CN116374638A

CN116374638A - Feeding and discharging device and feeding and discharging method

Info

Publication number: CN116374638A
Application number: CN202310542694.0A
Authority: CN
Inventors: 曲东升; 裴侨解; 李长峰; 白艳东; 李坤; 王洪兵; 魏云飞; 查进
Original assignee: Changzhou Mingseal Robotic Technology Co Ltd
Current assignee: Changzhou Mingseal Robotic Technology Co Ltd
Priority date: 2023-05-15
Filing date: 2023-05-15
Publication date: 2023-07-04

Abstract

The invention discloses a loading and unloading device and a loading and unloading method, wherein the loading and unloading device comprises: the grabbing mechanism is used for grabbing the first workpiece conveyed in the previous working procedure and grabbing the first workpiece onto the operation bearing jig in the next working procedure; the feeding mechanism is used for conveying the tray on which the second workpiece is placed; the transfer mechanism is used for receiving the tray from the feeding mechanism and conveying the tray to the material taking position; the picking mechanism is used for picking up the second workpiece from the tray on the transferring mechanism and picking up the second workpiece to the operation bearing jig; the blanking mechanism is located below the feeding mechanism, and after the second workpiece in the tray is taken by the picking mechanism, the empty tray is transferred to the blanking mechanism through the transfer mechanism for recycling. According to the invention, the first workpiece is grabbed by the grabbing mechanism, the second workpiece is picked by the picking mechanism, so that two workpieces can be loaded in one device, the transfer mechanism can receive one tray from the loading mechanism and transfer the tray to the material taking position, the unloading mechanism can recycle empty trays, and the loading without stopping can be realized.

Description

Feeding and discharging device and feeding and discharging method

Technical Field

The invention relates to the technical field of conveying industrial equipment, in particular to a loading and unloading device and a loading and unloading method.

Background

The existing feeding machine generally only needs to feed and convey a single workpiece. For the component products, if the feeding machine can only be used for feeding and conveying one workpiece, a plurality of feeding machines are needed for feeding and conveying different workpieces, so that the production cost is increased, and the feeding efficiency is reduced. In addition, in the existing feeding machine, after the workpieces on the tray are taken out, the feeding machine needs to be stopped for feeding, and therefore the feeding efficiency is reduced.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems existing in the prior art.

Therefore, the loading and unloading device and the loading and unloading method can realize loading of a plurality of workpieces through one device, so that the loading efficiency is improved, the empty trays are recovered through the unloading mechanism, and the loading without stopping can be realized.

According to the embodiment of the invention, the feeding and discharging device comprises:

the grabbing mechanism is used for grabbing the first workpiece conveyed in the previous working procedure and grabbing the first workpiece onto an operation bearing jig in the next working procedure;

the feeding mechanism is used for conveying a tray on which the second workpiece is placed;

the transfer mechanism is used for receiving the tray from the feeding mechanism and conveying the tray to the material taking position;

The picking mechanism is used for picking up a second workpiece from the tray on the transfer mechanism and picking up the second workpiece to the operation bearing jig;

and the blanking mechanism is positioned below the feeding mechanism, the empty tray is transferred to the blanking mechanism through the transfer mechanism after the second workpiece in the tray is taken by the picking mechanism, and the blanking mechanism is used for collecting and transferring the empty tray.

The invention has the advantages that the first workpiece can be grabbed by the grabbing mechanism, the second workpiece can be picked by the picking mechanism, one tray can be automatically received from the feeding mechanism by the transferring mechanism and is transferred to the material taking position, when the picking mechanism finishes picking the second workpiece on the tray, the blanking mechanism can automatically recover the empty tray, and then the transferring mechanism receives the next tray from the feeding mechanism and is transferred to the material taking position, so that the cycle is realized. Therefore, two workpieces can be fed in one device, feeding without stopping can be realized, and feeding efficiency is improved.

According to one embodiment of the present invention, the feeding mechanism includes:

the first feeding assembly is connected with one side of the tray;

The second feeding assembly is connected with the other side of the tray;

the jacking assembly is positioned below the tray and is used for jacking the tray.

According to one embodiment of the present invention, the first feeding assembly includes: the device comprises a first mounting plate, a first air cylinder and a second air cylinder, wherein the first air cylinder and the second air cylinder are both mounted on the first mounting plate, the extending end of the first air cylinder is connected with a first supporting block, and the extending end of the second air cylinder is connected with a second supporting block; the first support block and the second support block are used for supporting one side of the tray.

According to one embodiment of the present invention, the second feeding assembly includes: the device comprises a second mounting plate, a third air cylinder and a fourth air cylinder, wherein the third air cylinder and the fourth air cylinder are both arranged on the second mounting plate, the extending end of the third air cylinder is connected with a third supporting block, and the extending end of the fourth air cylinder is connected with a fourth supporting block; the third supporting block and the fourth supporting block are used for supporting the other side of the tray.

According to one embodiment of the invention, the jacking assembly comprises: the lifting device comprises a lifting mounting plate, a lifting driving module, a lifting guide module and a lifting plate, wherein the lifting driving module and the lifting guide module are both mounted on the lifting mounting plate, the lifting driving module is connected with the lifting guide module, and the lifting plate is fixedly connected with the top of the lifting guide module.

According to one embodiment of the invention, the transport mechanism comprises:

transfer plate

A first lift assembly located on one side of the transfer plate;

a second lifting assembly located on the other side of the transfer plate;

and the transfer driving assembly is connected with the transfer plate and used for driving the transfer plate to move.

According to one embodiment of the invention, the first lift assembly comprises: the lifting device comprises a first lifting air cylinder, a first lifting plate, a fifth air cylinder and a sixth air cylinder, wherein the first lifting plate is connected with the extending end of the first lifting air cylinder, the fifth air cylinder and the sixth air cylinder are respectively installed at the two ends of the first lifting plate, the extending end of the fifth air cylinder is connected with a fifth supporting block, and the extending end of the sixth air cylinder is connected with a sixth supporting block.

According to one embodiment of the invention, the transport drive assembly comprises: the linear driving module, the linear guide rail, the first connecting plate, the second connecting plate and the positioning detection module, the first connecting plate with the linear driving module is connected, the second connecting plate with the linear guide rail is connected, the first connecting plate, the second connecting plate respectively with the both ends of transporting the board are connected, the positioning detection module is installed on the linear driving module.

According to one embodiment of the present invention, the discharging mechanism includes:

material collecting driving piece

The receiving support is connected with the receiving driving piece, the receiving driving piece can drive the receiving support to move along the z direction, and the receiving support is used for collecting empty trays;

and the discharging assembly is used for conveying the empty tray on the receiving bracket to the outside of the device.

According to one embodiment of the invention, the outfeed assembly comprises:

bottom plate

The discharging driving module is arranged on the bottom plate;

the first discharging support module is arranged on the discharging driving module and used for supporting one end of the tray;

the second discharging support module is arranged on the discharging driving module and used for supporting the other end of the tray;

and one end of the pull rod is connected with the first discharging support module, and the other end of the pull rod is connected with the second discharging support module.

According to one embodiment of the invention, the first outfeed support module comprises: the discharging driving module comprises a first supporting plate, a first multilayer sliding rail and a first placing plate, wherein the first supporting plate is installed on the discharging driving module, the first multilayer sliding rail is installed on the first supporting plate, and the first placing plate is installed on the first multilayer sliding rail.

According to one embodiment of the present invention, further comprising: the grabbing mechanism and the picking mechanism are both arranged on the manipulator assembly;

the pickup mechanism includes:

the pick-up mounting plate is connected with the manipulator assembly;

the pick-up connecting module is provided with one end which is arranged on the pick-up mounting plate;

and the picking module is arranged at the other end of the picking connection module and can pick up the second workpiece from the tray.

According to one embodiment of the present invention, further comprising:

the identifying mechanism is used for identifying the mounting position information on the first workpiece;

the detection mechanism is arranged on the manipulator assembly and is used for detecting the mounting quality of the first workpiece after the previous working procedure operation.

The invention also provides a loading and unloading method, which adopts the loading and unloading device, and comprises the following steps:

s1, placing a plurality of trays with second workpieces on a feeding mechanism;

s2, conveying the tray at the bottommost layer to a pick-up range from the feeding mechanism through a transfer mechanism;

s3, picking up a second workpiece from the tray through a pick-up mechanism and placing the second workpiece on a work bearing jig; the first workpiece conveyed in the previous working procedure is grabbed by a grabbing mechanism and placed on an operation bearing jig;

S4, repeating the step S3 until the second workpiece on the tray is taken out;

s5, transferring the empty tray to a blanking mechanism through the transfer mechanism;

s6, repeating the steps S2-S5 until all empty trays are collected by a blanking mechanism, and conveying the empty trays to a manual material taking position by the blanking mechanism.

According to one embodiment of the present invention, step S2 specifically includes:

the transfer plate is driven to move to the position right below the tray at the bottommost layer through the linear driving module, and at the moment, the jacking driving piece drives the jacking driving plate to move upwards to be in contact with the tray at the bottommost layer;

controlling the first feeding assembly and the second feeding assembly to be separated from the tray at the bottommost layer; the jacking driving piece drives the jacking driving plate to downwards enable the height of the tray of the penultimate layer to be flush with the plane where the first feeding component and the second feeding component are located;

controlling the first feeding assembly and the second feeding assembly to support the tray of the penultimate layer, so that the tray of the bottommost layer is separated from the tray of the penultimate layer;

and starting the jacking driving piece to drive the bottom tray to move downwards and fall onto the transfer plate, and driving the transfer plate to move to the pick-up position through the linear driving module.

According to one embodiment of the present invention, step S6 specifically includes:

when the second workpiece on the tray is picked up, the first lifting assembly and the second lifting assembly are controlled to clamp the empty tray, and the transfer plate is driven to move below the feeding mechanism through the linear driving module;

the receiving driving piece drives the receiving support to move to the uppermost end, at the moment, the first lifting assembly and the second lifting assembly are controlled to be separated from the empty tray, and the empty tray falls onto the receiving support;

after all empty trays all fall to the material collecting support, the empty trays are transferred to the manual material taking position through the material discharging assembly.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

The invention will be further described with reference to the drawings and examples.

Fig. 1 is a schematic structural view of a loading and unloading device of the present invention.

Fig. 2 is a perspective view of the loading and unloading device of the present invention.

Fig. 3 is a schematic view of the loading mechanism and the transfer mechanism of the present invention.

Fig. 4 is another schematic view of the loading mechanism and transfer mechanism of the present invention.

FIG. 5 is a schematic view of a jacking assembly according to the present invention.

FIG. 6 is another schematic view of the jacking assembly of the present invention.

Fig. 7 is a schematic view of a robot assembly of the present invention.

Fig. 8 is a schematic view of a transport drive assembly of the present invention.

Fig. 9 is a top view of the support platform of the present invention.

Fig. 10 is a schematic view of a use state of the blanking mechanism of the present invention.

Fig. 11 is another schematic view of the blanking mechanism of the present invention.

Fig. 12 is a schematic view of the outfeed assembly of the present invention.

Fig. 13 is a schematic view of a pick-up mechanism of the present invention.

Fig. 14 is a schematic view of the grasping mechanism of the invention.

Fig. 15 is a schematic view of an identification mechanism of the present invention.

Fig. 16 is a schematic view of the detection mechanism of the present invention.

In the figure:

21. a grabbing mechanism; 211. grabbing an air cylinder; 212. an adapter plate; 213. a clamping jaw cylinder; 214. a first jaw; 215. a second jaw; 216. a pressing plate; 217. a buffer spring; 218. a fifth photoelectric switch; 219. a fifth photoelectric barrier;

22. A feeding mechanism; 221. a tray; 222. the first feeding assembly; 223. the second feeding assembly; 224. a jacking assembly; 225. a first photodetector; 2221. a first mounting plate; 2222. a first cylinder; 2223. a first support block; 2224. a second cylinder; 2225. a second support block; 2231. a second mounting plate; 2232. a third cylinder; 2234. a fourth cylinder; 2233. a third support block; 2235. a fourth support block; 2226. a first limit post; 2236. the second limit column; 2240. jacking the mounting plate; 2241. a jacking driving module; 2242. jacking the guide module; 2243. a jacking plate; 22411. jacking the driving piece; 22412. lifting the transmission piece; 22413. jacking the screw rod module; 22414. lifting the driving plate; 22415. a first drive connection plate; 22416. a second drive connection plate; 22421. a first bracket; 22422. a second bracket; 22423. a first slider; 22424. a second slider; 22425. a first slide rail; 22426. a second slide rail; 22427. a first guide plate; 22428. a second guide plate; 22429. a first photoelectric barrier; 22420. a first photoelectric switch;

23. a transfer mechanism; 231. a transfer plate; 232. a first lifting assembly; 233. a second lifting assembly; 234. a transfer drive assembly; 2321. a first lifting cylinder; 2322. a first lifting plate; 2323. a fifth cylinder; 2324. a sixth cylinder; 2325. a fifth supporting block; 2326. a sixth support block; 2331. a second lifting cylinder; 2332. a second lifting plate; 2333. a seventh cylinder; 2334. an eighth cylinder; 2335. a seventh support block; 2336. an eighth support block; 2341. a linear driving module; 2342. a linear guide rail; 2343. a first connection plate; 2344. a second connecting plate; 2345. a positioning detection module; 23451. a second photoelectric switch; 23452. a second photoelectric barrier; 2311. a third operation through hole;

24. A pick-up mechanism; 241. picking up the mounting plate; 242. picking up a connection module; 243. a pick-up module; 2421. a slider; 2422. a fixed block; 2423. a connecting block; 2424. an elastic member; 244. a fourth photoelectric switch; 245. a fourth photoelectric barrier;

25. a blanking mechanism; 251. a material receiving driving piece; 252. a material receiving bracket; 253. a discharge assembly; 2531. a bottom plate; 2532. a discharging driving module; 2533. the first discharging support module; 2534. the second discharging support module; 2535. a pull rod; 2521. a bracket connecting plate; 2522. a bracket plate; 2523. a support reinforcing rib; 2524. a tray limiting block; 2511. a third photoelectric barrier; 2512. a third photoelectric switch; 25331. a first support plate; 25332. a first multi-layer slide rail; 25333. a first placing plate; 25341. a second support plate; 25342. a second multi-layer slide rail; 25343. a second placing plate; 25321. a discharge driving member; 25322. a first discharge guide; 25323. a second discharge guide; 25324. a first guide plate; 25325. a second guide plate; 25326. a discharging driving connecting plate; 2530. a baffle; 25311. a first detection mounting plate; 25312. a second detection mounting plate; 2539. a second photodetector;

26. A manipulator assembly; 261. a U-shaped mounting plate;

27. an identification mechanism; 271. identifying a camera; 272. identifying a background plate;

28. a support platform; 281. a first riser; 282. a second riser; 283. a first operation through hole; 284. a second operation through hole;

29. a visual positioning mechanism;

20. a detection mechanism; 201. a mounting frame; 202. detecting a camera; 203. an optical lens.

Detailed Description

The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, features defining "first", "second" may include one or more such features, either explicitly or implicitly. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

As shown in fig. 1 to 16, the feeding and discharging device provided by the embodiment of the invention includes: the device comprises a grabbing mechanism 21, a feeding mechanism 22, a transferring mechanism 23, a picking mechanism 24 and a discharging mechanism 25, wherein the grabbing mechanism 21 is used for grabbing a first workpiece conveyed in a previous procedure and grabbing the first workpiece onto a work bearing jig in a next procedure, the feeding mechanism 22 is used for conveying a tray 221 with a second workpiece placed on the tray 221, the transferring mechanism 23 is used for carrying the tray 221 from the feeding mechanism 22 to a material taking position, the picking mechanism 24 is used for picking the second workpiece from the tray 221 on the transferring mechanism 23 and picking the second workpiece onto the work bearing jig, the discharging mechanism 25 is located below the feeding mechanism 22, after the second workpiece in the tray 221 is picked up by the picking mechanism 24, the empty tray 221 is transferred to the discharging mechanism 25 through the transferring mechanism 23, and the discharging mechanism 25 is used for collecting and transferring the empty tray 221. In other words, when the worker places a plurality of trays 221 on the loading mechanism 22, the transferring mechanism 23 may automatically receive one tray 221 from the loading mechanism 22 and transfer to the material taking position, and when the picking mechanism 24 finishes taking the second workpiece on the tray 221, the discharging mechanism 25 may automatically recover the empty tray 221, and then the transferring mechanism 23 receives the next tray 221 from the loading mechanism 22 and transfers to the designated position, thereby circulating. Therefore, the loading and unloading device can realize loading of two workpieces, in addition, in the loading process, the transportation and the recovery are automatically processed, the working efficiency of loading and unloading can be remarkably improved, when the trays 221 on the loading mechanism 22 are completely taken out, the staff can carry out material supplementing, and the material supplementing operation can not influence the pickup mechanism 24 to pick up the second workpiece from the tray 221 on the transportation mechanism 23, so that the loading operation without stopping can be realized, the working efficiency is further improved, and the production efficiency of a production line is improved.

Specifically, the feeding mechanism 22 includes: the first feeding component 222, the second feeding component 223 and the jacking component 224, wherein the first feeding component 222 is connected with one side of the tray 221, the second feeding component 223 is connected with the other side of the tray 221, and the jacking component 224 is located below the tray 221 and is used for jacking the tray 221. The first feeding assembly 222 includes: the first mounting plate 2221, the first cylinder 2222 and the second cylinder 2224 are all installed on the first mounting plate 2221, the extension end of the first cylinder 2222 is connected with the first supporting block 2223, the extension end of the second cylinder 2224 is connected with the second supporting block 2225, the first supporting block 2223, the second supporting block 2225 are used for supporting one side of the tray 221. The second feed assembly 223 includes: the second mounting plate 2231, the third cylinder 2232 and the fourth cylinder 2234 are all mounted on the second mounting plate 2231, the extending end of the third cylinder 2232 is connected with a third supporting block 2233, the extending end of the fourth cylinder 2234 is connected with a fourth supporting block 2235, and the third supporting block 2233 and the fourth supporting block 2235 are used for supporting the other side of the tray 221. It should be noted that, two first limiting columns 2226 are further disposed at two ends of the first mounting plate 2221, two second limiting columns 2236 are further disposed at two ends of the second mounting plate 2231, the first cylinder 2222 and the second cylinder 2224 are located between the two first limiting columns 2226, and the third cylinder 2232 and the fourth cylinder 2234 are located between the two second limiting columns 2236.

In other words, the first cylinder 2222 may drive the first support block 2223 to move in a direction approaching or moving away from the tray 221, the second cylinder 2224 may drive the second support block 2225 to move in a direction approaching or moving away from the tray 221, the third cylinder 2232 may drive the third support block 2233 to move in a direction approaching or moving away from the tray 221, and the fourth cylinder 2234 may drive the fourth support block 2235 to move in a direction approaching or moving away from the tray 221. When the first, second, third, and fourth support blocks 2223, 2225, 2233, 2235 are simultaneously moved in a direction approaching the tray 221 (e.g., are inserted into grooves in the sides of the tray 221), the tray 221 may be lifted. When the first, second, third, and fourth support blocks 2223, 2225, 2233, 2235 are separated from the tray 221, the tray 221 may drop onto the underlying jacking assembly 224. The two first limit posts 2226 and the two second limit posts 2236 surround the periphery of the tray 221 to protect the tray 221 from toppling. The loading mechanism 22 further includes: when the tray 221 on the feeding mechanism 22 is taken out, the first photoelectric detector 225 can send a signal to the control interface to remind the staff of feeding.

Specifically, the jacking assembly 224 includes: the jacking mounting plate 2240, the jacking driving module 2241, the jacking guiding module 2242 and the jacking plate 2243, the jacking driving module 2241 and the jacking guiding module 2242 are all installed on the jacking mounting plate 2240, the jacking driving module 2241 is connected with the jacking guiding module 2242, and the jacking plate 2243 is fixedly connected with the top of the jacking guiding module 2242.

For example, the jacking drive module 2241 includes: the jacking driving piece 22411, the jacking transmission piece 22412, the jacking screw module 22413 and the jacking driving plate 22414, the jacking driving piece 22411 is connected with the jacking mounting plate 2240 through the first driving connecting plate 22415, the lower end of the jacking screw module 22413 is connected with the output end of the jacking driving piece 22411 through the jacking transmission piece 22412, the lower end of the jacking screw module 22413 is further connected with the jacking mounting plate 2240 through the second driving connecting plate 22416 to form a support, the jacking driving plate 22414 is sleeved on the jacking screw module 22413, and when the jacking driving piece 22411 is started, the nut on the jacking screw module 22413 is driven to move up and down through the jacking transmission piece 22412 so as to drive the jacking driving plate 22414 to move up and down.

For example, the jacking guidance module 2242 includes: the first support 22421, the second support 22422, the first slider 22423, the second slider 22424, the first sliding rail 22425, the second sliding rail 22426, the first guide plate 22427 and the second guide plate 22428, the first slider 22423 and the second slider 22424 are respectively installed on the first support 22421 and the second support 22422, the first sliding rail 22425 and the second sliding rail 22426 are respectively installed on the first guide plate 22427 and the second guide plate 22428, the first slider 22423 is in sliding connection with the first sliding rail 22425, the second slider 22424 is in sliding connection with the second sliding rail 22426, the first guide plate 22427 and the second guide plate 22428 are respectively fixedly connected with two ends of the jacking driving plate 22414, and the first guide plate 22427 and the second guide plate 22428 are both connected with the jacking plate 2243. That is, when the jacking driving plate 22414 moves up and down, the first and

second guide plates

22427 and 22428 may be driven to move up and down at the same time, so that the jacking plate 2243 may move up and down, and when the jacking plate 2243 moves to a certain height, may contact with the tray 221 at the lowest layer in the feeding mechanism 22. For example, a first photoelectric blocking piece 22429 is disposed on one side of the first guide plate 22427, a first photoelectric switch 22420 is disposed on one side of the first support 22421, the first photoelectric switch 22420 is located at a position of the first support 22421 near the bottom, and when the first guide plate 22427 moves downward and makes the first photoelectric blocking piece 22429 located in the first photoelectric switch 22420, a signal may be triggered to the control interface, so as to control the jacking driving member 22411 to stop. For example, the lift plate 2243 is also provided with vacuum nozzles that can hold the tray 221 when the tray 221 falls onto the lift plate 2243 to improve stability.

It should be noted that the loading and unloading device further includes a supporting platform 28, and the grabbing mechanism 21, the loading mechanism 22, the transferring mechanism 23, and the picking mechanism 24 are all installed on the supporting platform 28. The supporting platform 28 is provided with a first riser 281 and a second riser 282, the supporting platform 28 is provided with a first operation through hole 283 and a second operation through hole 284, the jacking component 224 is positioned in the second operation through hole 284, and the jacking mounting plate 2240 is fixedly connected with the supporting platform 28. The first working through hole 283 is used for the working of the blanking mechanism 25. The first riser 281, the second riser 282 are located respectively in both sides of the first operation through hole 283, the first mounting plate 2221 is mounted on the top end of the first riser 281, the second mounting plate 2231 is mounted on the top end of the second riser 282, and the heights of the first riser 281 and the second riser 282 are flush.

Specifically, the transfer mechanism 23 includes: transfer plate 231, first lifting subassembly 232, second lifting subassembly 233 and transfer drive assembly 234, first lifting subassembly 232 is located one side of transfer plate 231, and second lifting subassembly 233 is located the opposite side of transfer plate 231, and transfer drive assembly 234 is connected with transfer plate 231 for the removal of drive transfer plate 231. The first lift assembly 232 includes: the lifting device comprises a first lifting cylinder 2321, a first lifting plate 2322, a fifth cylinder 2323 and a sixth cylinder 2324, wherein the first lifting plate 2322 is connected with the extending end of the first lifting cylinder 2321, the fifth cylinder 2323 and the sixth cylinder 2324 are respectively arranged at two ends of the first lifting plate 2322, the extending end of the fifth cylinder 2323 is connected with a fifth supporting block 2325, and the extending end of the sixth cylinder 2324 is connected with a sixth supporting block 2326. The second lift assembly 233 includes: the second lifting cylinder 2331, the second lifting plate 2332, the seventh cylinder 2333 and the eighth cylinder 2334, the second lifting plate 2332 is connected with the extending end of the second lifting cylinder 2331, the seventh cylinder 2333 and the eighth cylinder 2334 are respectively arranged at the two ends of the second lifting plate 2332, the extending end of the seventh cylinder 2333 is connected with a seventh supporting block 2335, and the extending end of the eighth cylinder 2334 is connected with an eighth supporting block 2336.

For example, the first lifting cylinder 2321 is installed at the outer side of the first riser 281, when the extending end of the first lifting cylinder 2321 extends, the first lifting plate 2322 may be lifted upwards, and when the extending end of the first lifting cylinder 2321 retracts, the first lifting plate 2322 may be driven to descend. The second lifting cylinder 2331 is mounted on the outer side of the second riser 282, when the extending end of the second lifting cylinder 2331 extends, the second lifting plate 2332 can be lifted upwards, and when the extending end of the second lifting cylinder 2331 retracts, the second lifting plate 2332 can be driven to descend. The fifth cylinder 2323, the sixth cylinder 2324, the seventh cylinder 2333 and the eighth cylinder 2334 may respectively drive the fifth support block 2325, the sixth support block 2326, the seventh support block 2335 and the eighth support block 2336 to extend and retract. When the fifth, sixth, seventh and eighth support blocks 2325, 2326, 2335, 2336 are simultaneously extended, the tray 221 may be lifted.

Specifically, the transport drive assembly 234 includes: the linear driving module 2341, the linear guide 2342, the first connecting plate 2343, the second connecting plate 2344 and the positioning detection module 2345, wherein the first connecting plate 2343 is connected with the linear driving module 2341, the second connecting plate 2344 is connected with the linear guide 2342, the first connecting plate 2343 and the second connecting plate 2344 are respectively connected with two ends of the transfer plate 231, and the positioning detection module 2345 is installed on the linear driving module 2341. For example, the linear driving module 2341 is mounted on the inner side of the second riser 282, the linear guide rail 2342 is mounted on the inner side of the first riser 281, the positioning detection module 2345 includes a second photoelectric switch 23451 and a second photoelectric baffle 23452, the second photoelectric switch 23451 is mounted on the stator of the linear driving module 2341, the second photoelectric baffle 23452 is mounted on the mover of the linear driving module 2341, the linear driving module 2341 and the linear guide rail 2342 respectively extend to the lower parts of the second feeding assembly 223 and the first feeding assembly 222, and the second photoelectric switch 23451 is located on the stator of the linear driving module 2341 at a position close to the third cylinder 2232. When the linear driving module 2341 is started, the transfer plate 231 can be driven to move back and forth in the horizontal direction by the first connecting plate 2343 and the second connecting plate 2344, and when the second photoelectric baffle 23452 is located in the second photoelectric switch 23451, the linear driving module 2341 is stopped, and at this time, the transfer plate 231 is located right above the jacking component 224. A third work through hole 2311 is formed in the middle of the transfer plate 231 for the up-and-down movement of the lifting plate 2243.

In the transferring process, a plurality of trays 221 are placed on the loading mechanism 22, and at this time, the first supporting block 2223, the second supporting block 2225, the third supporting block 2233 and the fourth supporting block 2235 hold the tray 221 at the bottommost layer. The linear driving module 2341 drives the transfer plate 231 to move right under the lowermost tray 221. At this time, the lift driving member 22411 drives the lift driving plate 22414 to move upward (pass through the third work through hole 2311) to be in contact with the lowermost tray 221. The first, second, third and

fourth cylinders

2222, 2224, 2232 and 2234 are activated to bring the first, second, third and fourth support blocks 2223, 2225, 2233, 2235 out of engagement with the bottom-most tray 221. At this time, the jacking driving member 22411 drives the jacking driving plate 22414 to move downward for a distance, so that the height of the tray 221 of the penultimate layer is substantially flush with the first supporting block 2223, the second supporting block 2225, the third supporting block 2233 and the fourth supporting block 2235, and at this time, the first cylinder 2222, the second cylinder 2224, the third cylinder 2232 and the fourth cylinder 2234 are started again to drive the first supporting block 2223, the second supporting block 2225, the third supporting block 2233 and the fourth supporting block 2235 to extend out to hold the tray 221 of the penultimate layer. At this time, separation is achieved between the bottom tray 221 and the last but one tray 221, and then the lifting driving member 22411 is started to drive the bottom tray 221 to move downward, and when the bottom tray moves downward to a certain distance, the tray 221 falls onto the transfer plate 231, and at this time, the lifting plate 2243 continues to move downward to return to the initial position. Then, the linear driving module 2341 drives the transfer plate 231 to move toward the designated position.

Specifically, the blanking mechanism 25 includes: the device comprises a receiving driving piece 251, a receiving support 252 and a discharging component 253, wherein the receiving support 252 is connected with the receiving driving piece 251, the receiving driving piece 251 can drive the receiving support 252 to move along the z direction, the receiving support 252 is used for collecting empty trays 221, and the discharging component 253 is used for conveying the empty trays 221 on the receiving support 252 to the outside of the device. The outfeed assembly 253 includes: bottom plate 2531, ejection of compact drive module 2532, first ejection of compact support module 2533, second ejection of compact support module 2534 and pull rod 2535, ejection of compact drive module 2532 are installed on bottom plate 2531, and first ejection of compact support module 2533 is installed on ejection of compact drive module 2532 for support tray 221's one end, second ejection of compact support module 2534 is installed on ejection of compact drive module 2532, is used for supporting tray 221's the other end, and pull rod 2535's one end is connected with first ejection of compact support module 2533, and pull rod 2535's the other end is connected with second ejection of compact support module 2534.

For example, the take-up stand 252 includes: the support comprises a support connecting plate 2521, a support flat plate 2522 and support reinforcing ribs 2523, wherein the support connecting plate 2521 is connected with a rotor of the material collecting driving piece 251, one end of the support flat plate 2522 is connected with the support connecting plate 2521, and the support reinforcing ribs 2523 are used for improving the stability of the support flat plate 2522. For example, two tray stoppers 2524 are respectively disposed at two ends of the bracket flat plate 2522, and a distance between the two tray stoppers 2524 is matched with a width of the tray 221. The mover of the material receiving driving member 251 is provided with a third photoelectric baffle 2511, the stator of the material receiving driving member 251 is provided with three third photoelectric switches 2512, and the three third photoelectric switches 2512 are respectively positioned at the upper part, the middle part and the lower part of the material receiving driving member 251.

For example, the first outfeed support module 2533 includes: first backup pad 25331, first multilayer slide rail 25332 and first place board 25333, first backup pad 25331 are installed on ejection of compact drive module 2532, first multilayer slide rail 25332 is installed on first backup pad 25331, first place board 25333 is installed on first multilayer slide rail 25332. The second outfeed support module 2534 includes: the second support plate 25341, the second multi-layer sliding rail 25342 and the second placing plate 25343, the second support plate 25341 is installed on the discharging driving module 2532, the second multi-layer sliding rail 25342 is installed on the second support plate 25341, and the second placing plate 25343 is installed on the second multi-layer sliding rail 25342.

The outfeed drive module 2532 includes: the device comprises a discharging driving piece 25321, a first discharging guiding piece 25322, a second discharging guiding piece 25323, a first guiding flat plate 25324, a second guiding flat plate 25325 and a discharging driving connecting plate 25326, wherein the discharging driving piece 25321, the first discharging guiding piece 25322 and the second discharging guiding piece 25323 are all arranged on a bottom plate 2531, the first discharging guiding piece 25322 and the second discharging guiding piece 25323 are respectively positioned on two sides of the discharging driving piece 25321, the first guiding flat plate 25324 is connected with the first discharging guiding piece 25322, the second guiding flat plate 25325 is connected with the second discharging guiding piece 25323, a first supporting plate 25331 is arranged on the first guiding flat plate 25324 through a supporting block, a second supporting plate 25341 is arranged on the second guiding flat plate 25325 through a supporting block, two ends of the discharging driving connecting plate 25326 are respectively connected with the first guiding flat plate 25324 and the second guiding flat plate 25325, and the middle part of the discharging driving connecting plate 25326 is connected with the discharging driving piece 25321. When the discharging driving member 25321 is started, the discharging driving connecting plate 25326 can drive the first guiding flat plate 25324 and the second guiding flat plate 25325 to move back and forth, so as to drive the first discharging supporting module 2533 and the second discharging supporting module 2534 to move back and forth. Both ends of the tray 221 are placed on the first placing plate 25333 and the second placing plate 25343, the outer sides of the first placing plate 25333 and the second placing plate 25343 are also provided with a plurality of baffles 2530, so that protection is formed for the tray 221, and the tray is placed to fall off in the moving process. The two sides of the bottom plate 2531 are also provided with a first detection mounting plate 25311 and a second detection mounting plate 25312, one side of the first detection mounting plate 25311 and the second detection mounting plate 25312, which faces the tray 221, is provided with a second photoelectric detector 2539, and when the material receiving bracket 252 places the empty tray 221 on the first placing plate 25333 and the second placing plate 25343, the second photoelectric detector 2539 can generate a signal to the control interface, so that the material discharging driving piece 25321 is started.

The working process of the blanking mechanism 25 is that firstly, the receiving driving member 251 moves the receiving bracket 252 to the position of the third photoelectric baffle 2511 at the upper part, namely, to the position below the transferring mechanism 23, when the second workpiece of the tray 221 on the transferring mechanism 23 is taken out, the fifth cylinder 2323, the sixth cylinder 2324, the seventh cylinder 2333 and the eighth cylinder 2334 respectively drive the fifth supporting block 2325, the sixth supporting block 2326, the seventh supporting block 2335 and the eighth supporting block 2336 to extend out to hold the tray 221, and then the linear driving module 2341 drives the transferring plate 231 to move towards the position close to the feeding mechanism 22. At this time, the fifth, sixth, seventh and

eighth cylinders

2323, 2324, 2333 and 2334 respectively drive the retraction of the fifth, sixth, seventh and eighth support blocks 2325, 2335 and 2336, respectively, out of the tray 221, and the empty tray 221 may drop onto the rack plate 2522. The empty trays 221 may be sequentially stacked on the rack flat plate 2522, and the receiving driving member 251 drives the receiving rack 252 to move slowly downward during the stacking process due to the increase in the height of the empty trays 221. When the material receiving bracket 252 moves down to the position where the third photoelectric barrier 2511 in the middle is located, the material receiving bracket 252 stops receiving material. At this time, the receiving bracket 252 already has a plurality of empty trays 221. At this time, the receiving driving member 251 drives the receiving bracket 252 to move downward to the position of the third photoelectric blocking piece 2511 at the lower portion, and at this time, two ends of the empty tray 221 on the receiving bracket 252 may contact the first placing plate 25333 and the second placing plate 25343. At this time, the discharging driving member 25321 is activated to drive the empty tray 221 to move to the other side (i.e., the direction approaching the door panel). At this time, the worker can pull the pull rod 2535, and pull the empty tray 221 out of the loading/unloading device through the sliding characteristics of the first multi-layered slide rail 25332 and the second multi-layered slide rail 25342, and recover the empty tray.

The feeding and discharging device of the invention further comprises: the robot assembly 26, the gripper mechanism 21 and the pick-up mechanism 24 are mounted on the robot assembly 26. For example, the manipulator assembly 26 includes a U-shaped mounting plate 261, and the gripping mechanism 21 and the picking mechanism 24 are mounted on both sides of the U-shaped mounting plate 261, respectively. The opening of the U-shaped mounting plate 261 is facing downward.

The pickup mechanism 24 includes: pick-up mounting plate 241, pick-up connection module 242 and pick-up module 243, pick-up mounting plate 241 is connected (e.g., fixedly connected with one side of U-shaped mounting plate 261) with manipulator assembly 26, one end of pick-up connection module 242 is mounted on pick-up mounting plate 241, pick-up module 243 is mounted at the other end of pick-up connection module 242, and pick-up module 243 is capable of picking up a second workpiece from tray 221. The bottom of the pick-up module 243 is provided with a suction nozzle, which can provide stability of adsorption, and the shape of the bottom of the pick-up module 243 is matched with the shape of the second workpiece, so that the second workpiece is prevented from being damaged in the pick-up process. For example, the pickup connection module 242 includes: the sliding piece 2421, the fixed block 2422, the connecting block 2423 and the elastic piece 2424, wherein the sliding piece 2421 and the fixed block 2422 are arranged on the pickup mounting plate 241, one side of the connecting block 2423 is connected with the sliding piece 2421, the top of the connecting block 2423 is connected with the fixed block 2422 through the elastic piece 2424, and the bottom of the connecting block 2423 is connected with the pickup module 243. A fourth photoelectric switch 244 is installed at one side of the fixing block 2422, and a fourth photoelectric blocking piece 245 is installed at one side of the connection block 2423. The manipulator assembly 26 may drive the pick-up mechanism 24 to move above the transfer mechanism 23, and then drive the pick-up mechanism 24 to move downward to pick up the second workpiece, when the pick-up module 243 contacts with the second workpiece, the pick-up mechanism 24 continues to move downward, so that the elastic member 2424 is pressed, the connection block 2423 has a tendency to move upward, and when the fourth photoelectric barrier 245 covers the light of the fourth photoelectric switch 244, the manipulator assembly 26 stops moving downward and moves upward, and at this time, the second workpiece is picked up by the pick-up module 243.

The grasping mechanism 21 includes: the clamping device comprises a grabbing cylinder 211, an adapter plate 212, clamping jaw cylinders 213, a first clamping jaw 214, a second clamping jaw 215, a pressing plate 216, a buffer spring 217, a fifth photoelectric switch 218 and a fifth photoelectric baffle 219, wherein the grabbing cylinder 211 is connected with the other side of a U-shaped mounting plate 261, the adapter plate 212 is connected with the extending end of the grabbing cylinder 211, the clamping jaw cylinders 213 are connected with the adapter plate 212, the first clamping jaw 214 and the second clamping jaw 215 are connected with the clamping jaw cylinders 213, the pressing plate 216 is positioned between the first clamping jaw 214 and the second clamping jaw 215, two ends of the pressing plate 216 are connected with the clamping jaw cylinders 213 through the buffer spring 217, the fifth photoelectric switch 218 is arranged on the clamping jaw cylinders 213, and the fifth photoelectric baffle 219 is arranged on the pressing plate 216. Jaw cylinder 213 is capable of driving first jaw 214, second jaw 215 toward each other or away from each other. After the manipulator assembly 26 drives the grabbing mechanism 21 to move to a position right above the position of the first workpiece, the grabbing cylinder 211 can be started to drive the clamping jaw cylinder 213 to move downwards, when the pressing plate 216 contacts with the second workpiece, the buffer spring 217 is pressed, the pressing plate 216 has a trend of moving upwards, and when the fifth photoelectric baffle 219 shields the light of the fifth photoelectric switch 218, the clamping jaw cylinder 213 is started, and the second workpiece is clamped and taken out through the first clamping jaw 214 and the second clamping jaw 215.

It should be noted that, a visual positioning mechanism 29 is further disposed on one side of the U-shaped mounting plate 261, for positioning the first workpiece and the second workpiece. For example, the first workpiece is a lens barrel, and the second workpiece is a lens.

The feeding and discharging device of the invention further comprises: and an identification mechanism 27, wherein the identification mechanism 27 is used for identifying the position and the size of the dispensing slot on the first workpiece (namely, the lens barrel). The recognition mechanism 27 includes a recognition camera 271 and a recognition background plate 272, the recognition camera 271 and the recognition background plate 272 are mounted on the support platform 28 by brackets, and the recognition background plate 272 is disposed opposite to the recognition camera 271. After the grabbing mechanism 21 grabs the first workpiece, the first workpiece is moved to a side, close to the recognition camera 271, of the recognition background plate 272, and then the recognition camera 271 is started to sequentially photograph a plurality of surfaces of the first workpiece, and the photographed images can be sent to the control interface for processing, so that the coordinate positions and sizes of the dispensing grooves on the lens barrel are recognized. The feeding and discharging device of the invention further comprises: and the detection mechanism 20, the detection mechanism 20 is installed on the manipulator assembly 26, and the detection mechanism 20 is used for detecting the mounting quality of the first workpiece and the second workpiece. The detection mechanism 20 includes: the device comprises a mounting frame 201, a detection camera 202 and an optical lens 203, wherein the mounting frame 201 is fixed on one side of the manipulator assembly 26, the detection camera 202 and the optical lens 203 are both arranged on the mounting frame 201, and the optical lens 203 and the detection camera 202 are coaxially arranged. For example, the inspection camera 202 is horizontally disposed, when the manipulator assembly 26 drives the first workpiece to the inspection mechanism 20, the inspection mechanism 20 can take a photograph to inspect the first workpiece, if the mounting quality of the first workpiece after the previous process operation is not qualified, the unqualified first workpiece is placed in the recycling bin, and only the qualified first workpiece is grabbed onto the operation bearing fixture of the next process.

The invention also discloses a feeding and discharging method and a feeding and discharging device adopted by the feeding and discharging method. The feeding and discharging method comprises the following steps: s1, placing n trays 221 on the feeding mechanism 22. S2, conveying the bottommost tray 221 from the feeding mechanism 22 to the working range through the transfer mechanism 23. S3, picking up the second workpiece from the tray 221 through a picking mechanism 24; gripping the first workpiece from the conveying rail of the previous apparatus by the gripping mechanism 21; the first workpiece and the second workpiece are transferred to the next apparatus. S4, repeating the step S3 until the second workpiece on the tray 221 is taken out. S5, the empty tray 221 is removed from the transfer mechanism 23 through the blanking mechanism 25. S6, repeating the steps S2-S5 until n empty trays 221 are collected by the blanking mechanism 25.

The picking up of the second workpiece and the grasping of the first workpiece are not performed simultaneously. The sequence can be set according to actual demands. After the tray 221 on the feeding mechanism 22 is taken out, the staff can perform feeding, and the work of the pick-up mechanism 24 is not affected during feeding. The empty tray 221 can be recovered by the blanking mechanism 25.

The step S2 specifically comprises the following steps: the transfer plate 231 is driven to move to the position right below the bottom tray 221 by the linear driving module 2341, and at this time, the jacking driving piece 22411 drives the jacking driving plate 22414 to move upwards to be in contact with the bottom tray 221; controlling the first feeding component 222 and the second feeding component 223 to be separated from the bottom tray 221; the jacking driving piece 22411 drives the jacking driving plate 22414 to downwards enable the height of the tray 221 on the next to last layer to be flush with the plane where the first feeding assembly 222 and the second feeding assembly 223 are located; controlling the first feeding assembly 222 and the second feeding assembly 223 to hold the tray 221 of the penultimate layer so that the tray 221 of the bottommost layer is separated from the tray 221 of the penultimate layer; the lifting driving member 22411 is started to drive the bottom tray 221 to move downwards and drop onto the transfer plate 231, and the linear driving module 2341 drives the transfer plate 231 to move to the picking position.

The step S6 specifically comprises the following steps: when the second workpiece on the tray 221 is picked up, the first lifting assembly 232 and the second lifting assembly 233 are controlled to clamp the empty tray 221, and the transfer plate 231 is driven to move below the feeding mechanism 22 through the linear driving module 2341; the material receiving driving piece 251 drives the material receiving support 252 to move to the uppermost end, at the moment, the first lifting component 232 and the second lifting component 233 are controlled to be separated from the empty tray 221, and the empty tray 221 falls onto the material receiving support 252; when all empty trays 221 are dropped onto the take-up rack 252, the empty trays 221 are transferred to a manual pick-up location by the take-out assembly 253.

The description of the relevant parts in the feeding and discharging method is referred to the detailed description of the corresponding parts of the feeding and discharging device provided in the embodiment of the present invention, and will not be repeated here.

According to the feeding and discharging method, the feeding operation area, the working area and the discharging area are distinguished, so that feeding and discharging can be achieved without stopping, different operations cannot interfere with each other, the working efficiency can be remarkably improved, and the labor intensity of workers is reduced; and the whole process is automatically completed by the working parts, so that the artificial interference and error of manual participation are reduced, and the feeding and discharging precision can be improved.

With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined as the scope of the claims.

Claims

1. Feeding and discharging device, characterized by comprising:

the grabbing mechanism (21) is used for grabbing the first workpiece conveyed in the previous working procedure and grabbing the first workpiece onto an operation bearing jig in the next working procedure;

the feeding mechanism (22), the feeding mechanism (22) is used for conveying a tray (221) with a second workpiece placed on the tray;

a transfer mechanism (23), wherein the transfer mechanism (23) is used for receiving the tray (221) from the feeding mechanism (22) and conveying the tray to a material taking position;

a pick-up mechanism (24), the pick-up mechanism (24) being configured to pick up a second workpiece from the tray (221) on the transfer mechanism (23) and onto the work load-bearing jig;

unloading mechanism (25), unloading mechanism (25) are located the below of feed mechanism (22), second work piece in tray (221) is got after material by picking up mechanism (24), empty tray (221) are passed through transfer mechanism (23) transfer to unloading mechanism (25), unloading mechanism (25) are used for collecting and transferring empty tray (221).

2. The loading and unloading apparatus of claim 1, wherein the loading mechanism (22) comprises:

the first feeding assembly (222) is connected with one side of the tray (221);

the second feeding assembly (223) is connected with the other side of the tray (221);

and the jacking component (224) is positioned below the tray (221) and is used for jacking the tray (221).

3. The loading and unloading apparatus of claim 2, wherein the first loading assembly (222) comprises: the device comprises a first mounting plate (2221), a first air cylinder (2222) and a second air cylinder (2224), wherein the first air cylinder (2222) and the second air cylinder (2224) are both mounted on the first mounting plate (2221), the extending end of the first air cylinder (2222) is connected with a first supporting block (2223), and the extending end of the second air cylinder (2224) is connected with a second supporting block (2225); the first support block (2223) and the second support block (2225) are used for supporting one side of the tray (221).

4. The loading and unloading apparatus of claim 2, wherein the second loading assembly (223) comprises: the device comprises a second mounting plate (2231), a third air cylinder (2232) and a fourth air cylinder (2234), wherein the third air cylinder (2232) and the fourth air cylinder (2234) are all mounted on the second mounting plate (2231), a third supporting block (2233) is connected to the extending end of the third air cylinder (2232), and a fourth supporting block (2235) is connected to the extending end of the fourth air cylinder (2234); the third supporting block (2233) and the fourth supporting block (2235) are used for supporting the other side of the tray (221).

5. The loading and unloading apparatus of claim 2, wherein the jacking assembly (224) comprises: jacking mounting panel (2240), jacking drive module (2241), jacking direction module (2242) and jacking board (2243), jacking drive module (2241), jacking direction module (2242) are all installed on jacking mounting panel (2240), jacking drive module (2241) with jacking direction module (2242) are connected, jacking board (2243) with the top fixed connection of jacking direction module (2242).

6. The loading and unloading apparatus of claim 1, wherein the transfer mechanism (23) comprises:

transfer plate (231)

-a first lifting assembly (232), the first lifting assembly (232) being located on one side of the transfer plate (231);

a second lifting assembly (233), the second lifting assembly (233) being located on the other side of the transfer plate (231);

and the transferring driving assembly (234) is connected with the transferring plate (231) and is used for driving the transferring plate (231) to move.

7. The loading and unloading apparatus of claim 6, wherein the first lifting assembly (232) comprises: first lifting cylinder (2321), first lifting plate (2322), fifth cylinder (2323) and sixth cylinder (2324), first lifting plate (2322) with the end that stretches out of first lifting cylinder (2321) is connected, fifth cylinder (2323), sixth cylinder (2324) are installed respectively the both ends of first lifting plate (2322), the end that stretches out of fifth cylinder (2323) is connected with fifth supporting shoe (2325), the end that stretches out of sixth cylinder (2324) is connected with sixth supporting shoe (2326).

8. The loading and unloading apparatus of claim 6, wherein the transfer drive assembly (234) comprises: linear drive module (2341), linear guide (2342), first connecting plate (2343), second connecting plate (2344) and location detection module (2345), first connecting plate (2343) with linear drive module (2341) are connected, second connecting plate (2344) with linear guide (2342) are connected, first connecting plate (2343), second connecting plate (2344) respectively with the both ends of transporting board (231) are connected, location detection module (2345) are installed on linear drive module (2341).

9. The loading and unloading apparatus of claim 1, wherein the unloading mechanism (25) comprises:

material receiving driving member (251)

The collecting support (252), the collecting support (252) is connected with the collecting driving piece (251), the collecting driving piece (251) can drive the collecting support (252) to move along the z direction, and the collecting support (252) is used for collecting empty trays (221);

-an outfeed assembly (253) for transporting empty trays (221) on the receiving rack (252) to the outside of the device.

10. The loading and unloading apparatus of claim 9, wherein the outfeed assembly (253) comprises:

bottom plate (2531)

-an outfeed drive module (2532), the outfeed drive module (2532) being mounted on the base plate (2531);

a first outfeed support module (2533), the first outfeed support module (2533) being mounted on the outfeed drive module (2532) for supporting one end of the tray (221);

a second discharge supporting module (2534), wherein the second discharge supporting module (2534) is installed on the discharge driving module (2532) and is used for supporting the other end of the tray (221);

and one end of the pull rod (2535) is connected with the first discharging support module (2533), and the other end of the pull rod (2535) is connected with the second discharging support module (2534).

11. The loading and unloading apparatus of claim 10, wherein the first outfeed support module (2533) comprises: first backup pad (25331), first multilayer slide rail (25332) and first board (25333) of placing, first backup pad (25331) are installed on ejection of compact drive module (2532), first multilayer slide rail (25332) are installed on first backup pad (25331), first board (25333) of placing is installed on first multilayer slide rail (25332).

12. The loading and unloading device of claim 1, further comprising: a manipulator assembly (26), the gripping mechanism (21) and the pick-up mechanism (24) being mounted on the manipulator assembly (26);

the pickup mechanism (24) includes:

a pick-up mounting plate (241), the pick-up mounting plate (241) being connected with the robot assembly (26);

a pickup connection module (242), one end of the pickup connection module (242) being mounted on the pickup mounting plate (241);

-a pick-up module (243), said pick-up module (243) being mounted at the other end of said pick-up connection module (242), said pick-up module (243) being capable of picking up a second workpiece from the pallet (221).

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

an identification means (27), wherein the identification means (27) is used for identifying the mounting position information on the first workpiece;

the detection mechanism (20), detection mechanism (20) are installed on manipulator subassembly (26), detection mechanism (20) are used for detecting the mounting quality of first work piece after the previous process operation.

14. A loading and unloading method, characterized in that a loading and unloading device according to any one of claims 1-13 is used, the method comprising:

S1, placing a plurality of trays (221) with second workpieces on a feeding mechanism (22);

s2, conveying the bottom tray (221) from the feeding mechanism (22) to a pick-up range through a transfer mechanism (23);

s3, picking up a second workpiece from the tray (221) through a pick-up mechanism (24) and placing the second workpiece on a work bearing jig; the first workpiece conveyed in the previous procedure is grabbed by a grabbing mechanism (21) and placed on an operation bearing jig;

s4, repeating the step S3 until the second workpiece on the tray (221) is taken out;

s5, transferring the empty tray (221) to a blanking mechanism (25) through the transferring mechanism (23);

s6, repeating the steps S2-S5 until all empty trays (221) are collected by a blanking mechanism (25), and conveying the empty trays (221) to a manual material taking position by the blanking mechanism (25).

15. The feeding and discharging method as set forth in claim 14, wherein the step S2 specifically includes:

the transfer plate (231) is driven to move to the position right below the bottom tray (221) by the linear driving module (2341), and at the moment, the jacking driving piece (22411) drives the jacking driving plate (22414) to move upwards to be in contact with the bottom tray (221);

Controlling the first feeding component (222) and the second feeding component (223) to be separated from the tray (221) at the bottommost layer; the jacking driving piece (22411) drives the jacking driving plate (22414) downwards so that the height of the tray (221) of the penultimate layer is flush with the plane where the first feeding assembly (222) and the second feeding assembly (223) are located;

controlling the first feeding component (222) and the second feeding component (223) to hold the tray (221) of the penultimate layer so that the tray (221) of the bottommost layer is separated from the tray (221) of the penultimate layer;

the jacking driving piece (22411) is started to drive the bottom tray (221) to move downwards and fall onto the transfer plate (231), and the transfer plate (231) is driven to move to the pick-up position through the linear driving module (2341).

16. The feeding and discharging method as set forth in claim 14, wherein the step S6 specifically includes:

when the second workpiece on the tray (221) is picked up, the first lifting assembly (232) and the second lifting assembly (233) are controlled to clamp the empty tray (221), and the transfer plate (231) is driven to move below the feeding mechanism (22) through the linear driving module (2341);

The material receiving driving piece (251) drives the material receiving support (252) to move to the uppermost end, at the moment, the first lifting component (232) and the second lifting component (233) are controlled to be separated from the empty tray (221), and the empty tray (221) falls onto the material receiving support (252);

when all empty trays (221) fall onto the receiving bracket (252), the empty trays (221) are transferred to a manual material taking position through the material discharging assembly (253).