CN206142439U - Automatic go up blanking machine - Google Patents

Abstract

The utility model relates to an automatic loading and unloading machine, which comprises a frame and a feeding channel and a material discharging channel arranged side by side on the frame. The feeding channel includes a first full material frame transmission mechanism, a first material frame lifting mechanism, a first material holding mechanism, a material loading manipulator and a first empty material frame transmission mechanism. The unloading channel includes a second empty material frame transmission mechanism, a second material frame lifting mechanism, a material unloading manipulator, a second material holding mechanism and a second full material frame transmission mechanism. The automatic loading and unloading machine of the utility model adopts a frame-type double-channel automatic loading and unloading method, and the feeding channel and the unloading channel are set in parallel, so that more materials enter and output more, and it can be automatically connected with a double-channel printing machine and an oven to form a fully automatic window glass. The production line can reduce the number of transportation of glass windows before and after printing, reduce the phenomenon of dirt caused by multiple picks, greatly reduce labor force, and improve production efficiency and product yield.

Description

Automatic loading and unloading machine

technical field

The utility model relates to printing equipment, in particular to an automatic loading and unloading machine.

Background technique

With the rapid development of the global IT industry, the demand for IT window glass is also growing rapidly. Looking at today's IT market, the application of window glass is ubiquitous. As one of the necessary components for human-computer communication, it is widely used in consumer electronics and communication products. vitality. The glass cover is a major component of the touch screen. With the rapid development of touch screen technology, the production of glass cover has strict requirements, and the production efficiency needs to be improved urgently.

The printing process of window glass is completed in a dust-free workshop, which requires high cleanliness of printed materials. The traditional production process is: after the glass is cleaned by ultrasonic waves, it is manually taken out of the material basket for inspection, then inserted back into the material frame, and then manually removed one by one for printing, and then manually removed and inserted back into the material frame after printing and drying. In this traditional production method, the window glass is transported too many times, and the stains in the environment will stick to the glass surface, resulting in a decline in printing yield. Moreover, this multi-person single-machine production line is inefficient and cannot meet production needs.

Therefore, there is an urgent need for an automatic and efficient loading and unloading equipment so as to form a high-efficiency fully automated production line with printing machines and ovens.

Utility model content

The technical problem to be solved by the utility model is to provide an automatic loading and unloading machine for the above-mentioned defects of the prior art.

The technical solution adopted by the utility model to solve the technical problems is: to propose an automatic loading and unloading machine, including a frame and a feeding channel and a feeding channel arranged side by side on the frame;

Wherein, the feeding channel includes:

The first full frame conveying mechanism installed on the upper part of the frame to feed into the full frame;

A first material frame lifting mechanism arranged at the end of the transmission stroke of the first full material frame transmission mechanism to receive the full material frame and lower the full material frame layer by layer;

The first supporting mechanism for taking out the materials in the full material frame on the first material frame lifting mechanism layer by layer and sending them to the upper material level;

The feeding manipulator used to send out the materials on the feeding position;

A first empty material frame transmission mechanism arranged at the lower part of the frame to receive the empty material frame on the first material frame lifting mechanism and send the empty material frame along the direction opposite to the first full material frame transmission mechanism;

Wherein, the feeding channel includes:

The second empty material frame conveying mechanism arranged at the lower part of the frame to feed the empty material frame;

A second material frame lifting mechanism arranged at the end of the transmission stroke of the second empty material frame transmission mechanism to receive the empty material frame and raise the empty material frame layer by layer;

Unloading robot for transferring external materials to the unloading position;

The second supporting mechanism for putting the materials on the lower material level into the empty material frame on the second material frame lifting mechanism layer by layer;

The second full frame transmission mechanism is arranged on the upper part of the frame to receive the full frame on the second frame lifting mechanism and send the full frame along the direction opposite to the second empty frame transmission mechanism.

According to an embodiment of the present utility model, the transmission directions of the first full frame transmission mechanism and the second full frame transmission mechanism are opposite, and the transmission directions of the first empty material frame transmission mechanism and the second empty frame transmission mechanism The transmission direction is reversed.

According to an embodiment of the present invention, the first full frame transmission mechanism, the second full frame transmission mechanism, the first empty frame transmission mechanism and the second empty frame transmission mechanism all include The bottom plate, the driving cylinder installed on the bottom plate and the feeding guide plate driven by the driving cylinder can move back and forth relative to the bottom plate along the transmission route of the material frame. The check block that pushes the material frame on the feeding guide plate to move along the conveying direction during the process.

According to one embodiment of the present invention, the first supporting mechanism and the second supporting mechanism both include a supporting plate, a supporting plate in and out module, and a supporting plate lifting module, and are also equipped with a The position sensor for the distance that the supporting plate moves in and out of the module and the supporting plate lifting module.

According to an embodiment of the present utility model, the first material frame lifting mechanism and the second material frame lifting mechanism both include a material frame bearing platform, a driving module for driving the material frame bearing platform to lift layer by layer, and a The lifting movement of the frame carrying table provides the guided guide assembly.

According to an embodiment of the present utility model, the feeding channel further includes a transfer platform arranged downstream of the feeding position on the frame for initial positioning of the materials, and the feeding manipulator has a The material on the material level is conveyed to the first suction nozzle assembly of the transfer platform and the second suction nozzle assembly is simultaneously sent out the material on the transfer platform.

According to an embodiment of the present invention, the unloading channel also includes a transfer platform arranged upstream of the unloading level on the frame for initial positioning of the material, and the unloading manipulator has a transfer platform for The material on the connecting platform is transferred to the first nozzle assembly of the lower material position and the external material is transferred to the second nozzle assembly of the transfer platform at the same time.

According to one embodiment of the present utility model, the transfer platform is provided with a preliminary positioning module, and the preliminary positioning module includes a first connecting rod and a second connecting rod, and the first connecting rod and the second connecting rod The first end is hinged by a rotating shaft, and the second end is slidably installed on a slide rail extending in a direction perpendicular to the conveying direction of the material, and the rotating shaft is fixed on the output end of the driving cylinder working along the conveying direction of the material , the second end of the first connecting rod is provided with two positioning rods, and the second end of the second connecting rod is provided with a positioning rod.

According to one embodiment of the present invention, the loading manipulator and the unloading manipulator both include a beam installed on the frame and extending along the conveying route, a first suction nozzle assembly and a second suction nozzle assembly installed on the beam , and a drive module that drives the first nozzle assembly and the second nozzle assembly to move synchronously back and forth along the beam.

According to an embodiment of the present invention, both the first suction nozzle assembly and the second suction nozzle assembly include a mounting frame, a suction nozzle, and a lifting and rotating drive assembly that drives the suction nozzle to lift and rotate relative to the mounting frame. Both the suction nozzle assembly and the second suction nozzle assembly move along the beam through the mounting frame.

The automatic loading and unloading machine of the utility model adopts a frame-type double-channel automatic loading and unloading method, and the feeding channel and the unloading channel are set in parallel, so that more materials enter and output more, and it can be automatically connected with a double-channel printing machine and an oven to form a fully automatic window glass. The production line can reduce the number of transportation of glass windows before and after printing, reduce the phenomenon of dirt caused by multiple picks, greatly reduce labor force, and improve production efficiency and product yield.

Description of drawings

The utility model will be further described below in conjunction with accompanying drawing and embodiment, in the accompanying drawing:

Fig. 1 is the complete machine structural representation of the automatic loading and unloading machine of an embodiment of the utility model;

Fig. 2 is a schematic structural view of the feeding channel of the automatic loading and unloading machine shown in Fig. 1;

Fig. 3 is a schematic structural view of the unloading channel of the automatic loading and unloading machine shown in Fig. 1;

Fig. 4 is a schematic structural view of the full frame transmission mechanism in one embodiment of the present invention;

Fig. 5 is a schematic structural view of an empty material frame transmission mechanism in an embodiment of the present invention;

Fig. 6a is a schematic diagram of the side structure of the material frame lifting mechanism in one embodiment of the present invention;

Fig. 6b is a schematic diagram of the front structure of the material frame lifting mechanism in one embodiment of the present invention;

Fig. 7 is a schematic structural view of the supporting mechanism in one embodiment of the present invention;

Fig. 8 is a schematic structural view of a feeding manipulator in an embodiment of the present invention;

Fig. 9 is a structural schematic diagram of the whole machine of the automatic loading and unloading machine according to another embodiment of the utility model;

Fig. 10 is a schematic structural diagram of the transfer platform in an embodiment of the present invention;

FIG. 11 is a schematic structural diagram of the initial positioning module of the transfer platform shown in FIG. 10 .

detailed description

In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model, and are not intended to limit the utility model.

Fig. 1 shows a schematic diagram of the overall structure of an automatic loading and unloading machine according to an embodiment of the present invention. As shown in FIG. 1 , the automatic loading and unloading machine is mainly composed of a frame 100 and a feeding channel 200 and a feeding channel 300 arranged side by side on the frame 100 .

Specifically as shown in FIG. 2 , the feeding channel 200 includes a first full frame transmission mechanism 210 , a first material frame lifting mechanism 220 , a first material holding mechanism 240 , a feeding manipulator 250 and a first empty frame transmission mechanism 260 . The first full frame delivery mechanism 210 is arranged on the upper part of the frame 100 and is used to send the full frame 11 in the direction shown by the arrow 21 . The first frame elevating mechanism 220 is arranged at the end of the conveying stroke of the first full frame conveying mechanism 210 for receiving the full frame 11 and lowering the full frame 11 layer by layer. The first material holding mechanism 240 is used to take out the material in the full material frame on the first material frame lifting mechanism 220 layer by layer and send it to the material loading position 230 . The feeding manipulator 250 is used to send the materials on the feeding level 230 to external docking equipment, such as a printing machine or an oven. The first empty material frame transmission mechanism 260 is arranged at the bottom of the frame 100, and is used to receive the empty material frame 12 completely lowered on the first material frame lifting mechanism 220, and the empty material frame 12 is moved along with the first full material frame transmission mechanism. 210 is sent out in the opposite direction (ie the direction shown by arrow 22 in FIG. 2 ).

The working process of the feeding channel 200 is as follows: First, the first full frame delivery mechanism 210 sends the full frame 11 in according to the direction shown by the arrow 21, and then the first full frame lifting mechanism 220 receives the full frame 11 and Descending one level, then, the material on the bottom layer in the full material frame 11 is taken out by the first supporting mechanism 240 and sent to the loading position 230, and then the material on the loading position 230 is sent to the external docking by the loading manipulator 250 equipment, so far a feeding action is completed. Afterwards, the material frame on it is lowered layer by layer by the first material frame lifting mechanism 220, and the above-mentioned action is repeated, that is, the material of the current layer in the material frame is taken out to the loading level 230 by the first material supporting mechanism 240, and then the material frame is loaded The manipulator 250 sends the materials on the upper material level 230 to the external docking equipment, and the cycle is repeated until all the materials in the material frame are taken out, and the material frame is completely lowered by the first material frame lifting mechanism 220 . Then, the empty material frame 12 completely descended from the first material frame lifting mechanism 220 is received by the first empty material frame transmission mechanism 260 , and the empty material frame 12 is sent out along the direction indicated by the arrow 22 .

Specifically as shown in FIG. 3 , the unloading channel 300 includes a second empty material frame transmission mechanism 310 , a second material frame lifting mechanism 320 , a material unloading manipulator 330 , a second material holding mechanism 350 and a second full material frame transmission mechanism 360 . The second empty frame conveying mechanism 310 is arranged at the bottom of the frame 100 and is arranged side by side with the first empty frame conveying mechanism 260 (see FIG. 2 ), for feeding the empty frame 12 in the direction shown by the arrow 31 . The second frame elevating mechanism 320 is arranged at the end of the conveying stroke of the second empty frame conveying mechanism 310 , and is used for receiving the empty frame 12 and raising the empty frame 12 layer by layer. The unloading manipulator 330 is used to transfer external materials to the unloading position 330 . For example, when the automatic loading and unloading machine is used to connect with a printing machine or an oven to realize a fully automatic printing production line, the unloading manipulator 330 is used to take back the materials processed by the printing machine or oven to the unloading position 330 . The second material holding mechanism 350 is used to put the material on the lower material level 330 layer by layer into the empty material frame on the second material frame lifting mechanism 320 . The second full frame transmission mechanism 360 is arranged on the top of the frame 100, and is arranged side by side with the first full material frame transmission mechanism 210 (shown in FIG. The material frame 11 is sent out along the direction opposite to the second empty material frame conveying mechanism 310 (ie the direction indicated by the arrow 32 in FIG. 3 ).

The working process of the blanking channel 300 is as follows: firstly, the empty material frame 12 is sent into the empty material frame 12 by the second empty material frame conveying mechanism 310 according to the direction shown by the arrow 31, and then the empty material frame 12 is received by the second material frame lifting mechanism 320 and The empty material frame 12 rises one level, and at the same time, the unloading manipulator 330 transfers the external material to the unloading level 330, and then the second material holding mechanism 350 puts the material on the unloading level 330 into the second material frame elevating mechanism In the first layer of the empty material frame on the 320, a blanking action is completed so far. Afterwards, the material frame on it is lifted layer by layer by the second material frame lifting mechanism 320, and the above-mentioned action is repeated, that is, the external material is transferred to the material lowering position 330 by the unloading manipulator 330, and then the second material holding mechanism 350 will transfer the material to the lower material level 330. The material on the lower material level 330 is put into the current layer of the material frame, and the cycle is like this until the material frame is filled and completely lifted by the second material frame lifting mechanism 320 . Then, the fully raised full frame 11 on the second full frame lifting mechanism 320 is received by the second full frame transmission mechanism 360 , and the full frame 11 is sent out along the direction indicated by the arrow 32 .

According to the utility model, the above-mentioned automatic loading and unloading machine adopts a frame-type double-channel automatic loading and unloading method, and the feeding channel 200 and the unloading channel 300 are arranged in parallel, so that more materials enter and output more, and can be automatically connected with a double-channel printing machine and an oven. Fully automatic production line greatly improves production efficiency and product yield. In a preferred embodiment, as shown in Fig. 1, in order to avoid the contamination caused by the material during transmission, the automatic loading and unloading machine also installs a machine cover 400 on the top of the frame 100, and the feeding channel 200 and the discharging channel 300 are located on the machine. The upper part of the rack 100 is covered to ensure a dust-free environment inside.

As mentioned above, the first full frame transfer mechanism 210 and the second full frame transfer mechanism 360 are arranged side by side. Fig. 4 shows a schematic structural view of the first full frame transmission mechanism 210 and the second full frame transmission mechanism 360 in an embodiment of the present invention. As shown in FIG. 4 , the first full frame delivery mechanism 210 is mainly composed of a bottom plate 211 , a feeding guide plate 212 , a driving cylinder (not shown in the figure), a slide rail 213 , guide rails 214 , 215 and a check block 216 . The bottom plate 211 is fixed on the frame 100, and the driving cylinder can be fixedly installed relative to the bottom plate 211, and is used to drive the feeding guide plate 212 to reciprocate along the slide rail 213, which extends along the transmission route of the material frame. The guide rails 214 and 215 are fixedly installed on both sides of the feeding frame transmission path of the bottom plate 211 , and are used to guide the movement of the full material frame 11 on the feeding guide plate 212 . Multiple check blocks 216 can be laid out as required, installed on the bottom plate 211 and can be stretched out during the reverse retreat process of the feeding guide plate 212 to push the full material frame 11 on the feeding guide plate 212 to move along the conveying direction. The second full frame transfer mechanism 360 has basically the same structure as the first full frame transfer mechanism 210, but the transfer direction is opposite. Since the second full frame transfer mechanism 360 is arranged side by side with the first full frame transfer mechanism 210 , the second full frame transfer mechanism 360 can also share the bottom plate 211 of the first full frame transfer mechanism 210 . Those skilled in the art can understand that, according to different embodiments of the present utility model, the first full frame transmission mechanism 210 and the second full frame transmission mechanism 360 can also adopt other existing or possible various suitable technical means to achieve.

As mentioned above, the first empty frame transmission mechanism 260 and the second empty frame transmission mechanism 310 are arranged side by side. Fig. 5 shows a schematic structural view of the first empty frame transmission mechanism 260 and the second empty frame transmission mechanism 310 in an embodiment of the present invention. As shown in FIG. 5 , the first empty frame delivery mechanism 260 is mainly composed of a base plate 261 , a feeding guide plate 262 , a driving cylinder (not shown), a slide rail 263 , guide rails 264 , 265 and a check block 266 . The bottom plate 261 is fixed on the frame 100, and the driving cylinder can be fixedly installed relative to the bottom plate 261, and is used to drive the feeding guide plate 262 to reciprocate along the slide rail 263, which extends along the transmission route of the material frame. The guide rails 264 and 265 are fixedly installed on both sides of the feeding frame transmission route of the bottom plate 261 , and are used to guide the movement of the empty material frame 12 on the feeding guide plate 262 . Multiple check blocks 266 can be laid out as required, installed on the bottom plate 261, and can be stretched out during the reverse retreat process of the feeding guide plate 262, so as to push the empty material frame 12 on the feeding guide plate 262 to move along the conveying direction. The second empty frame transfer mechanism 310 has basically the same structure as the first empty frame transfer mechanism 260, but the transfer direction is opposite. Since the second empty frame transfer mechanism 310 is arranged side by side with the first empty frame transfer mechanism 260 , the second empty frame transfer mechanism 310 can share the bottom plate 261 of the first empty frame transfer mechanism 260 . Those skilled in the art can understand that, according to different embodiments of the present utility model, the first empty material frame transmission mechanism 260 and the second empty material frame transmission mechanism 310 can also adopt other existing or possible various suitable technical means to achieve.

Fig. 6a and Fig. 6b show a schematic structural view of the first frame lifting mechanism 220 in one embodiment of the present invention. As shown in Figure 6a and Figure 6b, the first material frame lifting mechanism 220 is mainly composed of a mounting frame 221, a servo motor 222, a screw mandrel 223, a screw mandrel nut (not shown), a material frame carrying platform 224, and a guide rail 225, 226 constitute, wherein, servo motor 222, screw mandrel 223 and screw mandrel nut constitute the drive module that drives material frame carrying platform 224 to lift layer by layer, and guide rails 225 and 226 provide for the lifting and moving of material frame carrying platform 224. Guided guide components. 6a and 6b, the mounting frame 221 can be mounted on the frame 100, the servo motor 222 is mounted on the mounting frame 221, and drives the vertically rotatable screw rod 223 mounted on the mounting frame 221 to rotate. The material frame carrying platform 224 is fixedly installed on the screw nut matched with the screw mandrel 223 so as to move up and down along the screw mandrel 223 as the screw mandrel 223 rotates. The mounting bracket 221 is provided with guide rails 225 and 226 extending parallel to the screw mandrel 223 on both sides of the screw mandrel 223. Lifting movement along the screw rod 223 provides guidance. When the first material frame lifting mechanism 220 is working, the material frame is lowered layer by layer through the material frame carrying platform 224, so that the material in the material frame is taken out layer by layer until it is empty. The second material frame lifting mechanism 320 in the discharge channel 300 has the same structure as the first material frame lifting mechanism 220 , so it will not be repeated here. When the second material frame elevating mechanism 320 is working, the material frame is lifted layer by layer through the material frame carrying platform, so that the material is put into the material frame layer by layer until it is full.

FIG. 7 shows a schematic structural view of the first material holding mechanism 240 in one embodiment of the present invention. As shown in FIG. 7 , the first supporting mechanism 240 is mainly composed of a supporting plate 241 , a supporting plate entry and exit module 242 and a supporting plate lifting module 243 . The supporting plate in and out module 242 is used to drive the supporting plate 241 to reciprocate on the material conveying route. During specific implementation, the supporting plate entry and exit module 242 can realize the entry and exit of the support plate 241 by driving the screw rod 2422 through the driving motor 2421 . The supporting plate lifting module 243 is used to drive the supporting plate 241 to rise to lift materials and to descend to lay down materials. During specific implementation, the lifting module 243 of the supporting plate can realize the lifting of the supporting plate 241 by driving the cam (not shown in the figure) by the driving motor 2431 . In addition, the first supporting mechanism 240 can also be provided with a position sensor that controls the distance that the supporting plate enters and exits the module 242 and the supporting plate lifting module 243 to drive the supporting plate 241 to move. A position sensor 2432 is provided on the plate lifting and moving direction. When the first material holding mechanism 240 is working, cooperate with the first material frame lifting mechanism 220 to take out the materials in the full material frame 11 layer by layer and place them on the loading position 230 . The second material holding mechanism 350 in the unloading channel 300 has the same structure as the first material holding mechanism 240 , which will not be repeated here. When the second material holding mechanism 350 is working, it cooperates with the second material frame lifting mechanism 320 to put the materials on the lower material level 330 into the empty material frame 12 layer by layer.

FIG. 8 shows a schematic structural view of a loading manipulator 250 in an embodiment of the present invention. As shown in Figure 5, the feeding manipulator 250 is mainly composed of a beam 252 installed on the frame 100 and extending along the transmission route, a first suction nozzle assembly 254 and a second suction nozzle assembly 255 installed on the beam 252, and driven The first suction nozzle assembly 254 and the second suction nozzle assembly 255 are composed of a drive module 253 that synchronously reciprocates along the beam 252 . The beam 252 is fixedly installed on the frame 100 through two installation posts 251 . The driving module 253 can be realized by various existing or possible suitable technical means. For example, in a specific example, the driving module 253 can be realized by a synchronous belt driven by a motor, and the first suction nozzle assembly 254 and the second suction nozzle assembly 255 are fixed on the same side of the synchronous belt. Specifically as shown in Figure 5, the second suction nozzle assembly 255 includes a mounting frame 2551, a suction nozzle 2553, and a lifting and rotating drive assembly 2552 that drives the suction nozzle 2553 to lift and rotate relative to the mounting frame 2551, and the second suction nozzle assembly 255 passes through the mounting frame 2551. Move along the beam. The first suction nozzle assembly 254 has the same structure as the second suction nozzle assembly 255 , which will not be repeated here. When the feeding manipulator 250 is working, it transfers the materials on the feeding position 230 to the external docking equipment. The unloading manipulator 340 in the unloading channel 300 has the same structure as the loading manipulator 250, and is used to transfer the processed materials of the externally connected equipment to the unloading position 330 for receiving.

Fig. 9 shows a schematic diagram of the overall structure of an automatic loading and unloading machine according to another embodiment of the present invention. As shown in Figure 9, the automatic loading and unloading machine is basically the same in structure as the automatic loading and unloading machine shown in Figure 1. Passage 200 is also provided with the transfer platform 270 that is positioned at the lower reaches of loading position 230 on the frame 100 to carry out initial positioning to the material, and the unloading channel 300 is also provided with the upstream that is positioned at the lower material level 330 on the frame 100 to carry out material. Initially positioned transfer platform 370. When the feeding manipulator 250 is working, the first suction nozzle assembly transfers the materials on the loading position 230 to the transfer platform 270 , and at the same time, the second suction nozzle assembly sends the materials on the transfer platform 270 out. When the feeding manipulator 340 is working, the second suction nozzle assembly transfers the external materials to the transfer platform 370 , and at the same time, the first suction nozzle assembly transfers the materials on the transfer platform 370 to the material discharge position 330 .

FIG. 10 shows the specific structure of the above-mentioned switching platform by taking the switching platform 270 as an example. As shown in FIG. 10 , the transfer platform 270 is mainly composed of a base plate 271 , a driving cylinder 272 , a slide rail 273 , a platform plate 274 and an initial positioning module 280 . Base plate 271 is installed on the frame 100 (referring to shown in FIG. 9 ), driving cylinder 272 and slide rail 273 are installed on the base plate 271, and platform plate 274 can move along slide rail 273 under the effect of driving cylinder 272. The initial positioning module 280 is used for initial positioning of the materials placed on the platform plate 274 . Specifically as shown in Figure 11, the initial positioning module 280 includes a first connecting rod 2811 and a second connecting rod 2812, the first ends of the first connecting rod 2811 and the second connecting rod 2812 are hinged by a rotating shaft 282, and the second ends are connected by The slide blocks 2831 and 2832 are slidably installed on the slide rail 284 extending in a direction perpendicular to the conveying direction of the material, and the rotating shaft 282 is fixed on the output end of the driving cylinder 285 working along the conveying direction of the material. A mounting plate 2861 is fixed on the slider 2831, and two positioning rods 2871 and 2872 are arranged at a certain distance on the mounting plate 2861. A mounting plate 2862 is fixed on the slider 2832, and a positioning rod 2873 is arranged on the mounting plate 2862. Thus, when the output end of the driving cylinder 285 stretches out, it drives the second ends of the first connecting rod 2811 and the second connecting rod 2822 to approach each other along the slide rail 284, thereby driving the positioning rods 2871, 2872 and the positioning rod 2873 to approach each other , so that the material is positioned and clamped in the direction perpendicular to the conveying direction. When the output end of the driving cylinder 285 is retracted, the second ends of the first connecting rod 2811 and the second connecting rod 2822 are driven away from each other along the slide rail 284, thereby driving the positioning rods 2871, 2872 and the positioning rod 2873 to move away from each other, thereby loosening materials.

The above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present utility model shall be included in this utility model. within the scope of protection of utility models.

Claims (10)

1. An automatic loading and unloading machine, characterized in that it comprises a frame and a feeding channel and a feeding channel arranged side by side on the frame; Wherein, the feeding channel includes: The first full frame conveying mechanism installed on the upper part of the frame to feed into the full frame; A first material frame lifting mechanism arranged at the end of the transmission stroke of the first full material frame transmission mechanism to receive the full material frame and lower the full material frame layer by layer; The first supporting mechanism for taking out the materials in the full material frame on the first material frame lifting mechanism layer by layer and sending them to the upper material level; The feeding manipulator used to send out the materials on the feeding position; A first empty material frame transmission mechanism arranged at the lower part of the frame to receive the empty material frame on the first material frame lifting mechanism and send the empty material frame along the direction opposite to the first full material frame transmission mechanism; Wherein, the feeding channel includes: The second empty material frame conveying mechanism arranged at the lower part of the frame to feed the empty material frame; A second material frame lifting mechanism arranged at the end of the transmission stroke of the second empty material frame transmission mechanism to receive the empty material frame and raise the empty material frame layer by layer; Unloading robot for transferring external materials to the unloading position; The second supporting mechanism for putting the materials on the lower material level into the empty material frame on the second material frame lifting mechanism layer by layer; The second full frame transmission mechanism is arranged on the upper part of the frame to receive the full frame on the second frame lifting mechanism and send the full frame along the direction opposite to the second empty frame transmission mechanism. 2. The automatic loading and unloading machine according to claim 1, characterized in that, the transmission directions of the first full frame transmission mechanism and the second full frame transmission mechanism are opposite, and the first empty material frame transmission mechanism and the second full frame transmission mechanism are opposite to each other. The conveying direction of the second empty frame conveying mechanism is opposite. 3. The automatic loading and unloading machine according to claim 1, characterized in that, the first full material frame transmission mechanism, the second full material frame transmission mechanism, the first empty material frame transmission mechanism and the second empty material frame transmission mechanism The mechanisms all include a bottom plate fixed on the frame, a driving cylinder installed on the bottom plate, and a feeding guide plate driven by the driving cylinder to reciprocate relative to the bottom plate along the transmission route of the material frame. The non-return block that pushes the material frame on the feeding guide plate to move along the conveying direction during the reverse retraction process of the feeding guide plate. 4. The automatic loading and unloading machine according to claim 1, characterized in that, the first supporting mechanism and the second supporting mechanism both include a supporting plate, a supporting plate in and out module and a supporting plate lifting module , and is also provided with a position sensor for controlling the moving distance of the supporting plate in and out module and the supporting plate lifting module. 5. The automatic loading and unloading machine according to claim 1, characterized in that, both the first material frame lifting mechanism and the second material frame lifting mechanism comprise a material frame carrying platform, which drives the material frame carrying platform to lift layer by layer The drive module, and the guide assembly that provides guidance for the lifting movement of the material frame carrier. 6. The automatic loading and unloading machine according to claim 1, characterized in that, the feeding channel also includes a transfer platform arranged downstream of the feeding position on the frame to initially position the material, the The feeding manipulator has a first suction nozzle assembly for transferring materials on the loading level to the transfer platform and a second suction nozzle assembly for simultaneously sending out materials on the transfer platform. 7. The automatic loading and unloading machine according to claim 1, characterized in that, the unloading channel also includes a transfer platform arranged upstream of the unloading level on the frame to initially position the material, the The unloading manipulator has a first suction nozzle assembly for transferring materials on the transfer platform to the unloading position and a second suction nozzle assembly for transferring external materials to the transfer platform at the same time. 8. The automatic loading and unloading machine according to claim 6 or 7, wherein the transfer platform is provided with an initial positioning module, and the initial positioning module includes a first connecting rod and a second connecting rod, so that The first end of the first connecting rod and the second connecting rod are hinged by a rotating shaft, and the second ends are both slidably mounted on a slide rail extending in a direction perpendicular to the conveying direction of the material, and the rotating shaft is fixed on a The output end of the driving cylinder working in the transmission direction, the second end of the first connecting rod is provided with two positioning rods, and the second end of the second connecting rod is provided with a positioning rod. 9. The automatic loading and unloading machine according to claim 1, characterized in that, the loading manipulator and the unloading manipulator both include a beam mounted on the frame and extending along the transmission route, a first suction device mounted on the beam The nozzle assembly and the second suction nozzle assembly, and a drive module that drives the first suction nozzle assembly and the second suction nozzle assembly to move synchronously back and forth along the beam. 10. The automatic loading and unloading machine according to claim 9, characterized in that, the first nozzle assembly and the second nozzle assembly both include a mounting frame, a suction nozzle, and a lifter that drives the suction nozzle to lift and rotate relative to the mounting frame. The rotary drive assembly, the first suction nozzle assembly and the second suction nozzle assembly both move along the beam through the mounting frame.