CN219234671U

CN219234671U - Automatic feeding and discharging system of material changing device and processing equipment

Info

Publication number: CN219234671U
Application number: CN202320158433.4U
Authority: CN
Inventors: 季峰
Original assignee: Suzhou Vega Technology Co Ltd
Current assignee: Suzhou Vega Technology Co Ltd
Priority date: 2023-02-07
Filing date: 2023-02-07
Publication date: 2023-06-23
Anticipated expiration: 2033-02-07

Abstract

The utility model discloses a material changing device and an automatic feeding and discharging system of processing equipment, wherein the material changing device comprises: a base; the bin is arranged on the base and used for placing materials to be processed and processed materials; the material taking and positioning platform is arranged on the base and used for positioning and placing the material to be processed or the processed material; the material conveying device is arranged on at least one of the storage bin and the material taking and positioning platform and is used for conveying the material to be processed or the processed material between the storage bin and the material taking and positioning platform; the mechanical arm is arranged on the base and is provided with a first clamping jaw and a second clamping jaw. According to the material changing device, the production efficiency is improved, and the damage to the work material caused by manual carrying and changing of the work material is avoided.

Description

Automatic feeding and discharging system of material changing device and processing equipment

Technical Field

The utility model relates to the technical field of automatic equipment, in particular to an automatic feeding and discharging system of a material changing device and processing equipment.

Background

In the related art, the material to be processed needs to be manually conveyed onto processing equipment from a storage bin, after the material to be processed is finished, the processed material is manually taken down from the processing equipment and replaced, the manual work is difficult to adapt to the production rhythm, the conditions of difficult operation and the like easily occur, the equipment downtime is long, the production efficiency is low, and the manual work is easy to cause work material damage in the process of conveying and replacing work materials.

Disclosure of Invention

The present utility model aims to solve at least one of the technical problems existing in the prior art. Therefore, the utility model provides the material changing device which improves the efficiency and avoids the damage of the work material caused by manual carrying and changing of the work material.

The utility model also provides an automatic feeding and discharging system of the processing equipment, which comprises the material changing device.

According to an embodiment of the utility model, a reloading device comprises: a base; the bin is arranged on the base and used for placing materials to be processed and processed materials; the material taking and positioning platform is arranged on the base and used for positioning and placing the material to be processed or the processed material; the material conveying device is arranged on at least one of the storage bin and the material taking and positioning platform and is used for conveying the material to be processed or the processed material between the storage bin and the material taking and positioning platform; the mechanical arm is arranged on the base and is provided with a first clamping jaw and a second clamping jaw.

According to the material changing device provided by the embodiment of the utility model, the material to be processed and the processed material are placed through the material bin, the material taking and positioning platform is used for positioning and placing the material to be processed or the processed material, the material conveying device is used for conveying the material to be processed or the processed material between the material bin and the material taking and positioning platform, and the mechanical arm is provided with the first clamping jaw and the second clamping jaw, so that the material changing device can be used for feeding and discharging materials from the processing equipment, feeding and discharging materials from the processing equipment or feeding materials from the processing equipment, and therefore automation of a processing production line using the material changing device is realized, the production efficiency is improved, and damage to the processed material caused by manual conveying and changing of the processed material is avoided. Simultaneously, because have first clamping jaw and second clamping jaw on the arm, the arm just can realize multiaxis material loading unloading simultaneously, reduces the time of reloading, raises the efficiency. In addition, the device for changing the material of the application does not need to increase a transmission mechanism on processing equipment by arranging the mechanical arm, and improves the compatibility of the processing equipment without the transmission mechanism, so that the universality of the device for changing the material of the application is improved.

In some embodiments of the present utility model, the material taking and positioning platform includes a positioning device and a conveying platform, the positioning device is provided on the base, and is used for positioning the material to be processed or the processed material, the conveying platform is used for placing the material to be processed or the processed material, and the material changing device further includes: the lifting device is arranged on the base, the conveying platform is arranged on the lifting device, and the material conveying device is arranged on at least one of the conveying platform and the storage bin and used for conveying the material to be processed or the processed material between the storage bin and the conveying platform and between the conveying platform and the positioning device.

In some embodiments of the utility model, the positioning device is disposed above the bin.

In some embodiments of the utility model, the bin and the lifting device are arranged in a first direction, and the mechanical arm is located on one side of a second direction of the lifting device and the bin, the second direction being perpendicular to the first direction.

In some embodiments of the utility model, the reloading device further comprises: and the lifting device is arranged on the base, and the storage bin is arranged on the lifting device.

In some embodiments of the utility model, the bin and the take-out positioning platform are arranged in a first direction, and the mechanical arm is located at one side of a second direction of the bin and the take-out positioning platform, wherein the second direction is perpendicular to the first direction.

In some embodiments of the present utility model, a turnover assembly is disposed on the mechanical arm, and the first clamping jaw and the second clamping jaw are disposed on the turnover assembly in a manner of being opposite to each other, and the turnover assembly drives the first clamping jaw and the second clamping jaw to rotate relative to the mechanical arm.

In some embodiments of the utility model, further comprising: the base is arranged on the walking device.

According to the embodiment of the utility model, the automatic feeding and discharging system of the processing equipment comprises: processing equipment; according to the material changing device, the mechanical arm is used for transferring the material to be processed or the processed material between the processing platform of the processing equipment and the material taking positioning platform.

According to the automatic feeding and discharging system of the processing equipment, the processing equipment and the material changing device are arranged, the material to be processed and the processed material are placed through the storage bin, the material taking and positioning platform is used for positioning and placing the material to be processed or the processed material, the material conveying device is used for conveying the material to be processed or the processed material between the storage bin and the material taking and positioning platform, and the mechanical arm is provided with the first clamping jaw and the second clamping jaw, so that the feeding and discharging of the processing equipment and the processing equipment can be realized through the material changing device, automation of a processing production line using the material changing device is realized, production efficiency is improved, and damage to the processed material caused by manual conveying and material changing is avoided. Simultaneously, because have first clamping jaw and second clamping jaw on the arm, the arm just can realize multiaxis material loading unloading simultaneously, reduces the time of reloading, raises the efficiency. In addition, the device for changing the material of the application does not need to increase a transmission mechanism on processing equipment by arranging the mechanical arm, improves the compatibility of the processing equipment without the transmission mechanism, does not need to carry out hardware transformation and upgrading on original processing equipment, and reduces the upgrading and upgrading cost of an automatic feeding and discharging system of the processing equipment.

In some embodiments of the present utility model, the bin, the material taking positioning platform and the mechanical arm are arranged in a first direction, the processing equipment is two and is respectively located at two sides of a second direction of the material changing device, and the first direction and the second direction are perpendicular.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.

Drawings

The foregoing and/or additional aspects and advantages of the utility model will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

fig. 1 is a perspective view of a cartridge device according to an embodiment of the present utility model;

FIG. 2 is a perspective view of a robotic arm according to an embodiment of the utility model;

FIG. 3 is a perspective view of a material transfer apparatus according to an embodiment of the present utility model;

FIG. 4 is a partial view of a cartridge device according to an embodiment of the present utility model;

FIG. 5 is a perspective view of a positioning device according to an embodiment of the utility model;

FIG. 6 is a front view of a cartridge device according to another embodiment of the present utility model;

FIG. 7 is a front view of a cartridge device according to yet another embodiment of the present utility model;

FIG. 8 is a schematic diagram of an automatic loading and unloading system of a processing device according to an embodiment of the present utility model;

FIG. 9 is a flow chart of a working method of the automatic loading and unloading system of the processing equipment for loading the processing equipment according to the embodiment of the utility model;

FIG. 10 is a flow chart of a method of operation of an automatic loading and unloading system of a processing tool for unloading from the processing tool according to an embodiment of the utility model;

FIG. 11 is a flow chart of a method for feeding and discharging material from and to a processing tool by an automatic feeding and discharging system of the processing tool according to an embodiment of the present utility model;

fig. 12 is a flow chart of a working method of the automatic loading and unloading system of the processing equipment for loading and unloading the processing equipment according to another embodiment of the present utility model.

Reference numerals:

1000. the automatic feeding and discharging system of the processing equipment;

100. a material changing device;

1. a base;

2. a storage bin;

3. a material taking and positioning platform; 31. a positioning device; 311. a positioning table; 3111. a guide opening; 3112. a guide groove; 312. a clamping device; 3121. a first driving member; 3122. a first air clamp; 3123. a second air clamp; 313. a transmission device; 3131. a second driving member; 3132. a third driving member; 3133. a transfer member; 32. a transfer platform;

4. A material transfer device; 41. a support plate; 42. a gripping member; 43. a driving structure; 431. a drive assembly; 432. a transmission assembly; 4321. a synchronizing wheel; 4322. a synchronous belt; 433. a support base;

5. a mechanical arm; 51. a first jaw; 511. a frame; 512. a first motor; 513. a first screw rod; 514. a first connection plate; 515. a second connecting plate; 5151. a first grasping assembly; 5152. a second grasping assembly; 516. a linear guide rail; 517. a camera; 518. a platen assembly; 5181. a pressing plate; 5182. a cylinder; 519. a flip assembly; 52. a second jaw; 53. a mechanical arm base;

6. a lifting device; 61. a power assembly; 611. a riser; 612. a second motor; 613. a second screw rod; 62. a supporting plate; 63. a guide rail assembly; 631. a guide rail; 632. a guide rod;

7. a walking device;

200. processing equipment; 201. a processing platform;

300. working materials; 301. a material to be processed; 302. the material has been processed.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model. Furthermore, features defining "first", "second" may include one or more such features, either explicitly or implicitly. In the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

The following describes a reloading device 100 according to an embodiment of the present utility model with reference to the accompanying drawings

As shown in fig. 1, a reloading device 100 according to an embodiment of the present utility model includes a base 1, a silo 2, a material taking and positioning platform 3, a material transferring device 4 and a robot arm 5. Wherein, the feed bin 2 is located base 1 for place wait to process material 301 and processed material 302, get material location platform 3 and locate base 1 for be used for location and place wait to process material 301 or processed material 302, material conveyer 4 is located on at least one of feed bin 2 and get material location platform 3, be used for transporting wait to process material 301 or processed material 302 between feed bin 2 and get material location platform 3, arm 5 locates base 1, have first clamping jaw 51 and second clamping jaw 52 on the arm 5.

It can be understood that the material 301 to be processed is placed in the storage bin 2, the material conveying device 4 transfers one of the material 301 to be processed in the storage bin 2 to the material taking and positioning platform 3, the first clamping jaw 51 on the mechanical arm 5 grabs the material 301 to be processed located on the material taking and positioning platform 3, the material conveying device 4 transfers one of the material 301 to be processed in the storage bin 2 to the material taking and positioning platform 3 again, the second clamping jaw 52 on the mechanical arm 5 grabs the material 301 to be processed located on the material taking and positioning platform 3, and the first clamping jaw 51 and the second clamping jaw 52 respectively transfer the clamped material 301 to be processed to the processing platform 201, so that the material loading of the processing equipment 200 is realized through the material changing device 100, the automation of a processing production line using the material changing device 100 is realized, and the production efficiency is improved;

The processed materials 302 are placed on the processing equipment 200, the first clamping jaw 51 on the mechanical arm 5 clamps one of the processed materials 302 on the processing equipment 200, the second clamping jaw 52 on the mechanical arm 5 clamps one of the processed materials 302 on the processing equipment 200, and the two processed materials 302 are sequentially transported to a material layer to be fed of the storage bin 2 through the material taking and positioning platform 3 and the material conveying device 4, so that the material is fed and discharged from the processing equipment 200 through the material changing device 100, the automation of a processing production line using the material changing device 100 is realized, and the production efficiency is improved;

the material to be processed 301 is placed in the material bin 2, the processed material 302 is placed on the processing equipment 200, the material conveying device 4 conveys one of the materials to be processed 301 in the material bin 2 to the material taking and positioning platform 3, the first clamping jaw 51 on the mechanical arm 5 clamps the material to be processed 301 on the material taking and positioning platform 3, the second clamping jaw 52 clamps one of the materials to be processed 302 on the processing platform 201, the material conveying device 4 conveys one of the materials to be processed 301 in the material bin 2 to the material taking and positioning platform 3 again, the material to be processed 301 on the first clamping jaw 51 is conveyed to the processing platform 201, the material to be processed 302 on the second clamping jaw 52 is conveyed to the material conveying device 4, the material to be processed 302 is conveyed to a material feeding layer of the material bin 2 through the material conveying device 4, the first clamping jaw 51 clamps the material to be processed 301 on the material taking and positioning platform 3 again, the second clamping jaw 52 clamps the material to be processed 302 on the processing platform 201, the material to be processed 301 on the first clamping jaw 51 is conveyed to the processing platform 201, the material to the material bin 302 on the second clamping jaw 52 is conveyed to the material feeding device 3 and the material conveying device 4 through the material taking and the material feeding device 2, and the material feeding efficiency of the material to be processed 2 is further improved, and the material to be processed 2 is conveyed to the material feeding device 200 is realized, and the material to be processed 100 is replaced from the material feeding equipment 100, and the material to be processed 100 is conveyed to the material processing equipment 100, and the material to be processed 100, and the material to be processed processing equipment is further processed to the material to be processed processing equipment 100.

Meanwhile, when the first clamping jaw 51 or the second clamping jaw 52 clamps the material 301 to be processed from the material taking positioning platform 3, the material taking positioning platform 3 can position the material 301 to be processed, errors in the clamping process of the first clamping jaw 51 or the second clamping jaw 52 can be reduced through the arrangement, the clamping time is shortened, meanwhile, the material 301 to be processed is prevented from falling, and the reliability of the material changing device 100 is improved.

Further, as shown in fig. 2, the first clamping jaw 51 includes a frame 511, a first motor 512, a first lead screw 513, a first connecting plate 514, a second connecting plate 515 and a linear guide 516, the first motor 512 is disposed on the frame 511, two ends of the first lead screw 513 in a length direction are fixed on the frame 511, the first connecting plate 514 and the second connecting plate 515 are connected with the first lead screw 513 through a lead screw nut, the first connecting plate 514 is provided with a first grabbing component 5141, the second connecting plate 515 is provided with a second grabbing component 5151, the linear guide 516 is disposed parallel to the first lead screw 513, the first grabbing component 5141 is disposed opposite to the second grabbing component 5151, the first lead screw 513 rotates by driving a bevel gear to move to drive the first lead screw 513, the first connecting plate 514 and the second connecting plate 515 to move along the linear guide 516 through a lead screw connecting rod connected with the lead screw nut, when the first connecting plate 514 and the second connecting plate 515 move close to each other, the first grabbing component 5141 and the second grabbing component 5151 move close to each other to achieve grabbing work material 300, and when the first connecting plate 514 and the second connecting plate 515 move away from each other to achieve work material releasing.

Still further, as shown in fig. 2, the first clamping jaw 51 further includes a camera 517 and a pressing plate assembly 518, wherein the camera 517 is disposed on the frame 511, so that the first clamping jaw 51 can be finely positioned when the work material 300 is grabbed and released, thereby shortening the grabbing time and avoiding the work material 300 from falling. The pressing plate assembly 518 comprises air cylinders 5182 connected with each other by pressing plates 5181, the air cylinders 5182 are arranged on the frame 511, after the work material 300 is placed by the first clamping jaw 51, the pressing plates 5181 are driven by the air cylinders 5182 to be close to the work material 300 for pressing the work material 300, so that the work material 300 is flattened by the pressing plates 5181, abnormal conditions such as warping and the like of the work material 300 are avoided, and the reliability of the material changing device 100 is improved.

It should be noted that, the specific structure of the first clamping jaw 51 may be flexibly set according to practical situations, for example, the first clamping jaw 51 includes a suction cup assembly, and the work material 300 is sucked and released by the suction cup assembly, so as to grasp and release the work material 300. Meanwhile, the structure of the second clamping jaw 52 is the same as that of the first clamping jaw 51, and the description thereof is omitted.

As shown in fig. 2, the first clamping jaw 51 and the second clamping jaw 52 are oppositely arranged on the mechanical arm 5 through the flange 519, and when the mechanical arm 5 takes materials from the processing equipment 200, the mechanical arm 5 is turned over to enable the first clamping jaw 51 or the second clamping jaw 52 to be aligned with the processing equipment 200 respectively, so that the first clamping jaw 51 and the second clamping jaw 52 clamp one processed material 302 from the processing platform 201 respectively, and efficiency is further improved. Of course, the positions of the first clamping jaw 51 and the second clamping jaw 52 on the mechanical arm 5 may be flexibly arranged according to practical situations, for example, the first clamping jaw 51 and the second clamping jaw 52 are arranged along the same direction, so as to realize that the first clamping jaw 51 and the second clamping jaw 52 clamp one processed material 302 from the processing platform 201 respectively or simultaneously.

The mechanical arm 5 is supported and fixed on the base 1 through the base of the mechanical arm 5, so that the mechanical arm 5 is arranged on the base 1, and the stability of the mechanical arm 5 during operation can be improved through the arrangement of the base of the mechanical arm 5.

According to the material changing device 100 of the embodiment of the utility model, the material bin 2 is used for placing the material 301 to be processed and the processed material 302, the material taking positioning platform 3 is used for positioning and placing the material 301 to be processed or the processed material 302, the material conveying device 4 is used for conveying the material 301 to be processed or the processed material 302 between the material bin 2 and the material taking positioning platform 3, and the mechanical arm 5 is provided with the first clamping jaw 51 and the second clamping jaw 52, so that the material changing device 100 can be used for loading and unloading the processing equipment 200, loading and unloading the processing equipment 200 or unloading the processing equipment 200, and automation of a processing production line using the material changing device 100 is realized, the production efficiency is improved, and damage to the work material 300 caused by manual carrying and changing of the work material 300 is avoided. Meanwhile, as the mechanical arm 5 is provided with the first clamping jaw 51 and the second clamping jaw 52, the mechanical arm 5 can realize simultaneous multi-shaft feeding and discharging, so that the material changing time is shortened, and the efficiency is improved. In addition, the mechanical arm 5 is arranged, so that a transmission mechanism does not need to be added to the processing equipment 200, the compatibility of the processing equipment 200 without the transmission mechanism is improved, and the universality of the material changing device 100 is improved.

In some embodiments of the present utility model, as shown in fig. 2, the mechanical arm 5 is provided with a turning component 519, the first clamping jaw 51 and the second clamping jaw 52 are oppositely arranged on the turning component 519, and the turning component 519 drives the first clamping jaw 51 and the second clamping jaw 52 to rotate relative to the mechanical arm 5. It will be appreciated that when the robotic arm 5 is picking up material from the processing tool 200, the flipping assembly 519 is flipped over to align the first jaw 51 or the second jaw 52 with the processing tool 200, thereby enabling the first jaw 51 and the second jaw 52 to each grip a processed material 302 from the processing platform 201, further improving efficiency.

Of course, the positions of the first clamping jaw 51 and the second clamping jaw 52 on the mechanical arm 5 may be flexibly arranged according to practical situations, for example, the first clamping jaw 51 and the second clamping jaw 52 are arranged along the same direction, so as to realize that the first clamping jaw 51 and the second clamping jaw 52 clamp one processed material 302 from the processing platform 201 respectively or simultaneously.

An automatic loading and unloading system 1000 of the processing apparatus 200 according to an embodiment of the present utility model is described below with reference to the accompanying drawings.

As shown in fig. 8 to 12, the automatic loading and unloading system 1000 of the processing apparatus 200 according to an embodiment of the present utility model includes the processing apparatus 200 and the above-described reloading device 100, and the mechanical arm 5 is used to transfer the material 301 to be processed or the processed material 302 between the processing platform 201 and the material taking positioning platform 3 of the processing apparatus 200.

According to the automatic feeding and discharging system 1000 of the processing equipment 200, the processing equipment 200 and the material changing device 100 are arranged, the material to be processed 301 and the processed material 302 are placed through the storage bin 2, the material taking and positioning platform 3 is used for positioning and placing the material to be processed 301 or the processed material 302, the material conveying device 4 is used for conveying the material to be processed 301 or the processed material 302 between the storage bin 2 and the material taking and positioning platform 3, and the mechanical arm 5 is provided with the first clamping jaw 51 and the second clamping jaw 52, so that feeding and discharging of the processing equipment 200 and feeding and discharging of the processing equipment 200 from the processing equipment 200 can be achieved through the material changing device 100, automation of a processing production line using the material changing device 100 is achieved, production efficiency is improved, and damage to the processed material 300 caused by manual conveying and changing of the processed material 300 is avoided. Meanwhile, as the mechanical arm 5 is provided with the first clamping jaw 51 and the second clamping jaw 52, the mechanical arm 5 can realize simultaneous multi-shaft feeding and discharging, so that the material changing time is shortened, and the efficiency is improved. In addition, the mechanical arm 5 is arranged, a transmission mechanism is not required to be added to the processing equipment 200, compatibility of the processing equipment 200 without the transmission mechanism is improved, hardware transformation and upgrading of the original processing equipment 200 are not required, and cost of upgrading and upgrading of the automatic feeding and discharging system 1000 of the processing equipment 200 is reduced.

The following describes an operation method of the automatic loading and unloading system 1000 of the processing apparatus 200 according to the embodiment of the present utility model with reference to the accompanying drawings.

As shown in fig. 8 to 12, according to an embodiment of the present utility model, an operation method of an automatic loading and unloading system 1000 of a processing apparatus 200, where the automatic loading and unloading system 1000 of the processing apparatus 200 is the automatic loading and unloading system 1000 of the processing apparatus 200, includes:

at least one of feeding the processing apparatus 200 and discharging from the processing apparatus 200 is performed. It should be understood that the automatic feeding and discharging system 1000 of the processing apparatus 200 may implement feeding and discharging the processing apparatus 200 from the processing apparatus 200, feeding the processing apparatus 200, or discharging the processing apparatus 200 through the material changing device 100, and it should be noted that a specific working method of the automatic feeding and discharging system 1000 of the processing apparatus 200 is specifically described in the following embodiments.

When the processing equipment 200 is fed, the first clamping jaw 51 and the second clamping jaw 52 respectively clamp one material 301 to be processed from the material taking and positioning platform 3, and transfer the two materials 301 to be processed to the processing platform 201; when the material is fed from the processing equipment 200, the first clamping jaw 51 and the second clamping jaw 52 respectively clamp one processed material 302 from the processing platform 201 and transfer the two processed materials 302 to the material taking and positioning platform 3; when feeding the processing apparatus 200 and discharging from the processing apparatus 200, the first clamping jaw 51 clamps a material 301 to be processed from the processing platform 201, the second clamping jaw 52 clamps a processed material 302 from the processing platform 201, and transfers the material 302 to be fed to the processing platform 201 and transfers the processed material 302 to the material taking positioning platform 3. By the arrangement, at least one step of feeding the processing equipment 200 and discharging the material from the processing equipment 200 is realized, so that the automation of the automatic feeding and discharging system 1000 of the processing equipment 200 is realized, and the production efficiency is improved. Meanwhile, the reloading device 100 improves compatibility with the processing equipment 200 without configuring a transmission mechanism by providing the mechanical arm 5 without adding the transmission mechanism to the processing equipment 200.

According to the working method of the automatic feeding and discharging system 1000 of the processing equipment 200, at least one step of feeding the processing equipment 200 and discharging the material from the processing equipment 200 is performed, wherein when the processing equipment 200 is fed, the first clamping jaw 51 and the second clamping jaw 52 respectively clamp one material 301 to be processed from the material taking and positioning platform 3 and transfer the two materials 301 to be processed to the processing platform 201; when the material is fed from the processing equipment 200, the first clamping jaw 51 and the second clamping jaw 52 respectively clamp one processed material 302 from the processing platform 201 and transfer the two processed materials 302 to the material taking and positioning platform 3; when the processing equipment 200 is fed and discharged from the processing equipment 200, the first clamping jaw 51 clamps a material 301 to be processed from the processing platform 201, the second clamping jaw 52 clamps a processed material 302 from the processing platform 201, the material to be fed is transferred to the processing platform 201, and the processed material 302 is transferred to the material taking and positioning platform 3, so that automation of an automatic feeding and discharging system 1000 of the processing equipment 200 is realized, and production efficiency is improved. Meanwhile, the reloading device 100 improves compatibility with the processing equipment 200 without configuring a transmission mechanism by providing the mechanical arm 5 without adding the transmission mechanism to the processing equipment 200.

[ embodiment one ]

According to an embodiment of the present utility model, the working method of the automatic feeding and discharging system 1000 of the processing apparatus 200 includes the steps of:

at least one of feeding the processing apparatus 200 and discharging from the processing apparatus 200 is performed. It should be understood that the automatic feeding and discharging system 1000 of the processing apparatus 200 may implement feeding the processing apparatus 200, discharging the processing apparatus 200, or feeding and discharging the processing apparatus 200 simultaneously through the material changing device 100, and it should be noted that a specific working method of the automatic feeding and discharging system 1000 of the processing apparatus 200 is specifically described in the following embodiments.

When the processing equipment 200 is fed, the first clamping jaw 51 and the second clamping jaw 52 respectively clamp one material 301 to be processed from the material taking and positioning platform 3, and transfer the two materials 301 to be processed to the processing platform 201; when the material is fed from the processing equipment 200, the first clamping jaw 51 and the second clamping jaw 52 respectively clamp one processed material 302 from the processing platform 201 and transfer the two processed materials 302 to the material taking and positioning platform 3; when the processing equipment 200 is fed and discharged from the processing equipment 200, the first clamping jaw 51 clamps a material 301 to be processed from the processing platform 201, the second clamping jaw 52 clamps a processed material 302 from the processing platform 201, the material to be fed is transferred to the processing platform 201, and the processed material 302 is transferred to the material taking and positioning platform 3, so that automation of an automatic feeding and discharging system 1000 of the processing equipment 200 is realized, and production efficiency is improved. Meanwhile, the reloading device 100 improves compatibility with the processing equipment 200 without configuring a transmission mechanism by providing the mechanical arm 5 without adding the transmission mechanism to the processing equipment 200.

[ example two ]

As shown in fig. 9, according to an embodiment of the present utility model, a working method of an automatic feeding and discharging system 1000 of a processing device 200 includes feeding the processing device 200, and feeding the processing device 200 includes:

one of the materials 301 to be processed in the bin 2 is transported to the material taking and positioning platform 3. Specifically, the material 301 to be processed is placed in the storage bin 2, the material conveying device 4 transfers one of the material 301 to be processed in the storage bin 2 to the material taking and positioning platform 3, and the material taking and positioning platform 3 can position the material 301 to be processed, so that errors of the first clamping jaw 51 clamping the one material 301 to be processed from the material taking and positioning platform 3 are reduced, clamping time is shortened, meanwhile, the material 301 to be processed is prevented from falling, and reliability of the material changing device 100 is improved.

The first clamping jaw 51 clamps a material 301 to be processed from the material taking and positioning platform 3, and the mechanical arm 5 is provided with the material 301 to be processed through the step. It should be noted that the specific structure of the first clamping jaw 51 is described above, and will not be repeated here.

One of the materials 301 to be processed in the bin 2 is transported to the material taking and positioning platform 3. The material conveyer 4 transports one of the materials 301 to be processed in the feed bin 2 to the material taking and positioning platform 3, and the material taking and positioning platform 3 can position the materials 301 to be processed, so that the error of clamping the second clamping jaw 52 for clamping one material 301 to be processed from the material taking and positioning platform 3 is reduced, the clamping time is shortened, the materials 301 to be processed are prevented from falling, and the reliability of the material changing device 100 is improved.

The second clamping jaw 52 clamps one material 301 to be processed from the material taking and positioning platform 3, and two materials 301 to be processed are arranged on the mechanical arm 5 through the step. It should be noted that the specific structure of the first clamping jaw 51 is described above, and will not be repeated here.

The first jaw 51 and the second jaw 52 respectively transport two materials 301 to be processed to the processing platform 201. Specifically, after the mechanical arm 5 drives the first clamping jaw 51 to move to the position opposite to the processing platform 201, the first clamping jaw 51 transfers the material 301 to be processed which is grabbed by the first clamping jaw to the processing platform 201, and after the mechanical arm 5 drives the second clamping jaw 52 to move to the position opposite to the processing platform 201, the second clamping jaw 52 transfers the material 301 to be processed which is grabbed by the second clamping jaw 52 to the processing platform 201, so that the material loading of the processing equipment 200 is realized.

In the process that the first clamping jaw 51 and the second clamping jaw 52 respectively transfer the two materials 301 to be processed to the processing platform 201, one of the materials 301 to be processed in the storage bin 2 is continuously transferred to the material taking and positioning platform 3, so that after the first clamping jaw 51 and the second clamping jaw 52 finish transferring to the processing platform 201, the mechanical arm 5 drives the first clamping jaw 51 to move to the position opposite to the material taking and positioning platform 3, the first clamping jaw 51 can continuously clamp one material 301 to be processed from the material taking and positioning platform 3, the materials 301 to be processed of the same model in the storage bin 2 can be continuously fed in the middle except for the initial materials and the tail materials, the continuity of feeding of the processing equipment 200 is realized, and the efficiency is further improved.

Further, as shown in fig. 1, the reloading device 100 further comprises a running gear 7. Wherein the base 1 is arranged on the walking device 7. It will be appreciated that the running gear 7 may drive the reloading device 100 to move to a preset position such as before the feeding device or before the processing device 200. After the material changing device 100 is in butt joint with the processing equipment 200 through the traveling device 7, the mechanical arm 5 carries the material 301 to be processed on the processing equipment 200 and the processed material 302 on the material changing device 100, and the traveling device 7 is convenient for the material changing device 100 to be in butt joint with other equipment, so that automation of a processing production line is further realized, and the production efficiency is improved. The traveling device 7 may be an AGV trolley, so as to drive the reloading device 100 to move to a specified position.

The working method of the automatic feeding and discharging system 1000 of the processing equipment 200 comprises the steps of feeding the processing equipment 200, and feeding the processing equipment 200 further comprises:

before one of the materials 301 to be processed in the stock bin 2 is transported to the material taking and positioning platform 3, the traveling device 7 drives the material changing device 100 to move to the front of the processing equipment 200. By the steps, the material changing device 100 is in butt joint with the processing platform 201, so that the processing equipment 200 is fed.

Still further, as shown in fig. 4, the reloading device 100 further comprises a lifting device 6. Wherein, elevating gear 6 locates base 1, and elevating gear 6 is located to feed bin 2. It can be understood that in the process of transferring one of the materials 301 to be processed in the bin 2 to the material taking and positioning platform 3, the lifting device 6 drives the bin 2 to lift to the bin 2 to store one layer of the materials 301 to be processed, so that the material conveying device 4 transfers one of the materials 301 to be processed in the bin 2 to the material taking and positioning platform 3, and one layer of the materials 301 to be processed in the bin 2 to be transferred to the material taking and positioning platform 3 next time is in butt joint with the material conveying device 4, and the lifting device 6 drives the bin 2 to lift to the bin 2 to store one layer of the materials 301 to be processed. Meanwhile, the lifting device 6 can reduce the lifting action of the mechanical arm 5, so that the movement track of the mechanical arm 5 is more single, and the material changing efficiency is improved.

As shown in fig. 4, the lifting device 6 includes a power assembly 61 and a supporting plate 62, the bin 2 is disposed on the supporting plate 62, the power assembly 61 is used for driving the supporting plate 62 to lift, and the supporting plate 62 is driven by the power assembly 61 to lift, so that the bin 2 disposed on the supporting plate 62 is lifted synchronously, and the stability of the bin 2 in the lifting process can be improved by the arrangement of the supporting plate 62.

It should be noted that, the device on the lifting device 6 may be flexibly set according to practical situations, for example, the material handling device is disposed on the lifting device 6, the bin 2 is disposed on the base 1, and the lifting device 6 drives the material handling device to lift to butt with one layer of the materials 301 to be processed stored in the bin 2, so as to realize that the material conveying device 4 transfers one of the materials 301 to be processed in the bin 2 to the material taking positioning platform 3.

In the automatic loading and unloading system 1000 of the processing apparatus 200, as shown in fig. 1, the bin 2 and the material taking and positioning platform 3 are arranged in a first direction, and the mechanical arm 5 is located at one side of the bin 2 and the material taking and positioning platform 3 in a second direction, where the second direction is perpendicular to the first direction. By the arrangement, the length of the material changing device 100 in the first direction can be effectively shortened, the space requirement of the automatic feeding and discharging system 1000 of the processing equipment 200 applying the material changing device 100 in the first direction is reduced, and the universality of the material changing device 100 is improved;

Or in the automatic loading and unloading system 1000 of the processing apparatus 200, as shown in fig. 6 and 8, the storage bin 2, the material taking and positioning platform 3 and the mechanical arm 5 are arranged in the first direction. By the arrangement, the length of the material changing device 100 in the second direction can be effectively shortened, the space requirement of the automatic feeding and discharging system 1000 of the processing equipment 200 applying the material changing device 100 in the second direction is reduced, and the universality of the material changing device 100 is improved.

Further, as shown in fig. 6 and 8, the processing apparatuses 200 are two and are respectively located at two sides of the second direction of the material changing device 100, and the first direction and the second direction are perpendicular. Before at least one of feeding and discharging the two processing devices 200 from the processing device 200, the two processing devices 200 are arranged oppositely, so that only the running gear 7 is required to drive the material changing device 100 to move to be in butt joint with one of the processing devices 200, at least one of feeding and discharging the one of the processing devices 200 from the processing device 200 can be completed, and at least one of feeding and discharging the other of the processing devices 200 from the processing device 200 can be realized only by operating the mechanical arm 5, so that the time for the running gear 7 to drive the material changing device 100 to be in butt joint with the other of the processing devices 200 is reduced, and the efficiency is improved. Meanwhile, as the storage bin 2, the material taking and positioning platform 3 and the mechanical arm 5 are arranged in the first direction, the material changing device 100 can directly feed and discharge at least one step of the other processing equipment 200 respectively without steering, so that the time is further shortened, and the efficiency is improved.

Further, as shown in fig. 6, the base 1 further includes a plurality of rollers 11, the rollers 11 are disposed on the base 1, each roller 11 is rotatable, and the bin 2 is adapted to be placed on the rollers 11. It can be appreciated that when the storage bin 2 needs to be replaced, the feeding module can drive the material replacing device 100 of the storage bin 2 to be in butt joint with the material replacing device, the storage bin 2 can be conveniently moved in or out through the arrangement of the plurality of rollers 11, time consumption of manual operation is reduced, manual labor force is reduced, and production efficiency is improved.

[ example III ]

The structure of this embodiment is substantially the same as that of the second embodiment, as shown in fig. 10, and the difference is only that the working method of the automatic feeding and discharging system 1000 of the processing apparatus 200 includes feeding and discharging materials from the processing apparatus 200, and the feeding and discharging materials from the processing apparatus 200 include:

the first jaw 51 and the second jaw 52 each grip a processed material 302 from the processing platform 201. Specifically, after the mechanical arm 5 drives the first clamping jaw 51 to move to a position opposite to the processing platform 201, the first clamping jaw 51 clamps a processed material 302 from the processing platform 201, and after the mechanical arm 5 drives the second clamping jaw 52 to move to a position opposite to the processing platform 201, the second clamping jaw 52 clamps a processed material 302 from the processing platform 201, so as to realize the purpose of clamping the processed material 302 from the processing equipment 200.

Two processed materials 302 are sequentially transported to the bin 2 through the material taking and positioning platform 3. Specifically, after the mechanical arm 5 drives the first clamping jaw 51 to move to a position opposite to the material taking and positioning platform 3, the first clamping jaw 51 transfers the processed material 302 grabbed by the first clamping jaw to the material taking and positioning platform 3, the material conveying device 4 transfers the processed material 302 to the material to be sent of the storage bin 2, the second clamping jaw 52 transfers the processed material 302 grabbed by the second clamping jaw to the material taking and positioning platform 3, and the material conveying device 4 transfers the processed material 302 to the material to be sent of the storage bin 2 again, so that the material is discharged from the processing equipment 200.

[ example IV ]

The structure of this embodiment is substantially the same as that of the second embodiment, and the difference is only that the working method of the automatic feeding and discharging system 1000 of the processing apparatus 200 includes feeding and discharging the processing apparatus 200 from and to the processing apparatus 200, and feeding and discharging the processing apparatus 200 from and to the processing apparatus 200 includes:

the walking device 7 drives the material changing device 100 to move to the front of the processing equipment 200;

transferring one of the materials 301 to be processed in the stock bin 2 to the material taking and positioning platform 3;

the first clamping jaw 51 clamps a material 301 to be processed from the material taking and positioning platform 3;

The second clamping jaw 52 clamps a material 301 to be processed from the material taking and positioning platform 3;

the first clamping jaw 51 and the second clamping jaw 52 respectively transfer the two materials 301 to be processed to the processing platform 201;

after the material 301 to be processed of each layer in the storage bin 2 is transferred to the processing platform 201, the first clamping jaw 51 and the second clamping jaw 52 respectively clamp a processed material 302 from the processing platform 201;

two processed materials 302 are sequentially transported to the bin 2 through the material taking and positioning platform 3.

By the working method of the automatic feeding and discharging system 1000 of the processing equipment 200, all materials 301 to be processed in the storage bin 2 are replaced by processed materials 302, and meanwhile, the process only needs the traveling device 7 to drive the material changing device 100 to be in butt joint with the processing platform 201 once, so that the processing production efficiency is improved.

[ example five ]

The structure of this embodiment is substantially the same as that of the second embodiment, as shown in fig. 1, except that the material changing device 100 further includes a lifting device 6, the material taking and positioning platform 3 includes a positioning device 31 and a conveying platform 32, the positioning device 31 is disposed on the base 1 for positioning the material 301 to be processed or the processed material 302, the conveying platform 32 is used for placing the material 301 to be processed or the processed material 302, the lifting device 6 is disposed on the base 1, the conveying platform 32 is disposed on the lifting device 6, and the material conveying device 4 is disposed on at least one of the conveying platform 32 and the bin 2 for transferring the material 301 to be processed or the processed material 302 between the bin 2 and the conveying platform 32 and between the conveying platform 32 and the positioning device 31.

It will be appreciated that the lifting device 6 drives the conveying platform 32 to lift the conveying platform 32 to butt against the material layer to be taken or the material layer to be fed of the bin 2, so that the material conveying device 4 transfers the material 301 to be processed or the processed material 302 between the bin 2 and the conveying platform 32, and the lifting device 6 drives the conveying platform 32 to lift the conveying platform 32 to butt against the positioning device 31, so that the material conveying device 4 transfers the material 301 to be processed or the processed material 302 between the bin 2 and the conveying platform 32 and between the conveying platform 32 and the positioning device 31. Meanwhile, the lifting device 6 can reduce the flow actions of feeding and discharging of the mechanical arm 5, so that the movement track of the mechanical arm 5 is more single, and the efficiency is improved.

It should be noted that, the positioning device 31 and the conveying platform 32 may be flexibly set according to practical situations, for example, the conveying platform 32 is disposed on the lifting device 6, the positioning device 31 is disposed on the conveying platform 32, the lifting device 6 drives the conveying platform 32 to lift the conveying platform 32 to butt-joint with the material layer to be taken or the material layer to be fed of the storage bin 2, and the material 301 to be processed or the processed material 302 is transferred between the storage bin 2 and the positioning device 31 through the cooperation of the material conveying device 4 and the conveying platform 32.

Further, as shown in fig. 3, the material conveying apparatus 4 includes a support plate 41, a gripping member 42, and a driving structure 43, the support plate 41 is provided on the base 1, the gripping member 42 is slidably provided on the support plate 41, and the driving structure 43 is used for driving the gripping member 42 to slide on the support plate 41. During the transfer of the material 301 to be processed or the processed material 302 between the bin 2 and the transfer platform 32 by the material transfer device 4, the gripping member 42 is driven by the driving structure 43 to slide on the support plate 41 so that the gripping member 42 approaches the bin 2 and grips the material 301 to be processed, the gripping member 42 is driven by the driving structure 43 to slide on the support plate 41 in the opposite direction so that the gripping member 42 carries the material 301 to be processed away from the bin 2 and transfers the material 301 to be processed to the transfer platform 32. The process of transferring the material 301 to be processed or the processed material 302 between the bin 2 and the transfer platform 32 and between the transfer platform 32 and the positioning device 31 by the material transfer device 4 is similar, and will not be repeated.

Further, as shown in fig. 3, the driving structure 43 includes a driving assembly 431 and a transmission assembly 432. Wherein, drive assembly 432 includes synchronizing wheel 4321 and hold-in range 4322, synchronizing wheel 4321 is connected with drive assembly 431, hold-in range 4322 Rao Sheyu synchronizing wheel 4321 just sets up along feed bin 2 to the direction of delivery platform 32 and locates on backup pad 41, drive synchronizing wheel 4321 through drive assembly 431 rotates, thereby drive the hold-in range 4322 motion of coiling locating synchronizing wheel 4321, in order to realize locating that snatch piece 42 on the hold-in range 4322 can follow hold-in range 4322 length direction and remove, snatch piece 42 removal reliability can be ensured through such setting, avoid work material 300 to take place to collide with or drop in the transportation, improve the reliability. It should be noted that the specific structure of the synchronizing wheel 4321 may be flexibly set according to practical situations, for example, the synchronizing wheel 4321 is formed by a plurality of gears meshed with each other, or the synchronizing wheel 4321 includes a plurality of gears and a synchronizing shaft, etc.

As shown in fig. 3, the driving structure 43 further includes a supporting seat 433, the supporting seat 433 is provided with a synchronous belt 4322 and moves synchronously with the synchronous belt 4322, the gripping member 42 is provided on the supporting seat 433, and by such arrangement, the synchronous belt 4322 can drive the supporting seat 433 to move along the length direction of the synchronous belt 4322, thereby driving the gripping member 42 to move along the length direction of the synchronous belt 4322, and the arrangement of the supporting seat 433 can further ensure the reliability of the movement.

When the material conveying device 4 is arranged on the conveying platform 32, the bin 2 can be an unpowered bin 2, and the material 301 to be processed in the bin 2 is grabbed by the material conveying device 4 and is conveyed to the conveying platform 32; or when the material conveying device 4 is arranged in the material bin 2, each layer of the material bin 2 is provided with the material conveying device 4, the material 301 to be processed is arranged on the material conveying device 4, the material bin 2 is the power material bin 2, and the material 301 to be processed is transported to the conveying platform 32 through the material conveying device 4; or the conveying platform 32 and the bin 2 are both provided with the material conveying device 4, each layer of the bin 2 is provided with the material conveying device 4, the material 301 to be processed is arranged on the material conveying device 4, the bin 2 is the power bin 2 at this time, and the material 301 to be processed is transported to the conveying platform 32 through the material conveying device 4. It should be noted that, when the bin 2 is a power bin 2, the specific structure of the material conveying device 4 on the bin 2 may be flexibly set according to practical situations, for example, a conveying platform 32 has a driving belt for driving the work material 300, and the material conveying device 4 has a driving belt that is in butt joint with the driving belt of the conveying platform 32, so as to realize the transfer of the material 301 to be processed or the processed material 302 between the bin 2 and the conveying platform 32.

As shown in fig. 9, the working method of the automatic feeding and discharging system 1000 of the processing device 200 includes feeding the processing device 200, and feeding the processing device 200 includes:

the lifting device 6 drives the conveying platform 32 to lift to be in butt joint with a material layer to be taken of the storage bin 2, the material conveying device 4 conveys one material 301 to be processed in the storage bin 2 to the conveying platform 32, the lifting device 6 drives the conveying platform 32 to lift to be in butt joint with the positioning device 31, and the material conveying device 4 conveys the material 301 to be processed to the positioning device 31;

the first clamping jaw 51 clamps a material 301 to be processed from the positioning device 31;

the first jaw 51 and the second jaw 52 respectively transport two materials 301 to be processed to the processing platform 201.

By the working method of the automatic feeding and discharging system 1000 of the processing equipment 200, the materials 301 to be processed in the storage bin 2 are all transferred to the processing equipment 200.

As shown in fig. 4, the lifting device 6 includes a power assembly 61 and a pallet 62, the conveying platform 32 is disposed on the pallet 62, the power assembly 61 is used for driving the pallet 62 to lift, and the pallet 62 is driven by the power assembly 61 to lift, so that the conveying platform 32 disposed on the pallet 62 is lifted synchronously, and the stability of the conveying platform 32 in the lifting process can be improved by the disposition of the pallet 62.

Further, as shown in fig. 4, the power assembly 61 includes a vertical plate 611, a second motor and a second screw rod 612, the vertical plate 611 is disposed on the base 1, the second screw rod 612 is disposed on the vertical plate 611 and extends along the reloading device 100, the second screw rod 612 is connected with the supporting plate 62, the guide rail assembly 63 is disposed parallel to the second screw rod 612, a first gear is disposed at an output end of the second motor, a first gear is disposed on the second screw rod 612, and the first gear is meshed with the second gear, so that the second motor drives the first gear to drive the second screw rod 612 to rotate, and then drives the supporting plate 62 to lift, so as to realize lifting of the conveying platform 32 located on the supporting plate 62. It should be noted that, the transmission mode of the motor driving the screw rod to rotate is flexibly set according to practical situations, for example, the first gear is connected with the second gear through the first transmission belt, or the motor and the screw rod are matched through a gear rack or a gear chain.

Still further, the lifting device 6 further comprises a guide rail assembly 63 arranged parallel to the screw rod, the guide rail assembly 63 comprises a guide rail 631 and a guide rod 632, a slide block is arranged on the tray and is slidable along the guide rail 631, the guide rod 632 is arranged on the base 1 through a bearing 6321 seat, and the reliability of the lifting process of the supporting plate 62 can be ensured through the arrangement of the guide rail 631 and the guide rod 632, so that the deviation is not easy to occur.

As shown in fig. 5, the positioning device 31 comprises a positioning table 311 and a clamping device 312, the positioning table 311 is arranged on the base 1, the positioning table 311 is provided with a guide opening 3111 and a guide groove 3112 which are communicated, a positioning nail at the bottom of the work material 300 enters the guide groove 3112 from the guide opening 3111, the clamping device 312 is arranged on the positioning table 311, and the clamping device 312 is used for clamping or loosening the positioning nail. It will be appreciated that in the process of transferring the material 301 to be processed between the transfer platform 32 and the positioning device 31 by the material transfer device 4, the positioning pin at the bottom of the material 301 to be processed has the guide opening 3111 and enters the guide slot 3112, when the material 301 to be processed moves to a corresponding position, the positioning pin is clamped by the clamping device 312, so that the positioning and storage of the material 301 to be processed are realized, errors in the clamping process of the first clamping jaw 51 or the second clamping jaw 52 can be reduced by such arrangement, the clamping time is shortened, meanwhile, the falling of the material 301 to be processed is avoided, and the reliability of the material changing device 100 is improved. Preferably, the guide port 3111 is flared to facilitate access of the staples from the guide port 3111.

The positioning device 31 further comprises a transmission device 313, two positioning nails at the bottom of the work material 300 are arranged at two ends in the length direction of the positioning device, the clamping device 312 comprises a first driving part, a first air clamp 3121 and a second air clamp 3122, the first air clamp 3121 and the second air clamp 3122 are distributed at intervals in the length direction of the positioning table 311, the first driving part drives the first air clamp 3121 and the second air clamp 3122 to clamp and unclamp the two positioning nails respectively, the transmission device 313 comprises a second driving part 3131, a third driving part 3132 and a conveying part 3133, the conveying part 3133 movably positions the table 311 and extends along the length direction of the positioning table 311, the second driving part 3131 is arranged on the positioning table 311 and is used for driving the conveying part 3133 to move so that the work material 300 can move along the length direction of the conveying part 3133, and the third driving part 3132 is arranged on the positioning table 311 and is used for driving the conveying part 3133 to move along the height direction thereof.

It will be appreciated that the third driving member 3132 drives the conveying member 3133 to rise to a position where the upper surface of the conveying member 3133 is higher than the upper surface of the holding device 312, the material conveying device 4 drives the conveying member 3133 to move during the process of transferring the material 301 between the conveying platform 32 and the positioning device 31, so that the positioning pins at the front end of the bottom of the material 301 to be processed have the guide openings 3111 to enter the guide slots 3112, when the material 301 to be processed moves to the corresponding position, one positioning pin is opposite to the first air clamp 3121, the other positioning pin is opposite to the second air clamp 3122, the third driving member 3132 drives the conveying member 3133 to fall to a position where the upper surface of the conveying member 3133 is lower than the upper surface of the holding device 312, and the first driving member drives the first air clamp 3121 and the second air clamp 3122 to clamp the two positioning pins respectively, thereby realizing positioning and storing of the material 301 to be processed. When the first clamping jaw 51 or the second clamping jaw 52 is required to clamp the material 301 to be processed on the positioning device 31, the third driving member 3132 drives the conveying member 3133 to rise to the upper surface of the conveying member 3133 higher than the upper surface of the clamping device 312, so that the conveying member 3133 ejects the material 301 to be processed upwards, and the material 301 to be processed is separated from the clamping device 312, thereby realizing that the first clamping jaw 51 or the second clamping jaw 52 clamps the material 301 to be processed from the positioning device 31.

Further, as shown in fig. 1, the positioning device 31 is disposed above the bin 2. Through the arrangement, the length of the reloading device 100 provided with the positioning device 31 in the first direction and the second direction is kept unchanged, the whole height is only required to be increased, the reloading device 100 is conveniently applied to the automatic loading and unloading system 1000 of the processing equipment 200, and the universality of the reloading device 100 is improved.

In the automatic loading and unloading system 1000 of the processing apparatus 200, as shown in fig. 1, the bin 2 and the lifting device 6 are arranged in a first direction, and the mechanical arm 5 is located at one side of the lifting device 6 and the bin 2 in a second direction, and the second direction is perpendicular to the first direction. By the arrangement, the length of the material changing device 100 in the first direction can be effectively shortened, the space requirement of the automatic feeding and discharging system 1000 of the processing equipment 200 applying the material changing device 100 in the first direction is reduced, and the universality of the material changing device 100 is improved;

or in the automatic loading and unloading system 1000 of the processing apparatus 200, as shown in fig. 6 and 8, the bins 2, the material taking and positioning platform 3 and the mechanical arm 5 are arranged in the first direction. By the arrangement, the length of the material changing device 100 in the second direction can be effectively shortened, the space requirement of the automatic feeding and discharging system 1000 of the processing equipment 200 applying the material changing device 100 in the second direction is reduced, and the universality of the material changing device 100 is improved.

Further, as shown in fig. 6 and 8, the processing apparatuses 200 are two and are respectively located at two sides of the second direction of the refueling device 100, and the first direction and the second direction are perpendicular. Before at least one of feeding and discharging the two processing devices 200 from the processing device 200 is performed, the two processing devices 200 are arranged oppositely, so that only the running gear 7 is required to drive the material changing device 100 to move to be in butt joint with one of the processing devices 200, at least one of feeding and discharging the one of the processing devices 200 from the processing device 200 can be completed, and at least one of feeding and discharging the other of the processing devices 200 from the processing device 200 can be realized only by operating the mechanical arm 5, so that the time for the running gear 7 to drive the material changing device 100 to be in butt joint with the other processing device 200 is reduced, and the efficiency is improved. Meanwhile, as the storage bin 2, the material taking and positioning platform 3 and the mechanical arm 5 are arranged in the first direction, the material changing device 100 can directly feed and discharge at least one step of the other processing equipment 200 respectively without steering, so that the time is further shortened, and the efficiency is improved.

[ example six ]

The structure of this embodiment is substantially the same as that of the fifth embodiment, as shown in fig. 10, and the difference is only that the working method of the automatic feeding and discharging system 1000 of the processing apparatus 200 includes feeding and discharging materials from the processing apparatus 200, and the feeding and discharging materials from the processing apparatus 200 include:

One of the processed materials 302 is transferred to the positioning device 31 and the other processed material 302 is transferred to the transfer platform 32. Because the positioning requirement of the mechanical arm for placing the work material 300 is lower than that of grabbing the work material 300, after the mechanical arm 5 drives the first clamping jaw 51 to move to the position opposite to the material taking positioning platform 3, the first clamping jaw 51 transfers the grabbed processed material 302 to the positioning device 31, and the second clamping jaw 52 transfers the grabbed processed material 302 to the conveying platform 32, so that the transferring speed is improved, and the efficiency is improved.

The processed material 302 located on the lifting device 6 is transferred to the silo 2 by means of the material transfer device 4. Specifically, the lifting device 6 drives the conveying platform 32 to lift to the conveying platform 32 to be in butt joint with the layer to be fed of the bin 2, so that the material conveying device 4 transfers the processed material 302 into the bin 2.

The processed material 302 on the positioning device 31 is transferred to the transfer platform 32 by the material transfer device 4 and then to the silo 2. Specifically, the lifting device 6 drives the conveying platform 32 to lift to the conveying platform 32 to be in butt joint with the positioning device 31, so that the material conveying device 4 transfers the processed material 302 onto the conveying platform 32, and then the lifting device 6 drives the conveying platform 32 to lift to the conveying platform 32 to be in butt joint with the material layer to be fed of the storage bin 2, so that the material conveying device 4 transfers the processed material 302 into the storage bin 2, and accordingly the material is discharged from the processing equipment 200.

By the working method of the automatic feeding and discharging system 1000 of the processing equipment 200, the processed material 302 on the processing equipment 200 is transferred into the storage bin 2.

[ embodiment seven ]

The structure of this embodiment is substantially the same as that of the fifth embodiment, as shown in fig. 11, and the difference is only that the working method of the automatic feeding and discharging system 1000 of the processing apparatus 200 includes feeding and discharging the processing apparatus 200 from and to the processing apparatus 200, and feeding and discharging the processing apparatus 200 from and to the processing apparatus 200 includes:

the two materials 301 to be processed in the stock bin 2 are respectively transferred to the positioning device 31 and the conveying platform 32. Specifically, the lifting device 6 drives the conveying platform 32 to lift to butt joint with the material layer to be taken of the storage bin 2, the material conveying device 4 transfers one of the materials 301 to be processed in the storage bin 2 to the conveying platform 32, the lifting device 6 drives the conveying platform 32 to lift to butt joint with the positioning device 31, the material conveying device 4 conveys the material 301 to be processed to the positioning device 31, the lifting device 6 drives the conveying platform 32 to lift to butt joint with the material layer to be taken of the storage bin 2 again, and the material conveying device 4 transfers one of the materials 301 to be processed in the storage bin 2 to the conveying platform 32, so that the two materials 301 to be processed are respectively located on the positioning device 31 and the conveying platform 32.

The first jaw 51 grips the material 301 to be processed on the positioning device 31 and the second jaw 52 grips one of the processed materials 302 on the processing platform 201. Specifically, after the mechanical arm 5 drives the first clamping jaw 51 to move to a position opposite to the positioning device 31, the first clamping jaw 51 clamps the material 301 to be processed from the positioning device 31, and after the mechanical arm 5 drives the second clamping jaw 52 to move to a position opposite to the processing platform 201, the second clamping jaw 52 clamps a processed material 302 from the processing platform 201.

The material 301 to be processed on the transfer platform 32 is transferred to the positioning device 31. Since the first clamping jaw 51 clamps the material 301 to be processed on the positioning device 31 in the previous step, the lifting device 6 does not have the work material 300 on the positioning device 31, and the material conveying device 4 conveys the material 301 to be processed to the positioning device 31 by driving the conveying platform 32 to lift to butt joint with the positioning device 31.

The material 301 to be processed on the first jaw 51 is transferred to the processing platform 201, and the processed material 302 on the second jaw 52 is transferred to the transfer platform 32 and to the silo 2 by the material transfer means 4. Specifically, after the mechanical arm 5 drives the first clamping jaw 51 to move to a position opposite to the processing platform 201, the first clamping jaw 51 transfers the material to be processed 301 grabbed by the first clamping jaw to the processing platform 201, after the mechanical arm 5 drives the second clamping jaw 52 to move to a position opposite to the conveying platform 32, the second clamping jaw 52 transfers the material to be processed 302 grabbed by the second clamping jaw 52 to the conveying platform 32, the lifting device 6 drives the conveying platform 32 to lift to butt joint with the layer to be fed of the storage bin 2, and the material conveying device 4 transfers the material to be processed 302 to the storage bin 2.

The first jaw 51 again grips another material 301 to be processed on the positioning device 31 and the second jaw 52 grips another processed material 302 on the processing platform 201. Specifically, after the mechanical arm 5 drives the first clamping jaw 51 to move to a position opposite to the positioning device 31, the first clamping jaw 51 clamps another material 301 to be processed from the positioning device 31, and after the mechanical arm 5 drives the second clamping jaw 52 to move to a position opposite to the processing platform 201, the second clamping jaw 52 clamps another processed material 302 from the processing platform 201. Since the last step is completed by the mechanical arm 5 driving the second clamping jaw 52 to move to the position opposite to the conveying platform 32, the process of moving the mechanical arm 5 to the position opposite to the positioning device 31 is relatively close, so that the moving time of the mechanical arm 5 is reduced and the efficiency is improved.

The material 301 to be processed on the first jaw 51 is transferred to the processing platform 201, and the processed material 302 on the second jaw 52 is transferred to the positioning device 31 or the transfer platform 32 and returned to the silo 2. Specifically, after the mechanical arm 5 drives the first clamping jaw 51 to move to a position opposite to the processing platform 201, the first clamping jaw 51 transfers the material 301 to be processed which is grabbed by the first clamping jaw 51 to the processing platform 201. After the mechanical arm 5 drives the second clamping jaw 52 to move to the position opposite to the conveying platform 32, the second clamping jaw 52 transfers the processed material 302 grabbed by the second clamping jaw to the conveying platform 32, the lifting device 6 drives the conveying platform 32 to lift to butt joint with a layer to be fed of the storage bin 2, and the material conveying device 4 transfers the processed material 302 into the storage bin 2; or after the mechanical arm 5 drives the second clamping jaw 52 to move to the position opposite to the positioning device 31, the second clamping jaw 52 transfers the processed material 302 grabbed by the second clamping jaw to the conveying platform 32, the lifting device 6 drives the conveying platform 32 to be in butt joint with the positioning device 31, the material conveying device 4 transfers the processed material 302 to the conveying platform 32, the lifting device 6 drives the conveying platform 32 to be in butt joint with a layer to be fed of the storage bin 2 again, and the material conveying device 4 transfers the processed material 302 to the storage bin 2.

Further, when the layer to be fed of the bin 2 is greater than 1, before the processed material 302 on the second clamping jaw 52 is transferred to the conveying platform 32, after the processed material 301 on the conveying platform 32 is transferred to the positioning device 31 again, the processed material 302 on the second clamping jaw 52 is transferred to the conveying platform 32 and is returned to the bin 2, so that the waiting time is further reduced; when the layer to be fed of the silo 2 is equal to 1, the processed material 302 on the second clamping jaw 52 is directly transferred to the conveying platform 32 and returned to the silo 2, thereby shortening the time for the processed material 302 to enter the silo 2.

According to the working method of the automatic feeding and discharging system 1000 of the processing equipment 200, all materials 301 to be processed in the storage bin 2 are replaced by the processed materials 302, the first clamping jaw 51 and the second clamping jaw 52 are arranged on the mechanical arm 5, the first clamping jaw 51 and the second clamping jaw 52 can alternately clamp the processed materials 302 or the materials 301 to be processed, feeding and discharging of the processing equipment 200 and feeding and discharging of the processing equipment 200 from the feeding equipment can be simultaneously achieved, waiting time for material changing is shortened, and overall efficiency of the automatic feeding and discharging system 1000 of the processing equipment 200 is improved.

[ example eight ]

The present embodiment has substantially the same structure as the fifth embodiment, and as shown in fig. 7, the difference is that there are two bins 2 and two mechanical arms 5. By the arrangement, the quantity and efficiency of the material changing device 100 for feeding the processing equipment 200 and/or replacing the material 301 to be processed or the processed material 302 in the process of feeding and discharging the material changing device 100 from the processing equipment 200 are increased, and the efficiency of the automatic feeding and discharging system 1000 of the processing equipment 200 is further improved.

The number of the bins 2 is two, the number of the mechanical arms 5 is two, the number of the first mechanical arms 5 is two, the number of the second mechanical arms 5 is two, the number of the positioning devices 31 is two, and the number of the positioning devices 31 is two. As shown in fig. 12, the working method of the automatic feeding and discharging system 1000 of the processing apparatus 200 includes feeding and discharging the processing apparatus 200 from and to the processing apparatus 200, and feeding and discharging the processing apparatus 200 from and to the processing apparatus 200 includes:

one material 301 to be processed is transferred from the first silo 2 to the first positioning device 31 and one material 301 to be processed is transferred from the second silo 2 to the second positioning device 31.

The first clamping jaw 51 of the first mechanical arm 5 clamps the material 301 to be processed on the first positioning device 31, and the first clamping jaw 51 of the second mechanical arm 5 clamps the material 301 to be processed on the second positioning device 31.

The second clamping jaw 52 of the first mechanical arm 5 clamps one of the machined materials 302 on the machining platform 201, the to-be-machined materials 301 on the first clamping jaw 51 of the first mechanical arm 5 are transferred to the machining platform 201, the second clamping jaw 52 of the second mechanical arm 5 clamps one of the machined materials 302 on the machining platform 201, and the to-be-machined materials 301 on the first clamping jaw 51 of the second mechanical arm 5 are transferred to the machining platform 201;

The first clamping jaw 51 of the first mechanical arm 5 clamps the material 301 to be processed on the first positioning device 31, the processed material 302 on the second clamping jaw 52 of the first mechanical arm 5 is transferred to the first positioning device 31, the first clamping jaw 51 of the second mechanical arm 5 clamps the material 301 to be processed on the second positioning device 31, and the processed material 302 on the second clamping jaw 52 of the second mechanical arm 5 is transferred to the second positioning device 31 and is transferred to the first storage bin 2 and the second storage bin 2 through the material conveying device 4. By the working method of the automatic feeding and discharging system of the processing equipment, all materials to be processed in the two bins are replaced by processed materials, so that the waiting time for changing the materials is shortened, and the overall efficiency of the automatic feeding and discharging system of the processing equipment is improved.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present utility model have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the utility model, the scope of which is defined by the claims and their equivalents.

Claims

1. A reloading device, comprising:

a base;

the bin is arranged on the base and used for placing materials to be processed and processed materials;

the material taking and positioning platform is arranged on the base and used for positioning and placing the material to be processed or the processed material;

the material conveying device is arranged on at least one of the storage bin and the material taking and positioning platform and is used for conveying the material to be processed or the processed material between the storage bin and the material taking and positioning platform;

the mechanical arm is arranged on the base and is provided with a first clamping jaw and a second clamping jaw.

2. The device according to claim 1, wherein the material taking and positioning platform comprises a positioning device and a conveying platform, the positioning device is arranged on the base and is used for positioning the material to be processed or the processed material, the conveying platform is used for placing the material to be processed or the processed material, and the device further comprises:

The lifting device is arranged on the base, the conveying platform is arranged on the lifting device, and the material conveying device is arranged on at least one of the conveying platform and the storage bin and used for conveying the material to be processed or the processed material between the storage bin and the conveying platform and between the conveying platform and the positioning device.

3. The device according to claim 2, wherein the positioning means is arranged above the bin.

4. The device according to claim 2, wherein the bin and the lifting device are arranged in a first direction, the mechanical arm being located on one side of a second direction of the lifting device and the bin, the second direction being perpendicular to the first direction.

5. The device according to claim 1, characterized in that the device further comprises:

and the lifting device is arranged on the base, and the storage bin is arranged on the lifting device.

6. The device of claim 1 or 5, wherein the bin and the take-out positioning platform are arranged in a first direction, the robotic arm being located on one side of a second direction of the bin and the take-out positioning platform, the second direction being perpendicular to the first direction.

7. The device of claim 1, wherein the mechanical arm is provided with a turnover assembly, the first clamping jaw and the second clamping jaw are arranged on the turnover assembly in a back-to-back manner, and the turnover assembly drives the first clamping jaw and the second clamping jaw to rotate relative to the mechanical arm.

8. The device according to claim 1, further comprising:

the base is arranged on the walking device.

9. Automatic unloading system of going up of processing equipment, characterized by includes:

processing equipment;

a reloading device according to any of claims 1-8, the robotic arm being adapted to transfer the material to be processed or processed between a processing platform of the processing apparatus and the take out positioning platform.

10. The automatic loading and unloading system of processing equipment according to claim 9, wherein the stock bin, the material taking and positioning platform and the mechanical arm are arranged in a first direction, the processing equipment is two and is respectively located at two sides of a second direction of the material changing device, and the first direction is perpendicular to the second direction.