CN114985949A - Automatic loading and unloading device and laser etching machine - Google Patents

Abstract

The invention provides an automatic loading and unloading device, which comprises two supporting seats, a tray separating mechanism, a transferring mechanism and a manipulator, wherein the trays which are stacked and are provided with products are loaded through the two supporting seats which are arranged at intervals, the trays which are stacked are separated by the tray separating mechanism, the first supporting plate is driven by the third driving device to reciprocate on the workbench, the separated trays on the two supporting seats are transported to the appointed position, so that the mechanical arm can grab the product on the trays, therefore, the automatic loading and unloading device can stably convey the separated products on the tray, and effectively avoids the products in the tray from shifting in the conveying process to influence the conveying precision of the products in the tray.

Description

Automatic loading and unloading device and laser etching machine

Technical Field

The invention relates to the field of machinery, in particular to an automatic loading and unloading device and a laser engraving machine with the same.

Background

Automatic unloader is as promoting production line automation degree, reduce intensity of labour, improve an improvement of production efficiency, wide application is on various production lines, among the prior art, automatic unloader is when separating the tray, the propelling movement to the tray after the separation is unstable, will influence the product in the tray and at the risk of propelling movement in-process bump or skew in the tray, influence follow-up manipulator and snatch the precision of placing on the assigned position with the product, lead to the product to place and still need carry out the position adjustment of secondary behind the assigned position, not only need increase extra mechanism and carry out the position adjustment of secondary to the product, still can lead to production efficiency low.

Disclosure of Invention

In view of this, it is necessary to provide an automatic loading and unloading device capable of stably pushing separated trays to a designated position and a laser etching machine having the same.

The invention provides an automatic loading and unloading device, which comprises:

the two supporting seats are arranged on the workbench at a certain interval and are used for bearing trays which are stacked and are filled with products;

a tray separating mechanism for separating the stacked trays, the tray separating mechanism including:

the two separation units are oppositely arranged on the workbench at a certain distance, each separation unit comprises a separation plate, a first driving device and a second driving device, one first driving device is connected with one separation plate, the two first driving devices are used for driving the two separation plates to mutually approach or separate, one second driving device is connected with one first driving device, and the two second driving devices are used for driving the two first driving devices to synchronously lift;

the transfer mechanism is used for transferring the separated tray to an appointed position, and comprises a first supporting plate, first sliding seats, first sliding rails and a third driving device, the two first sliding seats are arranged on the workbench at a certain interval, the two first sliding rails are arranged on the back of the first supporting plate at a certain interval in parallel and are respectively arranged on the first sliding seats in a sliding manner, the third driving device is arranged on the workbench and positioned between the two first sliding seats and is used for driving the first supporting plate to reciprocate, the front of the first supporting plate is also provided with a limiting bulge, and the limiting bulge is used for limiting the tray from falling off when moving along with the first supporting plate;

and the manipulator is arranged behind the transfer mechanism and is used for grabbing the product on the tray at the designated position.

Furthermore, the transfer mechanism further comprises a second support plate, a second slide rail and a fourth driving device, the second slide rail is parallel to the first slide rail and is arranged on the workbench, the second support plate is slidably arranged on the two first slide rails and reciprocates under the driving of the fourth driving device, and the two first slide seats are arranged on the second support plate.

Further, still be equipped with first stopper on the workstation, the back of second backup pad is equipped with the second stopper, first stopper with be equipped with the bolster between the second stopper.

Furthermore, the tray transportation device further comprises a lifting mechanism, wherein the lifting mechanism is arranged below the designated position and comprises a support frame, a third slide rail and a fifth driving device, the support frame is arranged on the third slide rail in a sliding manner and is lifted under the action of the fifth driving device, so that the tray positioned at the designated position is transported downwards.

The tray is placed on the two conveying belts by moving downwards and penetrating through the two conveying belts.

The tray comprises a tray body, a tray body and a visual identification assembly, wherein the tray body is provided with a first camera and a seventh driving device, the first camera is arranged at the output end of the seventh driving device through a camera support and moves under the driving of the seventh driving device to identify the front side and the back side of the product in the tray body.

Further, still include the mount pad, the manipulator is located on the mount pad, the manipulator includes fixing base, first arm, second arm and snatchs the subassembly, the fixing base is located on the mount pad, the one end of first arm is rotated and is connected on the fixing base, the one end of second arm is rotated and is connected the other end of first arm, it connects to snatch the subassembly the other end of second arm, it includes rotation axis, carousel and a plurality of suction nozzle to snatch the subassembly, the rotation axis is rotationally connected the second arm is kept away from the one end of first arm, the carousel is located on the rotation axis, a plurality of suction nozzles are located on the carousel, be used for adsorbing the product.

The invention also provides a laser engraving machine which comprises the automatic loading and unloading device in any scheme, and the laser engraving machine further comprises a plurality of laser modules, wherein the laser modules are arranged on the periphery of the manipulator and used for performing laser marking on the product grabbed by the manipulator.

Furthermore, a plurality of radium-shine modules are four groups, and each radium-shine module all includes a frame, an aligning gear and a laser instrument, aligning gear locates in the frame, the last tool that is equipped with of aligning gear, the tool is used for bearing the product that the manipulator snatched, the laser instrument is located the tool top, be used for to beat the mark to the product in the tool, aligning gear is used for with the tool removes to under the laser instrument.

Furthermore, the alignment mechanism comprises a first lead screw, a second lead screw and a second camera, the first lead screw is arranged on the rack, the second lead screw is arranged on the first lead screw in a sliding manner along a first direction, the jig is arranged on the second lead screw in a sliding manner along a second direction, the second camera is arranged above the jig and used for determining whether the jig reaches the position under the laser, wherein the first direction and the second direction are two different directions.

Compared with the prior art, the invention has the beneficial effects that: according to the automatic loading and unloading device, the trays which are stacked and are provided with products are loaded through the two supporting seats which are arranged at intervals, the trays which are stacked and are separated through the tray separating mechanism, the first supporting plate is driven to reciprocate on the workbench through the third driving device, and the separated trays on the two supporting seats are transported to the specified position, so that the mechanical arm can grab the products on the trays, the automatic loading and unloading device can stably transport the products on the separated trays, and the products in the trays are effectively prevented from shifting in the transportation process and affecting the transportation precision of the products in the trays.

Drawings

Fig. 1 is an overall schematic view of the automatic loading and unloading device of the present invention.

Fig. 2 is another schematic view of the automatic loading and unloading device according to the present invention.

Fig. 3 is a schematic diagram of an embodiment of the tray separating mechanism of the present invention.

Fig. 4 is a front view of the automatic loading and unloading apparatus of the present invention.

Fig. 5 is a schematic structural diagram of the transfer mechanism and the tray limiting assembly of the present invention.

FIG. 6 is a schematic view of an embodiment of the transfer mechanism of the present invention.

Fig. 7 is a schematic view of a robot according to an embodiment of the present invention.

FIG. 8 is a schematic view of the laser etching machine according to the present invention.

Fig. 9 is a schematic view of a laser module according to an embodiment of the invention.

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 of the present invention without any inventive step, are within the scope of the present invention. It is to be understood that the drawings are provided solely for the purposes of reference and illustration and are not intended as a definition of the limits of the invention. The connection relationships shown in the drawings are for clarity of description only and do not limit the manner of connection.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It should also be noted that, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly and can include, for example, fixed connections, removable connections, or integral connections; either mechanically or electrically, and may be internal to both elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

It should be further noted that in the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and operate, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Referring to fig. 1-2, the present invention provides an automatic loading and unloading apparatus 100, wherein the automatic loading and unloading apparatus 100 includes a worktable 10, two supporting bases 20, a tray separating mechanism 30, a transferring mechanism 40, a robot 50, a visual recognition assembly 60, a lifting mechanism 70, a conveying assembly 80, a mounting base 51, and a tray limiting assembly 110.

The two supporting seats 20 are arranged on the workbench 10 at a certain distance, and are used for bearing the trays 2 which are stacked and are provided with the products 1.

The tray separating mechanism 30 includes two separating units 31, the two separating units 31 are oppositely disposed on the worktable 10 at a certain distance, and are located at the outer sides of the two supporting seats 20, and are used for separating the stacked trays 2, so that the tray 2 at the lowest layer can be separated from the tray 2 stacked above the tray.

The transfer mechanism 40 is configured to transfer the pallet 2 separated by the pallet separating mechanism 30 to a predetermined position so as to be gripped by the robot arm 50.

The tray limiting assemblies 110 comprise two sets, and the two tray limiting assemblies 110 are oppositely arranged and used for limiting the tray 2 located at the designated position, so that the manipulator 50 can grab the product 1 in the tray 2.

The manipulator 50 is disposed behind the transfer mechanism 40 and on the mounting seat 51, and is configured to grip the product 1 transferred to the designated position by the transfer mechanism 40 in the tray 2.

The visual recognition component 60 is arranged on the workbench 10 and above the designated position, and is used for recognizing the front and back of the product 1 in the tray 2 at the designated position.

The lifting mechanism 70 is arranged below the designated position in a lifting manner and is used for transferring the tray 2 downwards to the position below the workbench 10.

The conveying assembly 80 is arranged at the bottom of the lifting mechanism 70 and is used for conveying the tray 2 conveyed downwards by the lifting mechanism 70 backwards so as to transfer the tray 2 in time, so that the tray 2 can be quickly put into use again, the use efficiency of the tray 2 is improved, and the use amount required by the turnover of the tray 2 is reduced.

Referring to fig. 3-4, the separating unit 31 includes a partition plate 311, first driving devices 312 and second driving devices 313, one of the first driving devices 312 is connected to one of the partition plates 311, the two first driving devices 312 are used for driving the two partition plates 311 to approach or separate from each other, one of the second driving devices 313 is connected to one of the first driving devices 312, and the two second driving devices 313 are used for driving the two first driving devices 312 to lift and lower synchronously, so as to separate the stacked trays 2.

The tray separating mechanism 30 further includes two opposite mounting frames 32, the two mounting frames 32 are disposed on the workbench 10 and located at the outer sides of the two supporting seats 20, and one of the mounting frames 32 is used for mounting one of the separating units 31.

In one embodiment, the separation unit 31 further comprises an L-shaped mounting plate 314, the first driving device 312 is disposed on the mounting plate 314 and drives the separation plate 311 to move in a horizontal direction, and the output end of the second driving device 313 is connected to the mounting plate 314 and drives the mounting plate 314 to move in a vertical direction.

When the two first driving devices 312 drive the two separation plates 311 to approach each other, the two separation plates 311 are inserted into the gaps between the stacked trays 2, and the two mounting plates 314 are moved upward substantially simultaneously by the two second driving devices 313, so that the trays 2 above the two separation plates 311 are separated from the tray 2 at the lowermost layer.

After the tray 2 at the lowermost layer is conveyed to the designated position by the transfer mechanism 40, the two mounting plates 314 are driven by the two second driving devices 313 to move downward respectively, so that the tray 2 which is not separated is placed on the two supporting seats 20 again, the two dividing plates 311 are driven by the two first driving devices 312 to move in opposite directions respectively, so that the two dividing plates 311 are withdrawn from the bottom of the tray 2 at the lowermost layer respectively, and the two dividing plates 311 are driven by the two second driving devices 313 to move upward to the initial positions respectively, so that the tray 2 is separated once.

Preferably, the mounting frame 32 is further provided with scale marks (not shown), and when the tray 2 with different specifications is replaced, the initial positions of the first driving device 312 and the second driving device 313 can be quickly adjusted according to the external dimensions of the tray 2 and the combination of the scale marks, so that the tray separating mechanism 30 can be quickly adjusted to facilitate the replacement of the lines.

Referring to fig. 2, further, baffles 315 are disposed on inner sides of the two mounting frames 32, and the baffles 315 are used for preventing the stacked trays 2 from falling down when being separated.

Preferably, two the same one side of mounting bracket 32 still is equipped with safe grating subassembly, safe grating subassembly includes launching rod 3161 and receiving rod 3162, launching rod 3161 with receiving rod 3162 sets up relatively, launching rod 3161 sends many light beams that are parallel to each other and the interval equals and by receiving rod 3162 receives, plays the safety protection effect, avoids when tray separating mechanism 30 moves, the operator carries out tray 2 is thrown in, leads to the incident to take place.

Referring to fig. 5-6 in conjunction with fig. 2 and 4, in one embodiment, the transfer mechanism 40 includes a first support plate 41, a first slide 42, a first slide rail 43, and a third driving device 44.

The two first sliding seats 42 are arranged on the workbench 10 at a certain distance and between the two supporting seats 20.

The two first slide rails 43 are disposed in parallel at a certain distance on the back of the first support plate 41 and are respectively slidably disposed on the first slide seat 42.

The third driving device 44 is disposed on the working platform 10 and between the two first sliding seats 42, and is used for driving the first supporting plate 41 to reciprocate. In the axial direction of the first slide rail 43, the width of the first support plate 41 is smaller than the distance between the two support seats 20, so that the first support plate 41 can reach between the two support seats 20 and be located below the stacked trays 2 under the driving of the third driving device 44.

The height of the first supporting plate 41 is not higher than the height of the two supporting seats 20, so that the first supporting plate 41 can reach between the two supporting seats 20 where the tray 2 is placed.

The front surface of the first supporting plate 41 is further provided with a limiting protrusion 411, when the third driving device 44 drives the first supporting plate 41 to move to drive the separated tray 2, the limiting protrusion 411 limits the tray 2 to move along with the first supporting plate 41, so that the tray 2 is transferred.

Specifically, when the first support plate 41 moves to a direction close to the two support seats 20 to a position below the stacked trays 2 and the tray 2 at the lowermost layer is separated and placed on the two support seats 20 by the tray separating mechanism 30, the limiting protrusion 411 is located at a side of the tray 2 away from the robot arm 50 and moves with the first support plate 41 to transfer the tray 2 placed on the two support seats 20 to the designated position.

In another embodiment, the transfer mechanism 40 further includes a second support plate 45, a second slide rail 46 and a fourth driving device 47, the two second slide rails 46 are parallel to the first slide rail 43 and are disposed on the working platform 10, the second support plate 45 is slidably disposed on the two second slide rails 46 and reciprocates under the driving of the fourth driving device 47, wherein the two first slide seats 42 are disposed on the second support plate 45.

Specifically, at least two second sliding seats 48 are disposed on the back surface of the second supporting plate 45, the second supporting plate 45 is slidably disposed on the second sliding rails 46 through the at least two second sliding seats 48, and the fourth driving device 47 is disposed between the two second sliding rails 46 or disposed on one side of the two second sliding rails 46, and is configured to drive the second supporting plate 45 to move on the second sliding rails 46.

Preferably, a first limiting block 11 is further disposed on the working table 10, a second limiting block (not shown) is disposed on the back surface of the second supporting plate 45, and a buffer member (not shown) is disposed between the first limiting block 11 and the second limiting block.

Specifically, the first limiting block 11 is fixedly disposed on the worktable 10 and located between the two supporting seats 20. The second stopper moves in synchronization with the second support plate 45. The buffer piece can be a spring or a silica gel elastic sheet. When the fourth driving device 47 drives the second supporting plate 45 to move toward the direction close to the manipulator 50, the second limiting block moves toward the direction of the first limiting block 11 and cooperates with the first limiting block 11 to gradually compress the buffering member, so that the second supporting plate 45 gradually stops moving, and the second supporting plate 45 is prevented from suddenly stopping moving, which causes the product 1 in the tray 2 to shake.

By arranging the second supporting plate 45, the second sliding rail 46, the second sliding seat 48 and the fourth driving device 47, the moving stroke of the transfer mechanism 40 is longer, so that the automatic loading and unloading device 100 can be suitable for conveying the trays 2 with larger sizes.

While the fourth driving device 47 drives the second support plate 45 to move, the third driving device 44 also drives the first support plate 41 to move. So that the transfer mechanism 40 can transfer the tray 2 more quickly, and the transfer efficiency of the transfer mechanism 40 is improved, thereby improving the working efficiency of the automatic loading and unloading device 100.

The tray limiting assembly 110 comprises an eighth driving device 111 and a limiting push plate 112, wherein the eighth driving device 111 is used for driving the limiting push plate 112 to move.

When the transfer mechanism 40 transfers the tray 2 to the designated position, the two eighth driving devices 111 respectively drive one of the limiting push plates 112 to move oppositely to limit the opposite sides of the tray 2, so that the manipulator 50 can clamp the products 1 in the tray 2.

Referring to fig. 4, the lifting mechanism 70 is disposed below the designated position, and is configured to transfer the tray 2, which is taken away from the product 1 by the manipulator 50, downward, so that the tray 2 is timely conveyed backward, the tray 2 is prevented from being blocked, and the turnover efficiency of the tray 2 is improved.

The lifting mechanism 70 comprises a supporting frame 71, a third sliding rail 72 and a fifth driving device 73, wherein the supporting frame 71 is slidably arranged on the third sliding rail 72, and is driven by the fifth driving device 73 to lift, so as to transport the tray 2 located at the designated position downwards.

Specifically, the number of the third slide rails 72 is at least two, at least two third slide rails 72 are vertically arranged below the workbench 10, the number of the support frames 71 is two, and the two support frames 71 are slidably connected with the third slide rails 72 through a third slide carriage 74 at a certain interval, and can move upwards to the designated position to convey the tray 2 under the driving of the fifth driving device 73.

The distance between the two support frames 71 is not less than the width of the first support plate 41, so that when the two support frames 71 move to the designated position, the two support frames 71 can bear the tray 2 on the first support plate 41, and when the first support plate 41 moves to a position between the two support seats 20, the tray 2 is conveyed downwards by the fifth driving device 73.

Referring to fig. 5, when the supporting frame 71 is located at the designated position, the upper surface of the supporting plate 711 and the upper surface of the first supporting plate 41 are located on the same horizontal plane, so that the supporting plate 711 cooperates with the first supporting plate 41 to form a supporting surface with a larger area, thereby better supporting the tray 2, and facilitating the robot 50 to more accurately and stably suck the products 1 in the tray 2.

Referring to fig. 2 again, the conveying assembly 80 is disposed at the bottom of the lifting mechanism 70 and is used for conveying the tray 2 on the lifting mechanism 70 backward.

The conveying assembly 80 includes a sixth driving device 81 and two conveying belts 82, wherein the two conveying belts 82 are oppositely disposed at a certain distance, and move under the driving of the sixth driving device 81.

The two conveyor belts 82 are located between the two support frames 71, and when the two support frames 71 move downward and are lower than the two conveyor belts 82 under the driving of the fifth driving device 73, the trays 2 on the two support frames 71 will be placed on the two conveyor belts 82 and the trays 2 will be conveyed backward under the driving of the sixth driving device 81.

Specifically, a driving shaft 83 is further disposed between the two conveying belts 82, and the driving shaft 83 is disposed at the same end of the two conveying belts 82 and is driven by the sixth driving device 81 to rotate, so as to drive the two conveying belts 82 to move.

Referring to fig. 1 again, the visual recognition assembly 60 includes a first camera 61 and a seventh driving device 62, the first camera 61 is disposed at an output end of the seventh driving device 62 through a camera bracket 63, and is driven by the seventh driving device 62 to move so as to recognize the front and back of the product 1 in the tray 2.

Specifically, when the transfer mechanism 40 conveys the tray 2 to the designated position, the tray 2 is located directly below the visual recognition assembly 60. Wherein the seventh driving device 62 is a rodless cylinder.

Referring to fig. 7, the manipulator 50 includes a fixing base 52, a first arm 53, a second arm 54 and a grabbing component 55, the fixing base 52 is disposed on the mounting base 51, one end of the first arm 53 is rotatably connected to the fixing base 52, one end of the second arm 54 is rotatably connected to the other end of the first arm 53, and the grabbing component 55 is connected to the other end of the second arm 54.

The gripping assembly 55 comprises a rotating shaft 551, a rotating disc 552 and a plurality of suction nozzles 553, the rotating shaft 551 is rotatably connected to an end of the second arm 54 far away from the first arm 53, the rotating disc 552 is disposed on the rotating shaft 551, and the plurality of suction nozzles 553 is disposed on the rotating disc 552 for sucking the product 1.

Referring to fig. 8-9, the present invention further provides a laser engraving machine, which includes the above automatic loading and unloading apparatus 100, and further includes a plurality of laser modules 90, where the plurality of laser modules 90 are disposed on the periphery of the robot 50, and are used for performing laser marking on the product 1 grasped by the robot 50.

The suction nozzles 553 include two sets, one of the suction nozzles 553 is used for grabbing the product 1 in the tray 2 and placing the product on the laser module 90, and the other suction nozzle 553 is used for grabbing the product 1 laser-marked by the laser module 90 and placing the product back into the tray 2, so that the tray 2 is used for conveying the product 1 to be marked and carrying the marked product 1. So that the utilization efficiency of the tray 2 is further improved.

The mounting seat 51 is further provided with a waste material tray 56, when the first camera 61 recognizes that the product 1 in the tray 2 is not placed in the designated direction, the laser etching machine controls the mechanical arm 50 to place the product 1 which is not placed in the designated direction in the waste material tray 56, and therefore error marking and unnecessary loss are avoided.

In one embodiment, the plurality of laser modules 90 are four groups, and two of the four groups of laser modules 90 are oppositely arranged on the opposite sides of the mounting seat 51, so that the manipulator 50 can place the product 1 on the laser modules 90 for marking.

Each laser module 90 includes a frame 91, an alignment mechanism 92, and a laser 93. The alignment mechanism 92 is disposed on the frame 91, a jig 94 is disposed on the alignment mechanism 92, the jig 94 is used for bearing the product 1 grabbed by the manipulator 50, the laser 93 is disposed above the jig 94 and used for marking the product 1 in the jig 94, and the alignment mechanism 92 is used for moving the jig 94 to a position right below the laser 93.

Specifically, counterpoint mechanism 92 includes first lead screw 921, second lead screw 923 and second camera 922, first silk 921 pole is located on the frame 91, second lead screw 923 is located along first direction with sliding on the first lead screw 921, tool 94 is located along second direction with sliding on the second lead screw 923, second camera 922 is located tool 94 top is used for confirming whether tool 94 reachs laser instrument 93 is under, wherein, first direction with the second direction is two different directions.

In one embodiment, the first direction and the second direction are two mutually perpendicular directions

Further, the jig 94 may be a vacuum adsorption jig, an air exhaust hole (not shown) is formed in the jig 94, the air exhaust hole is communicated with an air exhaust device (not shown) through an air exhaust pipe (not shown), and when the product 1 is placed on the jig 94, the air exhaust hole performs vacuum adsorption on the product 1 through the air exhaust pipe under the action of the air exhaust device, so that the product 1 does not deviate on the jig 94, the alignment mechanism 92 aligns the product 1 more efficiently, the waiting time of the laser 93 is shortened, and the laser engraving machine marks the laser product 1 more efficiently.

Each of the jigs 94 is provided with a plurality of placing grooves 941, so that the robot 50 places a plurality of the products 1 on the jig 94 at the same time, thereby reducing the number of times of movement of the robot 50 and reducing the stroke of the aligning mechanism 92, and the production efficiency of the laser engraving machine is higher.

The working principle of the invention is as follows: the tray 2 bearing the product 1 to be marked is stacked on the two support seats 20 through a manual or other mechanical arm; separating the tray 2 at the lowermost layer from the tray 2 at the upper layer by the tray separating mechanism 30; and the separated tray 2 is conveyed to the designated position by the transfer mechanism 40; the front and back of the product 1 in the tray 2 are firstly identified by the first camera 61; then the manipulator 50 picks the product 1 in the tray 2, and places the product 1 correctly placed in the jig 94 for vacuum adsorption and fixation; the jig 94 is conveyed by the alignment mechanism 92, and the product 1 in the jig 94 is conveyed to a position right below the laser 93 under the cooperation of the second camera 922; marking the product 1 by the laser 93; the manipulator 50 picks and places the marked product 1 in the tray 2 at the designated position, the tray 2 bears the marked product 1, and the marked product 1 is conveyed backwards through the lifting mechanism 70 and the conveying assembly 80. Wherein the products 1 not oriented in the designated direction are placed directly in the reject tray 56 by the robot 50.

Throughout the description and claims of this application, the words "comprise/comprises" and the words "have/includes" and variations of these are used to specify the presence of stated features, values, steps or components but do not preclude the presence or addition of one or more other features, values, steps, components or groups thereof.

Some features of the invention, which are, for clarity, described in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, certain features of the invention, which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable combination in different embodiments.

The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Claims (10)

1. The utility model provides an automatic unloader that goes up which characterized in that includes:

the two supporting seats are arranged on the workbench at a certain interval and are used for bearing trays which are stacked and are filled with products;

a tray separating mechanism for separating the stacked trays, the tray separating mechanism including:

the two separation units are oppositely arranged on the workbench at a certain distance, each separation unit comprises a partition plate, a first driving device and a second driving device, one first driving device is connected with one partition plate, the two first driving devices are used for driving the two partition plates to get close to or get away from each other, one second driving device is connected with the first driving device, and the two second driving devices are used for driving the two first driving devices to synchronously lift;

the transfer mechanism is used for transferring the separated tray to an appointed position, and comprises a first supporting plate, first sliding seats, first sliding rails and a third driving device, the two first sliding seats are arranged on the workbench at a certain interval, the two first sliding rails are arranged on the back of the first supporting plate at a certain interval in parallel and are respectively arranged on the first sliding seats in a sliding manner, the third driving device is arranged on the workbench and positioned between the two first sliding seats and is used for driving the first supporting plate to reciprocate, the front of the first supporting plate is also provided with a limiting bulge, and the limiting bulge is used for limiting the tray from falling off when moving along with the first supporting plate;

and the manipulator is arranged behind the transfer mechanism and is used for grabbing the product on the tray at the designated position.

2. The automatic loading and unloading device of claim 1, wherein the transfer mechanism further comprises a second support plate, a second slide rail and a fourth driving device, the second slide rail and the first slide rail are parallel and arranged on the workbench, the second support plate is slidably arranged on the two first slide rails and driven by the fourth driving device to reciprocate, and the two first slide carriages are arranged on the second support plate.

3. The automatic loading and unloading device as claimed in claim 2, wherein a first limiting block is further arranged on the workbench, a second limiting block is arranged on the back of the second supporting plate, and a buffer member is arranged between the first limiting block and the second limiting block.

4. The automatic loading and unloading device as claimed in claim 1, further comprising a lifting mechanism, wherein the lifting mechanism is disposed below the designated position, the lifting mechanism comprises a support frame, a third slide rail and a fifth driving device, the support frame is slidably disposed on the third slide rail and is lifted and lowered under the action of the fifth driving device, so that the tray located at the designated position is transported downward.

5. The automatic loading and unloading device as claimed in claim 4, further comprising a conveying assembly, wherein the conveying assembly is arranged at the bottom of the lifting mechanism, the conveying assembly comprises a sixth driving device and two conveying belts, the two conveying belts are oppositely arranged at a certain distance and driven by the sixth driving device to move, and the supporting frame moves downwards and penetrates through the two conveying belts to place the tray on the two conveying belts.

6. The automatic loading and unloading device of claim 1, further comprising a visual recognition assembly, wherein the visual recognition assembly comprises a first camera and a seventh driving device, the first camera is arranged at an output end of the seventh driving device through a camera support, and is driven by the seventh driving device to move so as to recognize the front and the back of the product in the tray.

7. The automatic loading and unloading device of claim 1, further comprising a mounting seat, wherein the manipulator is arranged on the mounting seat, the manipulator comprises a fixing seat, a first arm, a second arm and a grabbing component, the fixing seat is arranged on the mounting seat, one end of the first arm is rotatably connected to the fixing seat, one end of the second arm is rotatably connected to the other end of the first arm, the grabbing component is connected to the other end of the second arm, the grabbing component comprises a rotating shaft, a rotating disc and a plurality of suction nozzles, the rotating shaft is rotatably connected to one end, far away from the first arm, of the second arm, the rotating disc is arranged on the rotating shaft, and the suction nozzles are arranged on the rotating disc and used for adsorbing the product.

8. A laser carving machine, the laser carving machine includes the automatic unloader that goes up of any one of claims 1-7, characterized in that, laser carving machine still includes a plurality of radium-shine modules, a plurality of radium-shine modules are located week side of manipulator, be used for to the manipulator snatch the product carry out radium-shine and beat the mark.

9. The laser engraving machine according to claim 8, wherein the laser modules are four in number, each laser module comprises a frame, an alignment mechanism and a laser, the alignment mechanism is disposed on the frame, a fixture is disposed on the alignment mechanism, the fixture is used for carrying the product grabbed by the robot, the laser is disposed above the fixture and used for marking the product in the fixture, and the alignment mechanism is used for moving the fixture to a position right below the laser.

10. The laser engraving machine of claim 9, wherein the alignment mechanism comprises a first lead screw, a second lead screw and a second camera, the first lead screw is disposed on the frame, the second lead screw is slidably disposed on the first lead screw along a first direction, the jig is slidably disposed on the second lead screw along a second direction, the second camera is disposed above the jig and is configured to determine whether the jig reaches a position right below the laser, and the first direction and the second direction are two different directions.

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