CN219859420U

CN219859420U - Loading and unloading device

Info

Publication number: CN219859420U
Application number: CN202320997394.7U
Authority: CN
Inventors: 匡华平; 袁玲; 易科; 朱童超; 黄光泽
Original assignee: Shenzhen Hans Semiconductor Equipment Technology Co Ltd
Current assignee: Shenzhen Hans Semiconductor Equipment Technology Co Ltd
Priority date: 2023-04-23
Filing date: 2023-04-23
Publication date: 2023-10-20
Anticipated expiration: 2033-04-23

Abstract

The utility model provides a loading and unloading device which comprises a first material taking mechanism, a receiving platform, a visual positioning module and an attitude adjusting mechanism, wherein the first material taking mechanism is used for grabbing workpieces in a tray and transferring the workpieces to the receiving platform; the visual positioning module is used for acquiring the position information of the workpiece on the receiving platform; the posture adjusting mechanism drives the bearing platform to move according to the position information so as to adjust the workpiece to a set posture and set coordinates. The integral movement of the workpiece and the bearing platform realizes high-precision positioning, and the gesture adjusting mechanism and the workpiece do not generate direct physical contact, so that the workpiece is prevented from being physically damaged.

Description

Loading and unloading device

Technical Field

The utility model belongs to the field of automatic equipment, and particularly relates to a loading and unloading device.

Background

At present, the application of the flexible liquid crystal screen in the 3C field, particularly in the mobile phone terminal, is very wide. The flexible liquid crystal panel is typically placed in a Tray, and the Tray is stacked and transported to a processing device to complete the processing or assembly of the liquid crystal panel. The flexible liquid crystal panel is generally taken out of the Tray one by one and sent to the processing equipment by adopting a certain feeding mechanism in the carrying process of the flexible liquid crystal panel. The workpiece is typically positioned before it enters the processing equipment. In the related art, a clamp positioning mode is mainly adopted for mechanical positioning, and the clamp positioning mode is only applicable to a rigid structure and cannot be applicable to a flexible structure of a flexible liquid crystal screen.

Disclosure of Invention

The embodiment of the utility model provides a loading and unloading device and a loading and unloading device, which aim to solve the problem that the existing positioning mode cannot be applied to a flexible liquid crystal display screen.

The embodiment of the utility model provides a loading and unloading device, which comprises:

the first material taking mechanism is used for grabbing and carrying workpieces in the tray;

the receiving platform is used for receiving the workpiece taken out by the first material taking mechanism;

the visual positioning module is used for acquiring the position information of the workpiece on the receiving platform;

and the gesture adjusting mechanism is arranged on the receiving platform and used for driving the receiving platform to move according to the position information so as to adjust the workpiece to a set gesture.

In some embodiments, the loading and unloading device further comprises a second material taking mechanism arranged around the receiving platform, and the second material taking mechanism is used for grabbing a workpiece to load and/or unload.

In some embodiments, the feeding and discharging device further includes:

the first tray storage mechanism is arranged at one side of the first material taking mechanism and is used for storing a tray with workpieces;

the tray transfer mechanism is used for transferring empty trays at the first tray storage mechanism;

and the second disc storage mechanism is used for receiving the empty trays transferred by the tray transfer mechanism.

In some embodiments, the feeding and discharging device further includes:

the first disc storage mechanism comprises a first lifting assembly used for driving the tray to lift and a first positioning assembly arranged above the first lifting assembly, and the first positioning assembly is used for positioning the tray at the position of the first lifting assembly and positioned at the top.

In some embodiments, the first inventory mechanism further comprises:

a first transfer assembly for receiving a pallet loaded with workpieces to be processed and transferring the pallet to the first lifting assembly;

and the first tray arranging assembly is provided with one end of the first transferring assembly, which is far away from the first lifting assembly, and is used for clamping four sides of the trays which are received by the first transferring assembly and stacked, so that the four sides of the trays in a stacked state are aligned.

In some embodiments, the second tray storage mechanism comprises a second lifting assembly, wherein the second lifting assembly is used for driving the tray to descend after receiving the empty tray, so that the tray at the top is lowered to a set height;

the second inventory mechanism also includes a second positioning assembly for securing a top tray received by the second lift assembly.

In some embodiments, the feeding and discharging device further includes:

the third disc storage mechanism is arranged at one side of the second disc storage mechanism and is used for receiving the empty trays transferred by the tray transfer mechanism;

the tray in the second tray storage mechanism is used for placing defective workpieces after processing, and the tray in the third tray storage mechanism is used for placing good workpieces after processing.

In some embodiments, the third tray storage mechanism includes a third lifting assembly, and the third lifting assembly is used for driving the tray to descend after receiving the empty tray, so that the tray at the top is lowered to a set height;

the third tray storage mechanism further comprises a third positioning assembly for fixing a tray received by the third lifting assembly and located at the top.

In some embodiments, at least one of the first, second and third depositing mechanisms includes a reason assembly for driving the top tray into vibration to cause the overlapped workpieces in the tray to drop completely into the material cavity of the tray.

In some embodiments, the visual positioning module comprises a first camera and a second camera arranged above the receiving platform, and a spacing adjusting component for driving the first camera and the second camera to move, wherein the spacing adjusting component is used for adjusting the spacing between the first camera and the second camera.

In some embodiments, the loading and unloading device further comprises a bar code recognition module, wherein the bar code recognition module comprises a third camera arranged below the receiving platform and a first driving component for driving the third camera to move.

The utility model provides a loading and unloading device which comprises a first material taking mechanism, a receiving platform, a visual positioning module and an attitude adjusting mechanism, wherein the first material taking mechanism is used for grabbing workpieces in a tray and transferring the workpieces to the receiving platform; the visual positioning module is used for acquiring the position information of the workpiece on the receiving platform; the posture adjusting mechanism drives the bearing platform to move according to the position information so as to adjust the workpiece to a set posture and set coordinates. The workpiece and the bearing platform are integrally moved to realize high-precision positioning, and direct physical contact is not generated between the gesture adjusting mechanism and the workpiece, so that physical damage to the workpiece in the positioning process is avoided.

Drawings

FIG. 1 is a schematic diagram of a loading and unloading device according to an embodiment of the present utility model;

FIG. 2 is a schematic view of the embodiment of FIG. 1 illustrating a structure of the loading and unloading device at another view angle;

FIG. 3 is a schematic view of a first extracting mechanism according to an embodiment of the present utility model;

FIG. 4 is a schematic view of a supporting platform and an attitude adjusting mechanism according to an embodiment of the present utility model;

FIG. 5 is a schematic diagram of a visual positioning module according to an embodiment of the utility model;

FIG. 6 is a schematic diagram of a second take off mechanism according to one embodiment of the utility model;

FIG. 7 is a schematic view of a structure of a pick-up robot according to an embodiment of the present utility model;

FIG. 8 is a schematic diagram of a first disk storage mechanism according to an embodiment of the present utility model;

FIG. 9 is a schematic diagram illustrating a first lifting assembly according to an embodiment of the utility model;

fig. 10 is a schematic structural view of a tray transferring mechanism according to an embodiment of the present utility model.

FIG. 11 is a schematic view of a first transfer assembly according to an embodiment of the present utility model;

FIG. 12 is a schematic view of a first layered mechanism according to an embodiment of the present utility model;

FIG. 13 is a schematic diagram of a two-vision positioning module according to an embodiment of the utility model;

FIG. 14 is a schematic diagram of a barcode recognition module according to an embodiment of the present utility model;

FIG. 15 is a schematic view of a first suction assembly according to an embodiment of the present utility model;

fig. 16 is a schematic view of the first suction assembly of the embodiment of fig. 15 from another perspective;

description of the reference numerals:

100. a first inventory mechanism; 110. a first lifting assembly; 111. a first socket; 112. a first driving member; 120. a layering assembly; 121. a layered member; 122. layering bulges; 123. a layering air cylinder; 126. a material arranging component; 130. a first positioning assembly; 131. a first stop lever; 132. a second limit rod; 133. a first positioning cylinder; 140. a first transfer assembly; 141. a first transfer member; 142. a first bracket; 150. a first reason disk assembly; 151. a first cylinder; 152. a first clamping plate; 153. a second cylinder; 154. a second clamping plate; 155. a limiting block;

200. a first take-off mechanism; 210. an X-axis driving module; 220. a Y-axis driving module; 230. a Z-axis driving module; 250. a first suction assembly; 251. a first mounting frame; 251a, a first connection plate; 251b, connecting rods; 251c, a second connecting plate; 252a, a third mounting plate; 252b, a third connection plate; 253a, a fourth mounting plate; 253b, fourth connection plate; 254a, a fifth mounting plate; 254b, a fifth connecting plate;

300. a tray transfer mechanism; 310. a third driving member; 320. a fourth driving member; 330. rotating the module; 340. a second suction assembly;

410. a receiving platform; 420. a posture adjustment mechanism;

500. a visual positioning module; 510. a first camera; 520. an optical component; 530. a spacing adjustment assembly; 540. a second camera;

600. a second extracting mechanism; 610. a two-axis orthogonal driving module; 611. a fifth electric cylinder; 612. a sixth electric cylinder; 613. a third suction assembly; 620. a material taking manipulator; 622. a fourth suction assembly;

700. a bar code recognition module; 710. a first drive assembly; 720. a third camera;

800. a second inventory mechanism;

900. and a third inventory mechanism.

The achievement of the objects, functional features and advantages of the present utility model will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present utility model will be made more clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that all directional indications such as up, down, left, right, front, and rear … … in the embodiments of the present utility model are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture such as that shown in the drawings, and if the particular posture is changed, the directional indication is changed accordingly.

It will also be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.

The utility model provides a loading and unloading device, referring to fig. 1 and 2, the loading and unloading device comprises:

a first pick-up mechanism 200 for picking up and handling the workpieces in the pallet;

a receiving platform 410 for receiving the workpiece taken out by the first material taking mechanism 200;

the visual positioning module 500 is configured to obtain position information of a workpiece on the receiving platform 410;

the posture adjustment mechanism 420 is used for driving the carrying platform 410 to move according to the position information so as to adjust the workpiece to a set posture.

Referring to fig. 3, the first extracting mechanism 200 includes a first extracting assembly 250 for extracting a workpiece in a tray, and a extracting driving assembly for driving the first extracting assembly 250 to move, where the extracting driving assembly may include a manipulator with multiple degrees of freedom, and may also include a triaxial orthogonal moving module. The three-axis orthogonal moving module comprises an X-axis driving module 210, a Y-axis driving module 220 arranged at the moving end of the X-axis driving module 210, and a Z-axis driving module 230 arranged at the moving end of the Y-axis driving module 220.

The first suction assembly 250 includes a first mounting frame 251, a suction cup disposed on the first mounting frame 251, and a negative pressure generator communicated with the suction cup, wherein the negative pressure generator is used for establishing negative pressure in the suction cup to suck the workpiece, and after the negative pressure generator is stopped, the workpiece and the tray can be separated by eliminating the negative pressure. In addition, a rotation module 240 may be disposed between the first mounting frame 251 and the Z-axis driving module 230, and a rotation end of the rotation module 240 is connected with the first mounting frame 251 to drive the first mounting frame 251 and the workpiece thereon to rotate, so as to adjust the posture of the workpiece.

Referring to fig. 1, a receiving platform 410 is provided below one end of the first suction mechanism 200 for transferring the work pieces in the tray at the other end to the receiving platform 410. Referring to fig. 4, the receiving platform 410 may be made of metal, ceramic, or plastic. The receiving platform 410 is internally provided with an air flow channel, the air flow channel penetrates through the upper surface of the receiving platform 410 to form air holes, and the air flow channel is communicated with a negative pressure generator, so that the air holes generate negative pressure to adsorb and fix the workpiece on the receiving platform 410. The lower surface of the carrying platform 410 is connected with a posture adjusting mechanism 420, the posture adjusting mechanism 420 is a rotary table, the rotary end of the rotary table is connected with the carrying platform 410 to drive the carrying platform 410 and a workpiece on the carrying platform to rotate, so that the posture of the workpiece meets the requirement, and meanwhile, the lower part of the rotary table is also connected with an X-Y axis moving platform to drive the workpiece to move to a set coordinate to realize positioning. In addition, the posture adjustment mechanism 420 may also optionally drive the receiving platform 410 and the workpiece to rotate for angle adjustment to adjust the posture of the workpiece, and may also drive the receiving platform 410 to move along the X-axis and the Y-axis for position adjustment.

Referring to fig. 1 and 5, the visual positioning module 500 is disposed above the receiving platform 410 and is electrically connected to the first camera 510, the first camera 510 is configured to obtain image information of a workpiece, and the positioning module is configured to obtain position and posture information of the workpiece according to the image information. The carrying platform 410 is located in a set area below the visual positioning module 500, and the set area is a positioning area. The relative position of the carrier platform 410 and the camera remains fixed. The visual positioning module 500 can identify the position of the carrying platform according to the image information, and identify the contour of the carrying platform and the contour of the workpiece, and position the workpiece according to the relative positions of the contour of the carrying platform and the contour of the workpiece. Of course, the visual positioning module 500 may also obtain the position information of the mark point on the workpiece, and obtain the position information and the posture information of the workpiece according to the position information of the mark point. So that the posture adjustment mechanism 420 adjusts the position and posture of the workpiece according to the position information and posture information, and secondary positioning is not required in the subsequent processing link. The high-precision posture adjusting mechanism 420 is adopted to realize high-precision positioning of the whole movement of the workpiece and the receiving platform 410, and direct physical contact between the posture adjusting mechanism and the workpiece is avoided, so that physical damage to the workpiece in the positioning process is avoided.

Referring to fig. 1, the carrying platform 410 may also be driven by an electric cylinder, in particular movable along the X-axis. In the vision positioning stage, the carrying platform 410 moves to the positioning area, and in the loading stage, the carrying platform moves to the loading area to be in butt joint with the first material taking mechanism 200 so as to receive the workpiece.

In some embodiments, referring to fig. 1, the loading and unloading apparatus may further include a second extracting mechanism 600 disposed on one side of the receiving platform 410, where the second extracting mechanism 600 is configured to grasp a workpiece on the receiving platform 410, transfer the workpiece to the processing platform, and transfer the processed workpiece from the processing platform to the next station.

Referring to fig. 6, second take off mechanism 600 may optionally include a two-axis orthogonal drive module 610 including a fifth motorized cylinder 611 disposed along the Y-axis, and a sixth motorized cylinder 612 disposed at the moving end of fifth motorized cylinder 611 and disposed along the Z-axis. The second extracting mechanism 600 further comprises a third suction assembly 613 disposed at the moving end of the sixth electric cylinder 612, and the third suction assembly 613 comprises a third mounting frame and a suction cup disposed on the third mounting frame, wherein the suction cup is connected with the negative pressure generator to establish negative pressure and suction the workpiece. Notably, in the mechanisms or assemblies used above and below, the suction cup for sucking the workpiece or the tray is communicated with the negative pressure generator, and the establishment and elimination of the suction cup negative pressure are controlled by the electromagnetic valve. The workpiece positioned by the vision positioning module 500 and adjusted by the posture adjustment mechanism 420 can be transferred to a set processing platform (not shown) by the second material taking mechanism 600.

Referring to fig. 7, the second extracting mechanism 600 may also be a extracting manipulator 620, and a fourth sucking component 622 disposed at a moving end of the extracting manipulator 620, where the feeding and discharging of the processing platform may be completed only by the extracting manipulator 620 driving the fourth sucking component 622.

In this embodiment, the third suction assembly 613 can be driven by the two-axis orthogonal driving module 610 to complete the loading of the processing platform, and the fourth suction assembly 622 can be driven by the material taking manipulator to complete the unloading of the processing platform. Or simply by the take-off robot 620 and the fourth suction assembly 622.

In some embodiments, referring to fig. 1 and fig. 2, the feeding and discharging device further includes:

the first tray storage mechanism 100 is arranged at one side of the first material taking mechanism 200 and is used for storing a tray with workpieces;

a tray transferring mechanism 300 for transferring the empty tray at the first positioning assembly 130;

a second inventory mechanism 800 for receiving empty trays transferred by the tray transfer mechanism 300.

In this embodiment, the first and second inventory mechanisms 100 and 800 may be one platform for placing trays. With further reference to fig. 9, the first tray mechanism 100 includes a first receptacle 111 for receiving a tray and the second tray mechanism 800 includes a second receptacle for receiving a tray. With further reference to fig. 10, the tray transfer mechanism is disposed above the first and second receptacles 111, 800, and the tray transfer mechanism 300 includes a second suction assembly 340 for sucking a tray and a second transfer assembly for driving the second suction assembly 340 between the first and second tray mechanisms 100, 800. The first and second tray mechanisms 100 and 800 are arranged along the Y-axis, and the second transfer assembly includes a third driving member 310 disposed along the Y-axis, a fourth driving member 320 disposed at a moving end of the third driving member 310 and parallel to the Z-axis, and a rotation module 330 disposed at a moving end of the fourth driving member 320, and a rotation center of the rotation module 330 is parallel to the Z-axis. The second suction assembly 340 includes a second mounting bracket connected to the rotating end of the rotating die set 240, and suction cups provided at four corners of the second mounting bracket. When two adjacent trays in the first tray storage mechanism 100 are opposite to each other by 180 degrees around the Z axis, the rotation module 330 can drive the trays to rotate, so that the trays are stacked forward. Correspondingly, the second tray storage mechanism 800 further includes a visual identification module disposed above the second lifting assembly, where the visual identification module is configured to identify whether the direction of the tray is aligned. The stacking and carrying of the trays are not affected when the trays are reversed 180 degrees,

in some embodiments, referring to fig. 8 and 9, the first tray storage mechanism 100 includes a first elevation assembly 110 for driving the elevation of the tray, and a first positioning assembly 130 disposed above the first elevation assembly 110, the first positioning assembly 130 being for positioning the tray at the first elevation assembly 110 and located at the top. The first lifting assembly 110 includes a first receiving seat 111 for receiving the tray and a first driving member 112 for driving the first receiving seat 111 to lift, where the first receiving seat 111 is disposed at a moving end of the first driving member 112, and a moving direction is along a Z-axis direction. The first drive 112 is used to drive the tray up to a set height to interface with the first take off mechanism 200. The first driving member 112 may be replaced by a linear driving module.

Referring to fig. 8, the first positioning assembly 130 includes a stopper rod disposed at a circumferential side of the first socket, the stopper rod being disposed parallel to the Z axis. Specifically, the stopper rod includes a first stopper rod 131 and a second stopper rod 132. Along the Y-axis direction, first stop bars 131 are respectively disposed on both sides of the tray. Along the X-axis direction, a second stop lever 132 is disposed on a side of the tray close to the first driving member 112, and the tray and the first receiving seat 111 are lifted between the first stop lever 131 and the second stop lever 132. The first positioning assembly 130 further includes a first positioning cylinder 133 opposite to the second limiting rod 132 and a first positioning member disposed at a driving end of the first positioning cylinder 133. The driving direction of the first positioning cylinder 133 is the X-axis direction, and the first positioning member is pushed out along with the first positioning cylinder 133, clamps the tray on the top layer with the second limiting rod 132, and positions the tray.

In the present embodiment, referring to fig. 1 and 8, the first inventory mechanism 100 further includes:

a first transfer assembly 140 for receiving the tray loaded with the workpiece to be processed and transferring the tray to the first lifting assembly 110;

the first tray assembly 150 is disposed at an end of the first transferring assembly 140 away from the first lifting assembly 110, and is used for clamping four sides of the trays received by the first transferring assembly 140 and stacked, so that the four sides of the trays in the stacked state are aligned.

With further reference to fig. 11, the first transferring assembly 140 includes a first transferring member 141 disposed along the X-axis, and a pair of first brackets 142 disposed at a moving end of the first transferring member 141, the two first brackets 142 being arranged along the Y-axis direction and disposed at an upper side of the first transferring member 141. When the tray is placed on the first bracket 142, the first bracket 142 is disposed near both side edges of the lower surface of the tray. When the first transferring assembly 140 transfers the tray to the first lifting assembly 110, the first receiving seat 111 is located between the two first brackets 142 and below the tray. The first receiving seat 111 is up-bound with the tray and separates the tray from the first bracket 142.

Referring to fig. 8, the first tray assembly 150 includes two first clamping plates 152 disposed opposite to each other and a first cylinder 151 driving the two first clamping plates 152 to move toward each other or back to each other. When the first clamping plate 152 clamps the stacked trays, the stack of trays can be aligned with each of the trays on both sides perpendicular to the Y-axis. While the first tray assembly 150 further includes a pair of second clamping plates 154 provided on each of the first clamping plates 152, and a second cylinder 153 driving the second clamping plates 154 toward and away from each other. The second clamping plates 154 are spaced apart along the X-axis direction. The second clamp plate 154 aligns the stacks of trays on each of the two sides perpendicular to the X-axis when clamped. When the pallet is four-sided, the first clamp plate 152 and the second clamp plate 154 open and move away from the pallet transfer path to clear the pallet.

It should be noted that the second clamping plate 154 may be hinged at two side edges of the first clamping plate 152 along the X-axis direction, and the hinge axis is along the Z-axis. The second cylinder 153 is a rotating cylinder to drive the second clamping plate 154 to rotate relative to the first clamping plate 152, or the second cylinder 153 drives the second cylinder 153 to rotate through a link mechanism. The first clamping plates 152 are clamped in alignment with the two sides of the pallet stack aligned along the Y-axis. The second clamping plates 154 are driven to turn over toward the other two peripheral sides of the pallet stack in correspondence with the second air cylinders 153 to clamp the other two lateral sides of the pallet stack and align the other two peripheral sides. When the four sides of the tray are aligned, the tray is smoothly introduced into the first positioning assembly 130.

In some embodiments, referring to fig. 8, a limiting block 155 is further provided on the first clamping plate 154, the limiting block 155 is used for docking with an external empty vehicle, the stacked trays are transported to the upper side of the first tray arranging assembly 150 through the empty vehicle, and are placed between the two first clamping plates 154 and are received by the first receiving seat 111, a proximity switch can be provided above the first clamping plates 154 to detect whether the empty vehicle completes the first alignment with the tray arranging assembly, at this time, the empty vehicle puts down the trays, and corresponds to the positioning Kong Duicha on the limiting block 155 and the positioning rod on the empty vehicle, so that the second alignment of the empty vehicle with the tray arranging assembly can be completed, and the trays are ensured to be placed in the tray arranging assembly according to the set gesture.

With further reference to fig. 12, the first inventory mechanism 100 may further include a layering assembly 120, the layering assembly 120 including two layering cylinders 123 having push rods disposed opposite to each other, and a layering member 121 disposed on the push rods of the layering cylinders 123, the layering cylinders 123 being disposed above the first stopper 131. The layering protrusions 122 are provided on opposite sides of the layering member 121, and the layering protrusions 122 are driven by layering cylinders 123 and interposed between the top tray and the lower tray to separate the top tray from the lower tray. The layering cylinders 123 are arranged in the direction of the Y-axis, and are clamped or separated in the direction of the Y-axis.

In some embodiments, referring to fig. 1 and 2, the second inventory mechanism 800 includes a second lift assembly having the same structure as the first lift assembly 110, and reference may be made to the structure of the first lift assembly 110 in fig. 9. The second lifting assembly comprises a second bearing seat for bearing the tray and a second driving piece for driving the second bearing seat to lift, wherein the second bearing seat is arranged at the moving end of the second driving piece, and the moving direction is along the Z-axis direction. The second driving member is used for driving the second bearing seat to rise to a set height so as to be in butt joint with the tray transferring mechanism 300. The first lifting assembly 110 and the second lifting assembly are arranged side by side, and have the same structure. When the second receiving seat receives one tray, the second driving piece drives the second receiving seat to descend by a certain height so as to receive the next tray.

The second inventory mechanism 800 further includes a second positioning assembly having the same structure as the first positioning assembly 130, and reference is made to the structure of the first positioning assembly 130 in fig. 8 and 12. The second positioning assembly comprises a third limiting rod and a fourth limiting rod which are positioned on the periphery of the second bearing seat, the tray and the second bearing seat are lifted between the third limiting rod and the fourth limiting rod, the second positioning assembly further comprises a second positioning cylinder and a second positioning piece which are opposite to the fourth limiting rod, the driving direction of the second positioning cylinder is along the X-axis direction, the second positioning piece is pushed out along with the second positioning cylinder, and the tray and the fourth limiting rod clamp the tray on the top layer, and the tray is positioned. Through fixed the tray at top, the putting into of the work piece of being convenient for.

In some embodiments, referring to fig. 2, the loading and unloading device further includes:

a third tray storage mechanism 900, disposed at one side of the second tray storage mechanism 800, for receiving the empty tray transferred by the tray transfer mechanism 300; the tray in the second tray storage mechanism 800 is used for placing defective workpieces after processing, and the tray in the third tray storage mechanism 900 is used for placing good workpieces after processing.

In the present embodiment, referring to fig. 1, the first tray storage mechanism 100, the second tray storage mechanism 800, and the third tray storage mechanism 900 are disposed side by side along the Y axis, and the third tray storage mechanism 900 includes a third lift assembly having the same structure as the first lift assembly 110, and specifically, referring to the structure of the first lift assembly in fig. 8 and 9. The third lifting assembly comprises a third bearing seat and a third driving piece for driving the bearing seat to lift. The third bearing seat is arranged at the moving end of the third driving piece, and the moving direction is along the Z-axis direction. The third driving member is used for driving the third bearing seat to rise to a set height so as to be in butt joint with the tray transferring mechanism 300. When the third bearing seat receives one tray, the third driving piece drives the third bearing seat to descend by a certain height so as to bear the next tray. The trays in the second and third inventory mechanisms 800 and 900 may be used to place processed workpieces, and in particular, good workpieces may be placed in the trays in the second inventory mechanism 800 and bad workpieces may be placed in the trays in the third inventory mechanism 900 by the second pick mechanism 600.

In some embodiments, referring to fig. 8, the third disk storage mechanism 900 further includes a third positioning assembly, and the third positioning assembly has a structure identical to that of the first positioning assembly 130, and may refer to the structure of the first positioning assembly 130. The third positioning component comprises a limiting rod which is positioned on one side of the third driving component, on which the third bearing seat is arranged, and the limiting rod is parallel to the Z axis. Along the Y-axis direction, the tray both sides are provided with fifth gag lever post respectively. Along X axis direction, one side that the tray is close to the third driving piece is provided with the sixth gag lever post, and tray and third receptacle go up and down between fifth gag lever post and sixth gag lever post, and third locating component still includes the third positioning cylinder and the third locating piece relative with the fourth gag lever post, and the drive direction of third positioning cylinder is along X axis direction, and the third locating piece is released along with the third positioning cylinder to with the tray at sixth gag lever post holder top layer, and fix a position the tray. The tray at the top is fixed, so that bad workpieces can be conveniently placed in the tray.

In some embodiments, referring to fig. 2 and 8, at least one of the first 100, second 800, and third 900 inventory mechanisms includes a reason assembly 126, the reason assembly 126 configured to drive the top tray into vibration such that the workpieces in the tray are completely dropped into the material cavity of the tray.

It will be appreciated that the material handling assembly 126 may be provided in the second and third deposit mechanisms 800, 900, and may be provided according to actual requirements. After the trays in the three tray storage mechanisms are clamped and positioned by the corresponding positioning assemblies, the trays can be managed by the managing assembly 126. The concrete reason material subassembly 126 includes the vibrator that sets up in top tray one side, and the vibrator includes but reciprocating motion's vibrations pole, and the vibrations pole is constantly hit the top tray in reciprocating motion, makes the work piece of overlap fall into the material chamber completely. Avoiding the stacked trays from crushing the lapped workpieces.

It is noted that the trays may be handled in entering the three deposit tray mechanisms described above, regardless of whether or not the overlap exists. The visual recognition module can also be arranged to recognize whether the workpieces in the tray overlap or not, and the material arrangement operation is carried out under the condition that the overlapping exists. The visual recognition module comprises a fourth camera arranged above the disc storage mechanism and a recognition module electrically connected with the fourth camera, the recognition module recognizes the contour line of the material cavity and the contour line of the workpiece, when the contour lines of the material cavity and the workpiece overlap, the workpiece overlap is described, and the material arranging assembly 126 vibrates to complete the material arranging process.

In some embodiments, referring to fig. 1 and 13, the visual positioning module may include a first camera 510 and a second camera 540 disposed side by side above the receiving platform 410, and a spacing adjustment assembly 530 driving the first camera 510 and the second camera 540 to move along an extending direction of the edge of the workpiece, where the spacing adjustment assembly 530 is used to adjust a spacing between the first camera 510 and the second camera 540 to accommodate workpieces of different sizes.

In this embodiment, the first camera 510 and the second camera 540 are disposed on a side of the receiving platform 410 away from the first tray storage mechanism 100, and the spacing adjustment assembly 530 may be an electric cylinder, where the two electric cylinders respectively drive the two cameras to move along the Y-axis direction. The first camera 510 is used to identify one of the mark points on the workpiece and the second camera 540 is used to identify another mark point on the workpiece. The spacing of the mark points on different workpieces is different, and the spacing between the two cameras can be adjusted by the spacing adjusting component 530. It should be noted that when the distance between the two marking points is too small, the distance between the two corresponding cameras is also small, but is limited by the installation position of the two electric cylinders in the distance adjusting assembly 530. An optical assembly may be provided under the first camera 510 and the second camera 540 to lengthen the optical path. The optical assembly 520 is similar to a periscope in structure, and comprises a pair of reflective sheets which are kept at an angle of 45 degrees with a horizontal plane, two cameras are correspondingly provided with two optical assemblies, are arranged side by side and symmetrically and are in one-to-one correspondence with two marking points, and after the light path is prolonged, the two cameras can be kept at a wider interval and can acquire image information of the corresponding marking points.

In some embodiments, referring to fig. 1 and 14, the loading and unloading device may further include a barcode recognition module 700, where the barcode recognition module 700 includes a third camera 720 disposed below the receiving platform 410, and a first driving assembly 710 for driving the third camera 720 to move along an extending direction of an edge of the workpiece, and the first driving assembly 710 is used for adjusting a position of the third camera 720 to correspond to barcodes at different positions on the workpiece. In the embodiment of the present utility model, the barcode recognition module 700 is used for recognizing a barcode, a two-dimensional code, etc. on a workpiece. As the bar codes and the marking points on some workpieces are respectively arranged on the upper surface and the lower surface of the workpieces. A third camera 720 may be positioned below the receiving platform 410 to identify the bar code on the lower surface of the workpiece. Of course, the bar code is also shielded by the receiving platform 410, and the area of the platform provided with the bar code is suspended, i.e. exceeds the periphery of the receiving platform 410, so that the third camera 720 can shoot the area. The bar codes of different workpieces may be located at different positions of the edge area of the workpiece, and the first driving assembly 710 is arranged so as to adjust the position of the third camera 720, so that the bar codes are opposite to each other, and the application range of the bar code recognition module is improved.

In some embodiments, referring to fig. 3, the above-described suction assembly for sucking workpieces may employ a plurality of sets of suction cups for different sized workpieces, and the first suction assembly 250 is described below, but is not limited to the first suction assembly 250, and may also be applied to the third suction assembly 613 and the fourth suction assembly 622.

With further reference to fig. 15 and 16, the first suction assembly 250 includes a first mounting bracket 251, the first mounting bracket 251 including a first connection plate 251a for connection with an external material taking driving assembly, a connection plate 251b disposed perpendicular to the first connection plate 251a, and a second connection plate 251c disposed at a free end of the connection plate 251b and spaced apart from the first connection plate 251b, a side of the second connection plate 251c remote from the connection plate 251b being provided with a sensor 255 for detecting a workpiece. A suction cup for sucking the workpiece is further provided on the second connection plate 251 c.

The first suction assembly 250 further includes third mounting plates 252a arranged along the X-axis direction and located at two sides of the second connecting plate 251c, the two third mounting plates 252a are connected by a third connecting plate 252b, the third connecting plate 252b is slidably connected with the first connecting plate 251a by a guide post and a sliding seat 252c, the third connecting plate 252b is further connected with the first connecting plate 251a by a third cylinder 252d, the third cylinder 252d is used for driving the third connecting plate 252b and the third mounting plates 252a to move along the direction (Z-axis direction) perpendicular to the first connecting plate 251a, and a sucking disc is disposed at one side of the third mounting plates 252a away from the first connecting plate 251 a.

The first suction assembly 250 further includes fourth mounting plates 253a arranged along the Y-axis direction and located at the other two sides of the second connecting plate 251c, the two fourth mounting plates 253a are connected through a fourth connecting plate 253b, the fourth connecting plate 253b is further connected with the second mounting plate through a fourth air cylinder 253d, the fourth air cylinder 253d is used for driving the fourth connecting plate 253b and the fourth mounting plate 253a to move along the direction (Z-axis direction) perpendicular to the first connecting plate 251a, and a sucking disc is disposed on one side of the fourth mounting plate 253a away from the first connecting plate 251 a.

In some embodiments, referring to fig. 15 and 16, the second connection plate 251c has an i-shaped plate surface, and has escape grooves formed at both side edges thereof along the X-axis direction, and the first suction assembly 250 further includes two fifth mounting plates 254a arranged along the X-axis direction, a fifth connection plate 254b connecting the two fifth mounting plates 254a, and a fifth air cylinder 254d connecting the fifth connection plate 254b and the second connection plate 251c, the fifth air cylinder 254d being for driving the fifth mounting plate 254a to move along a direction perpendicular to the second connection plate 251c, the movement path of the fifth mounting plate 254a passing through the escape grooves without interfering with the second connection plate 251 c. A suction cup is also provided on the fifth mounting plate 254 a. When a large-sized workpiece is required to be carried, the third mounting plate 252a, the fourth mounting plate 253a and the fifth mounting plate 254a are moved away from the first connecting plate 251a, and the suction cups on the three mounting plates and the suction cups on the second connecting plate 251c are kept flush to suck the large-sized workpiece. After the workpiece is conveyed to the set area, the negative pressure of the suction cup is released and separated from the workpiece, and then the third mounting plate 252a, the fourth mounting plate 253a, and the fifth mounting plate 254a are retracted by the cylinder drive. This is of course only one way of sucking the first suction assembly 250. When carrying other workpieces with different sizes and shapes, the cylinder drives the corresponding sucker to complete the sucking action so as to promote the application range of the first sucking component 250. It should be noted that the structure of the first suction assembly 250 is equally applicable to the third suction assembly 613 and the fourth suction assembly 622, which are not described herein.

In an embodiment of the present utility model, referring to fig. 1-16, a pallet stack is placed into the first inventory mechanism 100 by a crown block and received by the first rack 142. At this time, the first support 142 is located in the first tray arranging assembly 150, four sides of the tray stack are clamped by the first tray arranging assembly 150 for alignment, then the tray stack is transferred to the first lifting assembly 110 by the first transferring assembly 140, the tray stack is lifted to the layering assembly 120, the top tray and the lower tray are separated by the layering assembly 120, the top tray is fixed by the first positioning assembly 130, and the tray is vibrated by the material arranging assembly 126 to align the workpieces.

The first extracting mechanism 200 then transfers the workpieces in the tray to the receiving platform 410, the visual positioning module 500 recognizes the positions of the workpieces, and the gesture adjusting mechanism 420 then drives the workpieces to move so that the gesture and the positions of the workpieces meet the set conditions to complete the positioning. After the top tray in the first tray storage mechanism 800 is empty, the tray is transferred to the second tray storage mechanism 800 and the third tray storage mechanism 900 by the tray transfer mechanism 300. The second picking mechanism 600 transfers the positioned workpiece to the processing station, and the processed workpiece is placed in the tray of the second tray storage mechanism 800 or the third tray storage mechanism 900 according to the set condition. Therefore, synchronous circulation of the material tray and the workpieces is realized, and the processed workpieces are also classified and stored.

The above description and drawings should not be taken as limiting the scope of the utility model in any way, but rather should be understood to cover all modifications, structural equivalents, or direct/indirect applications of the utility model in the light of the general principles of the present utility model which may be employed in the present utility model and illustrated by the accompanying drawings.

Claims

1. Feeding and discharging device, characterized by comprising:

and the gesture adjusting mechanism is used for driving the bearing platform to move according to the position information so as to adjust the workpiece to a set gesture.

2. The loading and unloading device of claim 1, further comprising a second material taking mechanism arranged around the receiving platform, wherein the second material taking mechanism is used for grabbing a workpiece for loading and/or unloading.

3. The loading and unloading device of claim 2, wherein the loading and unloading device further comprises:

4. The loading and unloading device of claim 3, wherein the loading and unloading device further comprises:

5. The loading and unloading device of claim 4, wherein the first inventory mechanism further comprises:

6. The loading and unloading device of claim 3, wherein the second tray storage mechanism comprises a second lifting assembly, and the second lifting assembly is used for driving the tray to descend after receiving the empty tray, so that the tray at the top is lowered to a set height;

7. The loading and unloading device of claim 3, wherein the loading and unloading device further comprises:

8. The loading and unloading device of claim 7, wherein the third tray storage mechanism comprises a third lifting assembly, and the third lifting assembly is used for driving the tray to descend after receiving the empty tray, so that the tray at the top is lowered to a set height;

9. The loading and unloading device of claim 7, wherein at least one of the first storage mechanism, the second storage mechanism and the third storage mechanism comprises a material arranging component, and the material arranging component is used for driving the tray at the top to vibrate so that the workpieces with edges in the tray fall into the material cavity of the tray completely.

10. The feeding and discharging device according to claim 1, wherein the visual positioning module comprises a first camera and a second camera which are arranged above the receiving platform, and a spacing adjusting assembly for driving the first camera and the second camera to move, and the spacing adjusting assembly is used for adjusting the spacing between the first camera and the second camera.

11. The loading and unloading device of claim 1, further comprising a bar code recognition module, wherein the bar code recognition module comprises a third camera arranged below the receiving platform and a first driving assembly for driving the third camera to move.