CN115448014A

CN115448014A - Feeding and discharging device and feeding and discharging system

Info

Publication number: CN115448014A
Application number: CN202210344749.2A
Authority: CN
Inventors: 孙兵; 辛洪德; 常远
Original assignee: Suzhou Vega Technology Co Ltd
Current assignee: Suzhou Vega Technology Co Ltd
Priority date: 2022-03-31
Filing date: 2022-03-31
Publication date: 2022-12-09

Abstract

The invention discloses a feeding and discharging device and a feeding and discharging system, wherein the feeding and discharging device comprises: a support table; the material grabbing module is arranged on the support table and is used for grabbing a workpiece; the positioning table is arranged on the supporting table and used for positioning the workpiece at a preset position, and the material grabbing module is used for transferring the workpiece to the positioning table; and the manipulator is arranged on the supporting table and used for transferring the workpiece at the preset position on the positioning table out of the positioning table. According to the loading and unloading device, the grabbing module is used for grabbing the workpiece and transferring the workpiece to the positioning table, the positioning table is used for positioning the workpiece at the preset position, the manipulator is used for transferring the workpiece at the preset position on the positioning table, the positioning accuracy of the workpiece can be ensured, the positions where the manipulator grabs the workpiece are the same, the manipulator is convenient to grab, the machining error of the workpiece is effectively reduced, the automatic production of a production line is convenient to realize, and the production efficiency is improved.

Description

Feeding and discharging device and feeding and discharging system

Technical Field

The invention relates to the technical field of automation equipment, in particular to a feeding and discharging device and a feeding and discharging system.

Background

In the correlation technique, the unloading of work piece is mostly realized by the manual work, and the manual work is difficult to adapt to the production rhythm, easily appears the condition such as operation difficulty, and operating strength increases, and is consuming time longer, and production efficiency is low.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, one object of the present invention is to provide a loading and unloading device, which can effectively reduce the machining error of a workpiece, facilitate the realization of the automated production of a production line, and facilitate the improvement of the production efficiency.

The invention also provides a loading and unloading system with the loading and unloading device.

The loading and unloading device provided by the embodiment of the invention comprises: a support table; the material grabbing module is arranged on the supporting table and used for grabbing a workpiece; the positioning table is arranged on the supporting table and used for positioning the workpiece at a preset position, and the material grabbing module is used for transferring the workpiece to the positioning table; the manipulator is arranged on the supporting table and used for transferring the workpiece which is positioned at the preset position on the positioning table out of the positioning table.

According to the loading and unloading device provided by the embodiment of the invention, the grabbing module grabs the workpiece and transfers the workpiece to the positioning table, the positioning table positions the workpiece at the preset position, and the manipulator transfers the workpiece at the preset position on the positioning table, so that the workpiece can be accurately positioned, the workpiece grabbing positions of the manipulators are the same, the manipulator can grab the workpiece conveniently, the processing error of the workpiece can be effectively reduced, the automatic production of a production line can be conveniently realized, and the production efficiency can be improved.

In addition, the loading and unloading device according to the above embodiment of the present invention may further have the following additional technical features:

according to some embodiments of the loading and unloading device of the present invention, a positioning member is disposed on one side of the workpiece, and the positioning table includes: the positioning bottom plate is arranged on the supporting platform; and the clamping device is arranged on the positioning bottom plate and is used for clamping the positioning piece.

According to some embodiments of the invention, the positioning table further comprises: the conveying device is arranged on the positioning bottom plate and used for conveying the workpiece on the material grabbing module to the preset position.

According to some embodiments of the invention, the transfer device comprises: the driving motor is arranged on the positioning bottom plate; the conveying piece is two that parallel and interval set up, the conveying piece by driving motor drive, clamping device is located two between the conveying piece.

According to some embodiments of the invention, the positioning base plate is provided with a lifting device, the conveying device is arranged on the lifting device, and the lifting device is suitable for pushing the conveying device to move along a first direction.

According to some embodiments of the invention, the positioning stage comprises: the supporting assemblies are two and are respectively arranged on two sides of the conveying device, each supporting assembly comprises a supporting piece and a plurality of supporting wheels, the supporting wheels are rotatably arranged on one side of the supporting piece, which faces the conveying device, and are arranged at intervals in the conveying direction of the conveying device, and the workpieces are suitable for being positioned on the conveying device and the supporting wheels.

According to some embodiments of the invention, the robot comprises: a mechanical arm; mechanical clamping jaw, mechanical clamping jaw locates the one end of arm, mechanical clamping jaw includes mounting panel, sharp drive arrangement and two clamp splices, two the clamp splice is being close to each other and keeping away from mobilizable the locating of direction each other the mounting panel, sharp drive arrangement locates mounting panel and drive the clamp splice removes, two the clamp splice is used for the centre gripping or releases the work piece.

According to some embodiments of the invention, the clamping block is provided with a clamping mechanism, the clamping mechanism is used for clamping the workpiece, and the clamping mechanism comprises: the first pressing device is arranged on the clamping block and comprises a first air cylinder and a first pressing block, and the first air cylinder can drive the first pressing block to move; the second pressing device is arranged on the clamping blocks and comprises a second air cylinder and a second pressing block, the second air cylinder can drive the second pressing block to surround the second air cylinder to rotate, and the first pressing block and the second pressing block are arranged in the direction perpendicular to the arrangement direction of the two clamping blocks so as to clamp the workpiece.

According to some embodiments of the invention, a clamping mechanism is provided on the clamping block, the clamping mechanism being configured to clamp the workpiece, the clamping mechanism comprising: the supporting blocks on the two clamping blocks are respectively positioned on one sides, close to each other, of the two clamping blocks; the first pressing devices on the two clamping blocks are respectively positioned on one sides, close to each other, of the two clamping blocks and comprise first air cylinders and first pressing blocks, and the first air cylinders can drive the first pressing blocks to move towards or away from the supporting blocks so as to clamp the workpiece.

According to some embodiments of the invention, the clamping mechanism further comprises: the pressing plate device is arranged on the mounting plate, the pressing plate device and the first pressing device are arranged on the mounting plate at intervals, the pressing plate device comprises a third cylinder and a third pressing block, the third cylinder is arranged on the mounting plate, the third pressing block is connected with the third cylinder, and the third cylinder is used for driving the third pressing block to move towards and away from the workpiece in the direction.

According to some embodiments of the invention, the platen devices are at least two, at least two of the platen devices being oppositely disposed on the mounting plate.

According to some embodiments of the invention, the robot comprises: and the visual detection device is positioned on the mounting plate and is used for detecting the workpiece.

According to some embodiments of the invention, the material grabbing module comprises: the material grabbing device comprises a translation driving assembly and a clamping assembly, and the translation driving assembly drives the clamping assembly to reciprocate along the second direction; the workpiece grabbing device is spaced from the material grabbing device and used for moving the workpiece between a first preset position and a third preset position, the material grabbing device is used for moving the workpiece between the first preset position and a second preset position, and the second preset position, the first preset position and the third preset position are sequentially arranged in a second direction.

According to some embodiments of the invention, the workpiece gripping device comprises: a support plate; a drive assembly; the first transmission assembly is arranged on the supporting plate along a first direction and comprises a first transmission piece and a second transmission piece which rotate synchronously, and the first transmission piece is in transmission connection with the driving assembly; the second transmission component is arranged on the supporting plate along the second direction, the first direction is vertical to the second direction, and the second transmission component is in transmission connection with the second transmission piece so as to convert the rotary motion of the first transmission piece into translational motion; the lifting device drives the supporting plate to move along the first direction, the second transmission piece moves synchronously with the supporting plate, and the first transmission piece is in transmission connection with the driving assembly when the supporting plate moves; and the grabbing mechanism is arranged on the second transmission assembly, and the second transmission assembly drives the grabbing mechanism to reciprocate along the second direction so as to clamp the workpiece.

According to some embodiments of the invention, the first transmission assembly further comprises: the connecting shaft penetrates through the supporting plate and moves synchronously along with the supporting plate, the connecting shaft and the first transmission piece are connected in a sliding mode in the axial direction of the connecting shaft, the second transmission piece is fixedly arranged on the connecting shaft, and the first transmission piece and the second transmission piece rotate coaxially with the connecting shaft.

According to some embodiments of the invention, a support is provided on the support plate, and the second transmission assembly comprises: the third transmission piece is arranged on the support and is in transmission connection with the second transmission piece; the fourth transmission piece is arranged on the support, and the fourth transmission piece and the third transmission piece rotate coaxially; and the fifth transmission piece is in transmission connection with the fourth transmission piece so as to drive the fifth transmission piece to reciprocate along the second direction.

According to some embodiments of the invention, the fourth transmission member is a gear, and the fifth transmission member is a rack, and the gear rotates to drive the rack to reciprocate along the second direction.

According to some embodiments of the invention, the grasping mechanism comprises: the first clamping jaw is arranged at one end of the second transmission assembly and used for clamping the workpiece in the second direction.

According to some embodiments of the invention, the support plate, the first transmission assembly, the second transmission assembly and the gripping mechanism are all two, and the two support plates, the two first transmission assemblies, the two second transmission assemblies and the two gripping mechanisms are all spaced apart along a third direction, the third direction being perpendicular to both the first direction and the second direction.

According to some embodiments of the invention, the workpiece gripping device further comprises: the supporting plate is arranged on the bottom plate, the driving assembly and the lifting device are arranged on one side of the bottom plate far away from the supporting plate, the first transmission piece is rotatably arranged on the bottom plate, and the lifting device drives the supporting plate to move along the first direction relative to the bottom plate; the drive assembly includes: a first motor; the transmission shaft is driven by the first motor to rotate, a transmission gear is arranged on the transmission shaft, and the transmission gear is in transmission connection with the first transmission piece.

According to some embodiments of the present invention, when the workpiece gripping device includes a bottom plate, the supporting plate and the translational driving component are disposed on the same side of the bottom plate, the gripping device further includes a supporting seat, the clamping component is disposed on the supporting seat, and the supporting seat and the translational driving component are in transmission connection so that the supporting seat reciprocates on the bottom plate along the second direction, and the clamping component includes: a second jaw for gripping the workpiece in the second direction; the pusher, the pusher is located the supporting seat, the second clamping jaw with the pusher is connected, the pusher is used for the drive the second clamping jaw is followed the second direction moves.

According to some embodiments of the invention, the translation drive assembly comprises: the second motor is arranged on the bottom plate; the two are in second direction interval belt pulley and around the belt of locating the belt pulley, the belt pulley is rotationally located the bottom plate, the second motor with one of them belt pulley transmission is connected, the supporting seat is located the belt and with belt synchronous motion.

According to some embodiments of the invention, the loading and unloading device further comprises a lifting mechanism, the lifting mechanism is arranged on the support table, the material grabbing module is arranged on the lifting mechanism to adjust the height of the grabbing module, and the lifting mechanism comprises: the grabbing module is arranged on the supporting plate; the power assembly is arranged on the support table and used for driving the supporting plate to reciprocate along a first direction.

According to some embodiments of the invention, the supporting table has a placing space for placing a bin, the placing space is located below the positioning table, the bin is used for placing the workpiece, the material grabbing module is suitable for grabbing the workpiece in the bin onto the positioning table, and the bottom wall of the placing space is provided with a conveying table for supporting and conveying the bin.

According to some embodiments of the invention, the loading and unloading device further comprises: the walking assembly is arranged at the bottom of the supporting table.

The feeding and discharging system provided by the embodiment of the invention comprises: a processing apparatus for processing the workpiece to be processed; according to the loading and unloading device provided by the embodiment of the invention, the loading and unloading device is used for providing the workpieces to be processed for the processing equipment and transferring the processed workpieces; and the feeding system is used for providing the workpieces to be processed for the loading and unloading device and transferring the processed workpieces on the loading and unloading device.

According to some embodiments of the invention, the feed system comprises: a temporary storage platform for storing the workpieces to be processed and/or the processed workpieces; the storage bin platform is used for storing a storage bin, and the workpiece is suitable for being placed in the storage bin; a workpiece transfer device for transferring the workpiece between the staging platform and the magazine platform.

According to some embodiments of the invention, the feed system comprises: a first transfer device for transferring the workpiece to or from the staging platform; a second transfer device for transferring the bin to or from the bin platform.

According to some embodiments of the invention, each of the first transfer device and the second transfer device comprises a walking assembly and a transfer table arranged on the walking assembly, and the transfer table is used for transferring the workpiece or the bin.

According to some embodiments of the invention, the loading and unloading system further comprises: feed bin transfer device, feed bin transfer device be used for with the feed bin platform with go up and remove between the unloader, just be equipped with two at least stations of depositing on the feed bin transfer device, every it all is equipped with the conveying platform on the station to deposit, the conveying platform is used for conveying the feed bin.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic structural diagram of a loading and unloading system according to an embodiment of the invention;

FIG. 2 is a top view of a loading and unloading system according to an embodiment of the invention;

FIG. 3 is a schematic structural diagram of a feed system according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a processing apparatus, a loading and unloading device, and a bin transferring device according to an embodiment of the present invention;

fig. 5 is a schematic structural view of a workpiece transfer apparatus according to an embodiment of the present invention;

FIG. 6 is a schematic view of an angle of a grasping module according to an embodiment of the present invention;

FIG. 7 is a schematic view of another angle configuration of a grip module according to an embodiment of the present invention;

FIG. 8 is a cross-sectional view of a gripper module according to an embodiment of the present invention;

FIG. 9 is an enlarged schematic view of FIG. 8 at circle A;

fig. 10 is a schematic structural view of a workpiece gripping device according to an embodiment of the present invention;

fig. 11 is a partial schematic structural view of a workpiece grasping apparatus according to an embodiment of the present invention;

FIG. 12 is a schematic structural diagram of a material grabbing device according to an embodiment of the invention;

FIG. 13 is a schematic structural view of a lift mechanism according to an embodiment of the present invention;

FIG. 14 is a schematic illustration of a mechanical jaw according to some embodiments of the present invention;

FIG. 15 is a schematic diagram of a mechanical jaw according to further embodiments of the present disclosure;

fig. 16 is a schematic structural view of a loading and unloading device according to an embodiment of the invention;

FIG. 17 is a schematic view of an angle of a positioning table according to an embodiment of the present invention;

FIG. 18 is a schematic view of another angular configuration of a positioning table according to an embodiment of the present invention;

FIG. 19 is a schematic view of a partial structure of a positioning table according to an embodiment of the invention;

fig. 20 is a schematic structural view of a bin transfer device according to an embodiment of the present invention;

FIG. 21 is a schematic diagram of a workpiece structure according to an embodiment of the invention.

Reference numerals are as follows:

a workpiece gripping device 100; a grabbing module 200; a workpiece transfer device 300; a feed system 400; a loading and unloading device 500; a feeding and discharging system 600; a processing device 700;

a support plate 10; a support 101; a guide hole 102;

a drive assembly 11; a first electric motor 111; a drive shaft 112; a transmission gear 113;

a first transmission assembly 12; a first transmission member 121; a second transmission member 122; a connecting shaft 123;

a second transmission assembly 13; a third transmission member 131; a fourth transmission member 132; a fifth transmission member 133; a guide assembly 134; a first guide rail 135; a slider 136; a connector 167;

a lifting device 14;

a gripping mechanism 15; a first jaw 151;

a base plate 16; the guide post 161; a guide bearing 162; a second guide rail 163;

a material grabbing device 20;

a translation drive assembly 21; a second motor 211; a pulley 212; a belt 213;

a clamp assembly 22; a second jaw 221; a pusher 222; an adapter plate 223;

a support base 23; a clamp 231;

a support assembly 24; a support 241; a support wheel 242;

a positioning guide assembly 25; a guide groove 251; a riser 252;

a base 30; a third guide rail 31; a placement table 32;

a lifting mechanism 40; a support plate 41; a power assembly 42; a third motor 421; a lead screw 422; a lead screw nut 423;

a robot arm 50; a robot arm 51; a mechanical gripper 52; a mounting plate 53; a linear drive device 54; a clamp block 55; a visual inspection device 56; a fourth motor 541; a lead screw assembly 542; a first gear 543; a second gear 544; a cross member 551;

a clamping mechanism 60; a first pressing device 61; a second pressing device 62; a support block 63; a platen device 64; the first cylinder 611; a first press block 612; a second cylinder 621; a second compact 622; a fourth guide rail 631; a third cylinder 641; a third pressing block 642;

a temporary storage platform 71; a bin platform 72; the first transfer device 73; a second transfer device 74; a bin transfer device 75; a workpiece 711; a positioning member 712; a storage bin 721; a walking assembly 731; a transfer table 732; a storage station 751;

a support table 80; the placement space 81;

a positioning table 90; a positioning bottom plate 91;

a clamping device 92; a first air clamp 921; a second air clamp 922;

a conveying device 93; a drive motor 931; a conveyor 932; an output shaft 933; a coupler 934.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

In the description of the present invention, "a first feature" or "a second feature" may include one or more of the features, and "a plurality" means two or more, and the first feature may be "on" or "under" the second feature, and may include the first and second features being in direct contact, or may include the first and second features being not in direct contact but being in contact with another feature therebetween, and the first feature being "on", "above" and "above" the second feature may include the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature is higher in level than the second feature.

The loading and unloading apparatus 500 according to an embodiment of the present invention is described below with reference to the accompanying drawings.

Referring to fig. 4 and 6, a loading and unloading device 500 according to an embodiment of the present invention may include: a support table 80 and a gripper module 200.

Particularly, snatch module 200 and locate on a supporting bench 80, snatch module 200 and be used for snatching work piece 711, realize having reduced manual operation's consuming time to the removal of work piece 711, can adapt to efficient production rhythm, realize the automated production of assembly line, be favorable to improving production efficiency, reduction in production cost.

In addition, as shown in fig. 4 and fig. 16, the loading and unloading device 500 further includes a positioning table 90 and a manipulator 50, the positioning table 90 and the manipulator 50 are disposed on the supporting table 80, the grabbing module 200 can transfer the workpiece 711 to the positioning table 90, the positioning table 90 can position the workpiece 711 at a preset position, it is ensured that the workpiece 711 is accurately positioned, the manipulator 50 can transfer the workpiece 711 at the preset position on the positioning table 90 out of the positioning table 90, the workpiece 711 is transferred, the workpiece 711 can be guaranteed to be transferred, the manipulator 50 can be guaranteed to be identical in the position where the workpiece 711 is grabbed by the positioning table 90, the manipulator 50 can grab conveniently, the processing error of the workpiece 711 is favorably reduced, unmanned loading and unloading are realized, the automated production of a production line is realized, and the production efficiency is favorably improved. For example, the robot 50 may be a six-axis robot, which can move the workpiece 711 in multiple directions to meet different position requirements.

According to the loading and unloading device 500 provided by the embodiment of the invention, the workpiece 711 is grabbed by the grabbing module 200 and transferred to the positioning table 90, the workpiece 711 is positioned at the preset position by the positioning table 90, the workpiece 711 at the preset position on the positioning table 90 is transferred by the manipulator 50, the workpiece 711 can be accurately positioned, the workpiece 711 grabbed by the manipulator 50 is positioned at the same position, the manipulator 50 is convenient to grab, the processing error of the workpiece 711 is effectively reduced, the automatic production of a production line is facilitated, and the production efficiency is improved.

According to some embodiments of the present invention, as shown in fig. 17, 19 and 21, a positioning element 712 is disposed on one side of the workpiece 711, the positioning table 90 includes a positioning bottom plate 91 and a clamping device 92, the positioning bottom plate 91 is disposed on the supporting table 80, the clamping device 92 is disposed on the positioning bottom plate 91, the positioning bottom plate 91 is convenient for supporting the clamping device 92, the clamping device 92 can clamp the positioning element 712, so that the positioning element 712 can be fixed under the clamping action of the clamping device 92, positioning of the workpiece 711 is achieved, the workpiece 711 can be located at a preset position, positioning of the workpiece 711 is more reliable and accurate, and deviation is less likely to occur.

In some embodiments, as shown in fig. 21, the workpiece 711 may include an aluminum cover plate, a circuit board, and a backing plate, which are stacked and integrally formed by the positioning member 712, that is, the workpiece 711 is a stacked plate produced through a stacking line. For example, the securing element 712 may be a pin.

In some embodiments, as shown in fig. 17 and 19, a side (e.g., the left side in fig. 17) of the positioning table 90 away from the clamping device 92 is provided with a guide groove 251, the guide groove 251 is used for accommodating a positioning element 712, the guide groove 251 extends along the second direction, and when the workpiece 711 is transferred to the positioning table 90 by the grabbing module 200, the positioning element 712 can move in the guide groove 251, so that the movement of the workpiece 711 is ensured to be reliable and is not easy to shift.

In addition, for convenience of description, the orientations of "upper", "lower", "left", "right", "front", and "rear" in the present invention are based on the orientation relationship shown in the drawings, and are not limited to the orientation during the actual application.

In some embodiments, as shown in fig. 17, 19, and 21, two positioning elements 712 may be provided, two positioning elements 712 are located at two ends of one side of the workpiece 711, the clamping device 92 may include a first air clamp 921 and a second air clamp 922, the first air clamp 921 and the second air clamp 922 are distributed at intervals in a length direction (for example, a left-right direction shown in fig. 17) of the positioning bottom plate 91, and the first air clamp 921 and the second air clamp 922 may clamp the two positioning elements 712 respectively, so as to achieve positioning of the two ends of the workpiece 711, ensure reliable positioning of the workpiece 711, and the clamping device 92 has a simple structure, which is beneficial to reducing the production cost of the loading and unloading device 500.

In some embodiments of the present invention, as shown in fig. 17 to 19, the positioning table 90 further includes a conveying device 93, the conveying device 93 is disposed on the positioning bottom plate 91, the conveying device 93 can convey the workpiece 711 on the grabbing module 200 to a preset position, the workpiece 711 moves stably, the workpiece 711 can move accurately, time consumed by manual operation is reduced, automated production of a production line is realized, and production efficiency is improved.

According to some embodiments of the present invention, as shown in fig. 17-19, the conveying device 93 may include a driving motor 931 and conveying members 932, the driving motor 931 is disposed on the positioning bottom plate 91, the conveying members 932 are two, the two conveying members 932 are disposed in parallel and spaced apart, the clamping device 92 is disposed between the two conveying members 932, and the conveying members 932 are driven by the driving motor 931. Therefore, when the driving motor 931 works, the driving motor 931 can drive the two conveying pieces 932 to move, so that the workpiece 711 can be stably and accurately moved to the positioning table 90, the clamping device 92 can clamp the positioning piece 712 conveniently, and the conveying device 93 is simple in structure and beneficial to reducing the manufacturing cost of the loading and unloading device 500. For example, the transfer member 932 may be a conveyor belt or a conveyor wheel.

In some embodiments of the present invention, as shown in fig. 18, the positioning base 91 is provided with a lifting device 14, the conveying device 93 is provided on the lifting device 14, and the lifting device 14 can push the conveying device 93 to move along a first direction (for example, an up-down direction shown in fig. 8). Therefore, when the conveying device 93 drives the workpiece 711, the lifting device 14 can push the conveying device 93 to move along the first direction, so that the workpiece 711 on the conveying device 93 can move along with the conveying device 93 along the first direction, the workpiece 711 can be close to or far away from the clamping device 92, the clamping device 92 can clamp the workpiece 711 conveniently, and the moving workpiece 711 and the clamping device 92 can be prevented from being scratched by friction.

In some embodiments where the transmission device 93 includes the driving motor 931, as shown in fig. 17-19, the transmission device 93 may include two output shafts 933 and couplers 934, the driving motor 931 is in transmission connection with one end of one of the output shafts 933, the two output shafts 933 are connected through the couplers 934, and the two transmission members 932 are respectively connected with the two output shafts 933. Therefore, when the lifting device 14 works, the conveying pieces 932 can be connected with the driving motor 931 through the coupler 934, connection reliability is guaranteed, synchronous rotation and lifting of the two conveying pieces 932 can be achieved, and smooth transmission of the workpiece 711 is guaranteed. For example, the driving motor 931 and the output shaft 933 can be in transmission connection through a gear or a belt.

According to some embodiments of the present invention, as shown in fig. 18, the positioning base plate 91 is provided with a guiding post 161 extending along the second direction, the conveying device 93 is provided with a guiding hole 102, the guiding hole 102 is matched with the guiding post 161, when the conveying device 93 moves along the first direction, the conveying device 93 can be guided by matching the guiding hole 102 with the guiding post 161, so that the conveying device 93 is prevented from moving and deviating, and the conveying device 93 is ensured to move reliably.

Of course, the positioning position of the guiding column 161 may also be set on the conveying device 93, and specifically, the guiding column 161 extending along the second direction is disposed on the conveying device 93, and the guiding hole 102 matched with the guiding column 161 is disposed on the positioning bottom plate 91, which is also within the protection scope of the present invention.

In some embodiments, as shown in fig. 9, 10 and 11, the positioning table 90 may include a guide bearing 162, the guide bearing 162 is located on the positioning bottom plate 91, and the guide post 161 cooperates with the guide bearing 162, so that the guide post 161 moves more smoothly, the conveyor 93 moves smoothly along the first direction, jamming is avoided, and the reliability of the movement of the conveyor 93 is ensured.

According to some embodiments of the present invention, as shown in fig. 17 and 18, the positioning table 90 includes two support assemblies 24, two support assemblies 24 are respectively disposed on two sides of the conveying device 93, the support assembly 24 includes a support member 241 and a plurality of (two or more) support wheels 242, the plurality of support wheels 242 are rotatably disposed on a side of the support member 241 facing the conveying device 93, and the plurality of support wheels 242 are spaced in a conveying direction (e.g., a left-right direction shown in fig. 17) of the conveying device 93, the workpiece 711 may be disposed on the conveying device 93 and the support wheels 242, such that the conveying device 93 and the support wheels 242 limit the workpiece 711, and the workpiece 711 is reliably moved, and the workpiece 711 may be engaged with the support wheels 242, and the plurality of support wheels 242 contact the workpiece 711 and can be prevented from being scratched.

In some embodiments of the present invention, as shown in fig. 5 and fig. 16, the robot 50 includes a robot arm 51 and a mechanical clamping jaw 52, the mechanical clamping jaw 52 is disposed at one end of the robot arm 51, and the mechanical clamping jaw 52 can clamp the workpiece 711 to move the workpiece 711.

In addition, as shown in fig. 14 and 15, the mechanical clamping jaw 52 may include a mounting plate 53, a linear driving device 54 and two clamping blocks 55, the two clamping blocks 55 are disposed on the mounting plate 53, the two clamping blocks 55 are movable in a direction approaching to and away from each other, the linear driving device 54 is disposed on the mounting plate 53, and the linear driving device 54 may drive the clamping blocks 55 to move, so that the two clamping blocks 55 may clamp or release the workpiece 711, thereby realizing the movement of the workpiece 711, and the mechanical clamping jaw 52 has a simple structure, which is beneficial to reducing the production cost of the loading and unloading device 500, and the mechanical clamping jaw 52 has a function of adapting to the size of the workpiece 711, so as to meet the requirement of grabbing workpieces 711 with different sizes.

In some embodiments, as shown in fig. 14 and 15, the number of the clamping blocks 55 may be multiple (two or more), and the multiple clamping blocks 55 are connected by the cross beam, so that the multiple clamping blocks 55 can move simultaneously, the workpiece 711 can be clamped reliably, and the workpiece 711 can be clamped stably.

In some embodiments, as shown in fig. 14 and fig. 15, the linear driving device 54 may include a fourth motor 541 and a screw rod assembly 542, the screw rod assembly 542 is provided with a first gear 543, the fourth motor 541 is provided with a second gear 544, the first gear 543 is meshed with the second gear 544, so that the fourth motor 541 can drive the screw rod assembly 542 to rotate, two ends of the screw rod assembly 542 are in transmission connection with the two clamping blocks 55, the fourth motor 541 and the screw rod assembly 542 are in transmission connection to drive the screw rod assembly 542 to rotate, so that the screw rod assembly 542 can drive the two clamping blocks 55 to move in directions close to and away from each other, thereby achieving grabbing and releasing of the workpiece 711, and the linear driving device 54 is simple in structure and stable in movement. For example, the linear driving device 54 may be a cylinder, an electric cylinder, or the like.

In some embodiments, the linear driving device 54 may be a double-rod cylinder, and the two clamping blocks 55 may be located at two ends of an output rod of the double-rod cylinder, so as to drive the two clamping blocks 55 to move in directions close to and away from each other, and the linear driving device is simple in structure and the two clamping blocks 55 move smoothly.

In some embodiments, as shown in fig. 14 and fig. 15, the mounting plate 53 may be provided with fourth rails 631 on two sides thereof, the fourth rails 631 cooperate with the two clamping blocks 55, and when the two clamping blocks 55 move in a direction approaching and moving away from each other, the two clamping blocks 55 may cooperate with the fourth rails 631 to define a moving direction of the two clamping blocks 55, so as to ensure that the two clamping blocks 55 are not easily displaced and the two clamping blocks 55 move more reliably and smoothly.

According to some embodiments of the present invention, as shown in fig. 14 and 15, a clamping mechanism 60 may be disposed on the clamping block 55, and the clamping mechanism 60 is used for clamping the workpiece 711, so as to ensure that the workpiece 711 is reliably clamped and the workpiece 711 is not easily dropped.

In the embodiment of the present invention, the specific structure of the clamping mechanism 60 can be set according to actual conditions.

For example, in some embodiments, as shown in fig. 14, the clamping mechanism 60 includes a first pressing device 61 and a second pressing device 62, the first pressing device 61 and the second pressing device 62 are disposed on the clamping block 55, and the clamping of the workpiece 711 can be achieved by the first pressing device 61 and the second pressing device 62, so as to ensure that the workpiece 711 is clamped reliably.

In addition, as shown in fig. 14, the first pressing device 61 includes a first air cylinder 611 and a first pressing block 612, the first air cylinder 611 can drive the first pressing block 612 to move, the second pressing device 62 includes a second air cylinder 621 and a second pressing block 622, the first pressing block 612 and the second pressing block 622 are arranged in a direction perpendicular to the arrangement direction of the two clamping blocks 55, and the workpiece 711 can be clamped by the first pressing block 612 and the second pressing block 622, so that the workpiece 711 is reliably clamped, and the workpiece 711 is prevented from falling.

Meanwhile, the second cylinder 621 can drive the second pressing block 622 to rotate around the second cylinder 621, when the workpiece 711 is clamped, the second cylinder 621 can drive the second pressing block 622 to avoid the workpiece 711, after the clamping block 55 clamps the workpiece 711, the second cylinder 621 can drive the second pressing block 622 and the first pressing block 612 to be distributed in the direction perpendicular to the distribution direction of the two clamping blocks 55, the workpiece 711 is clamped conveniently, and the workpiece 711 is ensured to be clamped reliably.

For example, in some embodiments, as shown in fig. 15, the clamping mechanism 60 includes a supporting block 63 and a first pressing device 61, the supporting blocks 63 on the two clamping blocks 55 are respectively located on one sides of the two clamping blocks 55 close to each other, the first pressing devices 61 on the two clamping blocks 55 are respectively located on one sides of the two clamping blocks 55 close to each other, and the first pressing device 61 includes a first air cylinder 611 and a first pressing block 612, the first air cylinder 611 can drive the first pressing block 612 to move towards or away from the supporting block 63, clamping of the workpiece 711 can be achieved through the first pressing block 612 and the supporting block 63, reliable clamping of the workpiece 711 is ensured, the workpiece 711 is prevented from falling, and the clamping mechanism 60 has a simple structure, which is beneficial to reducing the production cost of the clamping mechanism 60.

In some embodiments, as shown in fig. 15, the clamping mechanism 60 further includes a pressure plate device 64, the pressure plate device 64 is disposed on the mounting plate 53, the pressure plate device 64 and the first pressing device 61 are disposed at intervals on the mounting plate 53, the pressure plate device 64 includes a third air cylinder 641 and a third pressing block 642, the third air cylinder 641 is disposed on the mounting plate 53, the third pressing block 642 is connected to the third air cylinder 641, and the third air cylinder 641 can drive the third pressing block 642 to move in a direction toward and away from the workpiece 711, so that the third pressing block 642 can press or release the workpiece 711, when clamping the workpiece 711, the third pressing block 642 can press the workpiece 711, which can ensure flatness of the workpiece 711, and ensure accurate positioning of the workpiece 711.

In some embodiments, as shown in fig. 15, when the robot arm 51 drives the mechanical clamping jaw 52 to grab the workpiece, the two clamping blocks 55 move away from each other first, and when the supporting block 63 on the clamping block 55 moves to below the workpiece 711, the two clamping blocks 55 move close to each other, so that the edge of the workpiece 711 is supported on the supporting block 63, then the first pressing device 61 clamps the workpiece 711, and the third pressing block 642 of the pressing plate device 64 presses the workpiece 711, so as to ensure the flatness of the workpiece 711 on the mechanical clamping jaw 52, and the workpiece 711 is clamped firmly.

In some embodiments of the present invention, as shown in fig. 15, there are at least two pressure plate devices 64, and at least two pressure plate devices 64 are disposed opposite to each other on the mounting plate 53, so that the third pressing block 642 can press two sides of the workpiece 711, thereby ensuring the flatness of the workpiece 711 as a whole and ensuring the accurate positioning of the workpiece 711.

In some embodiments of the present invention, as shown in fig. 14 and fig. 15, the robot 50 may include a visual inspection device 56, the visual inspection device 56 is located on the mounting plate 53, and the visual inspection device 56 may inspect the workpiece 711, facilitate inspection and recording of materials of the workpiece 711 or front and back sides of the workpiece 711, and the like, facilitate subsequent operations, and facilitate tracing of the workpiece 711. For example, the visual inspection device 56 may be a CCD camera.

In some embodiments, the workpiece 711 may be provided with an identification code, and the identification code may be identified by the visual inspection device 56 to determine whether the moving workpiece 711 is the workpiece 711 that needs to be moved, so as to distinguish the workpiece 711, avoid manual code scanning, achieve automated production of a production line, and facilitate improvement of production efficiency.

According to some embodiments of the present invention, as shown in fig. 5 to 11, the grabbing module 200 includes a grabbing device 20 and a workpiece grabbing device 100, the workpiece grabbing device 100 is spaced apart from the grabbing device 20, the workpiece grabbing device 100 is used for moving the workpiece 711 between a first preset position and a third preset position, the grabbing device 20 is used for moving the workpiece 711 between the first preset position and the second preset position, the first preset position and the third preset position are sequentially arranged in a second direction (for example, a left-right direction shown in fig. 6).

Therefore, the workpiece 711 can be moved by the workpiece grabbing device 100 and the grabbing device 20 respectively, different moving requirements of the workpiece 711 on a second preset position, a first preset position and a third preset position are met, and occupied space required by the grabbing module 200 for directly moving the workpiece 711 from the third preset position to the second preset position is reduced.

It should be noted that the third preset position is an initial position where the workpiece 711 is located, the first preset position is a position where the workpiece grabbing device 100 moves the workpiece 711, and the second preset position is a position where the workpiece grabbing device 20 moves the workpiece 711 located in the first preset position.

In some embodiments of the present invention, as shown in fig. 5-11, the workpiece gripping apparatus 100 may include: the device comprises a supporting plate 10, a driving assembly 11, a first transmission assembly 12, a second transmission assembly 13 and a grabbing mechanism 15. The first transmission assembly 12 is disposed on the supporting plate 10 along the first direction, the first transmission assembly 12 includes a first transmission member 121 and a second transmission member 122 that rotate synchronously, and the first transmission member 121 is in transmission connection with the driving assembly 11, so that the driving assembly 11 can drive the first transmission assembly 12 to move. The second transmission assembly 13 is arranged on the supporting plate 10 along the second direction, the first direction is perpendicular to the second direction, the second transmission assembly 13 is in transmission connection with the second transmission piece 122, the rotary motion of the first transmission piece 121 can be converted into translation motion, the grabbing mechanism 15 is arranged on the second transmission assembly 13, the second transmission assembly 13 can drive the grabbing mechanism 15 to reciprocate along the second direction, the grabbing mechanism 15 can clamp the workpiece 711, the workpiece 711 can move along the second direction, the occupied space required by the first transmission assembly 12 and the occupied space required by the second transmission assembly 13 can be reduced, and the utilization rate of the space is effectively improved.

Therefore, when the driving assembly 11 works, the driving assembly 11 can drive the first transmission member 121 to rotate, the first transmission member 121 and the second transmission member 122 synchronously rotate to drive the second transmission member 122 to rotate, the second transmission member 122 and the second transmission member 13 are in transmission connection to drive the second transmission member 13 to move along the second direction, so that the grabbing mechanism 15 on the second transmission member 13 is driven to do reciprocating motion along the second direction, the grabbing mechanism 15 can clamp the workpiece 711 along the reciprocating motion along the second direction, the workpiece 711 can be moved along the second direction, time consumption of manual operation is reduced, efficient production rhythm can be adapted, automatic production of a production line is realized, the production efficiency is improved, and the production cost is reduced.

In addition, as shown in fig. 5 to 8, the workpiece gripping device 100 may further include a lifting device 14, and the lifting device 14 drives the support plate 10 to move in the first direction, so that the second transmission assembly 13 located on the support plate 10 may move along with the support plate 10 in the first direction. When the grabbing device 20 drives the workpiece 711 to move, the second transmission component 13 can move along the first direction along with the supporting plate 10, and the second transmission component 13 can avoid the workpiece 711, so that the workpiece 711 and the second transmission component 13 are prevented from colliding to cause damage, and the grabbing module 200 is guaranteed to be normally used. For example, the lifting device 14 may be a pneumatic, electric, or hydraulic cylinder, etc.

Meanwhile, the second transmission member 122 may move synchronously with the supporting plate 10, so that the second transmission member 122 may maintain a transmission connection with the second transmission assembly 13, and the first transmission member 121 may maintain a transmission connection with the driving assembly 11 when the supporting plate 10 moves. Therefore, when the supporting plate 10 moves, the driving component 11 and the first transmission component 121, the second transmission component 122 and the second transmission component 13 are ensured to be in transmission connection all the time, the problems of vibration and the like caused by reconnection are avoided, the transmission connection is ensured to be reliable, the work of the workpiece grabbing device 100 is stable, the second transmission component 13 and the lifting device 14 can work simultaneously, the grabbing module 200 works more efficiently, and the improvement of the production efficiency is facilitated.

In some embodiments of the present invention, as shown in fig. 8 and 9, the first transmission assembly 12 further includes a connecting shaft 123, the first transmission member 121 and the second transmission member 122 are respectively disposed at two ends of the connecting shaft 123, and both the first transmission member 121 and the second transmission member 122 rotate coaxially with the connecting shaft 123, so as to ensure reliable rotation of the first transmission member 121 and the second transmission member 122, and have a simple structure. The connecting shaft 123 is disposed through the supporting plate 10, the connecting shaft 123 moves synchronously with the supporting plate 10, the connecting shaft 123 is slidably connected with the first transmission member 121 in an axial direction (e.g., an up-down direction shown in fig. 8) of the connecting shaft 123, and the second transmission member 122 is fixedly disposed on the connecting shaft 123. Therefore, when the supporting plate 10 moves along the first direction, the second transmission member 122 is fixedly arranged on the connecting shaft 123, the second transmission member 122 is kept in transmission connection with the driving assembly 11, the connecting shaft 123 can drive the first transmission member 121 to move along the first direction, the first transmission member 121 is kept in transmission connection with the second transmission assembly 13, the driving assembly 11 and the first transmission member 121, the second transmission member 122 and the second transmission assembly 13 are ensured to be reliably in transmission connection, vibration caused by repeated separation and connection is avoided, the service lives of the driving assembly 11, the first transmission assembly 12 and the second transmission assembly 13 are prolonged, the workpiece grabbing device 100 works stably, the structure is simple, and the production cost is reduced.

In some embodiments, the connecting shaft 123 may be a special-shaped shaft, the first transmission member 121 is provided with a special-shaped hole matched with the special-shaped shaft, and the special-shaped shaft may be matched with the special-shaped hole, so as to ensure that the connecting shaft 123 and the first transmission member 121 are reliably connected, and ensure that the connecting shaft 123 slides in the axial direction of the connecting shaft 123, and the structure is simple, which is beneficial to reducing the production cost of the workpiece gripping device 100. For example, the connecting shaft 123 may be a spline shaft, a flat key shaft, a semicircular key shaft, or the like.

According to some embodiments of the present invention, as shown in fig. 6 to 11, the first transmission member 121 and the second transmission member 122 may be both bevel gears, so that the first transmission assembly 12 along the first direction is in transmission connection with the second transmission assembly 13 along the second direction, which is beneficial to reducing the occupied space required by the first transmission assembly 12 and the second transmission assembly 13, and effectively improving the utilization ratio of the space. In addition, the first transmission assembly 12 and the second transmission assembly 13 can work stably through bevel gear meshing transmission, and the second transmission assembly 13 is ensured to move reliably and has low noise.

In some embodiments, as shown in fig. 8 to 11, a support 101 is disposed on the support plate 10, the second transmission assembly 13 includes a third transmission member 131, a fourth transmission member 132 and a fifth transmission member 133, and the third transmission member 131 and the fourth transmission member 132 can be disposed on the support 101, so as to fix the positions of the third transmission member 131 and the fourth transmission member 132, and avoid the problems of unstable movement and the like caused by the movement of the third transmission member 131 and the fourth transmission member 132. The third transmission member 131 is in transmission connection with the second transmission member 122, the fourth transmission member 132 and the third transmission member 131 coaxially rotate, and the fifth transmission member 133 is in transmission connection with the fourth transmission member 132. Therefore, when the second transmission member 122 rotates, the second transmission member 122 is in transmission connection with the third transmission member 131 to drive the third transmission member 131 to rotate, the third transmission member 131 and the fourth transmission member 132 coaxially rotate to drive the fourth transmission member 132 to rotate, the fourth transmission member 132 is in transmission connection with the fifth transmission member 133, so that the fifth transmission member 133 is driven to reciprocate along the second direction, the grabbing mechanism 15 is driven to reciprocate along the second direction, the workpiece 711 is convenient to be clamped, the workpiece 711 can move along the second direction, the second transmission assembly 13 is simple in structure and reliable in transmission, and the production cost of the workpiece grabbing device 100 is favorably reduced. For example, the third transmission member 131 and the fourth transmission member 132 may be coaxially connected bevel gears and circular gears.

In some embodiments of the present invention, as shown in fig. 9 and 11, the fourth transmission member 132 may be a gear, and the fifth transmission member 133 may be a rack, and rotation of the gear may drive the rack to reciprocate along the second direction, so as to convert the rotational motion of the first transmission member 121 into the translational motion, and the fourth transmission member 132 and the fifth transmission member 133 are simple in structure and reliable in transmission connection, which is beneficial to reducing the production cost of the workpiece gripping apparatus 100.

In some embodiments, as shown in fig. 6, 8-11, the second transmission assembly 13 further includes a guiding assembly 134, the guiding assembly 134 includes a first guiding rail 135 and a sliding block 136, the first guiding rail 135 is disposed on the supporting plate 10, the sliding block 136 is engaged with the first guiding rail 135, the first guiding rail 135 extends along the second direction, and the fifth transmission element 133 is connected to the sliding block 136, when the second transmission assembly 13 reciprocates along the second direction, the second transmission assembly 13 can define a moving direction of the second transmission assembly 13 by the engagement of the sliding block 136 with the first guiding rail 135, so as to ensure that the fifth transmission element 133 is not easily displaced, and the grasping mechanism 15 is reliably moved along the second direction.

In some embodiments, as shown in fig. 8 and 9, the fifth transmission element 133 and the sliding block 136 may be connected by a connection element 167, which is beneficial to reduce the complexity of the structure of the fifth transmission element 133 and the sliding block 136 and the production cost of the workpiece gripping apparatus 100.

According to some embodiments of the present invention, as shown in fig. 6 to 11, the gripping mechanism 15 includes a first clamping jaw 151, the first clamping jaw 151 is disposed at one end of the second transmission assembly 13, and the first clamping jaw 151 may be used to clamp the workpiece 711 in the second direction, so as to facilitate clamping of the workpiece 711, ensure reliable clamping of the workpiece 711, and prevent the workpiece 711 from falling off.

In the embodiment of the present invention, the specific structure of the first clamping jaw 151 may be set according to actual conditions.

For example, in some embodiments, the first clamping jaw 151 may include a clamping jaw cylinder configured to control clamping and spreading of the clamping jaw to clamp and unclamp the workpiece 711. The clamping jaw air cylinder is connected with a push-pull rod, the push-pull rod is respectively provided with a first transmission rod and a second transmission rod, one end of each of the first transmission rod and the second transmission rod is connected with the push-pull rod, the other end of each of the first transmission rod and the second transmission rod extends towards the direction far away from the other end of each of the first transmission rod and the second transmission rod, the push-pull rod is hinged with the first transmission rod, the push-pull rod is hinged with the second transmission rod, and the other end of each of the first transmission rod and the second transmission rod is respectively provided with a clamping jaw piece. When the clamping jaw cylinder pulls the push-pull rod to move linearly in the direction close to the clamping jaw cylinder, the push-pull rod is hinged with the first transmission rod and the second transmission rod, and in order to meet the requirement of linear movement, the two clamping jaw pieces move in the direction close to each other, so that the first clamping jaw 151 clamps the workpiece 711; when the clamping jaw cylinder pushes the push-pull rod to move linearly away from the clamping jaw cylinder, in order to meet the linear movement, the two clamping jaw members move away from each other, so that the first clamping jaw 151 releases the workpiece 711.

In some embodiments, as shown in fig. 6, 7, 10 and 11, the first clamping jaw 151 may include a plurality of groups (two or more) of clamping jaw cylinders to facilitate grasping of the workpiece 711, so as to ensure reliable movement of the workpiece 711.

In some embodiments of the present invention, as shown in fig. 6-8 and 10, the supporting plate 10, the first transmission assembly 12, the second transmission assembly 13 and the grabbing mechanism 15 may be two, and the two supporting plates 10, the two first transmission assemblies 12, the two second transmission assemblies 13 and the two grabbing mechanisms 15 are spaced apart along a third direction (e.g., a front-back direction shown in fig. 8), which is perpendicular to the first direction and the second direction, so that the workpiece 711 can be clamped and clamped conveniently by the two grabbing mechanisms 15, and the two supporting plates 10 can support and move the two second transmission assemblies 13, so that the workpiece 711 can be clamped stably and the workpiece 711 can be moved reliably.

According to some embodiments of the present invention, as shown in fig. 7-10, the driving assembly 11 includes a first motor 111 and a transmission shaft 112, the first motor 111 drives the transmission shaft 112 to rotate, the transmission shaft 112 is provided with a transmission gear 113, and the transmission gear 113 is in transmission connection with a first transmission member 121. Therefore, when the first motor 111 works, the first motor 111 drives the transmission shaft 112 to rotate, the transmission shaft 112 drives the transmission gear 113 to rotate, the transmission gear 113 is in transmission connection with the first transmission part 121 to drive the first transmission part 121 to rotate, so that the first transmission component 12 works, the driving component 11 is simple in structure, and the production cost of the workpiece grabbing device 100 is favorably reduced. For example, the first motor 111 may rotate the transmission shaft 112 through a belt transmission or a gear transmission.

In some embodiments in which the supporting plate 10, the first transmission assembly 12, the second transmission assembly 13, and the grabbing mechanism 15 are two, as shown in fig. 6, 8, and 10, two ends of the transmission shaft 112 are both provided with transmission gears 113, and the two transmission gears 113 are respectively in transmission connection with the two first transmission members 121, so that the two second transmission assemblies 13 are ensured to move reliably, the same moving distance can be realized, and the workpiece 711 is ensured to be clamped stably.

In some embodiments of the present invention, as shown in fig. 6 to 9, the workpiece gripping device 100 further includes a bottom plate 16, the supporting plate 10 may be disposed on the bottom plate 16, and the first transmission member 121 may be rotatably disposed on the bottom plate 16 to facilitate supporting and positioning the supporting plate 10 and the first transmission member 121. The driving assembly 11 and the lifting device 14 are both arranged on one side of the bottom plate 16 far away from the supporting plate 10, the lifting device 14 drives the supporting plate 10 to move along a first direction relative to the bottom plate 16, so that reliable movement of the supporting plate 10 is ensured, and the bottom plate 16 can separate the second transmission assembly 13, the driving assembly 11 and the lifting device 14, so that when the workpiece grabbing device 100 works, the driving assembly 11 and the lifting device 14 are prevented from influencing normal work of the second transmission assembly 13, and from being touched with a workpiece 711 to cause damage, and the workpiece grabbing device 100 is ensured to work reliably.

According to some embodiments of the present invention, as shown in fig. 9, 10 and 11, the bottom plate 16 is provided with a guide post 161 extending along the second direction, the support plate 10 is provided with a guide hole 102, and the guide hole 102 is matched with the guide post 161, so that when the support plate 10 moves along the first direction, the support plate 10 can be guided by the matching of the guide hole 102 and the guide post 161, the support plate 10 is prevented from shifting, and the support plate 10 is ensured to move reliably.

Of course, the location of the guiding column 161 can also be set on the supporting plate 10, and specifically, the supporting plate 10 is provided with the guiding column 161 extending along the second direction, and the bottom plate 16 is provided with the guiding hole 102 matching with the guiding column 161, which is also within the protection scope of the present invention.

In some embodiments, as shown in fig. 9, 10 and 11, the workpiece grasping apparatus 100 may include a guide bearing 162, the guide bearing 162 is located on the bottom plate 16, and the guide post 161 cooperates with the guide bearing 162 to make the guide post 161 move more smoothly, so as to ensure that the support plate 10 moves smoothly along the first direction, avoid the occurrence of jamming, and ensure the reliability of the movement of the support plate 10.

In some embodiments of the present invention, as shown in fig. 6, 8, 9, and 12, the material grabbing device 20 includes a translation driving component 21 and a clamping component 22, the translation driving component 21 drives the clamping component 22 to reciprocate along the second direction, so that the clamping component 22 can clamp the workpiece 711, and the clamping component 22 can move the workpiece 711 between the first preset position and the second preset position, thereby meeting the moving requirement of the workpiece 711, reducing the time consumption of manual operation, being capable of adapting to efficient production rhythm, realizing automated production of a production line, and being beneficial to improving production efficiency.

According to some embodiments of the present invention, as shown in fig. 6, 8, 9 and 12, when the workpiece gripping device 100 includes the base plate 16, the supporting plate 10 and the translation driving assembly 21 are disposed on the same side of the base plate 16, so as to facilitate the gripping mechanism 15 and the gripping assembly 22 to grip the workpiece, and when the translation driving assembly 21 is operated, the supporting plate 10 can move in a first direction so as to facilitate the evacuation of the workpiece on the gripping assembly 22. Grab material device 20 and still include supporting seat 23, supporting seat 23 can be located to centre gripping subassembly 22, supporting seat 23 and translation drive assembly 21 transmission are connected, translation drive assembly 21 can make supporting seat 23 follow second direction reciprocating motion on bottom plate 16, can realize centre gripping subassembly 22 along second direction reciprocating motion, and make centre gripping subassembly 22 remove reliably, and supporting seat 23 is convenient for accomodate and protect centre gripping subassembly 22, is favorable to improving centre gripping subassembly 22's life.

In some embodiments of the present invention, as shown in fig. 6, 8, 9 and 12, the translational driving assembly 21 includes a second motor 211, two pulleys 212 and a belt 213, the second motor 211 is disposed on the base plate 16, and the pulleys 212 are rotatably disposed on the base plate 16, so as to fix the second motor 211 and the pulleys 212 and prevent the second motor 211 and the pulleys 212 from moving. The two pulleys 212 are spaced apart in the second direction, the belt 213 is wound around the pulleys 212, the second motor 211 is in transmission connection with one of the pulleys 212, the support 23 is disposed on the belt 213, and the support 23 and the belt 213 move synchronously. Therefore, when the second motor 211 works, the second motor 211 can drive one of the belt pulleys 212 to rotate, and the belt 213 and the other belt pulley 212 can be driven to move through the rotation of the belt pulley 212, so that the belt 213 can drive the supporting seat 23 on the belt 213 to move, the clamping component 22 can reciprocate along the second direction, the reliable movement is ensured, the translation driving component 21 has a simple structure, and the production cost of the material grabbing device 20 is favorably reduced.

In some embodiments, as shown in fig. 8 and 9, the supporting seat 23 may be provided with a clamp 231, the clamp 231 is fixed to the belt 213, and the supporting seat 23 may be fixed to the belt 213 by the clamp 231, so as to ensure that the supporting seat 23 is reliably connected to the belt 213, and the supporting seat 23 and the belt 213 are not easily moved.

According to some embodiments of the present invention, as shown in fig. 6, 8 and 12, the bottom plate 16 may be provided with a second guide rail 163, the second guide rail 163 extends along the second direction, and the supporting seat 23 is slidably provided on the second guide rail 163, so that when the supporting seat 23 reciprocates along the second direction, the supporting seat 23 can define the moving direction of the supporting seat 23 by cooperating with the second guide rail 163, so as to ensure that the supporting seat 23 is not easily displaced and the clamping assembly 22 reliably moves along the second direction.

In some embodiments of the present invention, as shown in fig. 6 and 12, the clamping assembly 22 includes a second clamping jaw 221 and a pusher 222, the second clamping jaw 221 is used for clamping the workpiece 711 in the second direction, the pusher 222 is disposed on the supporting base 23, for example, the pusher 222 may employ an air cylinder, an electric steel, a linear motor, or the like, the second clamping jaw 221 is connected to the pusher 222, the second clamping jaw 221 is convenient for clamping the workpiece 711, so as to ensure that the workpiece 711 is reliably clamped, the workpiece 711 is not easily dropped, and the pusher 222 can drive the second clamping jaw 221 to move along the second direction, so that the second clamping jaw 221 can avoid the workpiece, and the occupied space of the translation driving assembly 21 can be effectively reduced.

In the embodiment of the present invention, the specific structure of the second clamping jaw 221 may be set according to actual conditions.

For example, in some embodiments, the second jaw 221 may include a jaw cylinder for controlling the clamping and opening of the jaws to achieve clamping and unclamping of the workpiece 711. The clamping jaw air cylinder is connected with a push-pull rod, the push-pull rod is respectively provided with a first transmission rod and a second transmission rod, one end of each of the first transmission rod and the second transmission rod is connected with the push-pull rod, the other end of each of the first transmission rod and the second transmission rod extends towards the direction far away from the other end of each of the first transmission rod and the second transmission rod, the push-pull rod is hinged with the first transmission rod, the push-pull rod is hinged with the second transmission rod, and the other end of each of the first transmission rod and the second transmission rod is respectively provided with a clamping jaw piece. When the clamping jaw cylinder pulls the push-pull rod to move linearly in the direction close to the clamping jaw cylinder, the push-pull rod is hinged with the first transmission rod and the second transmission rod, and in order to meet the requirement of linear movement, the two clamping jaw pieces move in the direction close to each other, so that the second clamping jaw 221 clamps the workpiece 711; when the clamping jaw cylinder pushes the push-pull rod to move linearly away from the clamping jaw cylinder, in order to meet the linear movement, the two clamping jaw members move away from each other, so that the second clamping jaw 221 releases the workpiece 711.

In some embodiments, as shown in fig. 8 and 12, the number of the second clamping jaws 221 may be multiple, and the multiple second clamping jaws 221 are connected by the adapter plate 223, so that the multiple second clamping jaws 221 can be driven simultaneously, and have the same moving distance, thereby ensuring that the workpiece 711 is clamped stably and driven reliably.

In the embodiment of the present invention, the number of the second clamping jaws 221 may be flexibly set according to actual situations, for example, the second clamping jaws 221 may be two as shown in fig. 12, and may also be three, four, five, six or more, which is within the protection scope of the present invention.

According to some embodiments of the present invention, as shown in fig. 6, 8 and 9, the grabbing module 200 includes two supporting members 24, and the two supporting members 24 are respectively disposed on two sides of the moving direction (for example, the left and right direction shown in fig. 6) of the grabbing device 20, and the supporting members 24 can support the workpiece 711, so as to ensure that the workpiece 711 can move reliably.

In addition, as shown in fig. 6, 8 and 9, the supporting assembly 24 includes a supporting member 241 and a plurality of (two or more) supporting wheels 242, the plurality of supporting wheels 242 are rotatably disposed on the supporting member 241, and the plurality of supporting wheels 242 are disposed at intervals along the second direction, the workpiece 711 can be matched with the supporting wheels 242, and the plurality of supporting wheels 242 facilitate moving and supporting the workpiece 711, so that the workpiece 711 can be moved more smoothly, and scratching of the workpiece 711 can be avoided.

In some embodiments of the present invention, as shown in fig. 6-8 and 21, the workpiece 711 is provided with a positioning element 712, the grabbing module 200 includes a positioning guide assembly 25, the positioning guide assembly 25 includes a guide groove 251, the guide groove 251 is used for accommodating the positioning element 712, the guide groove 251 extends along the second direction, and when the grabbing module 200 moves the workpiece 711, the positioning element 712 can move in the guide groove 251, so as to ensure that the workpiece 711 can move reliably and is not easily displaced. For example, the positioning members 712 may be disposed on both sides of the workpiece 711 to ensure that the workpiece 711 moves reliably and is not prone to shifting.

In some specific embodiments, as shown in fig. 6 to 8, the positioning guide assembly 25 may include two vertical plates 252 disposed at an interval, a guide groove 251 may be formed in a gap between the two vertical plates 252, the two vertical plates 252 may limit the positioning element 712, so as to avoid the positioning element 712 from shifting, ensure that the workpiece 711 moves reliably, and the positioning guide assembly 25 has a simple structure, which is beneficial to reducing the production cost of the material grabbing device 20.

According to some embodiments of the present invention, as shown in fig. 16, the loading and unloading device 500 further includes a lifting mechanism 40, the lifting mechanism 40 is disposed on the supporting table 80, the grabbing module 200 is disposed on the lifting mechanism 40, the height of the grabbing module 200 can be adjusted by the lifting mechanism 40, the grabbing module 200 can grab workpieces 711 with different heights, the workpieces 711 can be grabbed more conveniently, the automated production of a production line can be realized, and the production efficiency can be improved.

In some embodiments of the present invention, as shown in fig. 5 and 13, the lifting mechanism 40 includes a supporting plate 41 and a power assembly 42, the grabbing module 200 is disposed on the supporting plate 41, the supporting plate 41 can support the grabbing module 200, so as to ensure reliable support, the power assembly 42 is disposed on the base 30, and the power assembly 42 is configured to drive the supporting plate 41 to reciprocate along a first direction, so that the grabbing module 200 can reciprocate along the first direction, so as to adjust the height of the grabbing module 200, and the lifting mechanism has a simple structure, which is beneficial to reducing the production cost of the loading and unloading device 500.

According to some embodiments of the present invention, as shown in fig. 13, for example, the power assembly 42 includes a third motor 421 and a lead screw 422, the third motor 421 is disposed on the base 30, the lead screw 422 extends along the first direction, one end of the lead screw 422 is in transmission connection with the third motor 421, a lead screw nut 423 is disposed on the lead screw 422, and the support plate 41 is connected with the lead screw nut 423. From this, when third motor 421 during operation, third motor 421 can drive lead screw 422 and rotate, and lead screw 422 rotates and can drive screw nut 423 to remove along the first direction of lead screw 422 to make screw nut 423 can drive layer board 41 and remove along the first direction, ensure that layer board 41 removes reliably, steadily, and simple structure is favorable to reducing the manufacturing cost of unloader 500. For example, the third motor 421 may be a servo motor.

In some embodiments, as shown in fig. 13, the third motor 421 is provided with a first synchronous gear, the screw 422 is provided with a second synchronous gear, and the first synchronous gear is in meshing transmission with the second synchronous gear, so that the third motor 421 can drive the first synchronous gear to rotate, and the first synchronous gear is in meshing transmission with the second synchronous gear to drive the second synchronous gear to rotate, so that the second synchronous gear can drive the screw 422 to rotate, thereby ensuring reliable connection and simple transmission connection structure.

In some embodiments of the present invention, as shown in fig. 5 and 13, the base 30 is provided with a third guide rail 31, the third guide rail 31 is engaged with the supporting plate 41, the third guide rail 31 extends along the first direction, and when the supporting plate 41 moves along the first direction, the supporting plate 41 can define the moving direction of the supporting plate 41 by engaging with the third guide rail 31, so as to ensure that the movement of the supporting plate 41 is not easily deviated, and the movement of the supporting plate 41 along the first direction is reliable.

In some embodiments of the present invention, as shown in fig. 16, the supporting table 80 has a placing space 81, the placing space 81 is located below the positioning table 90, the placing space 81 is used for placing a bin 721, the bin 721 is used for placing the workpiece 711, the bin 721 receives the workpiece 711, and the workpiece 711 can be placed in the placing space 81 through the bin 721. The grabbing module 200 can grab the workpieces 711 in the storage bin 721 onto the positioning table 90, so that the workpieces 711 can be grabbed in sequence, the single workpiece 711 is prevented from being transported, the automatic production of a production line can be realized, and the production efficiency is improved.

According to some embodiments of the present invention, as shown in fig. 16, a conveying table 732 is disposed on a bottom wall of the placing space 81, the conveying table 732 is used for supporting and conveying the bins 721 to facilitate placing of the bins 721, and the conveying table 732 can facilitate conveying the bins 721 to the placing space 81 or conveying the bins 721 out of the placing space 81 to facilitate replacing the bins 721, so as to reduce time consumption of manual operation, reduce manual labor force, achieve automatic production of a production line, and facilitate improvement of production efficiency. For example, the transfer station 732 may be a transfer roller or a transfer wheel, etc.

In some embodiments of the present invention, as shown in fig. 16, the loading and unloading device 500 further includes a walking component 731, the walking component 731 is disposed at the bottom of the supporting platform 80, the position of the loading and unloading device 500 can be moved through the walking component 731, so that the loading and unloading device 500 can load and unload the workpiece 711 at different positions, thereby realizing the automated production of the assembly line and being beneficial to improving the production efficiency. For example, the traveling assembly 731 may be an AGV.

In some embodiments, the walking assembly 731 can be navigated by using two-dimensional codes, and the two-dimensional codes can set the walking position of the walking assembly 731 to form a walking path of the walking assembly 731, thereby ensuring that the walking assembly 731 moves reliably and ensuring that the walking assembly 731 moves accurately.

The loading and unloading system 600 according to the embodiment of the present invention includes a feeding system 400, a processing apparatus 700, and a loading and unloading apparatus 500 according to the embodiment of the present invention.

Specifically, as shown in fig. 1, fig. 2, and fig. 4, the processing apparatus 700 is configured to process a workpiece 711 to be processed, so as to implement processing on the workpiece 711, the loading and unloading device 500 can provide the workpiece 711 to be processed and transfer the processed workpiece 711 for the processing apparatus 700, so as to facilitate loading and unloading on the processing apparatus 700, and the feeding system 400 can provide the workpiece 711 to be processed and transfer the processed workpiece 711 on the loading and unloading device 500 for the loading and unloading device 500, so as to implement automated production of a production line, and improve production efficiency. For example, the processing tool 700 may be a drilling machine.

Because the loading and unloading device 500 according to the embodiment of the present invention has the above beneficial technical effects, according to the loading and unloading system 600 according to the embodiment of the present invention, the workpiece 711 is grabbed by the grabbing module 200 and transferred to the positioning table 90, the positioning table 90 locates the workpiece 711 at the preset position, and the robot 50 transfers the workpiece 711 at the preset position on the positioning table 90, so that the positioning accuracy of the workpiece 711 can be ensured, the positions where the robot 50 grabs the workpiece 711 are the same, the robot 50 is convenient to grab, the processing error of the workpiece 711 is effectively reduced, the automatic production of the production line is facilitated, and the production efficiency is improved.

In some embodiments, the processing tool 700 may record and transmit processing information of the workpiece 711 on the processing tool 700, so as to facilitate processing and backup of the workpiece 711.

In some embodiments of the present invention, as shown in fig. 1-3, the feeding system 400 may include a staging platform 71, a magazine platform 72, and a workpiece transfer device 300. The temporary storage platform 71 can store the workpieces 711 to be processed and/or the processed workpieces 711, so that the workpieces 711 can be conveniently stored, and the workpieces 711 can be ensured to be stored orderly. The bin 721 can be deposited to the bin platform 72, and the work piece 711 can be placed in the bin 721, and the bin 721 can be placed the work piece 711, and the bin platform 72 can be accomodate the bin 721, guarantees that the bin 721 is accomodate neatly. In addition, work piece transfer device 300 can shift work piece 711 between temporary storage platform 71 and feed bin platform 72 for work piece 711 can shift between temporary storage platform 71 and the feed bin 721 on feed bin platform 72 through work piece transfer device 300, avoided the manual work to shift work piece 711, the consuming time of manual operation has been reduced, and avoid the manual fatigue operation and the different materials of work piece 711 that cause or the positive and negative wrong scheduling problem of placing of work piece 711, can adapt to efficient production rhythm, realize the automated production of assembly line, be favorable to improving production efficiency.

In some embodiments where the positioning members 712 are disposed on the workpieces 711, the workpieces 711 are stacked on the temporary storage platform 71, and the workpieces 711 are stacked in front and back to facilitate receiving the workpieces and prevent the positioning members 712 from contacting the corresponding workpieces 711 to cause damage.

In some embodiments, in which the workpiece 711 is located in the magazine 721, the position of the workpiece 711 in the magazine 721 is a third predetermined position, the position of the workpiece 711 after being moved by the workpiece grabbing device 100 is a first predetermined position, when the workpiece 711 is located in the first predetermined position, at least a portion of the workpiece 711 is located in the magazine 721, and the position of the workpiece 711 on the lifting mechanism 40 is a second predetermined position. Therefore, the workpiece 711 can be taken out of the bin 721 and placed in the lifting mechanism 40 through the grabbing module 200, or the workpiece 711 on the lifting mechanism 40 can be placed in the bin 721 through the grabbing module 200, so that grabbing of the workpiece 711 is realized, and the production efficiency is improved.

According to some embodiments of the present invention, as shown in fig. 1 to fig. 3, the feeding system 400 includes a first transfer device 73 and a second transfer device 74, the first transfer device 73 can transfer the workpiece 711 to the temporary storage platform 71 or transfer the workpiece out of the temporary storage platform 71, the second transfer device 74 can transfer the bin 721 to the bin platform 72 or transfer the workpiece out of the bin platform 72, and the first transfer device 73 and the second transfer device 74 cooperate to meet the production of the workpiece 711 on different production lines, meet different use requirements, and have strong adaptability.

In some embodiments of the present invention, as shown in fig. 17, each of the first transfer device 73 and the second transfer device 74 includes a traveling assembly 731 and a transfer table 732, the transfer table 732 is disposed on the traveling assembly 731, the transfer table 732 is used for transferring the workpiece 711 or the bin 721, so that the first transfer device 73 and the second transfer device 74 can transfer the workpiece 711 or the bin 721 into or out of the first transfer device 73 and the second transfer device 74, and the first transfer device 73 and the second transfer device 74 can move through the traveling assembly 731, so that the first transfer device 73 and the second transfer device 74 can transfer the workpiece 711 or the bin 721, time consumption of manual operation is reduced, manual labor force is reduced, automated production of a production line is achieved, and production efficiency is improved.

In some embodiments, as shown in fig. 1-3, the transfer table 732 of the first transfer device 73 may transfer the workpiece 711 in height to facilitate placement of the workpiece 711 on the staging platform 71.

In some embodiments, as shown in fig. 1-3, the transfer table 732 of the first transfer device 73 may transfer the workpiece 711 on a horizontal plane to facilitate placement of the workpiece 711 on the magazine platform 72.

According to some embodiments of the present invention, as shown in fig. 1, fig. 2, fig. 4, and fig. 20, the loading and unloading system 600 further includes a bin transferring device 75, and the bin transferring device 75 can move the bin 721 between the bin platform 72 and the loading and unloading device 500, so as to provide the workpiece 711 to be processed to the loading and unloading device 500 and transfer the processed workpiece 711 on the loading and unloading device 500, thereby realizing the automated production of the production line and facilitating the improvement of the production efficiency.

In addition, as shown in fig. 4 and 20, at least two storage stations 751 can be arranged on the bin transfer device 75, each storage station 751 is provided with a transfer platform 732, the transfer platform 732 is used for transferring the bin 721, so that the bin 721 can be conveniently moved into or out of the bin transfer device 75, time consumption of manual operation is reduced, labor force is reduced, and at least two storage stations 751 are arranged on the bin transfer device 75, so that position conversion of at least two bins 721 can be conveniently realized on the bin platform 72 and the bin transfer device 75, and the loading and unloading device 500 and the bin transfer device 75, so that automatic production of a production line can be conveniently realized, and the production efficiency can be improved.

In the embodiment of the present invention, the specific structure of the workpiece transfer device 300 may be set according to actual circumstances.

For example, in some embodiments, as shown in fig. 5, the workpiece transfer device 300 may include a base 30, a lift mechanism 40, and a gripper module 200, the gripper module 200 being configured to grip a workpiece 711.

Specifically, snatch module 200 and can locate hoist mechanism 40, hoist mechanism 40 locates base 30, can adjust the height of snatching module 200 through hoist mechanism 40, is convenient for snatch module 200 and snatch the work piece 711 of co-altitude not, and it is more convenient that work piece 711 snatchs, can realize the automated production of assembly line, is favorable to improving production efficiency.

In addition, as shown in fig. 5, the workpiece transfer device 300 further includes a manipulator 50, the manipulator 50 can transfer the workpiece 711 out of the lifting mechanism 40 or transfer the workpiece 711 to the lifting mechanism 40, thereby avoiding manual transfer of the workpiece 711, reducing time consumption of manual operation, avoiding problems of wrong placement of different materials of the workpiece 711 or the workpiece 711 due to manual fatigue operation, adapting to efficient production rhythm, realizing automatic production of a production line, and facilitating improvement of production efficiency.

According to some embodiments of the present invention, as shown in fig. 5, the workpiece transfer device 300 further includes a placing table 32, the placing table 32 is provided on the base 30, and the placing table 32 is higher than the upper end surface of the lifting mechanism 40, and the placing table 32 can temporarily store the workpiece 711. From this, when the positive and negative placing of work piece 711 is different, can place work piece 711 on placing platform 32 and overturn work piece 711 through manipulator 50, ensure that the positive and negative of work piece 711 is unanimous, the positive and negative adjustment of work piece 711 is convenient, accurate, avoided turning over work piece 711 singly through the manual work and cause the low scheduling problem of production efficiency, can adapt to the efficient production rhythm, realize the automated production of assembly line, be favorable to improving production efficiency.

For example, after the robot 50 grips the workpiece 711, if it is detected that the workpiece 711 is a reverse side, the robot 50 places the workpiece 711 on the placing table 32 from above the placing table 32, and the robot 50 moves to below the placing table 32 to grip the workpiece 711, and then transfers the workpiece 711 to the lifting mechanism 40, so that the workpiece 711 is turned over; if the workpiece 711 is detected to be the front surface, the manipulator 50 directly transfers the workpiece 711 to the lifting mechanism 40, so that the automatic production of the assembly line is realized, and the improvement of the production efficiency is facilitated.

In some embodiments of the present invention, as shown in fig. 5, the workpiece transfer device 300 further includes a walking assembly 731, the walking assembly 731 is disposed at the bottom of the base 30, the position of the workpiece transfer device 300 can be moved by the walking assembly 731, so that the workpiece transfer device 300 can transfer workpieces 711 at different positions, thereby realizing automated production of a production line and facilitating improvement of production efficiency.

The loading and unloading system 600 according to an embodiment of the present invention is described in detail below with reference to the drawings, and it should be understood that the following description is only exemplary and should not be construed as limiting the invention. Wherein, the raw material bin is an empty bin, that is, no workpiece 711 is placed in the bin 721; the cooked material bin is a full material bin, namely, the material bin 721 is filled with the workpieces 711; the raw material is an unprocessed workpiece 711; the clinker is a processed workpiece 711.

When the loading and unloading form of the loading and unloading system 600 is the stacking form + the bin form, referring to fig. 1 to 4, raw meal is transported from the upper production line to the temporary storage platform 71 in the stacking form by the first transporting device 73, the raw meal is sequentially placed into the raw meal bins parked on the bin platform 72 by the work transferring device 300, and simultaneously the work transferring device 300 reads the identification code on the surface of the raw meal to identify whether the material numbers of the raw meal are identical, and the raw meal of the same material number is placed into the same bin 721. After the bin 721 is full, the system calls the two-dimensional code position of the bin transferring device 75 located in front of the bin platform 72 to be butted with the bin platform 72, the two-dimensional code position is transferred through the transfer table 732 on the bin platform 72 and the transfer table 732 on the bin transferring device 75, the cooked bin is transferred from the bin platform 72 to the bin transferring device 75, and the material is waited to be called by the loading and unloading device 500.

After the raw material in the bin 721 of the loading and unloading device 500 has been completely changed to clinker, one of the storage stations 751 of the bin transfer device 75 carries the raw material bin to the loading and unloading device 500 to be docked therewith. The silo transfer device 75 and the loading and unloading device 500 transfer the cooked silo of the loading and unloading device 500 to the empty storage station 751 of the silo transfer device 75 through the transfer platform 732, and then the silo transfer device 75 reverses its direction and transfers the raw silo to the placing space 81 of the loading and unloading device 500 through the transfer platform 732.

The loading and unloading device 500 takes the raw material out of the bin 721 through the grabbing module 200 of the loading and unloading device 500, places the raw material on the lifting mechanism 40 of the loading and unloading device 500, and lifts the raw material to the abutting position with the positioning table 90 through the lifting mechanism 40. The grasping module 200 grasps the raw meal to push a portion of the raw meal to the positioning table 90, and the raw meal can be conveyed to a predetermined position along the guide groove 251 by the conveyor 93, and the holding device 92 clamps and positions the raw meal by two positioning members 712 on the raw meal, and places the raw meal on the processing device 700 by the manipulator 50, and the processing device 700 processes the raw meal. After the raw materials are processed, the mechanical arm 50 of the loading and unloading device 500 picks up the clinker from the processing equipment 700 and places the clinker on the lifting mechanism 40, the lifting mechanism 40 carries the clinker to descend to the position vacated by taking out the raw materials from the raw material bin in the previous step, and the grabbing module 200 of the loading and unloading device 500 pushes the clinker into the raw material bin. And circulating according to the circulation, and replacing all the raw materials in the raw material bin with the cooked materials.

The clinker bins of the bin transfer device 75 are conveyed to the corresponding stations of the bin platform 72, and the clinker in the clinker bins are sequentially taken out by the workpiece transfer device 300 and are placed on the temporary storage platform 71 in a stacking manner. After a certain amount of clinker is deposited on the temporary storage platform 71, the clinker is transported to a feeding port of a lower production line by a first transfer device 73.

When the loading and unloading form of the loading and unloading system 600 is a silo form, referring to fig. 1 to 4, raw meal is directly placed in the raw meal silo from the discharge port of the production line, the raw meal silo is placed on the second transfer device 74, and after the raw meal is fully placed in the raw meal silo, the raw meal silo is conveyed to the silo platform 72 by the second transfer device 74. Meanwhile, after the clinker bins on the bin transferring device 75 are to be conveyed to the corresponding stations of the bin platform 72, the second transferring device 74 transfers the clinker bins to the feeding ports of the lower production line for feeding. Other processes can refer to the above feeding and discharging form, and are not described herein again.

Other configurations and operations of the loading and unloading system 600 and the loading and unloading device 500 according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail herein.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the description herein, references to the description of "an embodiment," "a specific embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. The utility model provides a go up unloader which characterized in that includes:

a support table;

the material grabbing module is arranged on the supporting table and used for grabbing a workpiece;

the positioning table is arranged on the supporting table and used for positioning the workpiece at a preset position, and the material grabbing module is used for transferring the workpiece to the positioning table;

the manipulator is arranged on the supporting table and used for transferring the workpiece which is positioned at the preset position on the positioning table out of the positioning table.

2. The loading and unloading device according to claim 1, wherein a positioning member is provided on the workpiece, and the positioning table includes:

the positioning bottom plate is arranged on the supporting table;

and the clamping device is arranged on the positioning bottom plate and is used for clamping the positioning piece.

3. The loading and unloading device according to claim 2, wherein the positioning table further comprises:

the conveying device is arranged on the positioning bottom plate and used for conveying the workpieces on the material grabbing module to the preset position.

4. The loading and unloading device according to claim 3, wherein the conveying device comprises:

the driving motor is arranged on the positioning bottom plate;

the conveying pieces are arranged in parallel and are arranged at intervals, the conveying pieces are driven by the driving motor, and the clamping devices are located between the two conveying pieces.

5. The loading and unloading device as claimed in claim 3, wherein the positioning bottom plate is provided with a lifting device, the conveying device is arranged on the lifting device, and the lifting device is suitable for pushing the conveying device to move along a first direction.

6. The loading and unloading device according to claim 3, wherein the positioning table comprises:

the supporting assemblies are two and are respectively arranged on two sides of the conveying device, each supporting assembly comprises a supporting piece and a plurality of supporting wheels, the supporting wheels are rotatably arranged on one side of the supporting piece, which faces the conveying device, and are arranged at intervals in the conveying direction of the conveying device, and the workpieces are suitable for being positioned on the conveying device and the supporting wheels.

7. The loading and unloading device according to claim 1, wherein the robot arm comprises:

a mechanical arm;

mechanical clamping jaw, mechanical clamping jaw locates the one end of arm, mechanical clamping jaw includes mounting panel, sharp drive arrangement and two clamp splices, two the clamp splice is being close to each other and keeping away from mobilizable the locating of direction each other the mounting panel, sharp drive arrangement locates the mounting panel drives the clamp splice removes, two the clamp splice is used for centre gripping or release the work piece.

8. The loading and unloading device according to claim 7, wherein a clamping mechanism is arranged on the clamping block, the clamping mechanism is used for clamping the workpiece, and the clamping mechanism comprises:

the first pressing device is arranged on the clamping block and comprises a first air cylinder and a first pressing block, and the first air cylinder can drive the first pressing block to move;

the second pressing device is arranged on the clamping blocks and comprises a second air cylinder and a second pressing block, the second air cylinder can drive the second pressing block to rotate around the second air cylinder, and the first pressing block and the second pressing block are arranged in the direction perpendicular to the arrangement direction of the two clamping blocks so as to clamp the workpiece.

9. The loading and unloading device as claimed in claim 7, wherein a clamping mechanism is provided on the clamping block, the clamping mechanism is used for clamping the workpiece, and the clamping mechanism comprises:

the supporting blocks on the two clamping blocks are respectively positioned on one sides, close to each other, of the two clamping blocks;

the first pressing devices on the two clamping blocks are respectively positioned on one sides, close to each other, of the two clamping blocks and comprise first air cylinders and first pressing blocks, and the first air cylinders can drive the first pressing blocks to move towards or away from the supporting blocks so as to clamp the workpiece.

10. The loading and unloading device according to any one of claims 8 or 9, wherein the clamping mechanism further comprises:

the pressing plate device is arranged on the mounting plate, the pressing plate device and the first pressing device are arranged on the mounting plate at intervals, the pressing plate device comprises a third cylinder and a third pressing block, the third cylinder is arranged on the mounting plate, the third pressing block is connected with the third cylinder, and the third cylinder is used for driving the third pressing block to move towards and away from the workpiece in the direction.

11. The loading and unloading device as recited in claim 10, wherein there are at least two of the platen devices, at least two of the platen devices being disposed opposite to each other on the mounting plate.

12. The loading and unloading device according to claim 7, wherein the robot arm comprises:

and the visual detection device is positioned on the mounting plate and is used for detecting the workpiece.

13. The loading and unloading device of claim 1, wherein the material grabbing module comprises:

the material grabbing device comprises a translation driving assembly and a clamping assembly, and the translation driving assembly drives the clamping assembly to reciprocate along the second direction;

the workpiece grabbing device is spaced from the grabbing device and used for moving the workpiece between a first preset position and a third preset position, the grabbing device is used for moving the workpiece between the first preset position and a second preset position, and the second preset position, the first preset position and the third preset position are sequentially arranged in a second direction.

14. The loading and unloading device according to claim 13, wherein the workpiece gripping device comprises:

a support plate;

a drive assembly;

the first transmission assembly is arranged on the supporting plate along a first direction and comprises a first transmission piece and a second transmission piece which rotate synchronously, and the first transmission piece is in transmission connection with the driving assembly;

the second transmission component is arranged on the supporting plate along the second direction, the first direction is vertical to the second direction, and the second transmission component is in transmission connection with the second transmission piece so as to convert the rotary motion of the first transmission piece into translational motion;

the lifting device drives the supporting plate to move along the first direction, the second transmission piece moves synchronously with the supporting plate, and the first transmission piece is in transmission connection with the driving assembly when the supporting plate moves;

and the grabbing mechanism is arranged on the second transmission assembly, and the second transmission assembly drives the grabbing mechanism to reciprocate along the second direction so as to clamp the workpiece.

15. The loading and unloading device according to claim 14, wherein the first transmission assembly further comprises:

the connecting shaft penetrates through the supporting plate and moves synchronously along with the supporting plate, the connecting shaft and the first transmission piece are connected in a sliding mode in the axial direction of the connecting shaft, the second transmission piece is fixedly arranged on the connecting shaft, and the first transmission piece and the second transmission piece rotate coaxially with the connecting shaft.

16. The loading and unloading device of claim 14, wherein the support plate is provided with a support, and the second transmission assembly comprises:

the third transmission piece is arranged on the support and is in transmission connection with the second transmission piece;

the fourth transmission piece is arranged on the support, and the fourth transmission piece and the third transmission piece rotate coaxially;

and the fifth transmission piece is in transmission connection with the fourth transmission piece so as to drive the fifth transmission piece to reciprocate along the second direction.

17. The loading and unloading device according to claim 16, wherein the fourth transmission member is a gear, the fifth transmission member is a rack, and the gear rotates to drive the rack to reciprocate along the second direction.

18. The loading and unloading device according to claim 14, wherein the gripping mechanism comprises:

the first clamping jaw is arranged at one end of the second transmission assembly and used for clamping the workpiece in the second direction.

19. The loading and unloading device according to claim 14, wherein there are two support plates, two first transmission assemblies, two second transmission assemblies and two gripping mechanisms, and the two support plates, the two first transmission assemblies, the two second transmission assemblies and the two gripping mechanisms are all spaced apart along a third direction, the third direction being perpendicular to both the first direction and the second direction.

20. The loading and unloading device according to claim 14, wherein the workpiece gripping device further comprises: the supporting plate is arranged on the bottom plate, the driving assembly and the lifting device are arranged on one side of the bottom plate far away from the supporting plate, the first transmission piece is rotatably arranged on the bottom plate, and the lifting device drives the supporting plate to move along the first direction relative to the bottom plate;

the drive assembly includes:

a first motor;

the transmission shaft is driven by the first motor to rotate, a transmission gear is arranged on the transmission shaft, and the transmission gear is in transmission connection with the first transmission piece.

21. The loading and unloading apparatus according to claim 13, wherein when the workpiece gripper includes a base plate, the support plate and the translational drive assembly are disposed on the same side of the base plate, the gripper further includes a support base, the clamping assembly is disposed on the support base, the support base and the translational drive assembly are in transmission connection to reciprocate the support base on the base plate along the second direction, and the clamping assembly includes:

a second jaw for gripping the workpiece in the second direction;

the pusher, the pusher is located the supporting seat, the second clamping jaw with the pusher is connected, the pusher is used for the drive the second clamping jaw is followed the second direction moves.

22. The loading and unloading unit of claim 21, wherein the translation drive assembly comprises:

the second motor is arranged on the bottom plate;

the two belt pulleys are spaced apart in the second direction and are wound on the belt pulleys, the belt pulleys are rotatably arranged on the bottom plate, the second motor is in transmission connection with one of the belt pulleys, and the supporting seat is arranged on the belt and moves synchronously with the belt.

23. The loading and unloading device according to any one of claims 1-22, further comprising a lifting mechanism disposed on the support table, wherein the material grabbing module is disposed on the lifting mechanism to adjust a height of the grabbing module, and the lifting mechanism comprises:

the grabbing module is arranged on the supporting plate;

the power assembly is arranged on the support table and used for driving the supporting plate to reciprocate along a first direction.

24. The loading and unloading device according to any one of claims 1-22, wherein the support table has a placement space for placing a bin, the placement space is located below the positioning table, the bin is used for placing the workpiece, the material grabbing module is suitable for grabbing the workpiece in the bin onto the positioning table, and a conveying table for supporting and conveying the bin is arranged on the bottom wall of the placement space.

25. The loading and unloading device according to any one of claims 1-22, further comprising:

and the walking assembly is arranged at the bottom of the supporting platform.

26. The utility model provides a go up unloading system which characterized in that includes:

a processing apparatus for processing the workpiece to be processed;

the loading and unloading device as claimed in any one of claims 1-25, for supplying the workpiece to be machined to the machining apparatus and transferring the machined workpiece;

and the feeding system is used for providing the workpieces to be processed for the loading and unloading device and transferring the processed workpieces on the loading and unloading device.

27. The loading and unloading system of claim 26, wherein the feeding system comprises:

a temporary storage platform for storing the workpieces to be processed and/or the processed workpieces;

the storage bin platform is used for storing a storage bin, and the workpiece is suitable for being placed in the storage bin;

a workpiece transfer device for transferring the workpiece between the staging platform and the magazine platform.

28. The loading and unloading system according to claim 27, wherein the feeding system comprises:

a first transfer device for transferring the workpiece to or from the staging platform;

a second transfer device for transferring the bin to or from the bin platform.

29. The loading and unloading system of claim 28, wherein the first transfer device and the second transfer device each comprise a walking assembly and a conveying table arranged on the walking assembly, and the conveying table is used for conveying the workpiece or the bin.

30. The loading and unloading system of claim 27, further comprising:

the feed bin transfer device is used for enabling the feed bin to be located on the feed bin platform and move between the feeding and discharging devices, at least two storage stations are arranged on the feed bin transfer device, each storage station is provided with a conveying platform, and the conveying platforms are used for conveying the feed bin.