CN210545844U

CN210545844U - Loading and unloading device and spraying system

Info

Publication number: CN210545844U
Application number: CN201920548751.5U
Authority: CN
Inventors: 舒淦; 陈文彬; 林国正
Original assignee: Guangdong Zeheng Intelligent Technology Co ltd
Current assignee: Guangdong Zeheng Intelligent Technology Co ltd
Priority date: 2019-04-22
Filing date: 2019-04-22
Publication date: 2020-05-19
Anticipated expiration: 2029-04-22

Abstract

The utility model provides a loading and unloading device, which comprises a loading and unloading clamp and a calibration positioning device, wherein the loading and unloading clamp is fixed on an external manipulator; the feeding and discharging clamp comprises a fixed frame, a sucker module, a mechanical claw and a hook clamping module, the sucker module and the mechanical claw are fixedly connected to the fixed frame, and the hook clamping module is fixed at the top of the fixed frame; the calibration positioning device comprises a supporting piece and a positioning piece, and the positioning piece is fixed on the supporting piece; the utility model also provides a paint finishing, this go up unloader cooperation manipulator can realize realizing the accurate unloading of going up of work piece, saves the manual work, has improved efficiency.

Description

Loading and unloading device and spraying system

Technical Field

The utility model relates to a spraying equipment field, in particular to go up unloader and paint finishing.

Background

In the electrostatic spraying process, an automatic assembly line mode is generally adopted, workpieces are hung on a transmission chain, then are conveyed into a powder spraying room, are dried after powder spraying in the powder spraying room, and finally are unloaded, so that a spraying process is completed. In the prior art, a lot of feeding and discharging of workpieces are still manually completed, so that a feeding and discharging device capable of being matched with a manipulator to realize automatic feeding and discharging is urgently needed.

SUMMERY OF THE UTILITY MODEL

Therefore, a loading and unloading device and a spraying system which can realize automatic loading and unloading in cooperation with a manipulator are needed to be provided.

The embodiment of the utility model provides a loading and unloading device, which comprises a loading and unloading clamp and a calibration positioning device, wherein the loading and unloading clamp is fixed on an external manipulator; the feeding and discharging clamp comprises a fixed frame, a sucker module, a mechanical claw and a hook clamping module, wherein the sucker module and the mechanical claw are fixedly connected to the fixed frame, and the hook clamping module is fixed to the top of the fixed frame; the calibration positioning device comprises a supporting piece and a positioning piece, and the positioning piece is fixed on the supporting piece.

Preferably, the gripper comprises a fixed frame, a plurality of clamping pieces and a first telescopic module, wherein the plurality of clamping pieces are slidably connected with the fixed frame; first flexible module is including flexible power device and flexible connecting rod, flexible connecting rod includes first connecting rod, second connecting rod and third connecting rod, first connecting rod, second connecting rod and third connecting rod end to end are articulated each other, flexible power device's both ends respectively with first connecting rod and third connecting rod are connected, the middle part of second connecting rod with fixed frame rotatable coupling, a plurality of holders connect respectively in the both ends of first flexible module.

Preferably, still be provided with fixed connecting rod on the fixed frame, fixed connecting rod with fixed frame fixed connection, fixed connecting rod with the middle part of second connecting rod is articulated mutually.

Preferably, the gripper further comprises a guide block and a guide rod, the guide rod is slidably connected to the guide block, one end of the guide rod is located inside the fixed frame, and the other end of the guide rod is fixedly connected with the clamping piece; alternatively, the first and second electrodes may be,

still include the guide bar, the guide bar with fixed frame fixed connection, the guide bar includes scalable end, the scalable end of guide bar with holder fixed connection.

Preferably, the gripper further comprises two sliding plates, the two sliding plates are arranged oppositely, the sliding plates are connected to the fixed frame in a sliding mode, and the outer side faces of the sliding plates are fixedly connected with the clamping piece.

Preferably, the gripper further comprises a guide block, a guide rod and a sliding plate, the guide block is fixedly connected with the fixed frame, the inner side of the guide block is fixedly connected with a connecting plate, the sliding plate is slidably connected with the connecting plate, two ends of the first telescopic module are respectively and fixedly connected with the corresponding sliding plate, and the clamping piece is fixedly connected to the connecting plate.

Preferably, the hook clamping module is fixedly connected to the upper end of the fixed frame, the hook clamping module comprises a mounting part, a clamping power device and two clamping jaws, the clamping power device and the clamping jaws are fixedly connected to the mounting part, and the two clamping jaws are arranged oppositely; alternatively, the first and second electrodes may be,

the couple is got module fixed connection in the upper end of mount, the couple is got the module and is included the installed part, is got power device and clamping jaw, get power device with clamping jaw fixed connection in on the installed part, the clamping jaw is provided with two, just two clamping jaws set up relatively, the one end of clamping jaw with installed part fixed connection, the other end are provided with the centre gripping groove, the centre gripping groove reduces from its opening to its bottom gradually.

Preferably, the sucker module comprises a sucker, the sucker and the clamping piece face the same surface of the fixing frame, and the sucker module is telescopic; in one state, the sucker is closer to the fixed frame than the clamping piece, the sucker does not influence the use of the clamping piece, and in the other state, the sucker is farther from the fixed frame than the clamping piece, and the clamping piece does not influence the use of the sucker; alternatively, the first and second electrodes may be,

the sucking disc module is including installation mounting, sucking disc power device, guider, sucking disc support and a plurality of sucking disc, guider fixed connection in the installation mounting, the other end stretches out the installation mounting and with sucking disc support fixed connection, sucking disc power device fixed connection in the installation mounting, the other end also stretches out the installation mounting and connect in the sucking disc support, a plurality of sucking disc fixed connection in on the sucking disc support.

Preferably, the lifting device further comprises a lifting module, wherein one end of the lifting module is fixedly connected to the fixed frame, and the other end of the lifting module can freely stretch and retract; alternatively, the first and second electrodes may be,

still include the jacking module, the jacking module includes casing, jacking power device, jacking axle and direction bearing, the cylinder is fixed in the casing, the output shaft of cylinder with jacking axle fixed connection, direction bearing fixed connection in on the casing, just the jacking axle runs through stretch out behind the direction bearing the outside of casing.

Preferably, the positioning element comprises a first positioning element, a second positioning element and a third positioning element, and the first positioning element, the second positioning element and the third positioning element are all fixedly connected to the supporting element; the first positioning piece applies force to the hook in the X-axis direction, the second positioning piece applies force to the hook in the Y-axis direction, and the third positioning piece applies force to the hook in the Z-axis direction.

Preferably, the first positioning element comprises a limiting element and a pressing element, the pressing element comprises a pressing power device, a rotating shaft and a pressing block, an output shaft of the pressing power device is fixedly connected with the rotating shaft, the pressing block is fixed on the rotating shaft, and the pressing power device drives the rotating shaft and the pressing block to rotate; and/or the presence of a gas in the gas,

the second positioning piece comprises an upper supporting piece and a lower pressing piece, the lower pressing piece comprises a lower pressing power device and a lower pressing plate, and the lower pressing power device drives the lower pressing plate to move up and down; and/or the presence of a gas in the gas,

the third positioning piece comprises a first clamping piece and a second clamping piece, and at least one of the first clamping piece and the second clamping piece can move in the horizontal direction; and/or the presence of a gas in the gas,

the support piece is a support frame which is arranged in a herringbone ladder shape, and the contact surface of the support frame and the hook is an inclined angle of 5-15 degrees.

The utility model also provides a spraying system, including transmission device, last unloader and the last unloader of above-mentioned arbitrary, go up the unloader and be located transmission device's last unloading station department, it fixes to go up the unloading anchor clamps go up on the unloader, calibration positioner fixes go up the week side of unloader.

Preferably, the number of the feeding and discharging mechanical arms is two, each feeding and discharging mechanical arm is fixedly provided with a feeding and discharging clamp, and the number of the calibration and positioning devices is two.

The utility model discloses an unloader can cooperate the manipulator to accomplish the action of automatic unloading of going up, uses manpower sparingly, and has improved the speed of going up unloading.

Drawings

The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular description of preferred embodiments of the invention, as illustrated in the accompanying drawings. Like reference numerals refer to like parts throughout the drawings, and the drawings are not intended to be drawn to scale in actual dimensions, emphasis instead being placed upon illustrating the principles of the invention.

Fig. 1 is an overall structure diagram of a loading and unloading device according to a preferred embodiment of the present invention;

FIG. 2 is an overall view of the clamp according to the preferred embodiment of the present invention;

FIG. 3 is an exploded view of the clamp of the preferred embodiment of the present invention;

FIG. 4 is an overall view of the gripper according to the preferred embodiment of the present invention;

FIG. 5 is an exploded view of the gripper of the preferred embodiment of the present invention;

FIG. 6 is an overall block diagram of the suction cup module of the preferred embodiment of the present invention;

FIG. 7 is an internal structural view of a suction cup module according to a preferred embodiment of the present invention;

fig. 8 is an overall structure view of the hook clamping module according to the preferred embodiment of the present invention;

FIG. 9 is an exploded view of the hook clamp mold of the preferred embodiment of the present invention;

fig. 10 is an overall structure view of the jacking module according to the preferred embodiment of the present invention;

fig. 11 is an exploded view of a jacking mold according to a preferred embodiment of the present invention;

FIG. 12 is an overall block diagram of the alignment fixture of the preferred embodiment of the present invention;

fig. 13 is an exploded view of a calibration positioning device in accordance with a preferred embodiment of the present invention;

fig. 14 is an exploded view of a calibration positioning device in accordance with another preferred embodiment of the present invention;

fig. 15 is an overall structural view of a spray system according to a preferred embodiment of the present invention.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element and be integral therewith, or intervening elements may also be present. The terms "mounted," "one end," "the other end," and the like are used herein for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1 to 14, the present invention provides a loading and unloading device, which includes a loading and unloading fixture 200 and a calibration positioning device 100, wherein the loading and unloading fixture 200 is fixed on an external manipulator 300, and the external manipulator 300 drives the loading and unloading fixture 200 to clamp a workpiece located on the calibration positioning device 100. Referring to fig. 2 and 3, the feeding and discharging clamp 200 includes a fixing frame 50, a suction cup module 20, a gripper 10 and a hook clamping module 30, wherein the suction cup module 20 and the gripper 10 are both fixedly connected to the fixing frame 50, the hook clamping module 30 is fixed on the top of the fixing frame 50, the suction cup module 20 is used for sucking a workpiece, the gripper 10 is used for clamping the workpiece, and the hook clamping module 30 is used for clamping a hook. In addition, because the hole that supplies to hang the hook on some work pieces is very little, and the couple is the swing back and forth, wants to press from both sides and get the work piece and hang on the couple, and gripper 10 is hardly accomplished almost, but hangs the couple on the chain just some easily relatively, and couple clamp get module 30 and gripper 10 cooperation can press from both sides the couple and hang the work piece on the couple together simultaneously and get, then put on transmission chain 500, and it has solved the difficult problem among the prior art, has realized artifical unloading of going up and down. The alignment positioning device 100 comprises a supporting part 104 and a positioning part, the positioning part is fixed on the supporting part 104, and the supporting part 104 and the fixing part are matched to position the workpiece, so that the workpiece is positioned more accurately, and the accuracy rate of simultaneously hanging the workpiece and the hook on the transmission chain 500 is higher.

Referring to fig. 4 and 5, in a preferred embodiment, the gripper 10 includes a fixed frame 1, a plurality of grippers 2, and a first telescopic module 3, the grippers 2 are provided in plurality, and the plurality of grippers 2 are slidably coupled to the fixed frame 1, and the grippers 2 are slid back and forth for clamping or unclamping a workpiece. The first telescopic module 3 includes a telescopic power device 31 and a telescopic link 32, and the telescopic power device 31 is a cylinder, an electric cylinder, or the like. The telescopic connecting rod 32 comprises a first connecting rod 311, a second connecting rod 312 and a third connecting rod 313, the first connecting rod 311 and the third connecting rod 313 are the same in length, the first connecting rod 311, the second connecting rod 312 and the third connecting rod 313 are hinged end to end, two ends of the telescopic power device 31 are respectively connected with the first connecting rod 311 and the third connecting rod 313, and the telescopic power device 31 stretches and retracts to drive the telescopic connecting rod 32 to stretch and retract. The middle part of the second connecting rod 312 is rotatably connected with the fixed frame 1, and the position of the second connecting rod 312 and the fixed frame 1 is fixed, so that the same expansion amount of two sides of the connecting point of the expansion connecting rod 32 and the fixed frame 1 can be ensured. The plurality of clamping pieces 2 are respectively connected to two ends of the first telescopic module 3, and the clamping pieces 2 move towards the direction close to the central line L or away from the central line L along with the extension and retraction of the telescopic connecting rods 32, so that the action of clamping or loosening a workpiece is completed.

In a further preferred embodiment, the fixed frame 1 is further provided with a fixed link 6, the fixed link 6 is fixedly connected with the fixed frame 1, the fixed link 6 is hinged with the middle part of the second link 312, and the telescopic link 32 is fixedly connected with the fixed frame 1 through the fixed link 6.

In a further preferred embodiment, the gripper 10 further comprises a guide block 42 and a guide rod 41, wherein the guide block 42 is a block with a guide hole or a guide groove, or the guide block 42 is a linear bearing. The guide rod 41 is slidably connected to the guide block 42, one end of the guide rod 41 is located inside the fixing frame 1, the other end of the guide rod 41 is fixedly connected with the clamping member 2, and when the clamping member 2 clamps or releases a workpiece, the state of the guide rod 41 along with the clamping member 2 is also changed. In another preferred embodiment, the gripper 10 further comprises a guide rod 41, the guide rod 41 is fixedly connected with the fixed frame 1, the guide rod 41 comprises a telescopic end, and the telescopic end of the guide rod 41 is fixedly connected with the clamping member 2; further, the guide bar 41 includes a fixed portion fixed to the fixed frame 1 and a telescopic portion extending out of the fixed frame 1 and telescopic as the clamping member 2 clamps or unclamps the workpiece.

In a further preferred embodiment, the gripper 10 further comprises two sliding plates 5, two sliding plates 5 are provided, two sliding plates 5 are disposed opposite to each other, the sliding plates 5 are slidably connected to the fixed frame 1, and the outer side of the sliding plates 5 is fixedly connected to the clamping member 2 (the outer side of the sliding plates 5 is a direction away from the center line L of the gripper). The sliding plate 5 serves both for guiding and also for further increasing the stability between the clamping element and the fixed frame 1 by providing a plurality of one connection point for the clamping element 2 to the fixed frame 1.

In a further preferred embodiment, the gripper 10 further comprises a guide block 42, a guide rod 41 and a sliding plate 5, wherein the guide block 42 is fixedly connected with the fixed frame 1, and the guide block 42 is fixedly connected with the fixed frame 1 through bolts. The inner side of the guide block 42 is fixedly connected with a connecting plate 11, the connecting plate 11 is provided with a bolt hole, and the sliding plate 5 is connected to the connecting plate 11 in a sliding mode. The connecting plate 11 is provided with two, and two connecting plates 11 set up relatively, and fixedly connected with backup pad 12 between two connecting plates 11, and backup pad 12 makes the position and the structure of connecting plate 11 all more stable. The both ends of first flexible module 3 respectively with rather than the sliding plate 5 fixed connection that corresponds, holder 2 fixed connection on connecting plate 11, sliding plate 5 both plays the effect of direction, still makes 2 a plurality of tie points with fixed frame 1 of holder, has further strengthened the stability between holder 2 and the fixed frame 1.

Referring to fig. 8 and 9, in a preferred embodiment, the hook clamping module 30 is fixedly connected to the upper end of the fixed frame 50 (the upper end of the fixed frame 50 refers to the upper end of the fixed frame 50 in a use state), the hook clamping module 30 can clamp the hook, and the hook clamping module 30 cooperates with the gripper 10 to simultaneously clamp the hook and the workpiece hung on the hook together, and then place the workpiece on the conveying chain. Because the holes for hanging the hooks on some workpieces are small, and the hooks swing back and forth, when the manipulator wants to clamp the workpieces and hang the workpieces on the hooks, the manipulator is difficult to complete, but the hooks are easy to hang on the chains. In another preferred embodiment, the clamping apparatus further comprises a hook clamping module 30, the hook clamping module 30 is fixedly connected to the upper end of the fixing frame 50 (the upper end of the fixing frame 50 refers to the upper end of the fixing frame 50 in the use state), and since the hooks are generally located at the upper end of the workpiece, the hook clamping module 30 is also located at the upper ends of the gripper 10 and the suction cup module 20. The hook clamping module 30 comprises a mounting member 303, a clamping power device 301 and a clamping jaw 302, wherein the clamping power device 301 is an electric cylinder or an air cylinder. The two clamping power devices 301 are arranged, the two clamping power devices 301 are arranged oppositely, each clamping power device 301 is connected with one clamping jaw 302, and the two clamping jaws 302 are matched to clamp the hook. The clamping power device 301 and the clamping jaws 302 are fixedly connected to the mounting part 303, two clamping jaws 302 are arranged, and the two clamping jaws 302 are arranged oppositely. In other preferred embodiments, the gripper 10 further includes a hook clamping module 30, the hook clamping module 30 is fixedly connected to the upper end of the fixing frame 50 (the upper end of the fixing frame 50 refers to the upper end of the fixing frame 50 in the use state), the hook clamping module 30 includes a mounting member 303, a clamping power device 301 and a clamping jaw 302, the clamping power device 301 and the clamping jaw 302 are fixedly connected to the mounting member 303, two clamping jaws 302 are provided, and the two clamping jaws 302 are disposed opposite to each other. One end of the clamping jaw 302 is fixedly connected with the mounting piece 303, the other end of the clamping jaw is provided with a clamping groove 3021, the clamping groove 3021 is gradually reduced from the opening to the bottom of the clamping groove 3021, the upper hook body of the hook is conveniently placed into the clamping groove 3021, the width of the bottom of the clamping groove 3021 is the same as that of the upper hook body of the hook, and the position accuracy of the hook is guaranteed. Further, the mounting bracket 303 includes a bottom plate 3032, two side plates 3033 and a rear side plate 3031, and the bottom plate 3032, the two side plates 3033 and the rear side plate 3031 are fixedly connected to form a dustpan-shaped mounting bracket 303.

Referring to fig. 6 and 7, in a preferred embodiment, the suction cup module 20 includes a suction cup 201, the suction cup 201 and the clamping member 2 face the same surface of the fixing frame 50, and the suction cup module 20 is retractable. In one state, the suction cup 201 is closer to the fixed frame 1 than the clamping member 2, and the suction cup 201 does not affect the use of the clamping member 2; in another state, the suction cup 201 is farther from the fixing frame 1 than the clamp 2, and the clamp 2 does not affect the use of the suction cup 201. The user may choose to use either the suction cup 201 or the clamp 2 as desired.

In the preferred embodiment, the suction cup module 20 comprises a mounting fixture 204, a suction cup power device 202, a guide device 203, a suction cup support 205, and a plurality of suction cups 201, wherein the suction cup power device 202 is an electric telescopic rod or a pneumatic telescopic rod. The fixing member 204 is a box. The guiding device 203 is fixedly connected to the mounting fixture 204, and the other end of the guiding device extends out of the mounting fixture 204 and is fixedly connected with the sucker bracket 205. The suction cup power device 202 is fixedly connected to the mounting fixture 204, the other end of the suction cup power device extends out of the mounting fixture 204 and is connected to the suction cup support 205, and the plurality of suction cups 201 are fixedly connected to the suction cup support 205. The suction cup power device 202 drives the suction cup support 205 and the suction cup 201 to do telescopic motion along the axial direction, and the guide device 203 plays a role in guiding, so that the positioning of the suction cup 201 is more accurate. Further, two guiding devices 203 are provided, which are respectively located at two sides of the suction cup power device, the guiding devices 203 include a suction cup guiding shaft 2031 and a guiding linear bearing 2032, and the guiding linear bearing 2032 is fixed on the fixing member 204.

Referring to fig. 10 and 11, in a preferred embodiment, the loading and unloading clamp 200 further includes a lifting module 40, one end of the lifting module 40 is fixedly connected to the fixing frame 50, and the other end is freely retractable, so that when the workpiece is gripped by the gripper 10, the lifting module 40 extends to abut against the workpiece, so that the gripped workpiece is more stable. In another preferred embodiment, the fixture further comprises a jacking module 40, the jacking module 40 comprises a housing 401, a jacking power device 402, a jacking shaft 403 and a guide bearing 404, and the jacking power device 402 is an air cylinder or an electric cylinder. Cylinder 402 is fixed in casing 401, and jacking power device 402's output shaft and jacking axle 403 fixed connection, and guide bearing 404 fixed connection is on casing 401, and stretches out the outside of casing 401 behind jacking axle 403 running through guide bearing 404, and the jacking axle 403 of jacking module 40 is used for withstanding the work piece of being got by the clamp, makes it more stable, is difficult to the landing.

Referring to fig. 1 and 2, in a preferred embodiment, the loading and unloading clamp 200 further includes a connecting module 60 and a junction box 70, and both the connecting module 60 and the junction box 70 are fixedly connected to the fixing frame 50. The connecting module is fixed on the upper part of the fixing frame 50 (the surface opposite to the clamping piece 2 is the upper part of the fixing frame 50) and is used for being connected and fixed with the manipulator. The terminal box 70 is electrically connected to each power unit of the jig and connected to a control part of the robot, so that the robot can control the jig conveniently.

Referring to fig. 12-14, in a preferred embodiment, the aligning and positioning device 100 is used for aligning and positioning the position of a suspension hook, and includes a supporting member 104, a first positioning member 101, a second positioning member 102, and a third positioning member 103, wherein the first positioning member 101, the second positioning member 102, and the third positioning member 103 are all fixedly connected to the supporting member 104. The first positioning member 101 applies a force to the hook in the X-axis direction, the second positioning member 102 applies a force to the hook in the Y-axis direction, and the third positioning member 103 applies a force to the hook in the Z-axis direction (the X-axis, the Y-axis, and the Z-axis herein refer to directions substantially along the X-axis, the Y-axis, and the Z-axis). For a three-dimensional hook, the actual positions of the three dimensions are fixed after the directions are all defined. The hook after the position is fixed is more convenient for the manipulator 30 to accurately take and place.

In a further preferred embodiment, the first positioning element 101 includes a limiting element and a pressing element, the limiting element is fixed, and the pressing element applies a pressure to the limiting element in a direction of the limiting element, so that the hook is clamped between the limiting element and the pressing element. The pressing piece comprises a pressing power device 1011, a rotating shaft 1012 and a pressing block 1013, and an output shaft of the pressing power device 1011 is fixedly connected with the rotating shaft 1012. The pressing block 1013 is fixed on the rotating shaft 1012, and the pressing power device 1011 drives the rotating shaft 1012 and the pressing block 1013 to rotate. The pressing power device 1011 is a rotary cylinder or a speed reduction motor. When the hook needs to be pressed, the pressing power device 1011 drives the rotating shaft 1012 and the pressing block 1013 to rotate to the front of the hook, so as to press the hook; when the hook needs to be taken down, the pressing power device 1011 drives the pressing block 1013 to rotate to other positions, so that the pressing block 1013 does not press the hook any more, and the manipulator 30 can take the workpiece conveniently.

In a further preferred embodiment, the first positioning element 101 includes a limiting element and a pressing element, in this embodiment, the limiting element is a supporting element, and the pressing element applies a force to the hook toward the supporting element. The pressing piece pushes the hook towards the direction of the limiting piece, and the limiting piece and the pressing piece are matched to determine the position of the hook on the X axis.

In a further preferred embodiment, the second positioning member 102 comprises a supporting member, which may be a supporting plate for bearing the weight of the hook, and the supporting member prevents the hook from falling off, and only needs to fix the position of the lower portion of the hook due to the weight of the hook, i.e. in this embodiment, the supporting member is the second positioning member 102. In another preferred embodiment, the second positioning member 102 includes an upper supporting member and a lower pressing member, the lower pressing member includes a lower pressing power device 1022 and a lower pressing plate 1021, and the lower pressing power device 1022 drives the lower pressing plate 1021 to move up and down. Due to the action of the second positioning member 102 and the third positioning member 103, errors sometimes occur when the position of the hook in the Y-axis direction is determined only by gravity and the upper supporting member, so for the sake of safety, the upper supporting member and the lower supporting member are used together to fix the position of the hook in the Y-axis direction.

In a further preferred embodiment, the third positioning member 3 comprises a first clamping member 1031 and a second clamping member 1032, at least one of the first clamping member 1031 and the second clamping member 1032 being movable in a horizontal direction, wherein the clamping member that is not in position is used to determine the position of the hook, the other clamping member is used to push the hook to the position, and the two clamping members cooperate to determine the position of the hook in the Y-axis direction.

In a further preferred embodiment, the hook comprises an upper hook body, a hook body and a lower hook body, wherein the hook body is a flat plate-shaped body, and the hook body is provided with a plurality of lightening holes, so that the weight of the hook is lightened under the condition that the use of the hook is not influenced. The first positioning element 101 and the third positioning element 103 are both located on the side of the hook body, the second positioning element 102 is located at the rear of the hook body (the direction close to the limiting element of the first positioning element 101 is the rear of the hook body), and the second positioning element 102 extends into the lightening hole.

In a further preferred embodiment, the aligning and positioning device further includes an auxiliary positioning member 106, the auxiliary positioning member 106 is fixed to the upper portion of the support 104, a plurality of fixing grooves 1061 are formed on the auxiliary positioning member 106, and the width of the bottom of the fixing grooves 1061 is the same as the width of the upper hook. When the calibration positioning is performed, the upper hook body of the hook is hung in the positioning groove 1061, and the width of the bottom of the positioning groove 1061 is the same as that of the upper hook body, so that the positioning groove 1061 is matched with gravity to calibrate the position of the hook in the Y-axis direction, and the positioning groove 1061 is used to calibrate the position of the hook in the Z-axis direction.

In a further preferred embodiment, the fixing groove 1061 is provided in plurality, and the hook can be fixed at different positions by using different fixing grooves 1061, and can be adjusted according to the situation when in use. The fixing groove 1061 is gradually contracted from the opening end to the bottom thereof, such as an inverted trapezoid, a half arc, etc., so that the upper hook body of the hook can be conveniently placed into the fixing groove 1061.

In a further preferred embodiment, after the hook is fixed, the first positioning member 101, the second positioning member 102 and the third positioning member 103 are all located at a position of the hook body close to the upper hook body, the lower hook body of the hook is also required to hang other hooks to be hung, and the calibration fixing device 100 is located at the upper part of the hook, so that the hook is not influenced to hang a workpiece.

In a preferred embodiment, the supporting member 104 is a supporting frame, the supporting member 104 is arranged in a herringbone ladder shape, the contact surface of the supporting member 104 and the hook is inclined, the included angle between the contact surface and the vertical surface of the horizontal plane is 5-15 degrees, the hook can be automatically attached to the supporting member 104 under the action of gravity, and the position of the hook in the X-axis direction can be automatically determined. The support member 104 and the auxiliary positioning member 106 cooperate to preliminarily determine the position of the hook, and the calibrating and positioning device 100 only needs to slightly calibrate the position of the hook to achieve the precise requirement of the position of the hook.

Referring to fig. 15, the utility model also provides a spraying system, including transmission device 500, last unloader 300 and the last unloader of above-mentioned arbitrary, last unloader 300 is located transmission device's last unloading station department, and material anchor clamps 200 are fixed on last unloader 300, and calibration positioner 100 fixes in the week side of last unloader 300.

In the preferred embodiment, there are two loading and unloading robots 300, and each loading and unloading robot 300 has two loading and unloading clamps 200 fixed thereon, and there are two calibration and positioning devices 100.

The feeding and discharging device can realize feeding and discharging. When the automatic workpiece clamping device is used, the sucker module 20 of the feeding manipulator extends out to suck a workpiece and hang the workpiece on the hook on the calibration and positioning device 100, the sucker module 20 retracts after releasing the workpiece, the mechanical claw 10 and the hook clamping module 30 are matched to clamp the workpiece and the hook at the same time, and then the upper hook body of the hook is hung on the conveying device 500; the blanking manipulator clamps the workpiece and the hook by using the mechanical claw 10 and the hook clamping module, then places the workpiece and the hook on the calibrating and positioning device 100, the mechanical claw 10 and the hook clamping module 30 are loosened, the sucker module 20 extends out to suck the workpiece, the workpiece is taken off the hook and stacked beside the hook, and the hook left on the calibrating and positioning device 100 is loaded by the feeding manipulator for use; and the circulation is performed in sequence, so that the efficiency is higher.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above embodiments only express the specific embodiments of the utility model, and the description thereof is more specific and detailed, but not so as to limit the scope of the patent of the utility model. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. The loading and unloading device is characterized by comprising a loading and unloading clamp and a calibration positioning device, wherein the loading and unloading clamp is fixed on an external manipulator; the feeding and discharging clamp comprises a fixed frame, a sucker module, a mechanical claw and a hook clamping module, wherein the sucker module and the mechanical claw are fixedly connected to the fixed frame, and the hook clamping module is fixed to the top of the fixed frame; the calibration positioning device comprises a supporting piece and a positioning piece, and the positioning piece is fixed on the supporting piece.

2. The loading and unloading device of claim 1, wherein the gripper comprises a fixed frame, a plurality of clamping members and a first telescopic module, and the plurality of clamping members are slidably connected to the fixed frame; first flexible module is including flexible power device and flexible connecting rod, flexible connecting rod includes first connecting rod, second connecting rod and third connecting rod, first connecting rod, second connecting rod and third connecting rod end to end are articulated each other, flexible power device's both ends respectively with first connecting rod and third connecting rod are connected, the middle part of second connecting rod with fixed frame rotatable coupling, a plurality of holders connect respectively in the both ends of first flexible module.

3. The loading and unloading device as recited in claim 2, wherein the fixed frame is further provided with a fixed connecting rod, the fixed connecting rod is fixedly connected with the fixed frame, and the fixed connecting rod is hinged with the middle part of the second connecting rod.

4. The loading and unloading device as recited in claim 2, wherein the gripper further includes a guide block and a guide rod, the guide rod is slidably connected to the guide block, one end of the guide rod is located inside the fixed frame, and the other end of the guide rod is fixedly connected to the clamping member; alternatively, the first and second electrodes may be,

5. The loading and unloading device of claim 2, wherein the gripper further comprises two sliding plates, the two sliding plates are disposed opposite to each other, the sliding plates are slidably connected to the fixed frame, and the outer side surfaces of the sliding plates are fixedly connected to the clamping members.

6. The loading and unloading device as recited in claim 2, wherein the gripper further comprises a guide block, a guide rod and a sliding plate, the guide block is fixedly connected with the fixed frame, a connecting plate is fixedly connected to the inner side of the guide block, the sliding plate is slidably connected to the connecting plate, two ends of the first telescopic module are respectively fixedly connected with the corresponding sliding plate, and the clamping member is fixedly connected to the connecting plate.

7. The loading and unloading device as claimed in claim 1, wherein the hook clamping module is fixedly connected to the upper end of the fixed frame, the hook clamping module comprises a mounting member, a clamping power device and two clamping jaws, the clamping power device and the clamping jaws are fixedly connected to the mounting member, the two clamping jaws are arranged in an opposite manner; alternatively, the first and second electrodes may be,

8. The loading and unloading device of claim 2, wherein the sucker module comprises a sucker, the sucker and the clamping member face the same surface of the fixing frame, and the sucker module is retractable; in one state, the sucker is closer to the fixed frame than the clamping piece, the sucker does not influence the use of the clamping piece, and in the other state, the sucker is farther from the fixed frame than the clamping piece, and the clamping piece does not influence the use of the sucker; alternatively, the first and second electrodes may be,

the sucking disc module is including installation mounting, sucking disc power device, guider, sucking disc support and a plurality of sucking disc, guider fixed connection in the installation mounting, the other end stretches out the installation mounting and with sucking disc support fixed connection, sucking disc power device fixed connection in installation mounting, the other end also stretches out the installation mounting and be connected in the sucking disc support, a plurality of sucking disc fixed connection in on the sucking disc support.

9. The loading and unloading device as recited in claim 1, further comprising a jacking module, wherein one end of the jacking module is fixedly connected to the fixing frame, and the other end of the jacking module can freely extend and retract; alternatively, the first and second electrodes may be,

still include the jacking module, the jacking module includes casing, jacking power device, jacking axle and direction bearing, jacking power device is fixed in the casing, jacking power device's output shaft with jacking axle fixed connection, direction bearing fixed connection in on the casing, just the jacking axle runs through stretch out behind the direction bearing the outside of casing.

10. The loading and unloading device as recited in claim 1, wherein the positioning element includes a first positioning element, a second positioning element and a third positioning element, and the first positioning element, the second positioning element and the third positioning element are all fixedly connected to the supporting element; when the hook clamping module clamps a hook, the first positioning part applies force to the hook in the X-axis direction, the second positioning part applies force to the hook in the Y-axis direction, and the third positioning part applies force to the hook in the Z-axis direction.

11. The loading and unloading device according to claim 10, wherein the first positioning element comprises a limiting element and a pressing element, the pressing element comprises a pressing power device, a rotating shaft and a pressing block, an output shaft of the pressing power device is fixedly connected with the rotating shaft, the pressing block is fixed on the rotating shaft, and the pressing power device drives the rotating shaft and the pressing block to rotate; and/or the presence of a gas in the gas,

12. A painting system, comprising a transmission device, a loading and unloading manipulator and the loading and unloading device as claimed in any one of claims 1 to 11, wherein the loading and unloading manipulator is located at a loading and unloading station of the transmission device, the loading and unloading clamps are fixed on the loading and unloading manipulator, and the calibration positioning device is fixed on the peripheral side of the loading and unloading manipulator.

13. The spray system of claim 12, wherein there are two loading and unloading manipulators, each loading and unloading manipulator having two loading and unloading clamps fixed thereon, and there are two calibration positioning devices.