CN115593913A

CN115593913A - Loading and unloading device, loading and unloading system, adjusting method of loading and unloading system and loading and unloading method

Info

Publication number: CN115593913A
Application number: CN202211594810.5A
Authority: CN
Inventors: 孙兵; 景树峰; 张磊
Original assignee: Suzhou Vega Technology Co Ltd
Current assignee: Suzhou Vega Technology Co Ltd
Priority date: 2022-12-13
Filing date: 2022-12-13
Publication date: 2023-01-13
Anticipated expiration: 2042-12-13
Also published as: CN115593913B

Abstract

The invention discloses a loading and unloading device, a loading and unloading system, an adjusting method thereof and a loading and unloading method, wherein the loading and unloading device comprises: the fixed bracket is provided with the adjusted piece; the lifting mechanism is arranged on the fixed support and is used for driving the adjusted piece to move along the first direction; and the adjusting device is arranged on the lifting mechanism and is used for adjusting the height of two sides of the adjusted piece in the first direction. According to the loading and unloading device, the lifting mechanism is used for driving the adjusted piece to move along the first direction, the adjusting device is arranged on the lifting mechanism and used for adjusting the height of the two sides of the adjusted piece in the first direction, the lifting mechanism can adjust the position of the adjusted piece along the first direction, the adjusting device can adjust the height of the two ends of the adjusted piece in the first direction, the horizontal position of the adjusted piece is adjusted, the loading and unloading device can adapt to various ground conditions, the working accuracy of the loading and unloading device is improved, and the requirement for space placement is met.

Description

Loading and unloading device, loading and unloading system, adjusting method of loading and unloading system and loading and unloading method

Technical Field

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

Background

In the related art, the ground is uneven, so that the working position of the feeding and discharging device cannot be guaranteed, working errors are easily caused, and the normal work of the feeding and discharging device is influenced.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide a loading and unloading device, which can adjust a horizontal position, adapt to various ground conditions, and facilitate improvement of work precision.

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

The invention further aims to provide an adjusting method of the loading and unloading system.

The invention also aims to provide a loading and unloading method of the loading and unloading system.

The loading and unloading device provided by the embodiment of the invention comprises: the fixed bracket is provided with an adjusted piece; the lifting mechanism is arranged on the fixed bracket and is used for driving the adjusted piece to move along a first direction; and the adjusting device is arranged on the lifting mechanism and is used for adjusting the heights of two sides of the adjusted piece in the first direction.

According to the loading and unloading device provided by the embodiment of the invention, the lifting mechanism is used for driving the adjusted piece to move along the first direction, the adjusting device is arranged on the lifting mechanism and is used for adjusting the height of two sides of the adjusted piece in the first direction, the lifting mechanism can adjust the position of the adjusted piece along the first direction, the adjusting device can adjust the height of two ends of the adjusted piece in the first direction, the horizontal position of the adjusted piece is adjusted, the loading and unloading device can adapt to various ground conditions, the working precision of the loading and unloading device is improved, and the requirement of space placement is met.

In addition, the loading and unloading device according to the embodiment of the invention can also have the following additional technical characteristics:

according to the loading and unloading device provided by some embodiments of the invention, the two lifting mechanisms are arranged at intervals on two sides of the fixed support along the second direction, the adjusting devices are arranged on the lifting mechanisms, the two adjusting devices respectively adjust the height of two ends of the adjusted piece in the first direction, and the first direction is perpendicular to the second direction.

According to some embodiments of the invention, the adjustment device comprises: the height adjusting part is connected with the lifting mechanism; the rotation adjusting part is connected with the adjusted piece, the height adjusting part is rotationally connected with the rotation adjusting part, the rotation centers of the height adjusting part and the rotation adjusting part extend along a third direction, and the first direction, the second direction and the third direction are perpendicular to each other.

According to some embodiments of the invention, the conditioned piece is a magazine, the magazine comprising: a stock bin body; feed bin subassembly, the feed bin subassembly includes the backup pad, two are located to the backup pad between the hoist mechanism, feed bin body detachably locates in the backup pad, the both ends of backup pad are respectively with two rotation adjustment portion connects, perhaps, the feed bin includes: the feed bin body, the both ends of feed bin body are respectively with two rotation adjustment portion connects.

According to some embodiments of the invention, the loading and unloading device comprises: the pushing-out assembly is used for pushing out the workpiece on the adjusted piece; and the material poking assembly is used for poking the workpiece into the adjusted piece.

According to some embodiments of the invention, the pushing assembly and the material stirring assembly are respectively arranged on two opposite sides of the fixed bracket along a third direction; and/or the pushing assemblies positioned on one side of the fixed support are arranged at intervals along the second direction, and the material stirring assemblies positioned on one side of the fixed support are arranged at intervals along the second direction; and/or the pushing-out assemblies are two pushing-out assemblies arranged on the fixed support at intervals in the third direction, and the material stirring assemblies are two pushing-out assemblies arranged on the fixed support at intervals in the third direction.

According to some embodiments of the invention, the kickoff assembly comprises: a second motor; one end of the extension arm is connected with the second motor, the second motor is used for driving the extension arm to rotate around the second motor, and a telescopic mechanism which can stretch along the first direction is arranged at one end, far away from the second motor, of the extension arm; and/or, the push-out assembly comprises: a third motor; the third motor is connected with the second transmission piece and is used for driving the second transmission piece to move; and the link mechanism is connected with the second transmission piece, and the second transmission piece is used for driving the link mechanism to move along the third direction.

According to some embodiments of the invention, a driving assembly is arranged on the fixed support, and the driving assembly is used for driving the material stirring assembly and the pushing assembly to move along the first direction.

According to some embodiments of the invention, the pushing assembly and the material stirring assembly are arranged on two opposite sides of the fixed support along a third direction, and the feeding and discharging device comprises: the moving assembly is connected with the driving assembly, the pushing assembly and the material stirring assembly which are positioned on the same side of the fixed support are arranged on the moving assembly, and the driving assembly is used for adjusting the height of the two sides of the moving assembly in the first direction.

According to some embodiments of the present invention, the two ends of the moving component are respectively provided with the driving component and are rotatably connected with the driving component, and the rotation centers of the moving component and the driving component extend along the third direction.

According to some embodiments of the invention, the fixed bracket is provided with a second guide rail extending in the first direction, the second guide rail is provided with a slider assembly moving on the second guide rail, and the driving assembly comprises: a drive member; one end of the connecting plate is connected with the driving piece, the driving piece is used for driving the connecting plate to move along the first direction, the connecting plate is connected with the moving assembly, and the connecting plate is rotationally connected with the sliding block assembly.

According to some embodiments of the invention, the loading and unloading device further comprises: the walking device is provided with a fixed plate and a fourth motor, the fourth motor is used for driving the fixed plate to move along the second direction, and the fixed support is arranged on the fixed plate.

The feeding and discharging system provided by the embodiment of the invention comprises: a processing apparatus for processing a 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.

According to the loading and unloading system provided by the embodiment of the invention, the lifting mechanism is used for driving the adjusted piece to move along the first direction, the adjusting device is arranged on the lifting mechanism and used for adjusting the height of two sides of the adjusted piece in the first direction, the lifting mechanism can adjust the position of the adjusted piece along the first direction, the adjusting device can adjust the height of two ends of the adjusted piece in the first direction and adjust the horizontal position of the adjusted piece, so that the loading and unloading system can adapt to various ground conditions, the working precision of the loading and unloading device is improved, and the requirement of space placement is met.

According to some embodiments of the invention, a distance measuring device is arranged on one side of the loading and unloading device and used for detecting the distance between the loading and unloading device and the processing equipment; and/or monitoring points are arranged on the processing equipment, and detection equipment for detecting the monitoring points is arranged on the feeding and discharging device.

According to the adjusting method of the feeding and discharging system provided by the embodiment of the invention, the feeding and discharging system comprises processing equipment and a feeding and discharging device, a plurality of monitoring points are arranged on the processing equipment at intervals, detection equipment is arranged on the feeding and discharging device, the feeding and discharging device comprises a fixed support, a traveling device and two lifting mechanisms, a fourth motor used for driving the fixed support is arranged on the traveling device, an adjusted piece is arranged on the fixed support, the two lifting mechanisms are arranged on two sides of the fixed support along a third direction at intervals, and the adjusting method comprises the following steps: two monitoring points X1a, Y1a and Z1a are respectively arranged on the loading and unloading device; x1b, Y1b, Z1b, said X1a, X1b being coordinates along a second direction, said Y1a, Y1b being coordinates along said third direction, said Z1a, Z1b being coordinates along a first direction; controlling the walking device to move; controlling one side of the walking device to be parallel to one side of the processing equipment, identifying the opposite monitoring points by the detection equipment and obtaining detection points of the two detection equipment as X2a, Y2a and Z2a respectively; x2b, Y2b, Z2b; calculating by the formula: x2a-X1a = | X3a |, Y2a-Y1a = | Y3a |, Z2a-Z1a = | Z3a |; x2b-X1b = | X3b |, Y2b-Y1b = | Y3b |, Z2b-Z1b = | Z3b |; obtaining an adjustment value: i X3a, Y3a and Z3a; i X3b, Y3b and Z3b; and controlling the fourth motor to drive the fixed support to move along the second direction so as to adjust the adjustment values | X3a |, | X3b |, controlling the traveling device to move in the third direction so as to adjust the adjustment values | Y3a |, | Y3b |, and controlling the two lifting mechanisms to move in the first direction so as to adjust the adjustment values | Z3a |, | Z3b |, in the first direction.

According to the adjusting method of the loading and unloading system, the lifting mechanism is used for driving the adjusted piece to move along the first direction, the adjusting device is arranged on the lifting mechanism and used for adjusting the height of the two sides of the adjusted piece in the first direction, the lifting mechanism can adjust the position of the adjusted piece along the first direction, the adjusting device can adjust the height of the two ends of the adjusted piece in the first direction, the horizontal position of the adjusted piece is adjusted, various ground conditions can be adapted, the working accuracy of the loading and unloading device is improved, and the requirement for space placement is met.

According to the feeding and discharging method of the feeding and discharging system provided by the embodiment of the invention, distance measuring devices are arranged on the feeding and discharging device, the two distance measuring devices are arranged on one side of the feeding and discharging device at intervals, and the adjusting method further comprises the following steps: when the walking device is controlled to move, the two distance measuring devices respectively measure the distances Y4 and Y5 between the side surface of the feeding and discharging device and the side surface of the processing equipment; and when Y4= Y5, judging that one side of the walking device is parallel to one side of the processing equipment.

According to some embodiments of the invention, the feeding and discharging system comprises processing equipment and a feeding and discharging device, the feeding and discharging device comprises a fixed support and a walking device, the walking device is provided with a fourth motor for driving the fixed support, the fixed support is provided with an adjusted part, two sides of the fixed support along a third direction are respectively provided with a pushing assembly and a material stirring assembly, the pushing assembly is positioned on one side of the fixed support far away from the processing equipment, the fixed support is provided with two driving assemblies, and the two driving assemblies respectively drive the pushing assembly and the material stirring assembly to move along a first direction, and the feeding and discharging method comprises the following steps: controlling the walking device to move; adjusting the position relation between the loading and unloading device and the processing equipment; two predetermined points x1a, y1a and z1a of the push-out component are taken in on the feeding and discharging device; x1b, y1b, z1b, two predetermined points x2, y2, z2 of the kick-off assembly are ingested on the loading and unloading device; x2b, y2b, z2b, wherein x1a, x2a, x1b, x2b are coordinates along a second direction, y1a, y2a, y1b, y2b are coordinates along a third direction, and z1a, z2a, z1b, z2b are coordinates along a first direction; judging the positions x3a, y3a and z3a of the push-out assembly; x3b, y3b, z3b; calculating by the formula: x3a-x1a = | x4a |, y3a-y1a = | y4a |, z3a-z1a = | z4a |; x3b-x1b = | x4b |, y3b-y1b = | y4b |, z3b-z1b = | z4b |; obtaining an adjustment value: l x4a, y4a and z4 a; | x4b |, | y4b |, | z4b |; controlling the driving assembly to move along the first direction to adjust adjustment values | z4a |, | z4b |, controlling the traveling device to move in the third direction to adjust adjustment values | y4a |, | y4b |, and controlling the fourth motor to drive the fixed support to move along the second direction to adjust adjustment values | x4a |, | x4b |, of the second direction; controlling the push-out assembly to push out the workpiece to be machined on the adjusted piece to the machining equipment; judging the positions x5a, y5a and z5a of the material shifting assembly; x5b, y5b, z5b; calculating by the formula: x5a-x2a = | x6a |, y5a-y2a = | y6a |, z5a-z2a = | z6a |; x5b-x2b = | x6b |, y5b-y2b = | y6b |, z5b-z2b = | z6b |; obtaining an adjustment value: | x6a |, | y6a |, | z6a |; | x6b |, | y6b |, | z6b |; controlling the driving assembly to move along the first direction to adjust adjustment values | z6a |, | z6b |, controlling the traveling device to move in the third direction to adjust adjustment values | y6a |, | y6b | of the third direction, and controlling the fourth motor to drive the fixed support to move along the second direction to adjust adjustment values | x6a |, | x6b |; and controlling the material pulling assembly to pull the machined workpiece on the machining equipment back to the adjusted piece.

According to the feeding and discharging method of the feeding and discharging system, the lifting mechanism is used for driving the adjusted piece to move along the first direction, the adjusting device is arranged on the lifting mechanism and used for adjusting the height of the two sides of the adjusted piece in the first direction, the lifting mechanism can adjust the position of the adjusted piece along the first direction, the adjusting device can adjust the height of the two ends of the adjusted piece in the first direction, the horizontal position of the adjusted piece is adjusted, the feeding and discharging method can adapt to various ground conditions, the working accuracy of the feeding and discharging device is improved, and the requirement for space placement is met.

According to some embodiments of the invention, the method further comprises: when the pushing assembly is controlled to work, the pushing assembly is opposite to the workpiece, and the material poking assembly moves along the first direction to avoid the workpiece; and/or when the adjusted piece needs to be replaced, the pushing assembly and the material stirring assembly move along the first direction to avoid the adjusted piece.

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 present invention (in which a pushing assembly is in an operating state);

fig. 2 is a schematic structural diagram of a loading and unloading system according to an embodiment of the present invention (in which a material pulling assembly is in an operating state);

fig. 3 is an angular structure diagram of a loading and unloading device according to an embodiment of the invention;

FIG. 4 is a front view of a loading and unloading apparatus according to some embodiments of the invention;

FIG. 5 is a front view of a loading and unloading apparatus according to other embodiments of the invention;

fig. 6 is a left side view of a loading and unloading device according to an embodiment of the present invention;

fig. 7 is a schematic structural view of another angle of the loading and unloading device according to the embodiment of the invention;

FIG. 8 is an enlarged schematic view of FIG. 7 at circle A;

fig. 9 is a schematic structural diagram of a moving assembly and a driving assembly of the loading and unloading device according to the embodiment of the invention;

FIG. 10 is a schematic view of a fixing bracket of the loading and unloading device in cooperation with a lifting mechanism according to an embodiment of the present invention;

fig. 11 is a schematic structural diagram of a lifting mechanism and an adjusting device of a loading and unloading device according to an embodiment of the invention;

fig. 12 is a schematic structural view of a fixing bracket, a push-out assembly and a kick-off assembly of the loading and unloading device according to the embodiment of the invention;

FIG. 13 is a top view of the fixing bracket, the pushing assembly and the material ejecting assembly of the loading and unloading device according to the embodiment of the invention;

fig. 14 is a schematic structural view illustrating a push-out assembly of a loading and unloading apparatus according to an embodiment of the present invention;

fig. 15 is a schematic structural diagram of a material poking assembly of the loading and unloading device according to the embodiment of the invention;

FIG. 16 is a partial schematic structural view of a conveying assembly of a loading and unloading device according to an embodiment of the invention;

figure 17 is a schematic structural view of a cartridge body according to an embodiment of the present invention;

fig. 18 is a schematic view of a detection structure of the loading and unloading system according to the embodiment of the invention.

Reference numerals:

100. a loading and unloading device; 200. processing equipment; 300. a feeding and discharging system; 201. monitoring points;

10. fixing a bracket; 11. a second guide rail; 12. a slider assembly; 13. mounting a plate; 131. a rotating shaft;

20. a lifting mechanism; 21. a first motor; 22. a first transmission member; 23. a side plate; 231. a first guide rail; 232. a moving member;

30. an adjustment device; 31. a height adjusting part; 32. a rotation adjusting part;

40. a storage bin; 41. a bin body; 42. a support plate; 43. a delivery assembly; 44. a workpiece;

50. a push-out assembly; 51. a third motor; 52. a second transmission member; 53. a link mechanism; 54. a third guide rail; 55. a moving block; 56. a slider; 57. a lead screw;

60. a material poking component; 61. a second motor; 62. an extension arm; 63. a telescoping mechanism;

70. a moving assembly; 71. mounting a fixed plate; 72. a connecting rod;

80. a drive assembly; 81. a drive member; 82. a connecting plate; 821. mounting holes;

90. a traveling device; 91. a fixing plate; 92. a fourth motor; 93. a distance measuring device; 94. a detection device; 95. and a fourth guide rail.

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.

A loading and unloading apparatus 100 according to an embodiment of the present invention is described below with reference to the accompanying drawings.

Referring to fig. 1 and 2, a loading and unloading apparatus 100 according to an embodiment of the present invention may include: the support 10 and the lifting mechanism 20 are fixed.

Specifically, the adjusted object is disposed on the fixing bracket 10, the lifting mechanism 20 is disposed on the fixing bracket 10, and the lifting mechanism 20 is configured to drive the adjusted object to move in a first direction (for example, in a vertical direction as shown in fig. 4), so that the position of the adjusted object in the first direction can be adjusted to meet a position requirement required by the adjusted object.

In addition, as shown in fig. 11, the loading and unloading device 100 further includes an adjusting device 30, the adjusting device 30 is disposed on the lifting mechanism 20, and the adjusting device 30 is used for adjusting the height of the two sides of the adjusted piece in the first direction, so that the adjusting device 30 can adjust the horizontal position of the adjusted piece, and meet the position requirement required by the adjusted piece, so that the adjusted piece can adapt to the conditions of various grounds, the working accuracy of the loading and unloading device 100 is improved, the loading and unloading device 100 is simple in structure, occupies a small space, and can meet the space placement requirement.

For convenience of description, the orientations of the "up-down direction", "front-back direction", and "left-right direction" in the present invention are based on the orientation relationship shown in the drawings, and are not limited to the orientation in the practical application.

According to the loading and unloading device 100 provided by the embodiment of the invention, the lifting mechanism 20 is used for driving the adjusted piece to move along the first direction, the adjusting device 30 is arranged on the lifting mechanism 20, the adjusting device 30 is used for adjusting the height of two sides of the adjusted piece in the first direction, the lifting mechanism 20 can adjust the position of the adjusted piece along the first direction, the adjusting device 30 can adjust the height of two ends of the adjusted piece in the first direction, the horizontal position of the adjusted piece is adjusted, the loading and unloading device 100 can adapt to various ground conditions, the working accuracy of the loading and unloading device 100 is improved, and the requirement of space placement is met.

In some embodiments of the present invention, as shown in fig. 3, 7, 10 and 11, two lifting mechanisms 20 are provided, and the two lifting mechanisms 20 are disposed at two sides of the fixed bracket 10 at intervals along the second direction (for example, the left and right direction shown in fig. 4), so that the two lifting mechanisms 20 move the two ends of the adjusted object, thereby ensuring the moving smoothness of the adjusted object and ensuring the adjusted object to move more reliably.

In addition, as shown in fig. 11, the lifting mechanism 20 is provided with the adjusting devices 30, and the two adjusting devices 30 respectively adjust the heights of the two ends of the adjusted object in the first direction, and the first direction is perpendicular to the second direction, so that the heights of the two ends of the adjusted object in the first direction are respectively adjusted by the two adjusting devices 30, the position adjustment of the adjusted object is more efficient, and the adjusted object is ensured to be adjusted more stably and reliably.

In some embodiments, as shown in fig. 11, the adjusting device 30 is multiple, multiple adjusting devices 30 are arranged on the lifting mechanism 20 at intervals along the third direction, and multiple adjusting devices 30 are all connected with the adjusted piece, so that the connection with the adjusted piece can be ensured to be reliable, the control is convenient, and the adjustment of the adjusted piece is ensured to be more stable and reliable.

In the embodiment of the present invention, the number of the adjusting devices 30 on a single lifting mechanism 20 can be flexibly set according to actual situations, for example, the adjusting devices 30 on a single lifting mechanism 20 can be two as shown in fig. 11, and can 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. 11, the adjusting device 30 may include a height adjusting portion 31 and a rotation adjusting portion 32, the height adjusting portion 31 is connected to the lifting mechanism 20, the height adjusting portion 31 may be driven by the lifting mechanism 20 to move in a first direction, the rotation adjusting portion 32 is connected to the adjusted member, the height adjusting portion 31 is rotatably connected to the rotation adjusting portion 32, a rotation center of the height adjusting portion 31 and a rotation center of the rotation adjusting portion 32 extend in a third direction, and the first direction, the second direction and the third direction are perpendicular to each other.

From this, when hoist mechanism 20 moves along the first direction, hoist mechanism 20 can drive height adjustment portion 31 and move in the first direction, make height adjustment portion 31 can drive the one end removal by the adjusting part through rotation adjustment portion 32, and owing to by the difference in height of adjusting part both sides, rotation adjustment portion 32 can rotate on height adjustment portion 31, when being moved along the first direction by the adjusting part, can avoid taking place card die scheduling problem through being rotated by the both ends of adjusting part, ensure to guarantee horizontal position by the adjusting part after the adjustment, adjusting device 30's simple structure, be convenient for process manufacturing.

In the embodiment of the invention, the specific structure of the adjusted piece can be set according to actual conditions. For example, the adjusted member may be a work platform or the like.

For example, in some embodiments, the adjusted member may be a bin 40, a plurality of (two or more) workpieces 44 are disposed in the bin 40, and the position of the bin 40 can be adjusted by the adjusting device 30, so that the plurality of workpieces 44 in the bin 40 can be kept at a horizontal position, the loading and unloading device 100 can conveniently load and unload materials, and the success rate of loading and unloading materials is ensured. For example, the workpiece 44 may be a sheet metal. In the embodiment of the present invention, the specific structure of the bin 40 may be set according to actual conditions.

For example, in some embodiments, as shown in fig. 3, fig. 5 and fig. 10, the bin 40 may include a bin body 41 and a bin assembly, the bin assembly includes a supporting plate 42, the supporting plate 42 is disposed between the two lifting mechanisms 20, the bin body 41 is disposed on the supporting plate 42, the supporting plate 42 can support the bin body 41, two ends of the supporting plate 42 are respectively connected with the two rotation adjusting portions 32, when the lifting mechanisms 20 move along the first direction, because of a height difference between two sides of the supporting plate 42, the two ends of the supporting plate 42 can rotate on the height adjusting portions 31 through the rotation adjusting portions 32, so as to adjust heights of two ends of the bin body 41, ensure that the adjustment of the bin body 41 is reliable, and the structure of the bin 40 is simple. Meanwhile, the bin body 41 is detachably arranged on the supporting plate 42, so that the bin body 41 is convenient to move, the bin body 41 is more convenient to replace, a plurality of workpieces 44 are convenient to replace simultaneously, and the production efficiency is improved.

In some embodiments in which the magazine 40 includes a magazine body 41 and a magazine assembly, as shown in fig. 5, a conveying assembly 43 is disposed on the supporting plate 42, and the conveying assembly 43 is used to drive the magazine body 41 to move along a third direction (e.g., the front-back direction shown in fig. 3), so as to facilitate replacement of the magazine body 41, thereby facilitating replacement of a plurality of workpieces 44 at the same time, and facilitating improvement of production efficiency.

In some embodiments, as shown in fig. 5 and 16, the conveying assembly 43 may include a roller, the roller is disposed on the supporting plate 42, and the bin body 41 is conveniently moved onto the supporting plate 42 through the roller, so that the bin body 41 can be prevented from being scratched when moving on the supporting plate 42, and the conveying assembly 43 has a simple structure, which is beneficial to reducing the production cost of the loading and unloading device 100.

In some embodiments, the bin body 41 can be replaced by a forklift, ensuring that the replacement efficiency of the bin body 41 is more efficient.

In some embodiments, the bin body 41 can be fixed to the lifting mechanism 20 by a fastener, so that the bin body 41 is reliably fixed, the bin body 41 is prevented from moving, and the loading and unloading are more reliable. For example, the fastener may be a pin.

For example, in some embodiments, as shown in fig. 17, the bin 40 may include a bin body 41, two ends of the bin body 41 are respectively connected to the two rotation adjusting portions 32, when the lifting mechanism 20 moves along the first direction, due to the height difference between two sides of the bin body 41, the two ends of the bin body 41 may rotate on the height adjusting portion 31 through the rotation adjusting portions 32, so as to adjust the heights of the two ends of the bin body 41, ensure that the bin body 41 is reliably adjusted, the loading and unloading device 100 is compact in structure, and can sequentially replace the workpieces 44 in the bin body 41, thereby meeting the requirement of replacing the workpieces 44 in the bin body 41.

The loading and unloading system 300 comprises the processing equipment 200 and the loading and unloading device 100, the processing equipment 200 is used for processing the workpiece 44 to be processed, the workpiece 44 is processed, the loading and unloading device 100 can provide the workpiece 44 to be processed and transfer the processed workpiece 44 for the processing equipment 200, loading and unloading of the processing equipment 200 are facilitated, automatic production is achieved, and production efficiency is improved.

Because the loading and unloading device 100 according to the embodiment of the present invention has the above beneficial technical effects, according to the loading and unloading system 300 according to the embodiment of the present invention, the lifting mechanism 20 is used for driving the adjusted piece to move along the first direction, the adjusting device 30 is disposed on the lifting mechanism 20, and the adjusting device 30 is used for adjusting the height of the two sides of the adjusted piece in the first direction, the lifting mechanism 20 can adjust the position of the adjusted piece along the first direction, and the adjusting device 30 can adjust the height of the two ends of the adjusted piece in the first direction, adjust the horizontal position of the adjusted piece, can adapt to various ground conditions, improve the working accuracy of the loading and unloading device 100, and meet the requirement of space placement.

In some embodiments in which the adjusted member is a magazine 40, as shown in fig. 1 and 2, the magazine 40 is disposed on the fixing support 10, the lifting mechanism 20 is disposed on the fixing support 10, and the lifting mechanism 20 is configured to drive the magazine 40 to move along a first direction, so that the position of the magazine 40 along the first direction can be adjusted, so that a plurality of workpieces 44 in the magazine 40 can be moved to positions corresponding to the processing apparatuses 200, respectively, so that the loading and unloading apparatus 100 can provide the workpieces 44 to be processed to the processing apparatuses 200, or so that the processing apparatuses 200 are opposite to different positions in the magazine 40, so that the processing apparatuses 200 can transfer the processed workpieces 44 to the loading and unloading apparatus 100.

In the correlation technique, because the ground is unsmooth, the processing equipment can not guarantee with last unloader that the level is placed, and can not ensure that the processing equipment is unanimous with the feed bin position in the unloader to easily cause the unloading error of going up, work piece change inefficiency scheduling problem.

Therefore, in the present invention, as shown in fig. 11, the adjusting device 30 is disposed on the lifting mechanism 20, and the adjusting device 30 is used for adjusting the height of the two sides of the stock bin 40 in the first direction, so that the stock bin 40 can be adjusted by the adjusting device 30 to ensure the position level with the processing equipment 200, and loading and unloading between the loading and unloading device 100 and the processing equipment 200 are facilitated, which can adapt to various ground conditions, ensure the success rate of loading and unloading, effectively improve the replacement efficiency of the workpiece 44, and the loading and unloading device 100 has a simple structure, occupies a small space, and can meet the space placement requirement.

In some embodiments, the processing equipment 200 can include the work or material rest of keeping in and the processing body, and the work or material rest of keeping in can with the processing body go up the unloading, go up unloader 100 optionally with the work or material rest of keeping in or the processing body goes up the unloading, can satisfy different in service behavior. For example, the machining body may be a drill or the like.

In some embodiments, the temporary storage rack may include a plurality of (two or more) placing platforms arranged at intervals in a first direction, and the plurality of placing platforms are all movable along the first direction, so that the work of loading and unloading the same position of the stock bin 40 is facilitated through the plurality of placing platforms, and the improvement of the production efficiency is facilitated.

In some embodiments of the present invention, as shown in fig. 10 and 11, the lifting mechanism 20 includes a first motor 21, a first transmission member 22, and a side plate 23, the side plate 23 is disposed on the fixed bracket 10, the first motor 21 is disposed on the side plate 23, and the side plate 23 can be fixed by the fixed bracket 10, so as to fix the lifting mechanism 20, and the side plate 23 can fix the first motor 21, thereby ensuring that the first motor 21 is fixed reliably.

In addition, as shown in fig. 10 and fig. 11, the first transmission member 22 is connected to the first motor 21, the first motor 21 is used for driving the first transmission member 22 to move, the side plate 23 is provided with a first guide rail 231 extending along the first direction, the first guide rail 231 is provided with a moving member 232, the moving member 232 moves on the first guide rail 231, the first transmission member 22 is connected to the moving member 232, the first transmission member 22 can drive the moving member 232 to move, and the height adjustment portion 31 is connected to one end of the moving member 232 away from the first guide rail 231. From this, when first motor 21 during operation, first motor 21 drive first transmission piece 22 motion, first transmission piece 22 drive moving piece 232 moves along the first direction on first guide rail 231, moving piece 232 can drive height adjustment portion 31 and move along the first direction to the realization is to the position control of the edge first direction of adjusted piece, hoist mechanism 20's simple structure, be convenient for hoist mechanism 20 and adjusting device 30 are connected, be favorable to reducing the manufacturing cost of unloader 100.

In the embodiment of the present invention, the specific structure of the first transmission member 22 may be set according to actual conditions. For example, the first transmission member 22 may be a lead screw nut to realize transmission; alternatively, the first transmission member 22 may be a belt; still alternatively, the first transmission member 22 may be a screw nut connected to a conveyor belt to realize transmission, as shown in fig. 11, and both can realize the movement of the moving member 232.

According to some embodiments of the present invention, as shown in fig. 1 to 9, the loading and unloading device 100 may include a push-out assembly 50, where the push-out assembly 50 is used to push out the workpiece 44 on the workpiece to be adjusted, so as to move the workpiece 44, facilitate transfer of the workpiece 44 on the workpiece to be adjusted, avoid manual removal of the workpiece 44 on the workpiece to be adjusted one by one, reduce time consumption of manual operation, adapt to efficient production rhythm, achieve automated production of a production line, and facilitate improvement of production efficiency and reduction of production cost.

In addition, as shown in fig. 1-9, the loading and unloading device 100 further comprises a material stirring assembly 60, the material stirring assembly 60 is used for stirring the workpiece 44 into the workpiece to be adjusted, the workpiece 44 can be moved conveniently, the workpiece 44 can be placed on the workpiece to be adjusted, manual work for placing one piece of the workpiece 44 on the workpiece to be adjusted is avoided, time consumed by manual operation is reduced, efficient production rhythm can be adapted, automatic production of a production line is achieved, production efficiency is improved, and production cost is reduced.

In some embodiments of the present invention, as shown in fig. 3, 6, 7, 12 and 13, the pushing assembly 50 and the material pulling assembly 60 may be respectively disposed on two opposite sides of the fixed bracket 10 along a third direction, so that the pushing assembly 50 is convenient to push the workpiece 44 on the adjusted piece out, and the material pulling assembly 60 is convenient to pull the workpiece 44 into the adjusted piece, thereby ensuring a compact structure and meeting different working requirements of the pushing assembly 50 and the material pulling assembly 60.

In the embodiment of the present invention, the specific structure of the setting assembly 60 can be set according to actual situations.

For example, in some embodiments, as shown in fig. 15, the material pulling assembly 60 includes a second motor 61 and an extension arm 62, one end of the extension arm 62 is connected to the second motor 61, the second motor 61 is used for driving the extension arm 62 to rotate around the second motor 61, an end of the extension arm 62 away from the second motor 61 is provided with a telescopic mechanism 63, the structure of the material pulling assembly 60 is simple, for example, when the adjusted member is the magazine 40, the material pulling assembly 60 can ensure that the workpiece 44 is pulled into the magazine 40 in the narrow magazine 40, the production efficiency is effectively improved, and the occupied space is favorably reduced. For example, the second motor 61 may be a rotary motor, and the retracting mechanism 63 may be a one-way spring mechanism.

When the material poking assembly 60 needs to poke the workpiece 44, the second motor 61 is started, the second motor 61 drives the extension arm 62 to rotate towards the side close to the processing equipment 200, one end (such as the lower end shown in fig. 4) of the telescopic mechanism 63 far away from the extension arm 62 abuts against the workpiece 44, when the extension arm 62 rotates to the extent that the telescopic mechanism 63 does not abut against the workpiece 44, the telescopic mechanism 63 pops out towards the side far away from the extension arm 62, and when the second motor 61 drives the extension arm 62 to rotate towards the side far away from the processing equipment 200, the telescopic mechanism 63 can abut against the side wall of the workpiece 44 and push the workpiece 44 to move towards the adjusted piece, so that the workpiece 44 is poked in, and the workpiece 44 is ensured to move stably.

In the embodiment of the present invention, the specific structure of the pushing assembly 50 may be set according to actual conditions.

For example, in some embodiments, as shown in fig. 13 and 14, the pushing assembly 50 may include a third motor 51, a second transmission member 52 and a link mechanism 53, the third motor 51 is connected to the second transmission member 52, the third motor 51 is used for driving the second transmission member 52 to move, the link mechanism 53 is connected to the second transmission member 52, and the second transmission member 52 is used for driving the link mechanism 53 to move along the third direction, the structure of the pushing assembly 50 is simple, for example, when the adjusted member is the magazine 40, the pushing assembly 50 can ensure that the workpiece 44 is pushed out of the magazine 40 in the narrow magazine 40, thereby effectively improving the production efficiency and facilitating the reduction of the occupied space.

Therefore, when the pushing assembly 50 needs to push the workpiece 44, the third motor 51 is started, the third motor 51 drives the second transmission piece 52 to move, the second transmission piece 52 can drive the link mechanism 53 to move along the third direction, the pushing of the workpiece 44 is realized, and the workpiece 44 is ensured to move stably.

In the embodiment of the present invention, the specific structure of the second transmission member 52 can be set according to actual conditions. For example, the second transmission member 52 may cooperate with the lead screw 57 to realize transmission; alternatively, the second transmission member 52 can be a transmission belt, and can move the moving member 232.

In some embodiments, as shown in fig. 14, when the second transmission member 52 transmits the lead screw 57, the second transmission member 52 includes the lead screw 57 and a sliding block 56, the sliding block 56 is connected with a moving block 55, the moving block 55 is connected with the link mechanism 53, the fixed bracket 10 is further provided with a third guide rail 54, and the moving block 55 moves along the third guide rail 54, so that the moving block 55 is ensured to move reliably, the workpiece 44 is pushed more smoothly, the position movement is ensured to be more accurate, and the deviation is avoided.

According to some embodiments of the present invention, as shown in fig. 1 to 9, a driving assembly 80 is disposed on the fixed bracket 10, and the driving assembly 80 is configured to drive the material poking assembly 60 and the pushing assembly 50 to move along the first direction, so that the material poking assembly 60 and the pushing assembly 50 can poke in or push out workpieces 44 at different positions along the first direction, thereby effectively improving the production efficiency.

In some embodiments of the present invention, as shown in fig. 1 to 9, the fixed support 10 is provided with a push-out assembly 50 and a material-pulling assembly 60 on two opposite sides along the third direction, the loading and unloading apparatus 100 includes a moving assembly 70, the moving assembly 70 is connected to the driving assembly 80, the push-out assembly 50 and the material-pulling assembly 60 located on the same side of the fixed support 10 are both provided on the moving assembly 70, and the moving assembly 70 can support and fix the push-out assembly 50 and the material-pulling assembly 60.

In addition, the driving assembly 80 is used for adjusting the height of the two sides of the moving assembly 70 in the first direction, so that the driving assembly 80 can adjust the positions of the pushing assembly 50 and the material stirring assembly 60, the position levels of the pushing assembly 50, the material stirring assembly 60 and the processing equipment 200 are ensured, the pushing assembly 50 and the material stirring assembly 60 can be accurately opposite to the workpiece 44, loading and unloading between the loading and unloading device 100 and the processing equipment 200 are facilitated, the conditions of various grounds can be adapted, the success rate of loading and unloading is ensured, and the replacement efficiency of the workpiece 44 is effectively improved.

According to some embodiments of the present invention, as shown in fig. 1 to 9, the two driving assemblies 80 are respectively disposed at two ends of the moving assembly 70, and the two driving assemblies 80 are used to move the two ends of the moving assembly 70, so that the moving smoothness of the moving assembly 70 can be ensured, and thus the pushing assembly 50 and the kick-out assembly 60 can be ensured to move more reliably.

In addition, as shown in fig. 8 and 9, the moving assembly 70 is rotatably connected to the driving assembly 80, the rotation centers of the moving assembly 70 and the driving assembly 80 extend along the third direction, when the driving assembly 80 drives the moving assembly 70 to move along the first direction, due to the height difference between the two sides of the moving assembly 70, the moving assembly 70 and the driving assembly 80 rotate, the problems of jamming and the like when the moving assembly 70 moves can be avoided, the moving smoothness of the two ends of the pushing assembly 50 and the material stirring assembly 60 is ensured, the position adjustment of the moving assembly 70 can be more efficient through the two driving assemblies 80, and the adjustment of the moving assembly 70 is more stable.

In some embodiments of the present invention, as shown in fig. 7-9, the fixed bracket 10 is provided with a second guide rail 11, the second guide rail 11 extends along a first direction, the second guide rail 11 is provided with a slider assembly 12, the slider assembly 12 moves on the second guide rail 11, the driving assembly 80 includes a driving member 81 and a connecting plate 82, one end of the connecting plate 82 is connected with the driving member 81, the driving member 81 is used for driving the connecting plate 82 to move along the first direction, the connecting plate 82 is connected with the moving assembly 70, and the connecting plate 82 is rotatably connected with the slider assembly 12.

Therefore, when the driving part 81 works, the driving part 81 drives the connecting plate 82 to move along the first direction, the connecting plate 82 drives the moving assembly 70 to move along the first direction, the connecting plate 82 drives the sliding block assembly 12 to move on the second guide rail 11 along the first direction, and meanwhile, the connecting plate 82 rotates relative to the sliding block assembly 12, so that the problems of blocking and the like of the connecting plate 82 when moving can be avoided, the moving assembly 70 is ensured to move reliably, the position levels of the pushing assembly 50, the material shifting assembly 60 and the processing equipment 200 can be ensured, the pushing assembly 50 and the material shifting assembly 60 can be accurately opposite to the workpiece 44, the structure of the loading and unloading device 100 is simple, and the production cost of the loading and unloading device 100 can be reduced. For example, the driving member 81 may be an electric cylinder, which ensures a more reliable driving of the kick-out assembly 50 and the kick-out assembly 60.

In some embodiments, one end of the connecting plate 82 and the driving member 81 may be connected by a floating joint, and the floating joint may rotate freely, so as to effectively prevent the connecting plate 82 and the driving member 81 from being jammed, ensure reliable rotation of the driving member 81, and have a simple structure.

In some embodiments, as shown in fig. 8 and 9, an end of the slider assembly 12 away from the second guide rail 11 is provided with a mounting plate 13, the mounting plate 13 is provided with a rotating shaft 131, the rotating shaft 131 extends along a third direction, the connecting plate 82 is provided with a mounting hole 821, and the rotating shaft 131 is inserted into the mounting hole 821 to enable the connecting plate 82 to rotate on the rotating shaft 131, so that the rotating connection between the connecting plate 82 and the slider assembly 12 is realized, a simple structure is ensured, and the processing and manufacturing are facilitated.

When the positions of the pushing assembly 50 and the material stirring assembly 60 need to be adjusted, the two driving pieces 81 are controlled to move the slide block assembly 12 according to the height needing to be adjusted, and due to the deviation of the heights of the two sides of the slide block assembly 12, the slide block assembly 12 drives the connecting plate 82 to rotate and move around the rotating shaft 131, so that the moving assembly 70 is ensured to move reliably, and the positions of the pushing assembly 50, the material stirring assembly 60 and the processing equipment 200 are horizontal.

In some embodiments, as shown in fig. 8 and 9, the moving assembly 70 includes a mounting fixing plate 71 and a connecting rod 72, the mounting fixing plate 71 is located on one side of the connecting rod 72, and both the mounting fixing plate 71 and the connecting rod 72 are connected to a connecting plate 82, the material stirring assembly 60 is connected to the mounting fixing plate 71, and the pushing assembly 50 is connected to the connecting rod 72, so as to ensure that the pushing assembly 50 is reliably connected to the material stirring assembly 60, and the pushing assembly 50 is prevented from interfering with the material stirring assembly 60 in movement, so as to ensure that the movement is reliable.

In some embodiments, as shown in fig. 3, 4, 7, 12 and 13, the pushing assemblies 50 located on one side of the fixing bracket 10 are disposed at intervals along the second direction, the material pulling assemblies 60 located on one side of the fixing bracket 10 are disposed at intervals along the second direction, and the multiple pushing assemblies 50 and the material pulling assemblies 60 can simultaneously load and unload multiple workpieces 44, so that the production efficiency is effectively improved, and the occupied space is small.

In the embodiment of the present invention, the number of the pushing assemblies 50 and the material pulling assemblies 60 on one side of the fixed bracket 10 can be flexibly set according to actual situations, for example, the pushing assemblies 50 on one side of the fixed bracket 10 can be two as shown in fig. 12, and can also be three, four, five, six or more, which are all within the protection scope of the present invention; for example, the material pulling assembly 60 on one side of the fixing bracket 10 may be two as shown in fig. 12, or may be three, four, five, six or more, and this is within the scope of the present invention.

In some embodiments, as shown in fig. 1, fig. 2, fig. 6, fig. 12 and fig. 13, the number of the pushing assemblies 50 and the material shifting assemblies 60 is two, the two pushing assemblies 50 are arranged on the fixing support 10 at intervals in the third direction, and the two material shifting assemblies 60 are arranged on the fixing support 10 at intervals in the third direction, so that loading and unloading on two sides of the loading and unloading device 100 can be realized, different use requirements are met, the loading and unloading device 100 is prevented from being moved and reversed, and the production efficiency is improved.

In some embodiments of the present invention, as shown in fig. 1 to 7, the loading and unloading device 100 further includes a traveling device 90, the fixed support 10 is disposed on the traveling device 90, and the traveling device 90 can move the position of the loading and unloading device 100, so that the loading and unloading device 100 can perform loading and unloading at different positions, thereby realizing the automated production of the assembly line and being beneficial to improving the production efficiency. For example, the running gear 90 may be an AGV.

In some embodiments, the traveling device 90 can move the loading and unloading device 100 between the upper production line and the lower production line, so as to move the workpiece 44.

According to some embodiments of the present invention, as shown in fig. 3 and 7, a fixing plate 91 is disposed on the walking device 90, and the fixing bracket 10 is disposed on the fixing plate 91, so that the fixing bracket 10 can be supported by the fixing plate 91 and the fixing bracket 10 can be conveniently fixed on the walking device 90. In addition, still be equipped with fourth motor 92 on running gear 90, fourth motor 92 is used for driving fixed plate 91 and moves along the second direction for fourth motor 92 can be adjusted by the adjusting part in the position along the second direction, ensures that the position of being adjusted is accurate, effectively improves the success rate of unloading on. For example, the fourth motor 92 may be a servo motor.

In some embodiments, a third transmission member is connected to the fourth motor 92, the fourth motor 92 can drive the third transmission member to move, the third transmission member is connected to the fixing plate 91, and the third transmission member can drive the fixing plate 91 to move along the second direction, so as to ensure that the fixing plate 91 can move reliably.

The specific structure of the third transmission member in the embodiment of the present invention may be set according to actual conditions. For example, the third transmission member may effect transmission for the adjustment mechanism; alternatively, the third transmission member may realize transmission for the screw rod adjusting mechanism, and both can realize movement of the fixing plate 91.

In some embodiments, as shown in fig. 3 and 10, a fourth guide rail 95 is disposed on a side (e.g., an upper side shown in fig. 4) of the traveling device 90 facing the fixed bracket 10, and an end (e.g., a lower side shown in fig. 4) of the fixed bracket 10 facing the traveling device 90 is slidable on the fourth guide rail 95, so that the movement of the fixed bracket 10 can be guided by the fourth guide rail 95, thereby ensuring that the fixed bracket 10 moves reliably and avoiding the occurrence of deviation.

In some embodiments of the present invention, as shown in fig. 3, a distance measuring device 93 is disposed on one side of the loading and unloading device 100, and the distance measuring device 93 is used for detecting a distance between the loading and unloading device 100 and the processing equipment 200, so as to ensure an accurate distance between the loading and unloading device 100 and the processing equipment 200, facilitate loading and unloading, and effectively improve a success rate of loading and unloading. For example, the distance measuring device 93 may be a distance measuring sensor.

According to some embodiments of the present invention, as shown in fig. 1 to 7 and 18, a monitoring point 201 is provided on the processing device 200, a detection device 94 is provided on the loading and unloading device 100, the detection device 94 can detect the monitoring point 201, and the detection device 94 can detect the monitoring point 201, so that the relative position between the processing device 200 and the loading and unloading device 100 can be determined, and the subsequent movement of the position of the loading and unloading device 100 is facilitated. For example, the monitoring point 201 may be a two-dimensional code and the detection device 94 may be a code reader, a camera, or the like.

In some embodiments, as shown in fig. 18, there are a plurality of monitoring points 201 (two or more), the monitoring points 201 are arranged at intervals along the length direction of the processing apparatus 200, the detecting apparatus 94 is arranged at intervals along the second direction, and the detecting apparatus 94 detects the monitoring points 201, so that the relative position between the processing apparatus 200 and the loading and unloading device 100 can be determined more accurately, and reliable detection is ensured.

In the embodiment of the present invention, the number of the detecting devices 94 may be flexibly set according to actual situations, for example, the detecting devices 94 may be two as shown in fig. 3, and may also be three, four, five, six or more, which are all within the protection scope of the present invention.

According to the adjusting method of the loading and unloading system 300 of the embodiment of the invention, as shown in fig. 1-7, the loading and unloading system 300 comprises a processing device 200 and a loading and unloading device 100, a plurality of monitoring points 201 are arranged on the processing device 200 at intervals, a detecting device 94 is arranged on the loading and unloading device 100, and the detecting device 94 can detect the monitoring points 201. The loading and unloading device 100 comprises a fixed support 10, a walking device 90 and a lifting mechanism 20, wherein the walking device 90 is provided with a fourth motor 92 for driving the fixed support 10, the fixed support 10 is provided with an adjusted piece, the lifting mechanisms 20 are arranged on two sides of the fixed support 10 along a third direction at intervals, and the lifting mechanism 20 can drive the adjusted piece to move along the first direction. The adjusting method comprises the following steps:

two monitoring points 201 are respectively X1a, Y1a and Z1a and are arranged on the feeding and blanking device 100; x1b, Y1b, Z1b, X1a, X1b are coordinates in the second direction, Y1a, Y1b are coordinates in the third direction, Z1a, Z1b are coordinates in the first direction, in other words, coordinates X1a, Y1a, Z1a of two monitoring points 201; x1b, Y1b, Z1b are fixed positions of the processing apparatus 200;

the traveling device 90 is controlled to move, in other words, the traveling device 90 can move the position of the loading and unloading device 100 in a laser navigation mode, a two-dimensional code navigation mode and the like;

one side of the walking control device 90 is parallel to one side of the processing equipment 200, the detection equipment 94 identifies the relative monitoring points 201 and obtains the detection points of the two detection equipment 94 as X2a, Y2a and Z2a respectively; x2b, Y2b, Z2b, in other words, detection points X2a, Y2a, Z2a of the two detection devices 94; x2b, Y2b and Z2b are the positions of the loading and unloading device 100; in other words, the detection device 94 may be a code reader, a camera, etc., the monitoring point 201 may be a two-dimensional code, the code reader identifies the two-dimensional code to obtain detection points X2a, Y2a and Z2a; x2b, Y2b, Z2b;

calculating by the formula: x2a-X1a = | X3a |, Y2a-Y1a = | Y3a |, Z2a-Z1a = | Z3a |; x2b-X1b = | X3b |, Y2b-Y1b = | Y3b |, Z2b-Z1b = | Z3b |;

obtaining an adjustment value: i X3a, Y3a and Z3a; i X3b, Y3b and Z3b;

controlling the fourth motor 92 to drive the fixed support 10 to move along the second direction so as to adjust the adjustment values | X3a |, | X3b |, of the second direction, and analyzing the parameters, which need to be rotated, of the fourth motor 92 according to the adjustment values | X3a |, | X3b |, so as to control the fourth motor 92; the traveling device 90 is controlled to move in the third direction to adjust the adjustment values | Y3a |, | Y3b |, the two lifting mechanisms 20 are controlled to move in the first direction to adjust the adjustment values | Z3a |, | Z3b |, and parameters of the lifting mechanisms 20, which need to be rotated, of the first motor 21 are analyzed according to the adjustment values | Z3a |, | Z3b |, so that the lifting mechanisms 20 are controlled conveniently.

Therefore, the positions of the adjusted piece in the first direction, the second direction and the third direction are adjusted, the horizontal positions of the feeding and discharging device 100 and the processing equipment 200 are ensured to be opposite, the position of the feeding and discharging device 100 is ensured to be reliable, the conditions of various ground surfaces can be adapted, the influence caused by the change of the ground surfaces is converted into the parameters of the first motor 21 and the fourth motor 92, the adjusted piece is ensured to be moved reliably, the success rate of feeding and discharging is ensured, and the replacement efficiency of the workpiece 44 is effectively improved.

According to the adjusting method of the loading and unloading system 300 provided by the embodiment of the invention, the lifting mechanism 20 is used for driving the adjusted piece to move along the first direction, the adjusting device 30 is arranged on the lifting mechanism 20, the adjusting device 30 is used for adjusting the heights of the two sides of the adjusted piece along the first direction, the lifting mechanism 20 can adjust the position of the adjusted piece along the first direction, the adjusting device 30 can adjust the heights of the two ends of the adjusted piece along the first direction, the horizontal position of the adjusted piece is adjusted, various ground conditions can be adapted, the working accuracy of the loading and unloading device 100 is improved, and the requirement of space placement is met.

In some embodiments, the coordinates X1a, Y1a, Z1a of the two monitoring points 201; x1b, Y1b and Z1b need to be determined by theoretical calibration. Manually moving the loading and unloading device 100 to a theoretical position where complete smoothness of loading and unloading is guaranteed by the processing equipment 200, enabling monitoring points 201 of the processing equipment 200 to be horizontal to the plane of the processing equipment 200, and at the moment, enabling coordinates of detection points read by two detection devices 94 of the loading and unloading device 100 to coincide with coordinates of the two monitoring points 201, so that X1a, Y1a and Z1a are judged; theoretical positions of X1b, Y1b, Z1 b. When the position of the loading and unloading device 100 is judged later, the position of the loading and unloading device 100 is adjusted to a required position, and when the data detected by the detection equipment 94 has deviation with the data of the theoretical position, the loading and unloading device 100 is adjusted according to the above, so that the accurate positions of the loading and unloading device 100 and the processing equipment 200 are ensured.

In some embodiments of the present invention, as shown in fig. 3, the distance measuring device 93 is disposed on the loading and unloading device 100, two distance measuring devices 93 are disposed on one side of the loading and unloading device 100 at intervals, and a distance between the loading and unloading device 100 and the processing equipment 200 can be detected by the distance measuring devices 93. The adjusting method further comprises the following steps:

when the traveling device 90 is controlled to move, the two distance measuring devices 93 measure the distances Y4 and Y5 between the side surfaces of the loading and unloading device 100 and the side surfaces of the processing equipment 200, in other words, the distance measuring devices 93 may be distance measuring sensors;

when Y4= Y5, when two distance measuring device 93 measured numerical values equal promptly, one side of running gear 90 is parallel with one side of processing equipment 200, can ensure that one side of unloader 100 is parallel with one side of processing equipment 200 to ensure that unloader 100 is accurate in the position of third direction, be convenient for follow-up to being adjusted by the adjusting part, be favorable to improving the success rate of unloading.

According to the loading and unloading method of the loading and unloading system 300 disclosed by the embodiment of the invention, as shown in fig. 1-7, the loading and unloading system 300 comprises a processing device 200 and a loading and unloading device 100, the loading and unloading device 100 comprises a fixed support 10 and a traveling device 90, the traveling device 90 is provided with a fourth motor 92 for driving the fixed support 10, the fixed support 10 is provided with a workpiece to be adjusted, two sides of the fixed support 10 along a third direction are respectively provided with a pushing-out assembly 50 and a material stirring assembly 60, the pushing-out assembly 50 is used for pushing out the workpiece 44 on the workpiece to be adjusted, so that the workpiece 44 on the workpiece to be adjusted can be moved, the material stirring assembly 60 is used for stirring the workpiece 44 into the workpiece to be adjusted, so that the workpiece 44 can be moved, and the workpiece 44 can be placed on the workpiece to be adjusted. The pushing assembly 50 is located on one side of the fixed support 10 far away from the processing equipment 200, two driving assemblies 80 are arranged on the fixed support 10, and the two driving assemblies 80 respectively drive the pushing assembly 50 and the material stirring assembly 60 to move along a first direction.

The loading and unloading method comprises the following steps:

the positional relationship between the loading and unloading device 100 and the processing equipment 200 is adjusted, in other words, the position of the loading and unloading device 100 can be adjusted by the above-mentioned adjusting method of the loading and unloading system 300;

two predetermined points x1a, y1a, z1a of the push-out assembly 50 are taken in the feeding and discharging device 100; x1b, y1b, z1b, two predetermined points x2a, y2a, z2a of the kick-out assembly 60 on the charging and discharging device 100; x2b, y2b, z2b, x1a, x2a, x1b, x2b are coordinates along the second direction, y1a, y2a, y1b, y2b are coordinates along the third direction, z1a, z2a, z1b, z2b are coordinates along the first direction, in other words, two predetermined points of the pushing assembly 50 and two predetermined points of the kick-out assembly 60 can be determined according to the positions of the two monitoring points 201;

judging the positions x3a, y3a and z3a of the push-out component 50; x3b, y3b, z3b, in other words, the position of the pushing assembly 50 can be confirmed from the detection points of the two detection devices 94;

calculating by the formula: x3a-x1a = | x4a |, y3a-y1a = | y4a |, z3a-z1a = | z4a |; x3b-x1b = | x4b |, y3b-y1b = | y4b |, z3b-z1b = | z4b |;

obtaining an adjustment value: l x4a, y4a and z4 a; | x4b |, | y4b |, | z4b |;

controlling the driving assembly 80 to move along the first direction to adjust the adjustment values | z4a |, | z4b |, and analyzing the parameters of the driving assembly 80 which need to rotate according to the adjustment values | z4a |, | z4b |, so as to control the driving assembly 80, controlling the walking device 90 to move in the third direction to adjust the adjustment values | y4a |, | y4b |, controlling the fourth motor 92 to drive the fixed support 10 to move along the second direction to adjust the adjustment values | x4a |, | x4b |, and analyzing the parameters of the fourth motor 92 which need to rotate according to the adjustment values | x4a |, | x4b |, so as to control the fourth motor 92, thereby adjusting the position of the pushing assembly 50 and ensuring that the pushing assembly 50 is opposite to the position of the workpiece 44;

the pushing-out assembly 50 is controlled to push the workpiece 44 to be machined on the workpiece to be machined out of the machining equipment 200, so that the workpiece 44 can be moved, the workpiece 44 on the workpiece to be machined is convenient to transfer, the workpiece 44 on the workpiece to be machined is prevented from being manually moved out, the time consumed by manual operation is reduced, the efficient production rhythm can be adapted, the automatic production of a production line is realized, the production efficiency is improved, and the production cost is reduced;

judging the positions x5a, y5a and z5a of the material shifting assembly 60; x5b, y5b, z5b, in other words, the position of the material-pulling assembly 60 can be confirmed according to the detection points of the two detection devices 94;

calculating by the formula: x5a-x2a = | x6a |, y5a-y2a = | y6a |, z5a-z2a = | z6a |; x5b-x2b = | x6b |, y5b-y2b = | y6b |, z5b-z2b = | z6b |;

obtaining an adjustment value: | x6a |, | y6a |, | z6a |; | x6b |, | y6b |, | z6b |;

controlling the driving assembly 80 to move along the first direction to adjust the adjustment values | z6a |, | z6b |, and analyzing the parameters of the driving assembly 80, which need to rotate, according to the adjustment values | z6a |, | z6b |, so as to control the driving assembly 80, controlling the walking device 90 to move in the third direction to adjust the adjustment values | y6a |, | y6b |, controlling the fourth motor 92 to drive the fixed support 10 to move along the second direction to adjust the adjustment values | x6a |, | x6b |, and analyzing the parameters of the fourth motor 92, which need to rotate, according to the adjustment values | x6a |, | x6b |, so as to control the fourth motor 92, thereby adjusting the position of the material stirring assembly 60 and ensuring that the material stirring assembly 60 is opposite to the position of the workpiece 44;

the control is dialled material subassembly 60 and is dialled the work piece 44 that has processed on with processing equipment 200 back by on the adjusting part, can realize the removal to work piece 44, is convenient for place work piece 44 on by the adjusting part, has avoided the manual work to put work piece 44 on by the adjusting part, has reduced manual operation consuming time, can adapt to efficient production rhythm, realizes the automated production of assembly line, is favorable to improving production efficiency, reduction in production cost.

According to the loading and unloading method of the loading and unloading system 300 provided by the embodiment of the invention, the lifting mechanism 20 is used for driving the adjusted piece to move along the first direction, the adjusting device 30 is arranged on the lifting mechanism 20, the adjusting device 30 is used for adjusting the height of two sides of the adjusted piece in the first direction, the lifting mechanism 20 can adjust the position of the adjusted piece along the first direction, the adjusting device 30 can adjust the height of two ends of the adjusted piece in the first direction, the horizontal position of the adjusted piece is adjusted, the loading and unloading method can adapt to various ground conditions, the working accuracy of the loading and unloading device 100 is improved, and the requirement of space placement is met.

In some embodiments, the processing tool 200 includes a workpiece conveying device, and after the workpiece 44 is pushed out of the workpiece to be adjusted by the pushing-out assembly 50, a portion of the workpiece 44 may be located on the workpiece conveying device, and the workpiece 44 may be automatically fed into the processing tool 200 by the conveying power of the workpiece conveying device, so as to ensure that the workpiece 44 moves more reliably.

In addition, when the workpiece 44 is discharged from the processing equipment 200, part of the workpiece 44 can be discharged under the action of the conveying power of the workpiece conveying device, and the rest part of the workpiece 44 is shifted into the adjusted piece through the shifting assembly 60, so that the workpiece 44 can be moved more reliably.

In some embodiments where the workpiece to be processed is the magazine 40, the processing apparatus 200 includes a temporary storage rack and a processing body, the temporary storage rack includes two placing platforms spaced apart in a first direction, and both of the placing platforms are movable along the first direction. The loading and unloading method comprises the following steps:

controlling one layer of the storage bins 40 to be horizontal to one placing platform;

the pushing-out assembly 50 is controlled to push out the workpiece 44 to be machined in the bin 40 to the placing platform, so that the workpiece 44 to be machined can be pushed out to the machining equipment 200, and the workpiece 44 can be moved;

controlling the other one of the placing platforms to be level with the one floor in the magazine 40, in other words, the magazine 40 not to move, controlling the two placing platforms to move in the first direction;

the control is dialled material subassembly 60 and is dialled the work piece 44 that has processed on the place the platform back feed bin 40, can carry out the work of unloading to the same position of feed bin 40, is favorable to improving production efficiency.

In some embodiments of the present invention, as shown in fig. 1, the loading and unloading method further includes:

when the pushing assembly 50 is controlled to work, the pushing assembly 50 is opposite to the workpiece 44, and the material stirring assembly 60 moves along the first direction, so that the material stirring assembly 60 can avoid the workpiece 44, the pushing assembly 50 can push the workpiece 44 conveniently, the interference of the material stirring assembly 60 on the workpiece 44 is avoided, and the workpiece 44 can be ensured to be loaded and unloaded normally.

According to some embodiments of the invention, the loading and unloading method further comprises:

when the adjusted piece needs to be replaced, the pushing assembly 50 and the material stirring assembly 60 both move along the first direction, so that the pushing assembly 50 and the material stirring assembly 60 can avoid the adjusted piece, the whole adjusted piece is convenient to replace, the interference of the pushing assembly 50 and the material stirring assembly 60 on the movement of the adjusted piece is avoided, and the adjusted piece is more convenient to replace. For example, when the adjusted member is the stock bin 40 and the stock bin 40 is detachably disposed on the loading and unloading device 100, the pushing-out assembly 50 and the material-stirring assembly 60 both move along the first direction, so that the pushing-out assembly 50 and the material-stirring assembly 60 can avoid the movement of the stock bin 40, the stock bin 40 can be conveniently replaced, and the replacement requirement of the stock bin 40 is met.

Other configurations and operations of the loading and unloading apparatus 100, the processing equipment 200 and the loading and unloading system 300 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, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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:

the fixed support is provided with an adjusted piece;

the lifting mechanism is arranged on the fixed support and is used for driving the adjusted piece to move along a first direction;

and the adjusting device is arranged on the lifting mechanism and is used for adjusting the height of two sides of the adjusted piece in the first direction.

2. The loading and unloading device as recited in claim 1, wherein the two lifting mechanisms are spaced apart from each other and disposed on two sides of the fixed bracket along the second direction, the adjusting devices are disposed on the lifting mechanisms, the two adjusting devices respectively adjust the heights of two ends of the adjusted member along the first direction, and the first direction is perpendicular to the second direction.

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

the height adjusting part is connected with the lifting mechanism;

the rotation adjusting part is connected with the adjusted piece, the height adjusting part is rotationally connected with the rotation adjusting part, the rotation centers of the height adjusting part and the rotation adjusting part extend along a third direction, and the first direction, the second direction and the third direction are perpendicular to each other.

4. The loading and unloading device according to claim 3, wherein the adjusted member is a bin, and the bin comprises:

a bin body;

the stock bin assembly comprises a supporting plate, the supporting plate is arranged between the two lifting mechanisms, the stock bin body is detachably arranged on the supporting plate, two ends of the supporting plate are respectively connected with the two rotation adjusting parts,

alternatively, the silo includes:

the feed bin body, the both ends of feed bin body are respectively with two rotation adjustment portion connects.

5. The loading and unloading device according to claim 1, wherein the loading and unloading device comprises:

the pushing assembly is used for pushing the workpiece on the adjusted piece out;

and the material poking assembly is used for poking the workpiece into the adjusted piece.

6. The loading and unloading device as recited in claim 5, wherein the pushing-out assembly and the material poking assembly are respectively arranged on two opposite sides of the fixed support along a third direction;

and/or the pushing assemblies positioned on one side of the fixed support are arranged at intervals along the second direction, and the material stirring assemblies positioned on one side of the fixed support are arranged at intervals along the second direction;

and/or the pushing-out assemblies are two pushing-out assemblies arranged on the fixed support at intervals in the third direction, and the material stirring assemblies are two pushing-out assemblies arranged on the fixed support at intervals in the third direction.

7. The loading and unloading device according to claim 6, wherein the material poking assembly comprises:

a second motor;

one end of the extension arm is connected with the second motor, the second motor is used for driving the extension arm to rotate around the second motor, and a telescopic mechanism which can stretch along the first direction is arranged at one end, far away from the second motor, of the extension arm;

and/or, the push-out assembly comprises:

a third motor;

the third motor is connected with the second transmission piece and is used for driving the second transmission piece to move;

and the link mechanism is connected with the second transmission piece, and the second transmission piece is used for driving the link mechanism to move along the third direction.

8. The loading and unloading device according to claim 5, wherein a driving assembly is arranged on the fixed support and used for driving the material poking assembly and the pushing assembly to move along the first direction.

9. The loading and unloading device of claim 8, wherein the pushing-out assembly and the material stirring assembly are arranged on two opposite sides of the fixed support along a third direction, and the loading and unloading device comprises:

the moving assembly is connected with the driving assembly, the pushing assembly and the material stirring assembly which are positioned on the same side of the fixed support are arranged on the moving assembly, and the driving assembly is used for adjusting the height of the two sides of the moving assembly in the first direction.

10. The loading and unloading device according to claim 9, wherein the driving assembly is respectively disposed at two ends of the moving assembly and rotatably connected to the driving assembly, and the rotation centers of the moving assembly and the driving assembly extend along the third direction.

11. The loading and unloading device according to claim 10, wherein a second guide rail is provided on the fixed bracket, the second guide rail extends along the first direction, a slider assembly moving on the second guide rail is provided on the second guide rail, and the driving assembly includes:

a drive member;

one end of the connecting plate is connected with the driving piece, the driving piece is used for driving the connecting plate to move along the first direction, the connecting plate is connected with the moving assembly, and the connecting plate is rotationally connected with the sliding block assembly.

12. The loading and unloading device of claim 1, further comprising:

the walking device is provided with a fixed plate and a fourth motor, the fourth motor is used for driving the fixed plate to move along the second direction, and the fixed support is arranged on the fixed plate.

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

a processing apparatus for processing a workpiece to be processed;

the loading and unloading device according to any one of claims 1-12, for providing the workpiece to be machined to the machining apparatus and transferring the machined workpiece.

14. The loading and unloading system according to claim 13, wherein a distance measuring device is arranged on one side of the loading and unloading device and used for detecting the distance between the loading and unloading device and the processing equipment;

and/or monitoring points are arranged on the processing equipment, and detection equipment for detecting the monitoring points is arranged on the feeding and discharging device.

15. The adjusting method of the feeding and discharging system is characterized in that the feeding and discharging system comprises processing equipment and a feeding and discharging device, a plurality of monitoring points are arranged on the processing equipment at intervals, detection equipment is arranged on the feeding and discharging device, the feeding and discharging device comprises a fixed support, a traveling device and lifting mechanisms, a fourth motor used for driving the fixed support is arranged on the traveling device, adjusted pieces are arranged on the fixed support, the lifting mechanisms are arranged on two sides of the fixed support along a third direction at intervals, and the adjusting method comprises the following steps:

two monitoring points X1a, Y1a and Z1a are respectively arranged on the loading and unloading device; x1b, Y1b, Z1b, said X1a, X1b being coordinates along a second direction, said Y1a, Y1b being coordinates along said third direction, said Z1a, Z1b being coordinates along a first direction;

controlling the walking device to move;

controlling one side of the walking device to be parallel to one side of the processing equipment, identifying the opposite monitoring points by the detection equipment and obtaining detection points of the two detection equipment as X2a, Y2a and Z2a respectively; x2b, Y2b, Z2b;

obtaining an adjustment value: i X3a, Y3a and Z3a; i X3b, Y3b and Z3b;

and controlling the fourth motor to drive the fixed support to move along the second direction so as to adjust the adjustment values | X3a |, | X3b |, controlling the traveling device to move in the third direction so as to adjust the adjustment values | Y3a |, | Y3b |, and controlling the two lifting mechanisms to move in the first direction so as to adjust the adjustment values | Z3a |, | Z3b |, in the first direction.

16. The adjusting method of the loading and unloading system as claimed in claim 15, wherein distance measuring devices are arranged on the loading and unloading device, two distance measuring devices are arranged on one side of the loading and unloading device at intervals, and the adjusting method further comprises:

when the walking device is controlled to move, the two distance measuring devices respectively measure the distances Y4 and Y5 between the side surface of the feeding and discharging device and the side surface of the processing equipment;

and when Y4= Y5, judging that one side of the walking device is parallel to one side of the processing equipment.

17. The utility model provides a go up unloading method of unloading system, its characterized in that, go up unloading system includes processing equipment and unloader, unloader includes fixed bolster and running gear, be equipped with on the running gear and be used for the drive the fourth motor of fixed bolster, be equipped with on the fixed bolster by the adjusting part, the fixed bolster is equipped with respectively along the both sides of third direction and pushes out the subassembly and dials the material subassembly, it is located one side of fixed bolster keeping away from processing equipment to push out the subassembly, be equipped with drive assembly on the fixed bolster, drive assembly is two and drive respectively push out the subassembly with dial the material subassembly and remove along first direction, go up unloading method includes:

controlling the walking device to move;

adjusting the position relation between the feeding and discharging device and the processing equipment;

two predetermined points x1a, y1a and z1a of the push-out component are taken in on the feeding and discharging device; x1b, y1b, z1b, two predetermined points x2a, y2a, z2a of the kick-off assembly are ingested on the loading and unloading device; x2b, y2b, z2b, wherein x1a, x2a, x1b, x2b are coordinates along a second direction, y1a, y2a, y1b, y2b are coordinates along a third direction, and z1a, z2a, z1b, z2b are coordinates along a first direction;

judging the positions x3a, y3a and z3a of the push-out assembly; x3b, y3b, z3b;

obtaining an adjustment value: l x4a, y4a and z4 a; l x4b, y4b and z4 b;

controlling the driving assembly to move along the first direction to adjust adjustment values | z4a |, | z4b |, controlling the traveling device to move in the third direction to adjust adjustment values | y4a |, | y4b |, and controlling the fourth motor to drive the fixed support to move along the second direction to adjust adjustment values | x4a |, | x4b |, of the second direction;

controlling the push-out assembly to push out the workpiece to be machined on the adjusted piece to the machining equipment;

judging the positions x5a, y5a and z5a of the material stirring assembly; x5b, y5b, z5b;

obtaining an adjustment value: | x6a |, | y6a |, | z6a |; i x6b, y6b and z6 b;

controlling the driving assembly to move along the first direction to adjust adjustment values | z6a |, | z6b |, controlling the traveling device to move in the third direction to adjust adjustment values | y6a |, | y6b | of the third direction, and controlling the fourth motor to drive the fixed support to move along the second direction to adjust adjustment values | x6a |, | x6b |;

and controlling the material pulling assembly to pull the machined workpiece on the machining equipment back to the adjusted piece.

18. The loading and unloading method of the loading and unloading system according to claim 17, further comprising:

when the pushing assembly is controlled to work, the pushing assembly is opposite to the workpiece, and the material stirring assembly moves along the first direction to avoid the workpiece;

and/or when the adjusted piece needs to be replaced, the pushing assembly and the material stirring assembly move along the first direction to avoid the adjusted piece.