CN215477999U - Loading and unloading equipment - Google Patents

Abstract

The utility model provides a loading and unloading device, and relates to the technical field of loading and unloading of parts. This go up unloading equipment includes: a conveyor for conveying bulk pallets and finished pallets; the bearing table is positioned at one side of the conveying device; the bulk material feeding device with an output end corresponding to the bulk material input end of the bearing table; the input end of the finished product off-line device corresponds to the finished product output end of the bearing table; the separation positioning device, the mechanical arm, the feeding device and the discharging device are arranged on the bearing table; the device also comprises a processor connected with the devices. This separation positioner in last unloading equipment can mechanize and be two solitary bulk cargo products with the bulk cargo to the split to fix a position it, and through treater automatic association operation between a plurality of different devices, have higher degree of automation, continuity of operation when can realizing a plurality of devices, make go up unloading equipment operation precision high, production efficiency high, and can save a large amount of hand labor volume, reduce assembly cost.

Description

Loading and unloading equipment

Technical Field

The utility model relates to the technical field of part feeding and discharging, in particular to feeding and discharging equipment.

Background

Among the prior art, a lot of finished product products all form by the assembly of a plurality of bulk cargo products, and the bulk cargo product becomes batch holding in the bulk cargo case, and partial bulk cargo product uses the bulk cargo of two formations to place for the unit, on the current assembly line, need the manual work to be the solitary bulk cargo product with the bulk cargo to the split, then carry out follow-up assembly again, and the amount of labour is big and work efficiency is low.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a feeding and discharging device, which aims to solve the technical problems of large labor amount and low working efficiency in the feeding and discharging process of the existing products.

In order to solve the above problems, the present invention provides a loading and unloading apparatus, comprising:

the conveying device is used for conveying a bulk material tray and a finished product tray, the bulk material tray is used for bearing bulk material products, and the finished product tray is used for bearing finished product products;

the bearing table is positioned at one side of the conveying device;

the bulk material feeding device is used for conveying a bulk material box containing bulk material pairs, and the output end of the bulk material feeding device corresponds to the bulk material input end of the bearing table;

the finished product offline device is used for conveying the empty finished product bin, and the input end of the finished product offline device corresponds to the finished product output end of the bearing table;

the separation positioning device is arranged on the bearing table and used for separating the bulk material pair into two bulk material products and positioning the bulk material products;

the manipulator is arranged on the bearing table and is used for conveying the bulk material pairs in the bulk material box positioned at the output end of the bulk material loading device to the separation positioning device;

the loading device is arranged on the bearing table and used for conveying the bulk products separated by the separation positioning device to the bulk pallet;

the blanking device is arranged on the bearing table and used for conveying the finished products borne on the finished product tray to a finished product bin positioned at the input end of the finished product offline device;

the conveying device, the bulk cargo loading device, the finished product unloading device, the separation positioning device, the manipulator, the loading device and the unloading device are all connected with the processor.

Optionally, the bulk material loading device comprises:

the upper line conveying assembly comprises an upper layer upper line conveying mechanism and a lower layer upper line conveying mechanism positioned below the upper layer upper line conveying mechanism;

the upper line lifting assembly is positioned between the upper line conveying assembly and the bearing table and comprises a first support, a first bearing seat and an upper line lifting driving piece, the first bearing seat is connected to the first support in a sliding mode along the vertical direction, the upper line lifting driving piece is installed on the first support, and the driving end of the upper line lifting driving piece is connected with the first bearing seat and used for driving the first bearing seat to move up and down; the top of the first bearing seat is provided with an upper thread tail conveying mechanism;

the detection assembly comprises a second support and a 3D vision camera, the 3D vision camera is installed on the second support, and the 3D vision camera is located above the first bearing seat.

Optionally, the online conveying assembly further comprises an online unstacking mechanism and an online stacking mechanism, and the online unstacking mechanism is mounted on the upper-layer online conveying mechanism; the upper line stacking mechanism is arranged on the lower layer upper line conveying mechanism.

Optionally, the separation positioning device comprises:

the second bearing seat is arranged on the bearing table and used for bearing the bulk material pairs;

the two slide ways are arranged on two opposite sides of the second bearing seat, and the top ends of the slide ways are connected with the second bearing seat;

the two positioning seats are correspondingly arranged at the bottom ends of the two slideways one by one;

the separation assembly is arranged on the second bearing seat and/or the bearing table and used for separating the bulk material pairs positioned on the second bearing seat and pushing the two separated bulk material products into the two slideways in a one-to-one correspondence manner;

and the positioning assembly is arranged on the second bearing seat and/or the bearing table and is used for positioning the bulk material product sliding to the positioning seat.

Optionally, the positioning seat is rectangular, four side edges of the positioning seat are sequentially a first edge, a second edge, a third edge and a fourth edge, the first edge is correspondingly connected with the bottom end of the slide way, the second edge is provided with a first blocking platform, and the third edge is provided with a second blocking platform;

the separating assembly comprises a first abutting piece and a second abutting piece, the first abutting piece is located on the outer side of the fourth edge and used for abutting the bulk cargo product located on the positioning seat against the first blocking platform; the slideway is provided with a through hole, and the second abutting piece is positioned below the second bearing seat and used for penetrating through the through hole to abut the bulk cargo product positioned on the positioning seat against the second blocking platform.

Optionally, the feeding device comprises:

the feeding fixing frame is arranged on the bearing table, and the length direction of the feeding fixing frame is perpendicular to the conveying direction of the conveying device;

the first feeding driving piece is arranged on the feeding fixing frame, and the driving direction of the first feeding driving piece is consistent with the length direction of the feeding fixing frame;

the second feeding driving piece is fixedly connected to the driving end of the first feeding driving piece, and the driving direction of the second feeding driving piece is a vertical direction;

the third feeding driving piece is fixedly connected to the driving end of the second feeding driving piece, and the driving direction of the third feeding driving piece is consistent with the length direction of the feeding fixing frame;

and the positioning adsorption assembly is arranged at the driving end of the third feeding driving piece and is used for positioning and adsorbing bulk material products separated by the separation and positioning device.

Optionally, the conveying device comprises a conveying frame, a conveying mechanism, a bulk material stopping member and a finished product stopping member are arranged on the conveying frame, the bulk material tray and the finished product tray are both borne by the conveying mechanism, and the bulk material stopping member is used for stopping the bulk material tray to a feeding position corresponding to the output end of the feeding device; the finished product blocking and stopping piece is used for blocking and stopping the finished product tray to a blanking position corresponding to the input end of the blanking device.

Optionally, the blanking device includes:

the blanking fixing frame is arranged on the bearing table, and the length direction of the blanking fixing frame is perpendicular to the transmission direction of the conveying device;

the first blanking driving piece is arranged on the blanking fixing frame, and the driving direction of the first blanking driving piece is consistent with the length direction of the blanking fixing frame;

the second blanking driving piece is fixedly connected to the driving end of the first blanking driving piece, and the driving direction of the second blanking driving piece is a vertical direction;

the third blanking driving piece is fixedly connected to the driving end of the second blanking driving piece, and the driving direction of the third blanking driving piece is parallel to the conveying direction of the conveying device;

and the overturning adsorption component is arranged at the driving end of the third blanking driving piece and used for adsorbing the finished product of the finished product tray and overturning the finished product.

Optionally, the turning adsorption assembly comprises a mounting seat connected to the driving end of the third blanking driving piece, a pivoting arm is arranged at the bottom of the mounting seat, the pivoting arm is pivoted with a horizontally arranged pivoting shaft, the mounting seat is provided with a rotary driving piece, and the driving end of the rotary driving piece is connected with the pivoting shaft; the pin joint shaft is fixedly connected with a rotating seat, and the rotating seat is provided with a first suction disc with a suction nozzle positioned at the lower end.

Optionally, the finished product downline device comprises:

the lower line conveying assembly comprises an upper lower line conveying mechanism and a lower line conveying mechanism positioned below the upper lower line conveying mechanism;

the lower line lifting assembly is positioned between the lower line conveying assembly and the bearing table and comprises a third support, a third bearing seat and a lower line lifting driving piece, the third bearing seat is connected to the third support in a sliding mode along the vertical direction, the lower line lifting driving piece is installed on the third support, and the driving end of the lower line lifting driving piece is connected with the third bearing seat and used for driving the third bearing seat to move up and down; and the top of the third bearing seat is provided with an off-line tail conveying mechanism.

The feeding and discharging equipment provided by the utility model can realize feeding of bulk products and discharging of finished products, wherein the separation positioning device can mechanically split the bulk product pair into two separate bulk products and position the two separate bulk products so as to facilitate subsequent automatic assembly; and a plurality of different devices are automatically associated and operated through a processor, so that the automatic loading and unloading device has higher automation degree, can realize simultaneous continuous operation of the devices, has high operation precision and high production efficiency, can save a large amount of labor and reduce the assembly cost.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is an isometric view of a loading and unloading apparatus provided by the present invention;

FIG. 2 is a top view of the loading and unloading apparatus provided in the present invention;

FIG. 3 is a schematic view of a bulk material feeding device in the loading and unloading apparatus according to the present invention;

FIG. 4 is a schematic view of the inline lift assembly of FIG. 3;

FIG. 5 is a schematic view of the upper line palletizing mechanism of FIG. 3;

FIG. 6 is a schematic view of a susceptor in the loading/unloading apparatus according to the present invention;

FIG. 7 is a schematic view of the gripper of FIG. 1;

FIG. 8 is a schematic view of a separating and positioning device in the loading and unloading apparatus according to the present invention;

FIG. 9 is an exploded view of the separation and positioning device of FIG. 8;

FIG. 10 is a schematic view of a loading device in the loading and unloading apparatus provided by the present invention;

FIG. 11 is an exploded view of the charging device of FIG. 10;

FIG. 12 is a schematic view of the positioning of the adsorbent assembly of FIG. 11;

fig. 13 is a schematic view of a conveying device in the loading and unloading apparatus provided in the present invention;

FIG. 14 is a schematic view of the transport lift mechanism of FIG. 13;

FIG. 15 is a cross-sectional view taken along line A-A of FIG. 14;

FIG. 16 is a schematic view of a blanking device in the loading and unloading apparatus provided by the present invention;

FIG. 17 is an exploded view of the blanking device of FIG. 16;

FIG. 18 is a schematic view of the inverted adsorbent assembly of FIG. 17;

fig. 19 is a schematic view of a finished product take-off device in the take-off and feeding apparatus provided by the present invention.

Description of reference numerals:

100-bulk material feeding device; 110-full load bulk bin; 120-empty bulk material box; 130-an inline transport assembly; 131-an upper layer upper line conveying mechanism; 132-lower layer upper line conveying mechanism; 133-an online unstacking mechanism; 134-an on-line palletizing mechanism; 1341-a pallet; 1342-a first fixation plate; 1343-second fixed class; 1344-a lifting cylinder; 1345-a clamping cylinder; 140-an online lifting assembly; 141-a first support; 142-a first bearing seat; 143-an upper line lifting drive member; 144-an on-line tail transfer mechanism; 145-upper line limit piece; 146-an inline buffer; 150-a detection component; 151-a second holder; 152-3D vision camera; 200-a bearing platform; 210-bulk input; 220-bulk material output end; 230-finished product output end; 300-a manipulator; 310-a robotic arm; 320-mechanical claw; 321-a connecting seat; 322-a clamping jaw cylinder; 323-gripping jaw fingers; 400-separating the positioning device; 410-a second bearing seat; 420-a slide; 421-perforating holes; 430-positioning seat; 431-a first edge; 432-a second edge; 433-a third edge; 434-fourth edge; 435-a first stop; 436-second stop; 440-a separation assembly; 441-a separation guide; 442-a split jaw cylinder; 443-disconnecting the drive; 444-separating jaw fingers; 450-a positioning assembly; 451-first abutting member; 452-a second abutting member; 500-a feeding device; 510-feeding fixing frame; 520-a first feeding driving member; 530-a second feeding driving member; 540-third feeding drive; 550-positioning the adsorption component; 551-mounting plate; 552-second suction cup; 553-a detection rod; 554-detecting the slice; 555-an elastic member; 556-position sensor; 600-a conveying device; 610-bulk pallet; 620-finished product tray; 630-a carriage; 640-a conveying mechanism; 650-bulk stop; 660-finished product stop; 670-conveying a lifting mechanism; 671 conveying lifting drive member; 672-lifting the connecting plate; 673-lifting board; 674-connecting block; 675-connecting sleeve; 676-cushion block; 677-guide bar; 678-locating pin; 679-plain bearings; 700-a blanking device; 710-a blanking fixing frame; 720-first blanking driving element; 730-a second blanking drive; 740-a third blanking drive member; 750-overturning the adsorption component; 751-a mount; 752-pivoting arm; 753-pivoting the shaft; 754-rotating the drive member; 755-rotating seat; 756-a first suction cup; 800-finished product off-line device; 810-full product bin; 820-empty finished product bin; 830-an offline transfer assembly; 831-upper layer lower line conveying mechanism; 832-lower offline transfer mechanism; 833-offline unstacking mechanism; 834-off-line palletizing mechanism; 840-an offline lifting assembly; 841-third support; 842-a third carrying seat; 843-a lower line lifting drive; 844-off-line tail transport mechanism; 845-down line limiter; 846-offline buffers; 910-bulk pair; 920-bulk product; 921-detecting holes; 930-finished product.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.

This embodiment provides a go up unloading equipment, includes: a conveying device 600 for conveying bulk trays 610 and finished trays 620, wherein the bulk trays 610 are used for carrying bulk products 920, and the finished trays 620 are used for carrying finished products 930; a carrier 200 positioned at one side of the conveyor 600; the bulk material feeding device 100 is used for conveying a bulk material box containing the bulk material pairs 910, and the output end of the bulk material feeding device 100 corresponds to the bulk material input end 210 of the bearing table 200; a finished product offline device 800 for conveying empty finished product bins, and the input end of the finished product offline device 800 corresponds to the finished product output end 230 of the bearing table 200; the separation positioning device 400 is mounted on the loading platform 200, and is used for separating the bulk material pairs 910 into two bulk material products 920 and positioning the bulk material products 920; the manipulator 300 is installed on the loading platform 200 and is used for conveying the bulk material pairs 910 in the bulk material box at the output end of the bulk material loading device 100 to the separation positioning device 400; the feeding device 500 is installed on the bearing table 200 and used for conveying the bulk products 920 separated by the separation positioning device 400 to the bulk tray 610; the blanking device 700 is installed on the bearing table 200 and used for conveying the finished products 930 borne on the finished product tray 620 to a finished product bin at the input end of the finished product offline device 800; the processor, the conveying device 600, the bulk material loading device 100, the finished product unloading device 800, the separating and positioning device 400, the manipulator 300, the loading device 500 and the unloading device 700 are all connected with the processor.

As shown in fig. 1 and fig. 6, in the loading and unloading apparatus provided in this embodiment, a manipulator 300, a separating and positioning device 400, a loading device 500, and a unloading device 700 are installed on a table top of a carrier 200, a bulk material input end 210 of the carrier 200 is connected to a bulk material loading device 100, a bulk material output end 220 of the carrier 200 is connected to one side of a conveying device 600, and a finished product output end 230 of the carrier 200 is connected to a finished product unloading device 800; when in use, two bulk products 920 are loaded into the bulk bin in pairs to form a whole bulk pair 910, the fully loaded bulk bin 110 filled with the bulk pair 910 is placed at the input end of the bulk on-line device 100, the fully loaded bulk bin 110 is conveyed to the output end by the bulk on-line device 100, and the first in-place signal is transmitted to the processor; the processor receives the first in-place signal, correspondingly controls and starts the manipulator 300, the manipulator 300 picks up the bulk material pairs 910 in the fully loaded bulk material box 110 and conveys the bulk material pairs to the separation positioning device 400, and the second in-place signal is transmitted to the processor; the processor receives the second in-place signal, correspondingly starts the separation and positioning device 400 to separate the bulk material pair 910 into two separate bulk material products 920, positions the two bulk material products 920 at the first position and the second position, and then transmits a third in-place signal to the processor; when the conveying device 600 conveys the bulk material tray 610 to the loading position, the fourth in-place signal is transmitted to the processor; the processor receives the third in-place signal and the fourth in-place signal, and correspondingly starts the feeding device 500 to sequentially convey the bulk products 920 located at the first position and the second position to the bulk trays 610 sequentially reaching the feeding position; after the placement is completed, the processor receives the fifth in-place signal, and correspondingly controls the conveying device 600 to convey the bulk material tray 610, so that the bulk material products 920 on the bulk material tray can be conveniently assembled by other stations; until all the bulk material pairs 910 in the full bulk material bin 110 are taken out to become the empty bulk material bin 120, the empty bulk material bin 120 is taken down from the output end of the bulk material feeding device 100, and the bulk material feeding device 100 conveys the next full bulk material bin 110 to the output end.

Placing the empty product bin 820 at the input end of the product de-winding device 800, the product de-winding device 800 transmitting the empty product bin 820 to its output end and transmitting a fifth in-place signal to the processor; the conveying device 600 operates, and simultaneously conveys the finished product tray 620 carrying the finished product 930, and transmits a sixth in-place signal to the processor when the finished product tray 620 reaches the blanking position; the processor receives the fifth in-position signal and the sixth micro-signal, and activates the blanking device 700 to deliver the finished product 930 from the finished tray 620 to the empty finished bin 820 until the empty finished bin 820 is full and becomes a full finished bin 810, removes the full finished bin 810 from the output of the finished downloader 800, and the finished downloader 800 delivers the next empty finished bin 820 to the output again. The above circulation is performed, so that the loading of the bulk products 920 and the unloading of the finished products 930 by the loading and unloading device are realized, wherein the separation and positioning device 400 can mechanically split the bulk product pair 910 into two separate bulk products 920 and position the two separate bulk products 920, so as to facilitate the subsequent automatic assembly; and a plurality of different devices are automatically associated and operated through a processor, so that the automatic loading and unloading device has higher automation degree, can realize simultaneous continuous operation of the devices, has high operation precision and high production efficiency, can save a large amount of labor and reduce the assembly cost.

In particular, the finished product 930 may be a sliding track assembly for application to a vehicle seat belt.

Preferably, as shown in fig. 2, the bulk material loading device 100, the loading platform 200 and the finished product unloading device 800 are all located on the same side of the conveying device 600, and the conveying direction of the bulk material loading device 100 is the same as the conveying direction of the finished product unloading device 800, then the loading and unloading apparatus forms an approximate "ii" shape, so as to reduce the occupation of the loading and unloading apparatus on the conveying direction length of the conveying device 600, and ensure the arrangement of other stations.

Alternatively, as shown in fig. 1 and 3, the bulk loading apparatus 100 may include: an upper thread conveying assembly 130, wherein the upper thread conveying assembly 130 comprises an upper thread conveying mechanism 131 and a lower thread conveying mechanism 132 positioned below the upper thread conveying mechanism 131; the upper line lifting assembly 140, as shown in fig. 1 and 4, is located between the upper line conveying assembly 130 and the plummer 200, and includes a first bracket 141, a first bearing seat 142 and an upper line lifting driving member 143, the first bearing seat 142 is slidably connected to the first bracket 141 along the up-down direction, the upper line lifting driving member 143 is installed on the first bracket 141, and the driving end of the upper line lifting driving member 143 is connected to the first bearing seat 142 for driving the first bearing seat 142 to move up and down; the top of the first bearing seat 142 is provided with an upper thread tail conveying mechanism 144; the inspection assembly 150, as shown in fig. 3, the inspection assembly 150 includes a second bracket 151 and a 3D vision camera 152, the 3D vision camera 152 is mounted on the second bracket 151, and the 3D vision camera 152 is located above the first carrier base 142. When in use, the upper wire lifting driving member 143 of the upper wire lifting assembly 140 drives the first bearing seat 142 to move upwards to an upper position, which corresponds to the output end of the upper wire conveying mechanism 131; placing the fully loaded bulk bin 110 at the input end of the upper-layer feeding conveying mechanism 131, then conveying the fully loaded bulk bin 110 to the first bearing seat 142 by the upper-layer feeding conveying mechanism 131, operating the feeding tail conveying mechanism 144, conveying the fully loaded bulk bin 110 to the position right above the first bearing seat 142, and transmitting a first in-place signal to the processor; the 3D vision camera 152 photographs and recognizes the arrangement of the bulk material pairs 910 in the fully loaded bulk bin 110 below the 3D vision camera, and transmits a corresponding arrangement signal to the processor, and the processor receives the first in-place signal and the arrangement signal, and correspondingly controls the manipulator 300 to accurately clamp and convey the bulk material pairs 910 at different positions on the fully loaded bulk bin 110.

When the bulk material pairs 910 in the bulk material box above the first bearing seat 142 are completely taken out and left vacant, the 3D vision camera 152 acquires the vacant state of the bulk material box and transmits a vacant signal to the processor, the processor correspondingly controls the on-line lifting driving member 143 to drive the first bearing seat 142 to bear the empty bulk material box 120 to move downwards to a lower-layer position, the lower-layer position corresponds to the lower-layer on-line conveying mechanism 132, and the upper-limiting-part transmission mechanism then conveys the empty bulk material box 120 on the lower-layer on-line conveying mechanism 132; subsequently, the upper line lifting/lowering driving member 143 drives the first carrying base 142 to move upward to the upper position again, and the upper line conveying mechanism 131 conveys the next full bulk bin 110 to the first carrying base 142. By the circulation, the bulk feeding device 100 can continuously convey the full bulk bins 110 to the bearing table 200 and send out the empty bulk bins 120; and the detecting assembly 150 can identify the number and position of the pairs 910 of the bulk cargo in the bulk cargo box on the first carrier base 142, so that the robot 300 can precisely clamp the pairs 910 of the bulk cargo in the bulk cargo box, and the on-line lifting assembly 140 can control the up-and-down movement of the first carrier table 200.

Specifically, in this embodiment, as shown in fig. 3, the upper line conveying assembly 130 may further include an upper line unstacking mechanism 133 and an upper line stacking mechanism 134, where the upper line unstacking mechanism 133 is installed on the upper line conveying mechanism 131; an upper line palletizer mechanism 134 is mounted to the lower line feeding mechanism 132. A plurality of full bulk bins 110 can be stacked together and placed on the upper-layer upper-line conveying mechanism 131, the upper-line unstacking mechanism 133 is positioned at the position, close to the output end, of the upper-layer upper-line conveying mechanism 131, when the full bulk bins 110 need to be conveyed to the first bearing seat 142, the upper thread unstacking mechanism 133 can lift up the full bulk bins 110 above the bottom one of the full bulk bins 110 among the full bulk bins 110 stacked at the output end position, the upper thread feeding conveyor 131 conveys only the bottom one of the full bulk bins 110 to the first carrier base 142, and then the upper thread feeding conveyor 131 returns to the original position before conveyance, or a barrier is arranged between two adjacent full bulk bins 110, the upper line unstacking mechanism 133 puts the lifted full bulk bin 110 to the upper line feeding mechanism 131 until the full bulk bin 110 at the output end position is completely conveyed to the first bearing seat 142, and the upper line feeding mechanism 131 can not lower the full bulk bin 110 to the output end position. The arrangement of the on-line unstacking mechanism 133 can realize the transmission of the on-line conveying mechanism 131 on the upper layer to the full-load bulk material boxes 110 stacked in multiple layers, so that the transmission efficiency is higher and the occupied space is less.

Specifically, in this embodiment, as shown in fig. 4, a top line limiting member 145 and a top line buffer 146 may be disposed on the first bracket 141, where the top line limiting member 145 is used to limit an upper limit position of the top line lifting driving member 143, and the buffer is used to buffer the top line lifting driving member 143 when moving to the upper limit position, so as to limit an upward movement stroke of the first bearing seat 142, and reduce damage to the top line limiting member 145 due to rigid collision between the top line lifting driving member 143 and the top line limiting member 145.

Similarly, when the first carrier 142 is in the lower position and the upper wire tail conveyor 144 drives the empty bulk bin 120 toward the lower wire conveyor 132, the upper wire stacker 134 can lift the empty bulk bin 120 that has been placed at the input end of the lower wire conveyor 132, the upper wire tail conveyor 144 and the lower wire conveyor 132 operate to collectively transfer the empty bulk bin 120 to the input end of the lower wire conveyor 132, and the upper wire stacker 134 then stacks and conveys the lifted empty bulk bin 120 on top of the empty bulk bin 120, thereby completing the stacking operation of the plurality of empty bulk bins 120; the arrangement of the upper line stacking mechanism 134 can realize the transmission of the lower line conveying mechanism 132 to the empty bulk material boxes 120 stacked in multiple layers, and the transmission efficiency is high and the occupied space is small.

Specifically, as shown in fig. 5, each of the upper line unstacking mechanism 133 and the upper line stacking mechanism 134 may include two unstacking pieces, each of the unstacking pieces includes a supporting plate 1341, a first fixing plate 1342, a second fixing plate, a lifting cylinder 1344 and a clamping cylinder 1345, wherein the first fixing plate 1342 is connected between a lifting end of the lifting cylinder 1344 and the clamping cylinder 1345, and the supporting plate 1341 is connected to a driving end of the clamping cylinder 1345; taking the upper-line unstacking mechanism 133 as an example, the second fixing plate is fixedly connected to the frame body corresponding to the upper-layer upper-line conveying mechanism 131, the two unstacking pieces are positioned at two opposite sides of the upper-layer upper-line conveying mechanism 131, the supporting plates 1341 of the two unstacking pieces face inwards, and when the device is not used, the clamping cylinder 1345 drives the supporting plates 1341 to be in a retracted state, and the lifting cylinder 1344 is also in a retracted state; when the fully loaded bulk bin 110 needs to be lifted, the clamping air cylinders 1345 drive the supporting plates 1341 to extend towards the fully loaded bulk bin 110, the supporting plates 1341 are inserted into the bottom of the fully loaded bulk bin 110 on the second layer from bottom to top, the lifting air cylinders 1344 drive the first fixing plates 1342 and the clamping air cylinders 1345 to move upwards, and the two supporting plates 1341 correspondingly lift the second layer and the fully loaded bulk bin 110 thereon upwards; after the bottom full bulk bin 110 is transferred to the first carrier seat 142, the lifting cylinder 1344 is returned to the original position, the holding cylinder 1345 is retracted to the original position, the support plate 1341 is pulled out, and the lifted full bulk bin 110 falls to the output end position of the upper line transfer mechanism 131. The use principle of the upper line stacking mechanism 134 is the same as that of the upper line unstacking mechanism 133, and the description is omitted here.

Alternatively, as shown in fig. 1, 8 and 9, the separation positioning means 400 may include: the second carrying seat 410, the second carrying seat 410 is installed on the carrying table 200 for carrying the bulk material pairs 910; two slide ways 420 are provided, the two slide ways 420 are arranged on two opposite sides of the second bearing seat 410, and the top ends of the slide ways 420 are connected with the second bearing seat 410; the number of the positioning seats 430 is two, and the two positioning seats 430 are correspondingly arranged at the bottom ends of the two slide ways 420 one by one; the separating assembly 440 is mounted on the second susceptor 410 and/or the susceptor 200, and is configured to separate the bulk material pairs 910 located on the second susceptor 410 and push the two separated bulk material products 920 into the two slideways 420 in a one-to-one correspondence manner; the positioning assembly 450 is mounted on the second carrier 410 and/or the carrier 200, and is used for positioning the bulk product 920 sliding to the positioning seat 430. When the device is used, the manipulator 300 places the bulk material pairs 910 on the second bearing seat 410, transmits a second in-place signal to the processor, the processor correspondingly controls the separation assembly 440 to separate the bulk material pairs 910, and pushes the two separated bulk material products 920 into the corresponding slide ways 420 respectively towards two sides, and the bulk material products 920 slide to the positioning seats 430 on the corresponding sides along the slide ways 420 from top to bottom; the separating assembly 440 transmits the separation completion signal to the processor, the processor receives the separation completion signal, correspondingly controls the positioning assembly 450 to position the bulk product 920 on the positioning seat 430, transmits the third in-place signal to the processor after the positioning assembly 450 completes the positioning, and the separating and positioning device 400 completes the separation and positioning of the bulk pair 910.

Specifically, in this embodiment, as shown in fig. 8 and 9, the separating assembly 440 may include a separating guide rail 441, a separating clamping jaw cylinder 442 and a separating driving member 443, the separating clamping jaw cylinder 442 is slidably connected to the separating guide rail 441, a separating clamping jaw finger 444 is installed on the separating clamping jaw cylinder 442 toward the driving end of the positioning seat 430, and the separating guide rail 441 is aligned with the length direction of the second bearing seat 410; the separation driving member 443 serves to drive the separation jaw cylinder 442 to reciprocate along the separation guide rail 441. When the bulk material pairs 910 on the second carrier 410 do not need to be separated, the separating driving member 443 drives the separating clamping jaw cylinder 442 to move away from the second carrier 410 along the separating guide rail 441 until the separating clamping jaw fingers 444 do not interfere with the second carrier 200; when the robot 300 places the bulk material pairs 910 on the second loading platform 200 and the separating assembly 440 is required to separate the bulk material pairs 910, the separating driving member 443 drives the separating clamping jaw cylinder 442 to move toward the bulk material pairs 910 along the separating guide rail 441 until the separating clamping jaw fingers 444 are inserted between two bulk material products 920 of the bulk material pairs 910, and then the separating clamping jaw cylinder 442 drives the two separating clamping jaw fingers 444 to separate towards two sides, so that the two bulk material products 920 are separated and the two bulk material products 920 are pushed into the slideways 420 at two sides, and the two bulk material products 920 slide to the corresponding positioning seats 430 through the corresponding slideways 420; the positioning assembly 450 then positions the bulk product 920 on the positioning bases 430, and the positions of the two positioning bases 430 are the first position and the second position.

Specifically, as shown in fig. 8 and 9, the positioning seat 430 may be rectangular, four side edges of the positioning seat 430 sequentially include a first edge 431, a second edge 432, a third edge 433, and a fourth edge 434, the first edge 431 is correspondingly connected to the bottom end of the slide way 420, the second edge 432 is provided with a first blocking platform 435, and the third edge 433 is provided with a second blocking platform 436; the separating assembly 440 includes a first abutting member 451 and a second abutting member 452, the first abutting member 451 is located outside the fourth edge 434 and is used for abutting the bulk cargo product 920 located in the positioning seat 430 against the first blocking table 435; the slide 420 has a through hole 421, and the second abutting element 452 is located below the second carrying seat 410 and is configured to penetrate through the through hole 421 to abut the bulk material 920 located in the positioning seat 430 against the second stopping table 436. Here, a specific form of the positioning seat 430 and the positioning assembly 450 is that, initially, the first abutting element 451 and the second abutting element 452 are both in a retracted state to reduce interference of the two with the bulk product 920 sliding down; when the bulk product 920 slides downwards to the positioning seat 430 through the slide way 420, the driving rod of the first abutting member 451 extends outwards to push the corresponding side of the bulk product 920 and the fourth edge 434 until the corresponding side of the bulk product 920 and the second edge 432 abuts against the first blocking table 435; similarly, the driving rod of the second abutting element 452 extends outward to push one side of the bulk material product 920 corresponding to the first edge 431 until one side of the bulk material product 920 corresponding to the third edge 433 abuts against the second stopping table 436, and then the first abutting element 451, the second abutting element 452, the first stopping table 435, and the second stopping table 436 position four sides of the bulk material product 920 respectively, so as to accurately position the bulk material product 920 on the positioning seat 430; the first abutting element 451 and the second abutting element 452 are then retracted again and the third in-position signal is transmitted to the processor, and the robot 300 then transfers the positioned bulk product 920 to the next station.

Alternatively, in this embodiment, as shown in fig. 1 and 7, the robot 300 may include a robot arm 310 and a gripper 320, the gripper 320 includes a connecting seat 321 and a clamping jaw cylinder 322 fixedly connected to the connecting seat 321, and a driving end of the clamping jaw cylinder 322 is connected to a clamping jaw finger 323. In this embodiment, the robot 300 is a form of a robot, wherein the gripper cylinder drives the gripper fingers 323 to grip the bulk material 910, and the robot 310 drives the gripper 320 to reciprocate between the output end of the bulk material loading device 100 and the separation positioning device 400.

Specifically, as shown in fig. 10 and 11, the feeding device 500 may include: a feeding fixing frame 510, wherein the feeding fixing frame 510 is installed on the bearing table 200, and the length direction of the feeding fixing frame 510 is perpendicular to the conveying direction of the conveying device 600; the first feeding driving member 520 is mounted on the feeding fixing frame 510, and the driving direction of the first feeding driving member is consistent with the length direction of the feeding fixing frame 510; the second feeding driving member 530 is fixedly connected to the driving end of the first feeding driving member 520, and the driving direction of the second feeding driving member 530 is a vertical direction; a third feeding driving member 540 fixedly connected to the driving end of the second feeding driving member 530, wherein the driving direction of the third feeding driving member 540 is the same as the length direction of the feeding fixing frame 510; and a positioning and adsorbing assembly 550, which is installed at the driving end of the third feeding driving member 540, and is used for positioning and adsorbing the bulk product 920 separated by the separation and positioning device 400. The feeding fixing frame 510 is used as a mounting base for bearing various driving members related to the feeding device 500, a first position and a second position in the separation positioning device 400 are arranged at intervals along the length direction of the feeding fixing frame 510, and the first position is close to the conveying device 600; after the separation positioning device 400 finishes positioning the two bulk products 920, the third feeding driving member 540 is in a retracted state, the first feeding driving member 520 drives the second feeding driving member 530, the third feeding driving member 540 connected with the second feeding driving member and the positioning and adsorbing assembly 550 to move towards the separation positioning device 400 until the positioning and adsorbing assembly 550 is located above the first position, and the second feeding driving member 530 drives the third feeding driving member 540 and the positioning and adsorbing assembly 550 to move downwards until the positioning and adsorbing assembly 550 is in contact with the bulk products 920 at the first position and adsorbs the bulk products 920; subsequently, the second loading driving member 530 returns upward to original flavor, the first loading driving member 520 moves toward the conveying device 600 until the positioning and adsorbing assembly 550 reaches the upper side of the bulk material tray 610 at the loading position, the second loading driving member 530 drives the third loading driving member 540 and the positioning and adsorbing assembly 550 to move downward, and the positioning and adsorbing assembly 550 releases the adsorbed bulk material product 920 and places the bulk material product on the bulk material tray 610.

Then, the first feeding driving member 520 drives the third feeding driving member 540 and the positioning and adsorbing assembly 550 to move towards the separation and positioning device 400 again, the third feeding driving member 540 extends outwards and drives the positioning and adsorbing assembly 550 to move to the upper side of the second position, and then the second feeding driving member 530 drives the third feeding driving member 540 and the positioning and adsorbing assembly 550 to move downwards until the positioning and adsorbing assembly 550 contacts with the bulk product 920 at the second position, and the positioning and adsorbing assembly 550 adsorbs the bulk product 920 at the position; subsequently, the first feeding driving member 520, the second feeding driving member 530 and the third feeding driving member 540 are driven together to drive the positioning and adsorbing assembly 550 to move to the next bulk material tray 610 reaching the feeding position, thereby completing the transfer of the two bulk material products 920. Of course, it should be noted that the above is only a specific case that the bulk product 920 can be conveyed, and the driving sequence of the first feeding driving member 520, the second feeding driving member 530 and the third feeding driving member 540 is not limited to the above case, and can be adjusted according to actual operation.

Specifically, in the present embodiment, as shown in fig. 12, the positioning and suction assembly 550 may include a mounting plate 551, the mounting plate 551 being provided with a second suction cup 552 having a suction nozzle at a lower end; the mounting plate 551 is slidably connected with a detection rod 553 extending along the vertical direction, the detection rod 553 is provided with a detection piece 554, an elastic piece 555 is connected between the rod body of the detection rod 553 and the mounting plate 551, the mounting plate 551 is fixedly connected with a position sensor 556, and when the elastic piece 555 is in a natural state, the position sensor 556 corresponds to the detection piece 554. Here, it is a specific form of the positioning and adsorbing assembly 550, the mounting plate 551 is fixedly connected to the driving end of the third feeding driving member 540, the bulk product 920 is provided with a detecting hole 921 corresponding to the detecting rod 553, when the positioning and adsorbing assembly 550 adsorbs the bulk product 920, the first feeding driving member 520, the second feeding driving member 530 and the third feeding driving member 540 cooperate to drive the positioning and adsorbing assembly 550 to be located above the bulk product 920 and move towards the bulk product 920 until the bottom end of the detecting rod 553 is inserted into the detecting hole 921 of the bulk product 920, and the suction nozzle of the second suction cup 552 abuts against the bulk product 920 to adsorb it, when the detecting rod 553 can be inserted into the detecting hole 921 in a matching manner, the position of the detecting rod 553 relative to the mounting plate 551 is unchanged, the position sensor 556 can always sense the position of the detecting piece 554, which indicates that the position and the quality of the bulk product 920 can reach the standard, the positioning and adsorbing assembly 550 can be used for carrying out normal adsorption and conveying on the bulk product 920; when the positioning and adsorbing assembly 550 reaches the set position and the bottom end of the detecting rod 553 does not correspond to the detecting hole 921, so that the mounting plate 551 moves downwards, the bottom end of the detecting rod 553 moves upwards under the blocking action of the bulk product 920, the detecting piece 554 moves upwards along with the bottom end of the detecting rod 553 to separate from the sensing area of the position sensor 556, the position sensor 556 cannot detect the detecting piece 554, the signal that the bulk product 920 does not reach the standard is transmitted to the processor, and the processor correspondingly controls the loading device 500 to adsorb the bulk product 920 and transmit the bulk product 920 to the designated position. After positioning suction assembly 550 delivers substandard bulk product 920 to a designated position, second suction cup 552 releases bulk product 920, detection rod 553 returns to the original position under the elastic action of elastic member 555, and position sensor 556 can detect detection piece 554 again.

Alternatively, in this embodiment, as shown in fig. 13, the conveying device 600 may include a conveying frame 630, a conveying mechanism 640, a bulk material stopping member 650 and a finished product stopping member 660 are disposed on the conveying frame 630, the bulk material tray 610 and the finished product tray 620 are both carried on the conveying mechanism 640, and the bulk material stopping member 650 is configured to stop the bulk material tray 610 to a feeding position corresponding to an output end of the feeding device 500; the finished product stopping member 660 is used for stopping the finished product tray 620 to a blanking position corresponding to the input end of the blanking device 700. The conveying mechanism 640 of the conveying device 600 carries a plurality of trays for carrying products in various assembly processes, wherein the bulk material 920 carried by the bulk material tray 610 and the finished product 930 carried by the finished product tray 620 are related to the loading and unloading apparatus of the present application, only the conveying mechanism 640 is described for conveying the bulk material tray 610 and the finished product tray 620, the conveying mechanism 640 is used for intermittently or continuously conveying the bulk material tray 610 and the finished product tray 620, when the empty bulk material tray 610 is conveyed to the loading position, the bulk material stopping member 650 stops the bulk material tray 610 to stop at the loading position, so that the loading device 500 can convey the bulk material 920 to the bulk material tray 610, after the placement is completed, the bulk material stopping member 650 does not stop the bulk material tray 610 again, the conveying mechanism 640 conveys the bulk material tray 610 carrying the bulk material 920 to the next station, for the next assembly operation.

Similarly, when the empty finished product tray 620 is transferred to the blanking position, the finished product stop 660 stops the finished product tray 620 at the blanking position, so that the blanking device 700 transfers the finished product 930 to the finished product offline device 800, after the finished product 930 is taken out, the finished product stop 660 stops stopping the finished product tray 620, and the conveying mechanism 640 transfers the finished product tray 620 to the next station or to the blanking position after circulation.

Specifically, in this embodiment, as shown in fig. 13, the conveying device 600 may further include a conveying lifting mechanism 670, and the conveying lifting mechanism 670 is installed at a position of the conveying frame 630 corresponding to the loading position. When empty bulk cargo tray 610 arrives at the material loading position, carry lifting mechanism 670 upwards to hold up bulk cargo tray 610 to improve bulk cargo tray 610's stability, reduce the vibration that conveying mechanism 640 operation caused bulk cargo tray 610 and even the emergence of the skew condition, correspondingly can ensure loading attachment 500 and convey bulk cargo product 920 to the position accuracy in bulk cargo tray 610, so that the normal clear of follow-up operation.

Specifically, as shown in fig. 14 and 15, the conveying lifting mechanism 670 includes a conveying lifting driving member 671, a lifting connecting plate 672 and a lifting plate 673, the lifting connecting plate 672 is fixedly connected to the conveying frame 630, the conveying lifting driving member 671 is mounted on the lifting connecting plate 672, a connecting block 674 is mounted at a driving end of the conveying lifting driving member 671, a connecting sleeve 675 is fixedly connected to a bottom of the lifting plate 673, the connecting block 674 is clamped in the connecting sleeve 675 for driving the lifting plate 673 to move up and down, and a cushion block 676 is disposed at a top of the lifting plate 673; the conveying lifting mechanism 670 further includes a guide rod 677, the guide rod 677 is fixedly connected to the lifting plate 673 by a positioning pin 678, and the guide rod 677 is slidably connected to the lifting connecting plate 672 by a sliding bearing 679 in the vertical direction. The conveying lifting driving member 671 is fixed on the conveying frame 630 through the lifting connecting plate 672, and initially, the conveying lifting driving member 671 is in a retraction state so as to reduce the normal transmission of the lifting plate 673 to the conveying mechanism 640 and the upper tray thereof; when the bulk material tray 610 at the loading position needs to be lifted, the conveying lifting driving piece 671 drives the lifting plate 673 to move upwards, and in the moving process, the guide rod 677 slides upwards along the sliding bearing 679, so that the smoothness and the position accuracy of the upward movement of the lifting plate 673 are improved; the arrangement of the cushion blocks 676 can improve the stability and firmness of the bulk material tray 610 placed on the lifting plate 673; the connecting block 674 is in clearance fit with the connecting sleeve 675 to achieve connection of the conveying lifting driving element 671 and the lifting plate 673, radial force generated by the conveying lifting driving element 671 in the moving process can be effectively reduced, and therefore the service life of the conveying lifting driving element 671 is prolonged.

Optionally, in this embodiment, as shown in fig. 16 and 17, the blanking device 700 may include: the blanking fixing frame 710 is arranged on the bearing table 200, and the length direction of the blanking fixing frame 710 is perpendicular to the transmission direction of the conveying device 600; the first blanking driving piece 720 is arranged on the blanking fixing frame 710, and the driving direction is consistent with the length direction of the blanking fixing frame 710; the second blanking driving piece 730 is fixedly connected to the driving end of the first blanking driving piece 720, and the driving direction of the second blanking driving piece 730 is a vertical direction; a third blanking driving member 740 fixedly connected to the driving end of the second blanking driving member 730, wherein the driving direction of the third blanking driving member 740 is parallel to the conveying direction of the conveying device 600; and an overturning adsorption component 750 installed at a driving end of the third blanking driving member 740, for adsorbing the finished product 930 of the finished tray 620 and overturning the finished product 930. After the finished product tray 620 reaches the blanking position under the conveying action of the conveying mechanism 640, the processor controls the first blanking driving member 720 to drive the second blanking driving member 730, the third blanking driving member 740 and the overturning adsorption component 750 to move towards the blanking position, the third blanking driving member 740 drives the overturning adsorption component 750 to drive the overturning adsorption component 750 to reach the upper part of the finished product tray 620 along the length direction of the conveying mechanism 640, and the second blanking driving member 730 drives the third blanking driving member 740 and the overturning adsorption component 750 to move downwards until the overturning adsorption component 750 contacts and adsorbs the finished product 930 carried on the finished product tray 620; subsequently, the second blanking driving member 730 drives the third blanking driving member 740 and the flipping adsorption assembly 750 to move upwards, the third blanking driving member 740 and the first blanking driving member 720 together adjust the position of the flipping adsorption assembly 750 to the empty finished product bin 820 at the output end of the finished product downloader 800, and the flipping adsorption assembly 750 flips the adsorbed finished product 930 approximately 90 ° and places it into the empty finished product bin 820, and so on until the empty finished product bin 820 is filled to become a full finished product bin 810, the full finished product bin 810 is removed, and a new empty finished product bin 820 is placed at the output end of the finished product downloader 800.

Specifically, in this embodiment, as shown in fig. 18, the turning and adsorbing assembly 750 may include a mounting seat 751 connected to the driving end of the third blanking driving member 740, a pivoting arm 752 is disposed at the bottom of the mounting seat 751, the pivoting arm 752 is pivoted with a horizontally disposed pivoting shaft 753, the mounting seat 751 is mounted with a rotary driving member 754, and the driving end of the rotary driving member 754 is connected to the pivoting shaft 753; the pivot shaft 753 is fixedly connected with a rotating seat 755, and the rotating seat 755 is provided with a first suction disc 756 with a suction nozzle positioned at the lower end. When the finished product 930 needs to be sucked and transferred, the rotary driving member 754 drives the pivot shaft 753 and the rotary seat 755 to rotate until the suction nozzle of the first suction cup 756 faces downward to suck the finished product 930; after the finished products 930 are driven to the finished product bin by the overturning adsorption component 750, the rotating driving member 754 drives the pivot shaft 753 and the rotating seat 755 to rotate circumferentially, the rotation angle is approximately 90 degrees, the finished products 930 are changed from a flat state to a side-standing state, then the finished products 930 are loosened by the first adsorption disc 756, and the finished products 930 are placed in the finished product bin, so that the adsorption, transmission, overturning and placement of the finished products 930 are completed. After the placement is completed, the rotary driving member 754 drives the rotary seat 755 of the pivot shaft 753 to rotate back to the original position, so as to absorb the next finished product 930.

Optionally, in this embodiment, as shown in fig. 19, the finished product offline device 800 may include: the lower line conveying assembly 830, the lower line conveying assembly 830 comprises an upper layer lower line conveying mechanism 831 and a lower layer lower line conveying mechanism 832 positioned below the upper layer lower line conveying mechanism 831; the lower wire lifting assembly 840 is positioned between the lower wire conveying assembly 830 and the carrier table 200 and comprises a third support 841, a third carrier seat 842 and a lower wire lifting driving piece 843, the third carrier seat 842 is connected to the third support 841 in a vertical sliding manner, the lower wire lifting driving piece 843 is installed on the third support 841, and the driving end of the lower wire lifting driving piece 843 is connected with the third carrier seat 842 and is used for driving the third carrier seat 842 to move vertically; the top of the third carrier 842 is provided with a tail off-line transport mechanism 844. In use, the upper run 831 of the lower run transport assembly 830 is configured to transport empty product bins 820 to the lower run lift assembly 840, and the lower run transport 832 is configured to transport full product bins 810 on the lower run lift assembly 840 to a designated location; when the blanking device 700 is used, the lower wire lifting driving element 843 drives the third bearing seat 842 to move to the upper position corresponding to the output end of the upper wire-discharging conveying mechanism 831, the empty finished product bin 820 is placed on the upper wire-discharging conveying mechanism 831, the empty finished product bin 820 is conveyed to the third bearing seat 842 by the upper wire-discharging conveying mechanism 831, the lower wire tail conveying mechanism 844 on the third bearing seat 842 conveys the empty finished product bin 820 to the position right above the third bearing seat 842, and the finished product 930 can be placed into the empty finished product bin 820 at the upper position by the blanking device 700; when the product bin at the upper position is full and becomes a full product bin 810, the lower wire lifting drive 843 drives the third bearing seat 842 to move downwards to the lower position corresponding to the input end of the lower wire transport mechanism 832, the lower wire tail transport mechanism 844 transports the full product bin 810 to the lower wire transport mechanism 832, and the lower wire transport mechanism 832 then transports the full product bin 810 to a designated position, thereby controlling the feeding of the product bin and the output of the full product bin 810.

Similar to the upper line unstacking mechanism 133 and the upper line stacking mechanism 134 in the bulk material loading device 100, the lower line conveying assembly 830 may also include a lower line unstacking mechanism 833 and a lower line stacking mechanism 834, and the lower line unstacking mechanism 833 is mounted on the upper line delivery mechanism 831; the lower line palletizing mechanism 834 is mounted to the lower line delivery mechanism 832. When the stacking device is used, a plurality of empty finished product bins 820 can be stacked together and placed on the upper-layer lower line conveying mechanism 831, and the lower line unstacking mechanism 833 is used for unstacking the empty finished product bins 820, so that the empty finished product bins 820 stacked in multiple layers are conveyed by the upper-layer lower line conveying mechanism 831, the conveying efficiency is higher, and the occupied space is less; the offline stacking mechanism 834 can stack the fed full-load finished product bins 810, so that the lower offline conveying mechanism 832 conveys the full-load finished product bins 810 stacked in multiple layers, conveying efficiency is high, and occupied space is small. Specifically, the structure and the working principle of the lower line unstacking mechanism 833 and the lower line stacking mechanism 834 can adopt the upper line unstacking mechanism 133 and the upper line stacking mechanism 134, which are not described herein again.

Similar to the upper line limiting member 145 and the upper line buffer 146 in the upper line conveying assembly 130, a lower line limiting member 845 and a lower line buffer 846 may be disposed on the third bracket 841 to limit and buffer the upper limit position or the lower limit position of the lower line lifting driving member 843, so as to limit the vertical movement stroke of the third loading seat 842 and reduce the damage to the third loading seat 842 due to the rigid collision between the lower line lifting driving member 843 and the lower line limiting member 845.

Specifically, in the present application, the upper-layer upper-line conveying mechanism 131, the lower-layer upper-line conveying mechanism 132, the upper-line tail conveying mechanism 144, the conveying mechanism 640, the upper-layer lower-line conveying mechanism 831, the lower-layer lower-line conveying mechanism 832 and the lower-line tail conveying mechanism 844 may adopt a conveying form of a belt transmission mechanism, a chain transmission mechanism, or the like; the upper line lifting driving element 143, the first abutting element 451, the second abutting element 452, the first loading driving element 520, the second loading driving element 530, the third loading driving element 540, the conveying lifting driving element 671, the first unloading driving element 720, the second unloading driving element 730, the third unloading driving element 740 and the lower line lifting driving element 843 may adopt linear driving forms such as an air cylinder, a hydraulic cylinder, a gear rack and the like, and a slide rail and a slide block may be arranged on the corresponding plate body or the seat body to limit the driving stroke of the linear driving elements by conducting wires; the rotary drive 754 may take the form of a motor, rack and pinion, or other rotary drive.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. The utility model provides a go up unloading equipment which characterized in that includes:

-a conveying device (600) for conveying a bulk pallet (610) and a finished pallet (620), the bulk pallet (610) being intended to carry bulk products (920) and the finished pallet (620) being intended to carry finished products (930);

a carrier (200) located at one side of the conveyor (600);

the bulk material feeding device (100) is used for conveying a bulk material box containing bulk material pairs (910), and the output end of the bulk material feeding device (100) corresponds to the bulk material input end (210) of the bearing table (200);

the finished product offline device (800) is used for conveying empty finished product bins, and the input end of the finished product offline device (800) corresponds to the finished product output end (230) of the bearing table (200);

the separation positioning device (400) is arranged on the bearing table (200) and is used for separating the bulk material pair (910) into two bulk material products (920) and positioning the bulk material products (920);

the manipulator (300) is arranged on the bearing table (200) and is used for conveying the bulk material pairs (910) in the bulk material box at the output end of the bulk material loading device (100) to the separation positioning device (400);

a loading device (500) mounted on the carrying platform (200) and used for conveying the bulk products (920) separated by the separation positioning device (400) to the bulk tray (610);

a blanking device (700) mounted on the carrier table (200) for transferring the finished products (930) carried on the finished trays (620) to a finished bin located at the input of the finished product downloader (800);

the conveying device (600), the bulk material feeding device (100), the finished product unloading device (800), the separation positioning device (400), the manipulator (300), the feeding device (500) and the blanking device (700) are all connected with the processor.

2. The loading and unloading apparatus according to claim 1, wherein the bulk material threading device (100) comprises:

the upper line conveying assembly (130), the upper line conveying assembly (130) comprises an upper line conveying mechanism (131) and a lower line conveying mechanism (132) positioned below the upper line conveying mechanism (131);

the upper line lifting assembly (140) is positioned between the upper line conveying assembly (130) and the bearing table (200), and comprises a first support (141), a first bearing seat (142) and an upper line lifting driving piece (143), the first bearing seat (142) is connected to the first support (141) in a sliding mode along the vertical direction, the upper line lifting driving piece (143) is installed on the first support (141), and the driving end of the upper line lifting driving piece (143) is connected with the first bearing seat (142) and used for driving the first bearing seat (142) to move vertically; an upper line tail conveying mechanism (144) is arranged at the top of the first bearing seat (142);

a detection assembly (150), the detection assembly (150) comprising a second bracket (151) and a 3D vision camera (152), the 3D vision camera (152) being mounted to the second bracket (151), and the 3D vision camera (152) being located above the first carrying seat (142).

3. The loading and unloading apparatus according to claim 2, wherein the upper line conveying assembly (130) further comprises an upper line unstacking mechanism (133) and an upper line palletizing mechanism (134), the upper line unstacking mechanism (133) being mounted to the upper line conveying mechanism (131); the upper line stacking mechanism (134) is arranged on the lower line feeding transmission mechanism (132).

4. Loading and unloading apparatus according to any one of claims 1 to 3, wherein the separating and positioning means (400) comprise:

a second carrying seat (410), wherein the second carrying seat (410) is mounted on the carrying table (200) and is used for carrying the bulk material pair (910);

the number of the slide ways (420) is two, the two slide ways (420) are arranged on two opposite sides of the second bearing seat (410), and the top ends of the slide ways (420) are connected with the second bearing seat (410);

the number of the positioning seats (430) is two, and the two positioning seats (430) are correspondingly arranged at the bottom ends of the two slide ways (420) one by one;

the separating assembly (440) is mounted on the second bearing seat (410) and/or the bearing table (200) and is used for separating the bulk material pairs (910) positioned on the second bearing seat (410) and pushing the two separated bulk material products (920) into the two slideways (420) in a one-to-one correspondence manner;

and the positioning assembly (450) is mounted on the second bearing seat (410) and/or the bearing table (200) and is used for positioning the bulk material product (920) sliding to the positioning seat (430).

5. The loading and unloading device according to claim 4, wherein the positioning seat (430) is rectangular, four side edges of the positioning seat (430) are sequentially a first edge (431), a second edge (432), a third edge (433) and a fourth edge (434), the first edge (431) is correspondingly connected with the bottom end of the slideway (420), the second edge (432) is provided with a first blocking platform (435), and the third edge (433) is provided with a second blocking platform (436);

the separating assembly (440) comprises a first abutting piece (451) and a second abutting piece (452), wherein the first abutting piece (451) is located on the outer side of the fourth edge (434) and is used for abutting the bulk material product (920) located on the positioning seat (430) against the first blocking platform (435); the slide way (420) is provided with a through hole (421), and the second abutting piece (452) is located below the second bearing seat (410) and used for penetrating through the through hole (421) to abut against the bulk material product (920) located in the positioning seat (430) against the second blocking platform (436).

6. Loading and unloading apparatus according to any one of claims 1-3, wherein the loading device (500) comprises:

the feeding fixing frame (510) is installed on the bearing table (200), and the length direction of the feeding fixing frame (510) is perpendicular to the conveying direction of the conveying device (600);

the first feeding driving piece (520) is arranged on the feeding fixing frame (510), and the driving direction of the first feeding driving piece is consistent with the length direction of the feeding fixing frame (510);

the second feeding driving piece (530) is fixedly connected to the driving end of the first feeding driving piece (520), and the driving direction of the second feeding driving piece (530) is a vertical direction;

the third feeding driving piece (540) is fixedly connected to the driving end of the second feeding driving piece (530), and the driving direction of the third feeding driving piece (540) is consistent with the length direction of the feeding fixing frame (510);

and the positioning and adsorbing assembly (550) is arranged at the driving end of the third feeding driving piece (540) and is used for positioning and adsorbing the bulk material products (920) separated by the separation and positioning device (400).

7. The loading and unloading apparatus according to any one of claims 1 to 3, wherein the conveying device (600) comprises a conveying frame (630), a conveying mechanism (640), a bulk material stopping member (650) and a finished product stopping member (660) are arranged on the conveying frame (630), the bulk material tray (610) and the finished product tray (620) are both carried by the conveying mechanism (640), and the bulk material stopping member (650) is used for stopping the bulk material tray (610) to a loading position corresponding to the output end of the loading device (500); the finished product blocking and stopping piece (660) is used for blocking and stopping the finished product tray (620) to a blanking position corresponding to the input end of the blanking device (700).

8. The loading and unloading apparatus according to any one of claims 1-3, wherein the unloading device (700) comprises:

the blanking fixing frame (710), the blanking fixing frame (710) is installed on the bearing table (200), and the length direction of the blanking fixing frame (710) is perpendicular to the transmission direction of the conveying device (600);

the first blanking driving piece (720) is arranged on the blanking fixing frame (710), and the driving direction is consistent with the length direction of the blanking fixing frame (710);

the second blanking driving piece (730) is fixedly connected to the driving end of the first blanking driving piece (720), and the driving direction of the second blanking driving piece (730) is the vertical direction;

the third blanking driving piece (740) is fixedly connected to the driving end of the second blanking driving piece (730), and the driving direction of the third blanking driving piece (740) is parallel to the conveying direction of the conveying device (600);

and the overturning adsorption component (750) is arranged at the driving end of the third blanking driving part (740) and is used for adsorbing the finished product (930) of the finished product tray (620) and overturning the finished product (930).

9. The loading and unloading device according to claim 8, wherein the turning and adsorbing assembly (750) comprises a mounting seat (751) connected to the driving end of the third unloading driving member (740), a pivoting arm (752) is arranged at the bottom of the mounting seat (751), the pivoting arm (752) is pivoted with a horizontally arranged pivoting shaft (753), a rotating driving member (754) is mounted on the mounting seat (751), and the driving end of the rotating driving member (754) is connected with the pivoting shaft (753); the pivot shaft (753) is fixedly connected with a rotating seat (755), and the rotating seat (755) is provided with a first suction disc (756) with a suction nozzle positioned at the lower end.

10. Loading and unloading apparatus according to any one of claims 1 to 3, characterized in that said finished product take-off-line device (800) comprises:

a lower line conveying assembly (830), wherein the lower line conveying assembly (830) comprises an upper line conveying mechanism (831) and a lower line conveying mechanism (832) positioned below the upper line conveying mechanism (831);

the offline lifting assembly (840) is positioned between the offline conveying assembly (830) and the bearing table (200) and comprises a third support (841), a third bearing seat (842) and an offline lifting driving piece (843), the third bearing seat (842) is connected to the third support (841) in a sliding manner along the vertical direction, the offline lifting driving piece (843) is installed on the third support (841), and the driving end of the offline lifting driving piece (843) is connected with the third bearing seat (842) and is used for driving the third bearing seat (842) to move vertically; and the top of the third bearing seat (842) is provided with a lower line tail conveying mechanism (844).

Images