CN209922359U - Automatic loading and unloading equipment - Google Patents

Abstract

The utility model discloses an automatic loading and unloading equipment. The automatic handling equipment includes: the rack is provided with a first bearing plate; the unloading seat is arranged on the first bearing plate; the discharging seat is provided with a bearing groove for limiting the material frame and a discharging bulge for bearing the material in the material frame, and the bearing plane of the discharging bulge is higher than the bottom of the bearing groove; the blanking robot is arranged on the first bearing plate and is positioned on one side of the blanking seat; the conveying device is connected with the rack and arranged on one side of the first bearing plate; the conveying device is used for conveying the material box; and placing the material on the discharging protrusion into the material box through the discharging robot. The utility model discloses an automatic handling equipment has simple structure compactness, and the unloading is convenient, and the security performance is high, and the structure is firm, operates steadily, and production efficiency is high and long service life's advantage.

Description

Automatic loading and unloading equipment

Technical Field

The utility model relates to a technical field of moulding plastics especially relates to an automatic handling equipment.

Background

Semiconductor devices are electronic devices that have electrical conductivity between a good electrical conductor and an insulator, and that use the special electrical properties of semiconductor materials to perform specific functions, and can be used to generate, control, receive, convert, amplify signals, and perform energy conversion.

With the development of the technology, the miniaturization and the multiple functions of electronic products become the main development direction, the miniaturization of the electronic products requires that a semiconductor device not only has smaller size, but also needs to ensure the structural strength and the anti-pollution and anti-corrosion performance, so that the semiconductor device needs to be packaged in an injection molding packaging mode; however, the prior art still needs to manually feed the injection molding material; and still need the manual work to the semiconductor panel unloading of encapsulating through the injection molding material, production efficiency is low, very big restriction intelligent equipment's development, consequently, provide a simple structure compactness, the convenient auto-control handling equipment of unloading becomes the problem that must solve at present.

SUMMERY OF THE UTILITY MODEL

The utility model provides a technical problem be, provide an automatic handling equipment who has simple structure compactness, the unloading is convenient.

The utility model discloses an automatic handling equipment, automatic handling equipment includes:

the rack is provided with a first bearing plate;

the unloading seat is arranged on the first bearing plate; the discharging seat is provided with a bearing groove for limiting the material frame and a discharging bulge for bearing the material in the material frame, and the bearing plane of the discharging bulge is higher than the bottom of the bearing groove;

the blanking robot is arranged on the first bearing plate and is positioned on one side of the blanking seat;

the conveying device is connected with the rack and arranged on one side of the first bearing plate; the conveying device is used for conveying the material box;

and placing the material on the discharging protrusion into the material box through the discharging robot.

Preferably, the rack is further provided with a second bearing plate stacked with the first bearing plate; the automatic handling equipment still includes:

the feeding mechanism is arranged on the second bearing plate; the feeding mechanism comprises a feeding clamp, a vibrating disc for conveying plastic package parts and a feeding device for feeding the plastic package materials to the feeding clamp one by one; the feeding device is located between the feeding clamp and the vibrating disc.

Preferably, the blanking robot includes:

the first linear module is provided with a first sliding table; the first linear module is arranged on the first bearing plate;

the second linear module is arranged on the first sliding table, and a second sliding table is arranged on the second linear module;

the lifting module is arranged on the second sliding table, and a third sliding table is arranged on the lifting module;

the blanking device is arranged on the third sliding table;

the material level detection device is arranged on the blanking device and used for detecting the height of the material in the material box;

the control device is electrically connected with the first linear module, the second linear module, the lifting module, the blanking device and the material level detection device respectively; the control device controls the first linear module, the second linear module and the lifting module to drive the blanking device to clamp the materials and to blank the materials onto the material box according to the height of the materials.

Preferably, the blanking robot further comprises:

the first guide rail is arranged in parallel with the first linear module;

the fourth sliding table is movably connected with the first guide rail; the second linear module is erected on the first sliding table and the fourth sliding table; the fourth sliding table is connected between two end parts of the second linear module.

Preferably, the blanking robot further comprises:

and the protective shell is covered on the blanking device, and at least part of the blanking device is positioned in the protective shell.

Preferably, the blanking device includes:

the variable-pitch driving mechanism comprises a sliding guide rail, a first clamping jaw movably connected with the sliding guide rail and a second clamping jaw movably connected with the sliding guide rail; the first clamping jaw and the second clamping jaw are oppositely arranged;

the limiting part is connected with the variable-pitch driving mechanism and used for limiting the stroke of the first clamping jaw moving towards the direction departing from the second clamping jaw;

the first mechanical arm is connected with the first clamping jaw and used for clamping a first material;

the second manipulator is connected with the second clamping jaw and used for clamping a second material; the first manipulator and the second manipulator are arranged side by side;

the variable-pitch driving mechanism drives the first manipulator and the second manipulator to move, so that the distance between the first manipulator and the second manipulator is changed, and the distance between the first material and the second material can be changed during blanking of the blanking device.

Preferably, the stopper includes:

the connecting plate is connected with the body of the variable-pitch driving mechanism;

the first end of the extension arm is connected with the connecting plate, and the second end of the extension arm extends to one side, away from the second clamping jaw, of the first clamping jaw; the second end of the extension arm is provided with an adjusting screw hole;

the fine adjustment screw penetrates through the adjustment screw hole and is matched with the internal thread of the fine adjustment screw hole; the axial direction of fine setting screw with sliding guide's direction is parallel, and the orientation first clamping jaw sets up.

Preferably, the first robot includes:

the first hinge part is provided with a yielding hole; a first hinge seat is arranged on the side wall in the abdicating hole in an extending way towards the abdicating hole;

a second hinge member connected to the first jaw; the second hinge piece extends towards the abdicating hole and is provided with a second hinge seat;

the first hinged seat and the second hinged seat are hinged to a first hinged point and a second hinged point respectively with the first clamping piece, and the first hinged point and the second hinged point are both located at the first end of the first clamping piece;

the second clamping piece is connected with the first hinge piece;

the first hinge part and the second hinge part are respectively connected with the clamping driving mechanism; the clamping driving mechanism drives the first hinge part to move relative to the second hinge part, so that the first end of the first clamping part is driven to move, and the second end of the first clamping part and the second clamping part clamp the first material together.

Preferably, a third hinge seat extends towards the abdicating hole from the side wall in the abdicating hole, and the third hinge seat and the first hinge seat are oppositely arranged on the two side walls in the abdicating hole, wherein the two side walls are opposite in position;

the second hinge base and the third hinge base are respectively hinged with the second clamping piece at a third hinge point and a fourth hinge point, and the third hinge point and the fourth hinge point are both positioned at the first end of the second clamping piece;

the first end of the second clamping piece is driven to move through the relative movement of the first hinge piece relative to the second hinge piece, so that the second end of the first clamping piece and the second end of the second clamping piece clamp the first material together.

Preferably, the first clamp includes:

the hinging part is arranged at the first end of the first clamping piece and is respectively hinged with the first hinging seat and the second hinging seat;

the first end of the connecting arm is connected with the hinged part, and the second end of the connecting arm extends downwards in an inclined manner towards the direction far away from the second clamping piece;

a clamping portion, a first end of the clamping portion being connected to a second end of the connecting arm.

In summary, the utility model provides an automatic loading and unloading device; the automatic handling equipment includes: the rack is provided with a first bearing plate; the unloading seat is arranged on the first bearing plate; the discharging seat is provided with a bearing groove for limiting the material frame and a discharging bulge for bearing the material in the material frame, and the bearing plane of the discharging bulge is higher than the bottom of the bearing groove; when the material frame is placed on the bearing groove, the material is separated from the material frame and stays on the discharging protrusion; the blanking robot is arranged on the first bearing plate and is positioned on one side of the blanking seat; the conveying device is connected with the rack and arranged on one side of the first bearing plate; the conveying device is used for conveying the material box; and placing the material on the discharging protrusion into the material box through the discharging robot. Therefore, the utility model provides an automatic handling equipment has simple structure compactness, advantage such as unloading is convenient.

Drawings

Fig. 1 is a schematic structural view of a preferred embodiment of the automatic handling apparatus of the present invention.

Fig. 2 is an enlarged schematic view of region B in fig. 1.

Fig. 3 is a schematic structural view of a preferred embodiment of the blanking robot of the automatic loading and unloading device of the present invention.

Fig. 4 is a schematic structural view of a preferred embodiment of the blanking device of the automatic loading and unloading equipment of the invention.

Fig. 5 is a schematic structural view of the preferred embodiment of the automatic loading and unloading device of the present invention, in which the material is held by the blanking device.

Fig. 6 is an enlarged schematic view of the region a in fig. 5.

Fig. 7 is a schematic structural diagram of the matching of parts of the preferred embodiment of the blanking device of the present invention.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings and examples. It should be noted that, if there is no conflict, the embodiments and various features in the embodiments of the present invention may be combined with each other, and all are within the scope of the present invention.

Referring to fig. 1 to 2, the present invention discloses an automatic loading and unloading device, which includes:

a frame 90 provided with a first bearing plate 90 a;

a discharging seat 91 disposed on the first bearing plate 90 a; the discharging seat 91 is provided with a bearing groove 91a for limiting the position of the material frame 91c and a discharging bulge 91b for bearing the material in the material frame 91c, and the bearing plane of the discharging bulge 91b is higher than the groove bottom of the bearing groove 91 a; so that when the material frame 91c is placed on the bearing groove 91a, the material is separated from the material frame 91c and stays on the discharging protrusion 91 b;

a discharging robot 92, which is arranged on the first bearing plate 90a and is positioned at one side of the discharging seat 91;

a conveying device 93 connected to the frame 90 and disposed at one side of the first carrier plate 90 a; the conveying device 93 is used for conveying the material box 93 a;

the material on the discharging projection 91b is placed into the magazine 93a by the discharging robot 92. Therefore, the utility model provides an automatic handling equipment has simple structure compactness, advantage such as unloading is convenient.

Preferably, the rack 90 is further provided with a second bearing plate 90b stacked with the first bearing plate 90 a; the automatic handling equipment still includes:

a feeding mechanism 95 disposed on the second carrier plate 90 b; the feeding mechanism 95 comprises a feeding clamp 95a, a vibrating disc 95b for conveying plastic packages, and a feeding device 95c for feeding the plastic packages one by one to the feeding clamp 95 a; the feeding device 95c is located between the feeding jig 95a and the vibrating plate 95 b. So that the plastic package material is loaded onto the loading jig 95a by the loading mechanism 95. Packaging the plastic packaging material on the semiconductor plate through external equipment to form the material; in this embodiment, the material is a packaged semiconductor board. The automatic loading and unloading equipment not only is convenient for loading the plastic package material onto the loading clamp 95a, but also is convenient for unloading the semiconductor plate packaged by the plastic package material, and the like. Therefore, the utility model provides an automatic handling equipment has simple structure compactness, advantage that the function is complete.

Referring to fig. 3 to 7, the blanking robot 92 includes:

the first linear module 81 is provided with a first sliding table 81a and a second guide rail (not shown in the figure), and the first sliding table 81a is movably connected with the second guide rail; the first linear module 81 is disposed on the first carrier plate 90 a;

a second linear module 82, a first end of the second linear module 82 is arranged on the first sliding table 81a, so that the second linear module 82 can move along the guide of the first linear module 81; a second sliding table 82a and a third guide rail (not shown in the figure) are arranged on the second linear module 82, and the second sliding table 82a is movably connected with the third guide rail;

the lifting module 83 is arranged on the second sliding table 82a, so that the lifting module 83 can move along the guide of the second linear module 82; a third sliding table 83a and a fourth guide rail (not shown in the figure) are arranged on the lifting module 83, and the third sliding table 83a is movably connected with the fourth guide rail;

the blanking device is arranged on the third sliding table 83 a; so that the blanking device can move along the directions of the three XYZ and axes consisting of the first linear module 81, the second linear module 82 and the lifting module 83, and the blanking manipulator can perform blanking flexibly and conveniently; the blanking device is used for blanking materials into the material box, so that the materials are stacked in the material box, and the space utilization rate of the material box is improved. In this embodiment, the first linear module 81, the second linear module 82 and the lifting module 83 are oriented perpendicular to each other; in other embodiments, the guiding directions of the first linear module 81, the second linear module 82 and the lifting module 83 may also intersect with each other and are not perpendicular, and are not limited herein.

The material level detection device 84 is arranged on the blanking device and used for detecting the height of the material in the material box;

a control device (not shown in the figure) electrically connected to the first linear module 81, the second linear module 82, the lifting module 83, the blanking device and the material level detection device 84 respectively; the control device controls the first linear module 81, the second linear module 82 and the lifting module 83 to drive the blanking device to clamp the materials and blanking the materials onto the material box according to the height of the materials; so as to stably and safely discharge the materials into the material box; avoid the problem that unloader collides with the material in the magazine when the unloading, still avoids unloader puts down the problem that the height of material is too high when the unloading, breaks the material. Therefore, the utility model provides an unloading robot has simple structure compactness, and the unloading is nimble convenient, advantages such as security performance height.

In this embodiment, the first linear module 81 is further provided with: a first screw (not shown in the figure) arranged side by side with the second guide rail, a first screw nut (not shown in the figure) matched with the first screw, and a first driving motor 81b in transmission connection with the first screw, wherein the first sliding table 81a is connected with the first screw nut; the first screw is driven by the first driving motor 81b to drive the first sliding table 81a to move along the guide of the second guide rail.

The second linear module 82 is further provided with: a second screw (not shown in the figure) arranged side by side with the third guide rail, a second screw nut (not shown in the figure) matched with the second screw, and a second driving motor 82b in transmission connection with the second screw, wherein the second sliding table 82a is connected with the second screw nut; the second screw rod is driven by the second driving motor 82b to drive the second sliding table 82a to move along the third guide rail in a guiding manner.

The lifting module 83 is further provided with: a third screw (not shown in the figure) arranged side by side with the fourth guide rail, a third screw nut (not shown in the figure) matched with the third screw, and a third driving motor 83b in transmission connection with the third screw, wherein the third sliding table 83a is connected with the third screw nut; the third screw rod is driven by the third driving motor 83b to drive the third sliding table 83a to move along the fourth guide rail in a guiding manner; thereby, the blanking device moves along the direction of the XYZ axes composed of the first linear module 81 and the second linear module 82. In other embodiments, the first linear module 81, the second linear module 82 and the third linear module may also be linear motors or linear motion mechanisms composed of a driving motor, a synchronous belt and a synchronous pulley; and is not particularly limited herein.

In the present embodiment, the level detecting device 84 includes an ultrasonic distance sensor; in other embodiments, the level detection device 84 may also include a lidar or a photosensor; and is not particularly limited herein.

Preferably, the blanking robot further comprises:

a first guide rail 85a arranged side by side with the first linear module 81;

the fourth sliding table 85b is movably connected with the first guide rail 85 a; the second linear module 82 is mounted on the first sliding table 81a and the fourth sliding table 85 b; the fourth slide table 85b is connected between both end portions of the second linear module 82. Therefore, the utility model provides an unloading robot has the steady operation, advantages such as the structure is firm.

Preferably, the blanking robot further comprises:

and the protective shell 86 is covered on the blanking device, and at least part of the blanking device is positioned in the protective shell 86. In order to avoid unloader receives influences such as dust pollution to press from both sides and gets the precision, avoids simultaneously the unloader takes place the problem that the striking caused the accident in the motion process. Therefore, the utility model provides an unloading robot has simple structure compactness, operates steadily, and the material loading is fixed a position accurately, and the security performance is high, advantages such as long service life.

Preferably, the blanking device includes:

a variable-pitch driving mechanism 1, which comprises a sliding guide rail 1a, a first clamping jaw 1b movably connected with the sliding guide rail 1a, a second clamping jaw 1c movably connected with the sliding guide rail 1a, and a driving part (not shown in the figure) for driving the first clamping jaw 1b and the second clamping jaw 1c to move towards each other or move away from each other; the first clamping jaw 1b and the second clamping jaw 1c are oppositely arranged;

the limiting part 2 is connected with the variable-pitch driving mechanism 1 and used for limiting the stroke of the first clamping jaw 1b moving towards the direction departing from the second clamping jaw 1 c; so as to adapt to the space between the materials when taking the materials.

The first manipulator 3 is connected with the first clamping jaw 1b and is used for clamping a first material 71;

the second mechanical arm 4 is connected with the second clamping jaw 1c and used for clamping a second material 72; the first manipulator 3 and the second manipulator 4 are arranged side by side;

the variable-pitch driving mechanism 1 drives the first manipulator 3 and the second manipulator 4 to move oppositely or move away from each other, so that the distance between the first manipulator 3 and the second manipulator 4 is changed, and a plurality of materials can be clamped simultaneously according to the distance between the materials when the blanking device clamps the materials; and the blanking device can change the distance between the first material 71 and the second material 72 during blanking so as to adapt to the distance between different blanking stations. In this embodiment, the distance between the first material 71 and the second material 72 is reduced by the pitch-variable driving mechanism 1, so as to improve the space utilization rate for bearing the materials such as the first material 71 and the second material 72. Therefore, the utility model provides an unloader has simple structure compactness, can reduce the interval between the material when the unloading, improves advantages such as space utilization.

In this embodiment, the pitch-variable driving mechanism 1 is a pneumatic parallel clamping jaw (also called a finger cylinder), and the first clamping jaw 1b and the second clamping jaw 1c of the pneumatic clamping jaw are respectively connected to the first manipulator 3 and the second manipulator 4, so as to drive the first manipulator 3 and the second manipulator 4 to clamp the material; in other embodiments, the pitch drive mechanism 1 may also be an electrically powered gripping jaw, and is not limited herein.

Preferably, the stopper 2 includes:

the connecting plate 2a is connected with the body of the variable-pitch driving mechanism 1;

the first end of the extension arm 2b is connected with the connecting plate 2a, and the second end of the extension arm 2b extends to one side, away from the second clamping jaw 1c, of the first clamping jaw 1 b; the second end of the extension arm 2b is provided with an adjusting screw hole;

the fine adjustment screw 2c penetrates through the adjustment screw hole and is matched with the internal thread of the fine adjustment screw hole; the axial direction of the fine adjustment screw 2c is parallel to the guide of the sliding guide rail 1a, and is arranged toward the first clamping jaw 1 b. So as to adjust the distance between the first manipulator 3 and the second manipulator 4 when the blanking device clamps the material by adjusting the position of the fine adjustment screw 2 c; so as to adjust the distance between the first manipulator 3 and the second manipulator 4 according to the difference of the distance between the materials. Therefore, the blanking device has the advantages of simple and compact structure, strong compatibility and the like.

Preferably, the first manipulator 3 comprises:

a first hinge member 10 provided with a relief hole 12; a first hinge seat 11 extends towards the abdicating hole 12 from the side wall in the abdicating hole 12;

a second hinge 20 connected to the first jaw 1 b; the second hinge part 20 extends towards the abdicating hole 12 and is provided with a second hinge seat 21;

the first clamping piece 30, the first hinge seat 11 and the second hinge seat 21 are respectively hinged to the first clamping piece 30 at a first hinge point 31 and a second hinge point 32, and the first hinge point 31 and the second hinge point 32 are both located at a first end of the first clamping piece 30;

a second clamping member 40 connected to the first hinge 10;

the clamping driving mechanism 50 is connected with the first hinge 10 and the second hinge 20 respectively; the first hinge 10 is driven by the gripping driving mechanism 50 to move relatively with respect to the second hinge 20, so as to drive the first end of the first gripper 30 to move, so that the second end of the first gripper 30 and the second gripper 40 grip the first material 71 together.

Specifically, when the gripping driving mechanism 50 drives the first hinge member 10 to move toward the second hinge member 20, the second hinge seat 21 is inserted into the abdicating hole 12, and the first hinge point 31 moves upward along with the first hinge member 10; thereby driving the second end of the first clamping member 30 to move in a direction away from the second clamping member 40; thereby achieving the opening of the first clamping member 30.

When the clamping driving mechanism 50 drives the first hinge member 10 to move away from the second hinge member 20, the second hinge seat 21 gradually moves away from the abdicating hole 12, and the first hinge point 31 moves downward along with the first hinge member 10; thereby moving the second end of the first clamping member 30 towards the second clamping member 40; thereby clamping the material by the first clamping member 30; therefore, the clamping device has the advantages of simple and compact structure, stable operation, stable clamping and the like.

In this embodiment, a third hinge seat 13 is further extended from a side wall in the abdicating hole 12 toward the abdicating hole 12, and the third hinge seat 13 and the first hinge seat 11 are oppositely arranged on two side walls opposite to each other in the abdicating hole 12; the relief hole 12 not only facilitates the accommodation of the first hinge seat 11, the second hinge seat 21, the third hinge seat 13, the first clamping member 30 and the second clamping member 40; the weight can also be reduced, so that the blanking device is lighter.

The second hinge base 21 and the third hinge base 13 are respectively hinged to a third hinge point 41 and a fourth hinge point 42 with the second clamping member 40, and the third hinge point 41 and the fourth hinge point 42 are both located at the first end of the second clamping member 40;

the first end of the second clamping member 40 is moved by the relative movement of the first hinge 10 with respect to the second hinge 20, so that the second end of the first clamping member 30 and the second end of the second clamping member 40 together clamp the first material 71.

Specifically, when the gripping driving mechanism 50 drives the first hinge member 10 to move toward the second hinge member 20, the second hinge seat 21 is inserted into the offset hole 12, and the fourth hinge point 42 moves upward along with the first hinge member 10; thereby driving the second end of the second clamping member 40 to move in a direction away from the first clamping member 30; thereby enabling the opening of the second clamp 40 and the first clamp 30.

When the clamping driving mechanism 50 drives the first hinge member 10 to move away from the second hinge member 20, the second hinge seat 21 gradually moves away from the offset hole 12, and the fourth hinge point 42 moves downward along with the first hinge member 10; thereby moving the second end of the second clamping member 40 towards the first clamping member 30; so as to realize the clamping of the first material 71 by the second clamping piece 40 and the first clamping piece 30; therefore, the clamping device has the advantages of simple and compact structure, stable operation, stable clamping and the like.

In other embodiments, the second clamping member 40 may be directly and fixedly connected to the first hinge 10, and only the first clamping member 30 moves toward the second clamping member 40 to clamp the first material 71. And is not particularly limited herein.

Preferably, the first clamp 30 includes:

the hinge part 33 is arranged at the first end of the first clamping piece 30 and is respectively hinged with the first hinge seat 11 and the second hinge seat 21;

a connecting arm 34, a first end of the connecting arm 34 is connected to the hinge portion 33, and a second end of the connecting arm 34 extends obliquely downward in a direction away from the second clamping member 40;

a clamping portion 35, a first end of the clamping portion 35 being connected to a second end of the connecting arm 34. It is understood that the second clamping member 40 has the same structure as the first clamping member 30, and thus, the description thereof is omitted. The number of the first hinge seat 11, the third hinge seat 13, the first clamping member 30 and the second clamping member 40 may be one or more, and is not particularly limited herein. The distance between the clamping part 35 of the first clamping member 30 and the clamping part 35 of the second clamping member 40 is enlarged through the connecting arm 34 so as to clamp the material. Therefore, the blanking device has the advantage of simple and compact structure.

Preferably, the first clamping member 30 further includes:

the holding part 36 is connected to the second end of the clamping part 35, and forms an L-shaped structure with the clamping part 35, so that when the first material 71 is clamped, the clamping part 35 can be abutted against the side wall of the first material 71; the supporting portion 36 can support the bottom of the first material 71 to support the first material 71. Therefore, the blanking device has the advantages of stable clamping and the like.

Preferably, the hinge portion 33 is provided with a first hinge hole (not shown) and a second hinge hole (not shown) side by side, and the first hinge hole and the second hinge hole are respectively located at the first hinge point 31 and the second hinge point 32. The first clamping member 30 is hinged to the first hinge base 11 through a hinge shaft 37 penetrating through the first hinge hole and hinged to the first hinge base 11; the first clamping member 30 is hinged to the second hinge base 21 through a hinge shaft 37 penetrating through the second hinge hole and hinged to the second hinge base 21. Therefore, the blanking device has the advantages of simple and compact structure, convenience in assembly, low manufacturing cost and the like.

Preferably, the end of the hinge shaft 37 is also provided with a shaft circlip 38 in a clamping manner; to prevent the hinge shaft 37 from falling off. Therefore, the blanking device has the advantages of simple and compact structure, stable and reliable connection, convenience in assembly and the like.

Preferably, the first hinge seat 11 and the third hinge seat 13 are detachably connected to the first hinge 10, respectively. So as to replace the first hinge seat 11, the third hinge seat 13, the first clamping member 30 and the second clamping member 40 with different sizes according to different material sizes. Therefore, the blanking device has the advantages of convenience in maintenance and assembly, high compatibility and the like.

Preferably, the first hinge member 10 is provided with a limiting groove 14 respectively matched with the first hinge seat 11 and the third hinge seat 13, and the limiting groove 14 is disposed on the side wall of the abdicating hole 12. So as to facilitate the assembly of the first hinge seat 11 and the third hinge seat 13.

Preferably, a through hole (not shown) is provided on the second hinge 20, and the body 51 of the gripping driving mechanism 50 is provided on a side of the second hinge 20 facing away from the first hinge 10; the pushing rod 52 of the gripping driving mechanism 50 penetrates the through hole and is connected to the first hinge 10. Therefore, the blanking device has the advantages of simple and compact structure.

Preferably, the blanking device further comprises:

and a connecting seat 60 respectively connected to the first jaw 1b and a side of the second hinge 20 facing away from the first hinge 10, and provided with a receiving groove 61 for receiving the gripping driving mechanism 50. Therefore, the blanking device has the advantages of simple and compact structure, stable structure, long service life and the like.

In this embodiment, the gripping driving mechanism 50 is an air cylinder; in other embodiments, the gripping driving mechanism 50 may also be an electric push rod, and is not limited herein. It is understood that the second manipulator 4 has the same structure as the first manipulator 3, and will not be described in detail herein.

In summary, the utility model provides an automatic loading and unloading device; the automatic handling equipment includes: a frame 90 provided with a first bearing plate 90 a; a discharging seat 91 disposed on the first bearing plate 90 a; the discharging seat 91 is provided with a bearing groove 91a for limiting the position of the material frame 91c and a discharging bulge 91b for bearing the material in the material frame 91c, and the bearing plane of the discharging bulge 91b is higher than the groove bottom of the bearing groove 91 a; so that when the material frame 91c is placed on the bearing groove 91a, the material is separated from the material frame 91c and stays on the discharging protrusion 91 b; a discharging robot 92, which is arranged on the first bearing plate 90a and is positioned at one side of the discharging seat 91; a conveying device 93 connected to the frame 90 and disposed at one side of the first carrier plate 90 a; the conveying device 93 is used for conveying the material box 93 a; the material on the discharging projection 91b is placed into the magazine 93a by the discharging robot 92. Therefore, the utility model provides an automatic handling equipment has simple structure compactness, advantage such as unloading is convenient.

The automatic loading and unloading equipment provided by the utility model is described in detail above, and the principle and the implementation mode of the utility model are explained by applying specific examples, and the description of the above examples is only used for helping to understand the method and the core idea of the utility model; meanwhile, to the general technical personnel in this field, according to the utility model discloses an idea, all can have the change part on concrete implementation and application scope, to sum up, this description content only is the utility model discloses an embodiment, does not consequently restrict the utility model discloses a patent scope, all utilize the equivalent structure or the equivalent flow transform that the content of the description and the attached drawing did, or directly or indirectly use in other relevant technical fields, all the same reason is included in the utility model discloses a patent protection scope. And should not be construed as limiting the invention.

Claims (10)

1. An auto-handler, characterized in that the auto-handler comprises:

the rack is provided with a first bearing plate;

the unloading seat is arranged on the first bearing plate; the discharging seat is provided with a bearing groove for limiting the material frame and a discharging bulge for bearing the material in the material frame, and the bearing plane of the discharging bulge is higher than the bottom of the bearing groove;

the blanking robot is arranged on the first bearing plate and is positioned on one side of the blanking seat;

the conveying device is connected with the rack and arranged on one side of the first bearing plate; the conveying device is used for conveying the material box;

and placing the material on the discharging protrusion into the material box through the discharging robot.

2. The robotic handling device of claim 1, wherein: the rack is also provided with a second bearing plate which is stacked with the first bearing plate; the automatic handling equipment still includes:

the feeding mechanism is arranged on the second bearing plate; the feeding mechanism comprises a feeding clamp, a vibrating disc for conveying plastic package parts and a feeding device for feeding the plastic package materials to the feeding clamp one by one; the feeding device is located between the feeding clamp and the vibrating disc.

3. The auto-handler apparatus according to claim 1, wherein the unloading robot comprises:

the first linear module is provided with a first sliding table; the first linear module is arranged on the first bearing plate;

the second linear module is arranged on the first sliding table, and a second sliding table is arranged on the second linear module;

the lifting module is arranged on the second sliding table, and a third sliding table is arranged on the lifting module;

the blanking device is arranged on the third sliding table;

the material level detection device is arranged on the blanking device and used for detecting the height of the material in the material box;

the control device is electrically connected with the first linear module, the second linear module, the lifting module, the blanking device and the material level detection device respectively; the control device controls the first linear module, the second linear module and the lifting module to drive the blanking device to clamp the materials and to blank the materials onto the material box according to the height of the materials.

4. The auto-handler of claim 3, wherein the blanking robot further comprises:

the first guide rail is arranged in parallel with the first linear module;

the fourth sliding table is movably connected with the first guide rail; the second linear module is erected on the first sliding table and the fourth sliding table; the fourth sliding table is connected between two end parts of the second linear module.

5. The auto-handler of claim 4, wherein the blanking robot further comprises:

and the protective shell is covered on the blanking device, and at least part of the blanking device is positioned in the protective shell.

6. The auto-handler of claim 5, wherein the blanking device comprises:

the variable-pitch driving mechanism comprises a sliding guide rail, a first clamping jaw movably connected with the sliding guide rail and a second clamping jaw movably connected with the sliding guide rail; the first clamping jaw and the second clamping jaw are oppositely arranged;

the limiting part is connected with the variable-pitch driving mechanism and used for limiting the stroke of the first clamping jaw moving towards the direction departing from the second clamping jaw;

the first mechanical arm is connected with the first clamping jaw and used for clamping a first material;

the second manipulator is connected with the second clamping jaw and used for clamping a second material; the first manipulator and the second manipulator are arranged side by side;

the variable-pitch driving mechanism drives the first manipulator and the second manipulator to move, so that the distance between the first manipulator and the second manipulator is changed, and the distance between the first material and the second material can be changed during blanking of the blanking device.

7. The robotic handler of claim 6, wherein the stop comprises:

the connecting plate is connected with the body of the variable-pitch driving mechanism;

the first end of the extension arm is connected with the connecting plate, and the second end of the extension arm extends to one side, away from the second clamping jaw, of the first clamping jaw; the second end of the extension arm is provided with an adjusting screw hole;

the fine adjustment screw penetrates through the adjustment screw hole and is matched with the internal thread of the fine adjustment screw hole; the axial direction of fine setting screw with sliding guide's direction is parallel, and the orientation first clamping jaw sets up.

8. The robotic handling device of claim 6, wherein the first robot comprises:

the first hinge part is provided with a yielding hole; a first hinge seat is arranged on the side wall in the abdicating hole in an extending way towards the abdicating hole;

a second hinge member connected to the first jaw; the second hinge piece extends towards the abdicating hole and is provided with a second hinge seat;

the first hinged seat and the second hinged seat are hinged to a first hinged point and a second hinged point respectively with the first clamping piece, and the first hinged point and the second hinged point are both located at the first end of the first clamping piece;

the second clamping piece is connected with the first hinge piece;

the first hinge part and the second hinge part are respectively connected with the clamping driving mechanism; the clamping driving mechanism drives the first hinge part to move relative to the second hinge part, so that the first end of the first clamping part is driven to move, and the second end of the first clamping part and the second clamping part clamp the first material together.

9. The robotic handling device of claim 8, wherein:

a third hinge seat is arranged on the side wall in the abdicating hole in an extending way and faces to the abdicating hole, and the third hinge seat and the first hinge seat are oppositely arranged on the two side walls in the abdicating hole at opposite positions;

the second hinge base and the third hinge base are respectively hinged with the second clamping piece at a third hinge point and a fourth hinge point, and the third hinge point and the fourth hinge point are both positioned at the first end of the second clamping piece;

the first end of the second clamping piece is driven to move through the relative movement of the first hinge piece relative to the second hinge piece, so that the second end of the first clamping piece and the second end of the second clamping piece clamp the first material together.

10. The robotic handling device of claim 9, wherein the first clamp comprises:

the hinging part is arranged at the first end of the first clamping piece and is respectively hinged with the first hinging seat and the second hinging seat;

the first end of the connecting arm is connected with the hinged part, and the second end of the connecting arm extends downwards in an inclined manner towards the direction far away from the second clamping piece;

a clamping portion, a first end of the clamping portion being connected to a second end of the connecting arm.

Images