CN211643799U

CN211643799U - Automatic feeding and discharging equipment

Info

Publication number: CN211643799U
Application number: CN202021624710.9U
Authority: CN
Inventors: 鞠栋杰; 亓春廷; 王伟伟
Original assignee: Weifang Jingwei Intelligent Technology Co ltd
Current assignee: Weifang Jingwei Intelligent Technology Co ltd
Priority date: 2020-08-07
Filing date: 2020-08-07
Publication date: 2020-10-09
Anticipated expiration: 2030-08-07

Abstract

The utility model discloses an automatic loading and unloading device, which comprises a frame, wherein the frame is provided with a blanking mechanical arm, a loading mechanical arm, a blanking tray transferring device, a transfer tray transferring device, a loading tray transferring device and an empty tray traversing device; the unloading material tray transfer device, the transfer material tray transfer device and the loading material tray transfer device correspond to unloading, transfer and loading stations which are distributed in sequence one by one, and each unloading material tray transfer device, the transfer material tray transfer device and the loading material tray transfer device comprises a material tray longitudinal movement mechanism, a material tray lifting mechanism and a material tray separation caching mechanism which is used for temporarily storing a material tray to be used and separating the material tray from other material trays on the corresponding material tray lifting mechanism; the feeding manipulator and the discharging manipulator are used for feeding and discharging the material discs to be used temporarily stored on the corresponding stations; the empty tray traversing device is used for transferring empty trays between two adjacent tray separation caching mechanisms. The utility model discloses degree of automation is high, sustainable material loading or/and unloading, and have the multiple mode that can satisfy the different technological requirements of product.

Description

Automatic feeding and discharging equipment

Technical Field

The utility model belongs to the technical field of production facility, especially, relate to an automatic unloading equipment of going up.

Background

The lithium battery needs to be cached for a period of time after the core is rolled, and then the next process is carried out. In the currently used loading and unloading equipment, during caching, empty trays are manually placed on a tray lifting and storing mechanism of a loading position, a loading manipulator places products into the empty trays, and when full trays stacked on the tray lifting and storing mechanism reach a certain amount, the full trays are removed by a carrying mechanism, and at the moment, the loading manipulator needs to stop to wait until the trays on the tray lifting and storing mechanism are carried away; when unloading after the buffer memory, need utilize another transport mechanism to carry a pile of full charging tray to the charging tray lift storage mechanism of unloading material level, unloading manipulator takes out the product from the charging tray after the artifical empty charging tray that will unload shifts to the material level one by one, when charging tray lift storage mechanism needs transport mechanism supply next pile of full charging tray, unloading manipulator need shut down wait until the full charging tray is placed again on the charging tray lift storage mechanism. Therefore, the conventional feeding and discharging equipment cannot realize continuous feeding or/and discharging of products, seriously influences the production rhythm, is only suitable for a working mode with simultaneous feeding and discharging, is limited in application occasions, and cannot meet different process requirements of the products, namely only feeding, only discharging or directly transferring the products to the next station without buffering, and the like.

Therefore, how to design an automatic loading and unloading device with high automation degree, continuous loading or/and unloading, and multiple working modes capable of meeting different process requirements of products is a problem to be solved by those skilled in the art.

SUMMERY OF THE UTILITY MODEL

Aim at overcoming the not enough of existence among the above-mentioned prior art, the utility model provides a technical problem is, provides an automatic unloading equipment of going up, its degree of automation height, sustainable material loading or/and unloading, and have the multiple mode that can satisfy the different technological requirements of product.

The utility model provides a technical scheme that above-mentioned technical problem adopted is: an automatic loading and unloading device comprises a rack, wherein an unloading manipulator, a loading manipulator, an unloading tray transfer device corresponding to the unloading manipulator, a transfer tray transfer device, a loading tray transfer device corresponding to the loading manipulator and an empty tray transverse transfer device are arranged on the rack;

the blanking tray transferring device, the transfer tray transferring device and the loading tray transferring device correspond to a blanking station, a transfer station and a loading station which are distributed in sequence one by one, and each device comprises a tray longitudinal moving mechanism, a tray lifting mechanism and a tray separation caching mechanism arranged above the tray lifting mechanism;

the material tray separation caching mechanism is used for temporarily storing the material tray to be used and separating the material tray from other material trays on the corresponding material tray lifting mechanism; the feeding manipulator is used for feeding the material tray to be used temporarily stored on the feeding station, and the discharging manipulator is used for discharging the material tray to be used temporarily stored on the discharging station; the empty tray traversing device is used for transferring empty trays between two adjacent tray separation caching mechanisms.

Further, the material tray longitudinal moving mechanism comprises a first longitudinal driving piece and a first material tray supporting bracket connected with a power part of the first longitudinal driving piece; the first material tray supporting bracket is used for supporting a stack of empty material trays or a stack of full material trays which are stacked.

Further, the material tray lifting mechanism comprises a first vertical driving piece and a second material tray supporting bracket connected with a power part of the first vertical driving piece;

the second tray support bracket corresponding to the feeding station is used for supporting a plurality of full trays released one by the corresponding tray separation caching mechanism; the second material tray support bracket corresponding to the blanking station is used for supporting a plurality of full material trays on the second material tray support bracket one by one to the corresponding material tray separation caching mechanism; and the second material tray support bracket corresponding to the transfer station is used for supporting a plurality of empty material trays on the second material tray support bracket one by one to the corresponding material tray separation caching mechanisms or is used for supporting a plurality of empty material trays released one by the corresponding material tray separation caching mechanisms.

Further, the charging tray separation buffer memory mechanism includes that two set up relatively in the vertical driving piece of second on the frame top surface, be provided with in the power portion of the vertical driving piece of second and be used for the bearing treat the vertical supporting piece of using the charging tray or be used for right treat that the charging tray carries out the setting element of fixing a position.

Furthermore, the material tray separation caching mechanism of the feeding station further comprises two first transverse driving parts which are oppositely arranged on the top surface of the rack, and a transverse supporting part is arranged on a power part of each first transverse driving part.

Furthermore, the blanking station and the material tray separation caching mechanism of the transfer station further comprise four limiting angle guards which are arranged on the top surface of the rack in a rectangular shape.

Further, the empty tray traversing device comprises a support frame arranged on the rack, a transverse driving mechanism is installed on the support frame, a second vertical driving piece is arranged on a power portion of the transverse driving mechanism, and an empty tray sucking assembly used for sucking the empty tray to transfer is arranged on the power portion of the second vertical driving piece.

Further, empty charging tray absorbs subassembly includes the link, be provided with four circumference interval distribution's extension on the link, every be provided with waist type regulation hole on the extension, install the suction nozzle on the waist type regulation hole.

Further, the transverse driving mechanism comprises a synchronous belt transmission assembly and a mounting frame arranged on the support frame in a transverse sliding mode, the mounting frame is connected with one side portion of a synchronous belt in the synchronous belt transmission assembly, and the second vertical driving piece is fixed on the mounting frame.

Further, the automatic feeding and discharging device also comprises a feeding conveying device, a discharging conveying device, a buffer bin and a material tray stacking device; the material tray stacking device is used for carrying stacked empty material trays or stacked full material trays between the buffer bin and the material tray longitudinal moving mechanism.

Due to the adoption of the technical scheme, the beneficial effects are as follows:

compared with the prior art, the automatic loading and unloading equipment of the utility model has the advantages that the charging tray separation and buffer mechanism can temporarily store the charging tray to be used and separate the charging tray from other charging trays on the corresponding charging tray lifting mechanism; when other charging trays on the charging tray lifting mechanism reach a certain number and the corresponding charging tray longitudinal moving mechanism is required to transfer away, or when other charging trays are zero and the corresponding charging tray longitudinal moving mechanism is required to supply a new charging tray, the feeding manipulator and the discharging manipulator can continue to feed and discharge the charging tray to be used temporarily stored on the corresponding separation caching mechanism without stopping for waiting, so that the production takt is greatly accelerated. The empty tray transverse moving device, the transfer station and the transfer tray transferring device are additionally arranged, so that the automation degree is improved, and the working modes are increased into four types; the feeding working mode only, the blanking working mode only, the simultaneous feeding and blanking working mode and the product transferring working mode of the feeding manipulator can meet different technological requirements of products, and application occasions are widened.

To sum up, the utility model discloses an automatic unloading equipment degree of automation is high, sustainable material loading or/and unloading, and have the multiple mode that can satisfy the different technological requirements of product.

Drawings

FIG. 1 is a schematic view of a first embodiment of an automatic loading and unloading apparatus according to the present invention;

FIG. 2 is a schematic structural diagram of FIG. 1 with the loading and unloading manipulators omitted;

FIG. 3 is a top view of FIG. 2 (with the tray omitted);

FIG. 4 is a schematic view of the installation structure of the three tray separation caching mechanisms;

FIG. 5 is a schematic view of the mounting structure of the loading tray transfer device in FIG. 2;

FIG. 6 is a schematic structural diagram of the tray longitudinal moving mechanism and the tray lifting mechanism in FIG. 5;

FIG. 7 is a schematic structural diagram of a tray separation buffer mechanism in FIG. 5;

FIG. 8 is a reference view of the tray lift mechanism of FIG. 6 with a plurality of full trays stacked thereon;

FIG. 9 is a reference view of the tray longitudinal moving mechanism of FIG. 6 in a full tray transfer state;

FIG. 10 is a schematic view of the configuration of the tray traversing apparatus of FIG. 2;

FIG. 11 is an enlarged view of a portion of FIG. 10;

FIG. 12 is a schematic view of a second embodiment of the automatic loading and unloading apparatus of the present invention;

FIG. 13 is a schematic structural diagram of the tray stacking device and the tray longitudinal moving mechanism and the avoiding mechanism in FIG. 12;

FIG. 14 is a schematic structural view of the secondary transverse tray mechanism of FIG. 13;

in the figure: 1-rack, 11-blanking robot, 12-loading robot, 13-buffer bin, 14-dodge gate, 2-blanking tray transfer device, 21-first tray longitudinal movement mechanism, 22-first tray lifting mechanism, 23-first tray separation buffer mechanism, 231-longitudinal support member, 232-limit corner guard, 3-transfer tray transfer device, 31-second tray longitudinal movement mechanism, 32-second tray lifting mechanism, 33-second tray separation buffer mechanism, 4-loading tray transfer device, 41-third tray longitudinal movement mechanism, 411-first longitudinal driving member, 412-first tray support bracket, 413-connecting plate, 414-U-shaped plate, 415-limit stop, 42-third tray lifting mechanism, 421-a first vertical driving part, 422-a second tray support bracket, 4221-a fixed plate, 4222-a supporting plate, 4223-a limit baffle, 43-a third tray separation buffer mechanism, 431-a second longitudinal driving part, 432-a positioning part, 433-a first transverse driving part, 434-a transverse supporting part, 435-a first sliding rail slider structure, 5-an empty tray transverse moving device, 51-a supporting frame, 52-a first transverse driving mechanism, 521-a synchronous belt transmission component, 522-a mounting frame, 53-a second vertical driving part, 54-an empty tray suction component, 541-a connecting frame, 542-an extending part, 543-a waist-shaped adjusting hole, 544-a suction nozzle, 55-a second sliding rail slider structure, 6-a feeding conveying device and 7-a discharging conveying device, 8-avoiding mechanism, 9-tray stacking device, 91-tray secondary transverse supporting mechanism, 92-base, 921-first vertical plate, 922-first roller, 93-short stroke sliding plate, 931-I-shaped rail, 94-second transverse driving mechanism, 941-first driving motor, 942-first driving gear, 943-third rack, 95-long stroke sliding plate, 951-second vertical plate, 952-second roller, 96-linkage mechanism, 961-first rack, 962-driven gear, 963-second rack, a-blanking station, b-transfer station, c-feeding station, d-tray, e-tray to be used.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It is to be understood that the embodiments of the present invention are merely for convenience of simplifying the description, and are not to be construed as limiting the present invention.

The first embodiment is as follows:

as shown in fig. 1 to 4, the present embodiment discloses an automatic loading and unloading apparatus, which specifically includes a frame 1, and the frame 1 is provided with an unloading manipulator 11, a loading manipulator 12, an unloading tray transfer device 2 corresponding to the unloading manipulator 11, a transfer tray transfer device 3, a loading tray transfer device 4 corresponding to the loading manipulator 12, and an empty tray traverse device 5. Wherein, unloading charging tray transfer device 2, transfer charging tray transfer device 3, material loading charging tray transfer device 4 and horizontal unloading station a, transfer station b, the material loading station c one-to-one that distributes in order, and all include that the charging tray indulges the mechanism that moves, charging tray elevating system and sets up in the charging tray separation buffer memory mechanism (the top surface of frame 1) of charging tray elevating system top, and the top surface of frame 1 is provided with the three mouth 14 of dodging of one-to-one with charging tray separation buffer memory mechanism, the passing through of charging tray d of being convenient for. The material tray separation caching mechanism is used for temporarily storing material trays e (empty material trays or full material trays) to be used so as to separate the material trays e from other material trays d on the corresponding material tray lifting mechanism; the feeding manipulator 12 is used for feeding the material trays e to be used temporarily stored in the feeding station c, and the discharging manipulator 11 is used for discharging the material trays e to be used temporarily stored in the discharging station a; the empty tray traversing device 5 is used for transferring empty trays between two adjacent tray separation caching mechanisms.

For the sake of easy understanding of the present embodiment, the tray longitudinal moving mechanism of the blanking tray transfer device 2 is referred to as a first tray longitudinal moving mechanism 21, the tray lifting mechanism is referred to as a first tray lifting mechanism 22, and the tray separation buffer mechanism is referred to as a first tray separation buffer mechanism 23. The tray longitudinal movement mechanism of the transfer tray transfer device 3 is denoted as a second tray longitudinal movement mechanism 31, the tray lifting mechanism is denoted as a second tray lifting mechanism 32, and the tray separation buffer mechanism is denoted as a second tray separation buffer mechanism 33. The tray longitudinal moving mechanism of the blanking tray transfer device 4 is denoted as a third tray longitudinal moving mechanism 41, the tray lifting mechanism is denoted as a third tray lifting mechanism 42, and the tray separation buffer mechanism is denoted as a third tray separation buffer mechanism 43.

The material tray separation caching mechanism is used for temporarily storing the material tray e to be used and separating the material tray e from other material trays d on the corresponding material tray lifting mechanism, so that the material loading or the material unloading without stopping is realized. The arrangement of the empty tray traversing device 5, the transfer station b and the transfer tray transferring device 3 improves the automation degree and increases the working modes into four types; the feeding working mode only, the blanking working mode only, the simultaneous feeding and blanking working mode and the product transferring working mode of the feeding manipulator can meet different technological requirements of products, and application occasions are widened.

Wherein, only material loading mode: the second tray longitudinal moving mechanism 31 transfers a stack of empty trays stacked on the second tray lifting mechanism 32, and the second tray lifting mechanism 32 (gradually lifted) is responsible for providing the empty trays for the second tray separation caching mechanism 33 one by one; the empty tray traversing device 5 transfers empty trays between the second tray separation caching mechanism 33 and the third tray separation caching mechanism 43; the feeding manipulator 12 feeds the empty tray on the third tray separation caching mechanism 43; the full trays after the feeding are stacked one by one on the third tray lifting mechanism 42, and when the full trays stacked by the third tray lifting mechanism 42 reach a certain number and need to be transported and transferred by the third tray longitudinal moving mechanism 41, because a tray e (empty tray) to be used is temporarily stored on the third tray separation and cache mechanism 43, the influence of the third tray longitudinal moving mechanism 41 and the third tray lifting mechanism 42 on the transportation is avoided, so the feeding manipulator 12 does not need to stop for waiting and can continuously feed.

Only blanking working mode: the first material tray longitudinal moving mechanism 21 transfers a stack of full material trays to the first material tray lifting mechanism 22, the first material tray lifting mechanism 22 (gradually lifted) is responsible for providing the full material trays for the first material tray separation caching mechanism 23 one by one, and the blanking manipulator 11 carries out blanking on the full material trays; the empty tray traversing device 5 transfers empty trays between the first tray separation caching mechanism 23 and the second tray separation caching mechanism 33, and the second tray lifting mechanism 32 is responsible for stacking, storing and providing the empty trays; when the empty trays stacked by the second tray lifting mechanism 32 reach a certain number and need to be transported and transferred by the second tray longitudinal moving mechanism 31, the second tray separation buffer mechanism 33 is idle at this time, the empty trays transferred by the empty tray transverse moving device 5 can be temporarily stored, and when the full trays stacked by the first tray lifting mechanism 22 are zero and the first tray longitudinal moving mechanism 21 needs to transport a new stack of empty trays for replenishment, a tray e (full tray) to be used is temporarily stored on the first tray separation buffer mechanism 23, so that the influence of the first tray longitudinal moving mechanism 21 and the first tray lifting mechanism 22 on transportation is avoided, the blanking manipulator 11 does not need to stop for waiting, and continuous blanking is realized.

Simultaneously, a feeding and discharging working mode is as follows: the first material tray longitudinal moving mechanism 21 transfers a stack of full material trays to the first material tray lifting mechanism 22, the first material tray lifting mechanism 22 (gradually lifted) is responsible for providing the full material trays for the first material tray separation caching mechanism 23 one by one, and the blanking manipulator 11 carries out blanking on the full material trays; the empty tray traversing device 5 transfers empty trays between the first tray separation caching mechanism 23 and the second tray separation caching mechanism 33, and then transfers empty trays between the second tray separation caching mechanism 33 and the third tray separation caching mechanism 43; the feeding manipulator 12 feeds the empty tray on the third tray separation caching mechanism 43; the full trays after the feeding are stacked one by one on the third tray lifting mechanism 42 (gradually descending). When full charging tray need shift or supply, material loading manipulator 12 and unloading manipulator 11 all need not to shut down the wait, can realize lasting unloading and material loading.

The material loading manipulator transfers the product working mode: only the feeding mechanical arm 12 works, and products are directly transferred to a conveying device at the next station from the product conveyed at the previous station without being temporarily stored in the material tray d.

As shown in fig. 3 to 7, in the present embodiment, since the structures of the blanking tray transfer device 2, the transfer tray transfer device 3 and the loading tray transfer device 4 are basically the same, the following is described in detail by taking the loading tray transfer device 4 as an example:

in this embodiment, the third tray longitudinal moving mechanism 41 includes a first longitudinal driving member 411 (preferably a linear module), a first tray supporting bracket 412 connected to a power portion of the first longitudinal driving member 411; the first tray support bracket 412 is used to support a stack of full trays (conveyed from the tray stacking device 9, see fig. 13) stacked thereon. Wherein, first charging tray support bracket 412 includes the connecting plate 413 fixed with the power portion of first longitudinal drive piece 411, has two U-shaped boards 414 along horizontal interval and parallel arrangement on the connecting plate 413, and the opening of U-shaped board 414 up, and the terminal surface at the open both ends of every U-shaped board 414 all is provided with the limit stop 415 that is L shape, and four limit stop 415 are the rectangle and arrange and carry on spacingly to charging tray d.

In this embodiment, the third tray lifting mechanism 42 includes a first vertical driving member 421 (preferably a linear module), and a second tray supporting bracket 422 connected to a power portion of the first vertical driving member 421. The second tray support bracket 422 comprises a fixing plate 4221 connected with the power part of the first vertical driving part 421, two supporting plates 4222 are transversely arranged on the fixing plate 4221 at intervals in parallel, and a limiting baffle 4223 for limiting the tray d is arranged at the end part of each supporting plate 4222.

In this embodiment, the third tray separation caching mechanism 43 is not completely the same as the second tray separation caching mechanism 33 and the first tray separation caching mechanism 23; the third tray separation buffer mechanism 43 has higher requirements on positioning the tray e to be used so as to accurately place the product, and therefore, the structure is slightly complicated.

The third tray separation buffer mechanism 43 comprises two second longitudinal driving members 431 (preferably cylinders) oppositely arranged on the top surface of the rack 1, and a power part of each second longitudinal driving member 431 is provided with a positioning part 432 for positioning the tray e to be used (a positioning block and a positioning bulge arranged on the positioning block, which are matched with a groove on the side part of the tray e to be used); the automatic lifting device further comprises two first transverse driving members 433 which are oppositely arranged on the top surface of the rack 1, wherein a transverse supporting member 434 is arranged on a power part of each first transverse driving member 433, and the transverse supporting member 434 is slidably arranged on the top surface of the rack 1 through a first sliding rail and sliding block structure 435. The two second longitudinal driving members 431 and the two first transverse driving members 433 move relatively, the positioning member 432 positions the tray e to be used longitudinally, and the transverse supporting member 434 extends out to support the tray e to be used so as to separate the tray e from other trays d.

The first tray separation buffer mechanism 23 is the same as the second tray separation buffer mechanism 33, and the first tray separation buffer mechanism 23 is taken as an example for explanation:

the first tray separation buffer mechanism 23 includes two longitudinal driving cylinders oppositely disposed on the top surface of the rack 1, and a longitudinal supporting member 231 disposed on a power portion of the longitudinal driving cylinders for supporting the tray e to be used further includes four limiting angle guards 232 arranged in a rectangular shape on the top surface of the rack 1.

Wherein: the second tray support bracket 422 corresponding to the feeding station c is used for receiving a plurality of full trays released one by the third tray separation and caching mechanism 43 (two second longitudinal driving members 431 and two first transverse driving members 433 move back to back); the second tray support bracket corresponding to the blanking station a is used for supporting a plurality of full trays on the second tray support bracket one by one to the corresponding first tray separation caching mechanism 23 (two longitudinal driving cylinders move relatively, and the longitudinal support member 231 supports the tray e to be used so as to realize separation); the second tray support bracket corresponding to the transfer station b is used for supporting a plurality of empty trays on the second tray support bracket one by one to the corresponding second tray separation caching mechanism 33 (two longitudinal driving cylinders move relatively); or for receiving a plurality of empty trays released one by the corresponding second tray separation buffer mechanism 33 (the two longitudinal driving cylinders move oppositely).

As shown collectively in fig. 8 and 9, the empty tray traversing device 5 transfers an empty tray (a tray e to be used) from the second tray separation buffer mechanism 33 to the third tray separation buffer mechanism 43; the feeding manipulator 12 feeds the empty tray on the third tray separation caching mechanism 43; the full trays after being loaded are released by the third tray separation buffer mechanism 43 and are stacked one by one on the third tray lifting mechanism 42, and when the full trays stacked by the third tray lifting mechanism 42 reach a certain number and need to be transported and transferred by the third tray longitudinal movement mechanism 41, because a tray e (empty tray) to be used is temporarily stored on the third tray separation buffer mechanism 43 at the moment, the influence of the transportation of the third tray longitudinal movement mechanism 41 and the third tray lifting mechanism 42 is avoided, so the loading manipulator 12 does not need to stop for waiting and can continuously load.

As shown in fig. 10 and fig. 11, in this embodiment, the empty tray traversing device 5 specifically includes a support frame 51 disposed on the top surface of the rack 1, a transverse driving mechanism (denoted as a first transverse driving mechanism 52) is mounted on the support frame 51, a second vertical driving member 53 (preferably an air cylinder) is disposed on a power portion of the first transverse driving mechanism 52, and an empty tray sucking assembly 54 for sucking an empty tray to transfer is disposed on a power portion of the second vertical driving member 53.

Wherein, first horizontal actuating mechanism 52 includes synchronous belt drive assembly 521 and the mounting bracket 522 of installing on support frame 51 with the help of the horizontal slidable of second slide rail slider structure 55, and mounting bracket 522 is connected with one side portion of the synchronous belt in synchronous belt drive assembly 521, and second vertical driving piece 53 is fixed in on mounting bracket 522.

The empty tray suction assembly 54 comprises a connecting frame 541, four extending portions 542 circumferentially distributed at intervals are arranged on the connecting frame 541, a waist-shaped adjusting hole 543 is arranged on each extending portion 542, and a suction nozzle 544 is arranged on each waist-shaped adjusting hole 543.

Example two:

as shown in fig. 1, 2, 12 to 14, the automatic loading and unloading apparatus of the present embodiment is additionally provided with a loading conveyor 6, a unloading conveyor 7, an avoiding mechanism 8, a tray stacking device 9 and a buffer bin 13 on the basis of the first embodiment; the buffer memory after the core is rolled up to the lithium cell can be used.

The tray stacking device 9 comprises a base, a vertical plate longitudinally slidably mounted on the base, a tray second-stage transverse supporting and conveying mechanism 91 vertically slidably mounted on the vertical plate, a longitudinal driving mechanism for driving the vertical plate to longitudinally move, and a vertical driving mechanism for driving the tray second-stage transverse supporting and conveying mechanism 9 to vertically move.

Because the secondary transverse supporting and conveying mechanism 91 of the material tray stacking device 9 is positioned above the second material tray longitudinal moving mechanism 31, when the secondary transverse supporting and conveying mechanism 91 of the material tray moves up and down, the two mechanisms interfere with each other, so that an avoiding mechanism 8 is added, and the avoiding mechanism 8 comprises two lifting bearing units positioned at two sides of the second material tray longitudinal moving mechanism 31; when the tray secondary transverse supporting and feeding mechanism 91 places a tray or a material taking tray on the second tray longitudinal moving mechanism 31, the material taking tray is transferred by the avoiding mechanism 8. For example, when the material tray is placed, the second material tray longitudinal moving mechanism 31 longitudinally moves for a certain distance, the avoiding mechanism 8 rises to receive the material tray which is supported and sent by the material tray secondary transverse supporting and sending mechanism 91, then the material tray secondary transverse supporting and sending mechanism 9 longitudinally retreats for avoiding, and the second material tray longitudinal moving mechanism 31 longitudinally resets to the position below the material tray which is supported by the avoiding mechanism 8 to prepare for receiving the material tray.

Only the innovative points of the tray stacking device 9 will be explained in detail below, and the tray secondary transverse carrying mechanism 91 includes a base 92, a short stroke sliding plate 93 transversely slidably mounted on the base 92, a second transverse driving mechanism 94 for driving the short stroke sliding plate 93 to transversely slide, a long stroke sliding plate 95 transversely slidably mounted on the short stroke sliding plate 93, and a linkage mechanism 96 for driving the long stroke sliding plate 95 to transversely slide relative to the short stroke sliding plate 93. The second transverse driving mechanism 94 includes a first driving motor 941 disposed on the base 92, a first driving gear 942 is disposed on a power portion of the first driving motor 941 extending out of the base 92, a third rack 943 is disposed on a bottom surface of the short stroke sliding plate 93, and the first driving gear 942 is engaged with the third rack 943. The link mechanism 96 includes a first rack 961 provided on the base 92, a driven gear 962 rotatably provided on the short stroke slide plate 93, and a second rack 963 provided on the bottom of the long stroke slide plate 95, wherein the upper end of the driven gear 962 is engaged with the second rack 963, and the lower end of the driven gear 962 is engaged with the first rack 961. The first driving motor 941 drives the first driving gear 942 to rotate forward/backward, the third rack 943 drives the short stroke sliding plate 93 to move transversely, in the transverse moving process (relative movement between the base 92 and the short stroke sliding plate 93), the driven gear 962 rotates passively due to the fact that the first rack 961 is fixed, the driven gear 962 enables the second rack 963 to move transversely, and then the long stroke sliding plate 95 is driven to move transversely relative to the short stroke sliding plate 93, secondary driving is formed by matching the second transverse driving mechanism 94 and the linkage mechanism 96, the pushing-out stroke of the long stroke sliding plate 95 is increased, the action period of the tray feeding tray is shortened, and the production tact is improved.

In order to realize the smoothness and the stability of the transverse sliding, the device is further optimized, and the optimized structure is as follows: two first vertical plates 921 are arranged on the base 92 at intervals, and a row of first rollers 922 are mounted on the inner side surfaces of the first vertical plates 921; two second vertical plates 951 are arranged on the bottom surface of the long-stroke sliding plate 95 at intervals, and a row of second rollers 952 is mounted on the outer side surfaces of the second vertical plates 951; the top surface of the short-stroke sliding plate 93 is provided with two i-shaped rails 931 at intervals, and the first roller 922 and the second roller 952 are respectively matched with grooves on two sides of the corresponding i-shaped rails.

The present embodiment also corresponds to four operation modes, and only the content not described in the first embodiment is described below, consistent with the first embodiment.

When the material loading operation mode is adopted, a stack of empty material trays in the buffer bin 13 is firstly conveyed to the avoiding mechanism 8 by the material tray stacking device 9, and the avoiding mechanism 8 transfers the stack of empty material trays to the second material tray longitudinal moving mechanism 31. When the full trays stacked by the third tray lifting mechanism 42 reach a certain number and are moved by the third tray longitudinal moving mechanism 41, the full trays are conveyed to the buffer bin 13 by the tray stacking device 9 for buffering (at this time, the second tray longitudinal moving mechanism 31 needs to move longitudinally for a certain distance for avoiding).

In the blanking-only working mode, a stack of full trays stacked in the buffer bin 13 is conveyed to the first tray longitudinal moving mechanism 21 by the tray stacking device 9. When the empty trays stacked by the second tray lifting mechanism 32 reach a certain number and are moved by the second tray longitudinal moving mechanism 31, the empty trays are firstly received by the avoiding mechanism 31 and then are conveyed to the buffer bin 13 by the tray stacking device 9.

When unloading mode simultaneously: the full trays stacked in the buffer bin 13 are conveyed to the first tray longitudinal movement mechanism 21 by the tray stacking device 9. When the full trays stacked by the third tray lifting mechanism 42 reach a certain number and are moved by the third tray longitudinal moving mechanism 41, the full trays are conveyed to the buffer bin 13 by the tray stacking device 9 for buffering.

The material loading manipulator transfers the product working mode: only the feeding mechanical arm 12 works, and products are directly conveyed from the feeding conveying device 6 to the discharging conveying device 7 to enter the next process without buffering.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. An automatic loading and unloading device is characterized by comprising a rack, wherein a blanking manipulator, a loading manipulator, a blanking tray transfer device corresponding to the blanking manipulator, a transfer tray transfer device, a loading tray transfer device corresponding to the loading manipulator and an empty tray transverse transfer device are arranged on the rack;

2. The automatic loading and unloading device of claim 1, wherein the tray longitudinal movement mechanism comprises a first longitudinal driving member, a first tray support bracket connected with a power part of the first longitudinal driving member; the first material tray supporting bracket is used for supporting a stack of empty material trays or a stack of full material trays which are stacked.

3. The automatic loading and unloading device according to any one of claims 1 or 2, wherein the tray lifting mechanism comprises a first vertical driving member, a second tray support bracket connected with a power part of the first vertical driving member;

4. The automatic loading and unloading device according to claim 1, wherein the tray separation buffer mechanism includes two second longitudinal driving members oppositely disposed on the top surface of the rack, and a power portion of the second longitudinal driving member is provided with a longitudinal supporting member for supporting the tray to be used or a positioning member for positioning the tray to be used.

5. The automatic loading and unloading device of claim 4, wherein the tray separation buffer mechanism of the loading station further comprises two first transverse driving members oppositely arranged on the top surface of the rack, and a transverse supporting member is arranged on a power part of each first transverse driving member.

6. The automatic loading and unloading device of claim 5, wherein the material tray separation and buffer storage mechanism of the unloading station and the transfer station further comprises four limiting angle guards which are arranged on the top surface of the frame in a rectangular shape.

7. The automatic loading and unloading device of claim 1, wherein the empty tray traversing device comprises a support frame arranged on the rack, a transverse driving mechanism is mounted on the support frame, a second vertical driving member is arranged on a power portion of the transverse driving mechanism, and an empty tray sucking assembly for sucking the empty tray for transfer is arranged on a power portion of the second vertical driving member.

8. The automatic loading and unloading device as claimed in claim 7, wherein the empty tray suction assembly comprises a connecting frame, four circumferentially spaced extending portions are arranged on the connecting frame, a waist-shaped adjusting hole is arranged on each extending portion, and a suction nozzle is mounted on each waist-shaped adjusting hole.

9. The automatic loading and unloading equipment of claim 7, wherein the transverse driving mechanism comprises a synchronous belt transmission assembly and a mounting rack which is transversely slidably mounted on the supporting frame, the mounting rack is connected with one side part of a synchronous belt in the synchronous belt transmission assembly, and the second vertical driving piece is fixed on the mounting rack.

10. The automatic loading and unloading equipment of claim 2, wherein the automatic loading and unloading equipment further comprises a loading conveying device, a unloading conveying device, a buffer bin and a tray stacking device; the material tray stacking device is used for carrying stacked empty material trays or stacked full material trays between the buffer bin and the material tray longitudinal moving mechanism.