that, go up unloading equipment includes:
the lifting device comprises a material carrying platform and a lifting driving piece, wherein the material carrying platform is used for carrying materials, and the lifting driving piece is used for driving the material carrying platform to lift;
the first positioning device comprises a first driving mechanism and two clamping jaw mechanisms arranged at intervals along a first direction, each clamping jaw mechanism is slidably arranged on the material loading platform, a material placing space for placing the material is formed between the two clamping jaw mechanisms, and the first driving mechanism is used for driving the two clamping jaw mechanisms to move towards or away from each other relative to the material loading platform;
second positioner, including limiting plate, stop gear and second actuating mechanism, the limiting plate with stop gear along second direction interval arrangement in put material space both sides, first direction with second direction mutually perpendicular, the limiting plate is installed carry the material bench, stop gear slidable set up in carry the material bench, second actuating mechanism is used for the drive stop gear is close to or keeps away from the limiting plate.
2. The loading and unloading device of claim 1, wherein the clamping jaw mechanism comprises a first clamping jaw and a second clamping jaw, and the first clamping jaw and the second clamping jaw are arranged on the same side of the material placing space at intervals along the first direction; the edge of the material carrying platform is provided with a first sliding groove for the first clamping jaw to slide, and the first clamping jaw penetrates through the first sliding groove and extends out of the material carrying surface of the material carrying platform; the second clamping jaw is positioned on one side, facing the material placing space, of the first clamping jaw, the material carrying platform is provided with a second sliding groove for the second clamping jaw to slide, and the second clamping jaw can penetrate through the second sliding groove and extend out of a material carrying surface of the material carrying platform or retract into the second sliding groove.
3. The loading and unloading device as recited in claim 2, wherein the first driving mechanism includes two first driving assemblies, and the two first driving assemblies are arranged in one-to-one correspondence with the two gripper mechanisms; the first driving assembly comprises a first driving piece and a first driving plate connected with the first driving piece, and the first driving piece is installed on the bottom surface of the material loading platform; in each clamping jaw mechanism, the first clamping jaw and the second clamping jaw are mounted on the corresponding first driving plate; the first driving piece is used for driving the first driving plate so as to drive the first clamping jaw and the second clamping jaw to synchronously move towards or away from the material placing space relative to the material loading platform.
4. The loading and unloading device of claim 3, wherein the first clamping jaw comprises a first clamping plate, the lower end of the first clamping plate is mounted on the first driving plate, the first clamping plate vertically penetrates through the first sliding chute, and the upper end of the first clamping plate extends out of the loading surface of the loading platform.
5. The loading and unloading device as recited in claim 4, wherein the first clamping jaw further comprises a first roller, a first mounting groove is formed in a position of the first clamping plate near the upper end of the first clamping plate, the first roller is rotatably mounted in the first mounting groove, a rotating shaft of the first roller is vertically arranged, and a rim of the first roller extends out of one side of the first clamping plate facing the material placing space and is used for abutting against the material.
6. The loading and unloading device as recited in claim 3, wherein the second clamping jaw includes a second clamping plate and a mounting seat, the mounting seat is mounted on the first driving plate, a lower end of the second clamping plate is hinged to the mounting seat through a rotating shaft, so that the second clamping plate can rotate between an abutting position and a avoiding position relative to the mounting seat, the second clamping plate vertically penetrates through the second chute and extends out of the loading surface of the loading platform when being in the abutting position, and the second clamping plate horizontally is arranged and retracted into the second chute when being in the avoiding position.
7. The loading and unloading device as recited in claim 6, wherein the mounting seat includes a seat body and two mounting lugs, the seat body is mounted on the first driving plate, the two mounting lugs are spaced apart from each other along the second direction and are disposed at two sides of the seat body, two ends of the rotating shaft are respectively inserted into the two mounting lugs and are hinged to the corresponding mounting lugs, a groove is formed between the seat body and the two mounting lugs, a lower end of the first clamping plate extends into the groove, and a cavity communicated with the groove is formed in the seat body; the second clamping jaw further comprises a locking mechanism contained in the cavity, and the locking mechanism is used for being matched with the first clamping plate so that the first clamping plate is locked when the first clamping plate is located at the abutting position or the avoiding position.
8. The loading and unloading device as recited in claim 7, wherein the locking mechanism includes an elastic member and a slider, a lower end of the elastic member is connected with a bottom cavity wall of the cavity, and an upper end of the elastic member is connected with the slider; the lower extreme of first splint is provided with and stretches into the butt piece in the recess, the butt piece is located the below of axis of rotation, the bottom of butt piece has first butt face and second butt face, first butt face with second butt face circular arc transitional coupling, just first butt face with the distance between the axis of rotation is less than second butt face with the distance between the axis of rotation, first splint are in when dodging the position the floating block with first butt face supports tightly, first splint are in when the butt position the floating block with second butt face supports tightly.
9. The loading and unloading device as recited in claim 6, wherein the second clamping jaw further comprises a second roller, a second mounting groove is formed in a position of the second clamping plate near the upper end of the second clamping plate, the second roller is rotatably mounted in the second mounting groove, a rotating shaft of the second roller is vertically arranged, and a rim of the second roller extends out of one side of the second clamping plate facing the material placing space and is used for abutting against the material.
10. The loading and unloading device according to any one of claims 2 to 9, wherein in each clamping jaw mechanism, the number of the first clamping jaws is at least two, at least two first clamping jaws are arranged at intervals along the second direction, and the number of the first sliding grooves is consistent with that of the first clamping jaws and corresponds to that of the first clamping jaws one by one; the number of the second clamping jaws is at least two, the second clamping jaws are arranged at intervals along the second direction, and the number of the second sliding grooves is consistent with that of the second clamping jaws and corresponds to that of the second clamping jaws one by one.
11. The loading and unloading device according to any one of claims 1 to 9, wherein the limiting mechanism comprises a first limiting claw and a second limiting claw, and the first limiting claw and the second limiting claw are arranged on the same side of the material placing space at intervals along the second direction; the edge of the material carrying platform is provided with a first limiting sliding groove for the first limiting claw to slide, and the first limiting claw penetrates through the first limiting sliding groove and extends out of the material carrying surface of the material carrying platform; the second limiting claw is positioned on one side, facing the material placing space, of the first limiting claw, the material carrying platform is provided with a second limiting sliding groove for the second limiting claw to slide, and the second limiting claw penetrates through the second limiting sliding groove and extends out of the material carrying surface of the material carrying platform.
12. The loading and unloading device of claim 11, wherein the second driving mechanism comprises a second driving member and a second driving plate connected with the second driving member, and the second driving member is mounted on the bottom surface of the loading platform; the first limiting claw and the second limiting claw are both arranged on the second driving plate; the second driving piece is used for driving the second driving plate so as to drive the first limiting claw and the second limiting claw to synchronously move towards the direction close to or far away from the limiting plate relative to the material carrying platform.
13. The loading and unloading device as claimed in claim 12, wherein the number of the first limiting claws is two, the two first limiting claws are arranged at intervals along the first direction, and the number of the first limiting chutes is consistent with that of the first limiting claws and corresponds to that of the first limiting claws one by one; the number of the second limiting claws is two, the two second limiting claws are arranged at intervals along the second direction, and the number of the second limiting chutes is consistent with that of the second limiting claws and corresponds to that of the second limiting claws one by one; the distance between the two second limiting claws is smaller than the distance between the two first limiting claws.
CN202110606686.9A 2021-05-31 2021-05-31 Loading and unloading equipment Active CN113370226B (en)

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CN115056017A (en) * 2022-05-13 2022-09-16 富鼎电子科技(嘉善)有限公司 Material conveying device and processing equipment
CN116135526A (en) * 2023-04-20 2023-05-19 歌尔股份有限公司 Assembling equipment

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