Plate feeding and discharging system and control method

Abstract

The invention relates to a plate feeding and discharging system and a control method. The plate feeding and discharging system comprises a material storage table, a machining table, a material warehouse device, an exchange vehicle device, a feeding and discharging device and a sorting device. The material warehouse device and the feeding and discharging device are connected through the exchange vehicle device, and the exchange vehicle device can transfer plates in the material warehouse device into the feeding and discharging device. The feeding and discharging device and the sorting device are both arranged above the material storage table and the machining table, the feeding and discharging device is used for conveying plates on the exchange vehicle device to the machining table and conveying cutting waste on the machining table to the material storage table, and the sorting device is used for conveying different parts cut from the machining table to the material storage table. The feeding and discharging device is matched with the sorting device, the procedures of feeding, sorting, stacking, waste removing and the like of the plates are achieved, and the operation efficiency and safety are improved. The material warehouse device is compact and concentrated in structure and small in occupied area, the operation efficiency is improved, and long-time automatic machining can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of laser cutting, and in particular to a plate loading and unloading system and a control method. Background Art

[0002] Laser plate cutting machines have the characteristics of high precision, high cutting speed, low processing cost, and the ability to cut any pattern. They are increasingly widely used in the field of plate cutting. With the increasing demand for high efficiency, low labor costs, and low labor intensity, the application of automatic loading and unloading equipment for plates is also increasing. However, the existing plate loading and unloading systems for laser cutting machines lack a loading and unloading system that is compatible with the loading and unloading warehouse, resulting in the loading and unloading efficiency not being well matched with the efficient laser cutting machine, affecting production efficiency. In addition, the existing plate loading and unloading system is large in structure, requires a huge space during use, and requires a lot of manpower, which seriously affects the user experience and is not conducive to industrial applications. Summary of the invention

[0003] 1. Technical issues to be resolved

[0004] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a plate loading and unloading system and a control method.

[0005] (II) Technical solution

[0006] In order to achieve the above-mentioned purpose, the plate loading and unloading system of the present invention comprises a material storage table, a processing table, a material storage device, a switching vehicle device, a loading and unloading device and a sorting device;

[0007] The material storage device and the loading and unloading device are connected via the exchange vehicle device, and the exchange vehicle device can transfer the plates in the material storage device to the loading and unloading device;

[0008] The loading and unloading device and the sorting device are both arranged above the material storage table and the processing table. The loading and unloading device is used to transport the plates on the exchange vehicle device to the processing table, and to transport the cut waste on the processing table to the material storage table. The sorting device is used to transport the different parts cut on the processing table to the material storage table.

[0009] Optionally, the material storage device includes a material storage frame, a frame support frame, a material storage lifting mechanism and a plurality of pallet trucks;

[0010] The material storage frame is arranged above the frame support frame, and the exchange vehicle device can be partially located in the frame support frame;

[0011] The material storage frame is provided with multiple layers of tracks at intervals in the vertical direction, and the multiple pallet trucks are slidably connected to the multiple layers of tracks in a one-to-one correspondence;

[0012] The frame support frame and the material storage frame are both connected to the material storage lifting mechanism, and the material storage lifting mechanism is used to take and place the pallet truck.

[0013] Optionally, the material storage lifting mechanism includes a door frame, a lifting machine main frame, a lifting machine lifting mechanism and a pallet translation mechanism;

[0014] The frame support frame and the material storage frame are both connected to the gantry, and the main frame of the elevator is slidably connected to the gantry;

[0015] The hoist lifting mechanism is arranged on the gantry, and the hoist lifting mechanism is connected to the hoist main frame to drive the hoist main frame to move in the z-axis direction;

[0016] The pallet translation mechanism is arranged on the main frame of the lifting machine, and the pallet translation mechanism includes a moving unit and a connecting unit connected to each other. The moving unit can move in the horizontal direction, and the connecting unit can be connected to the pallet truck.

[0017] Optionally, the loading and unloading device includes a loading and unloading frame, a loading and unloading walking beam, a suction cup fork mechanism and a first driving mechanism;

[0018] Both ends of the loading and unloading walking beam are slidably connected to the loading and unloading frame, and the first driving mechanism is arranged on the loading and unloading walking beam, and the first driving mechanism is used to drive the loading and unloading walking beam to move in the x-axis direction;

[0019] The suction cup material fork mechanism is connected to the loading and unloading walking beam, and the suction cup material fork mechanism can move in the z-axis direction;

[0020] The exchange vehicle device can be partially located within the loading and unloading frame.

[0021] Optionally, the suction cup material fork mechanism includes a loading and unloading slide, a fixed frame, a second driving mechanism, a material fork assembly and a suction cup assembly;

[0022] The loading and unloading ram is vertically arranged, the loading and unloading ram is slidably connected with the loading and unloading walking beam, and the fixed frame is arranged at the lower end of the loading and unloading ram;

[0023] The second driving mechanism is arranged on the loading and unloading walking beam, and the second driving mechanism is connected to the loading and unloading slide to drive the loading and unloading slide to move in the z-axis direction;

[0024] The material fork assembly and the suction cup assembly are both arranged on the fixed frame, the material fork assembly is located below the suction cup assembly, the suction cup assembly is used to absorb the plate on the exchange vehicle device, and the material fork assembly is used to pick up the cut waste on the processing table through multiple sets of openable and closable material forks.

[0025] Optionally, the sorting device comprises a sorting frame, a sorting walking beam and a sorting mechanism, and the sorting mechanism comprises a slide plate, a sorting ram, a sorting head assembly, a cylinder assembly, a first drive assembly, a second drive assembly and a third drive assembly;

[0026] Both ends of the sorting walking beam are slidably connected to the sorting frame, and the first driving component is arranged on the sorting walking beam, and the first driving component is used to drive the sorting walking beam to move in the x-axis direction;

[0027] The slide plate is slidably connected to the sorting crossbeam, and the sorting ram is slidably connected to the slide plate; the ram is vertically arranged, and the sorting head assembly is rotatably arranged at the lower end of the ram;

[0028] The second driving assembly is connected to the slide to drive the slide to move on the y-axis, and the third driving assembly is connected to the sorting slide to drive the sorting slide to move in the z-axis direction;

[0029] The cylinder assembly is vertically arranged on the slide plate, and the cylinder assembly is connected to the sorting slide to make the sorting slide in a suspended state.

[0030] Optionally, the sorting head assembly includes a rotary drive assembly, a mounting plate, a plurality of sorting suction cups, and a plurality of sorting cylinders;

[0031] The mounting plate is connected to the lower end of the ram through the rotary drive assembly, the cylinder bodies of the plurality of sorting cylinders are vertically arranged on the mounting plate, the plurality of sorting suction cups are respectively connected to the piston rods of the plurality of sorting cylinders in a one-to-one correspondence, and the sorting suction cups are used to absorb the parts cut from the processing table.

[0032] Optionally, the sorting device includes two sets of the sorting mechanisms.

[0033] Optionally, the exchange vehicle device comprises an exchange vehicle frame, an upper trolley, a lower trolley and an exchange vehicle driving mechanism;

[0034] The exchange vehicle frame is arranged in the material storage device and the loading and unloading device, the upper trolley and the lower trolley are both slidably arranged on the exchange vehicle frame, and the upper trolley and the lower trolley can move to the same position and then overlap;

[0035] The upper trolley and the lower trolley are both connected to the exchange trolley driving mechanism, and the exchange trolley driving mechanism drives the upper trolley and the lower trolley to move synchronously, and the movement directions of the upper trolley and the lower trolley are opposite.

[0036] Furthermore, the present invention also provides a control method for a plate loading and unloading system, which is applied to the plate loading and unloading system as described above, and the control method comprises:

[0037] Warehousing: placing the raw materials in the material storage device;

[0038] Out of storage, the material storage device takes out the raw materials;

[0039] Buffering, the exchange vehicle device moves to the material storage device, and the material storage device places the taken-out raw materials in the exchange vehicle device;

[0040] Loading: the exchange vehicle device moves to the loading and unloading device, and the loading and unloading device transports the raw materials to the processing table located at the initial position;

[0041] Cutting, the processing table moves to the inside of the laser cutting machine for cutting, and after cutting is completed, the processing table moves to the initial position;

[0042] Sorting and stacking: the sorting device stacks the parts cut from the processing table onto the material storage table. After being neatly stacked, the parts are transferred to the outside of the whole set of equipment;

[0043] Waste processing, the loading and unloading device transfers the remaining waste frames sorted on the processing table to the material storage table.

[0044] (III) Beneficial effects

[0045] The loading and unloading device cooperates with the sorting device to realize the loading, sorting, stacking, and waste removal of sheet materials, thereby improving operating efficiency and safety. The material storage device has a compact and centralized structure and occupies a small area, which greatly reduces the equipment footprint and improves the operating efficiency of the system, enabling long-term automatic processing. The loading and unloading device and the sorting device are compatible with the material storage device, filling a gap in the automatic loading and unloading and sorting of sheet materials, realizing the mechanization of the entire work process, and then realizing automated operation. The loading and unloading efficiency matches the efficient laser cutting machine, effectively improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a structural schematic diagram of the plate loading and unloading system of the present invention;

[0047] Figure 2 It is a structural schematic diagram of a material storage device of a plate loading and unloading system of the present invention;

[0048] Figure 3 It is a structural schematic diagram of the loading and unloading device of the plate loading and unloading system of the present invention;

[0049] Figure 4 It is a structural schematic diagram of a sorting device of a plate loading and unloading system of the present invention;

[0050] Figure 5 It is a structural schematic diagram of a sorting head assembly of a plate loading and unloading system of the present invention;

[0051] Figure 6 It is a structural schematic diagram of the exchange vehicle device of the plate loading and unloading system of the present invention;

[0052] Figure 7 It is a structural schematic diagram of the pallet truck of the plate loading and unloading system of the present invention.

[0053] [Description of Reference Numerals]

[0054] 1: Raw materials; 2: Processing table; 3: Material storage table;

[0055] 100: material storage device; 200: lifting mechanism; 300: exchange vehicle device; 400: loading and unloading frame; 500: loading and unloading device; 600: sorting device; 700: pallet truck;

[0056] 101: left frame of material warehouse; 102: right frame of material warehouse; 103: top frame of material warehouse; 104: frame support frame;

[0057] 201: gantry; 202: main frame of the hoist; 203: lifting mechanism of the hoist; 204: translation mechanism of the pallet;

[0058] 301: exchange vehicle frame; 302: upper trolley; 303: lower trolley; 304: running wheel; 305: exchange vehicle drive mechanism;

[0059] 401: column; 402: track beam;

[0060] 501: loading and unloading walking beam; 502: second driving mechanism; 503: suction cup material fork mechanism;

[0061] 601: sorting walking beam; 602: slide plate; 603: sorting slide; 604: rotary drive assembly; 605: sorting head assembly; 6051: sorting suction cup; 6053: sorting cylinder; 6054: negative pressure valve island; 6055: positive pressure valve island; 606: cylinder assembly;

[0062] 701: trolley frame; 702: trolley roller; 703: material blocking column. DETAILED DESCRIPTION

[0063] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below in conjunction with the accompanying drawings through specific embodiments. Figure 1 The orientation is used as a reference.

[0064] Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0065] like Figure 1 As shown, the present invention provides a plate loading and unloading system, which includes a material storage table 3, a processing table 2, a material storage device 100, a switching vehicle device 300, a loading and unloading device 500 and a sorting device 600. Among them, the material storage device 100 and the loading and unloading device 500 are connected in series through the switching vehicle device 300, and the plates in the material storage device 100 are transferred to the loading and unloading device 500 through the operation of the switching vehicle device 300, so that the raw material 1 plate is discharged from the warehouse. The loading and unloading device 500 and the sorting device 600 are both arranged above the material storage table 3 and the processing table 2. The loading and unloading device 500 can not only transport the plates on the switching vehicle device 300 to the processing table 2 to complete the loading of the raw material 1, but also transport the cut waste on the processing table 2 to the material storage table 3 to complete the unloading of the waste. The sorting device 600 adjusts its current position and sorting mode according to the positions of multiple parts of different shapes and sizes cut out simultaneously on the processing table 2, and stacks multiple parts neatly one by one according to the same shape on the material storage table 3 to complete the unloading process of the parts. The loading and unloading device 500 cooperates with the sorting device 600 to realize the processes of loading, sorting, stacking, and removing waste materials of the sheet materials, thereby improving the operation efficiency and safety. The material storage device 100 has a compact and centralized structure and occupies a small area, which greatly reduces the equipment footprint, improves the operation efficiency, and can realize long-term automatic processing. The loading and unloading device 500 and the sorting device 600 are compatible with the material storage device 100, filling a gap in the automatic loading and unloading and sorting of sheet materials, realizing the mechanization of the entire work process, and then realizing automated operation. The loading and unloading efficiency matches the efficient laser cutting machine, effectively improving the work efficiency.

[0066] like Figure 2As shown, the material storage device 100 includes a material storage frame, a frame support frame 104, a material storage lifting mechanism 200 and a plurality of pallet trucks 700. The material storage frame is arranged above the frame support frame 104. When the raw material 1 is out of the warehouse, the exchange vehicle device 300 moves into the frame support frame 104 to place the plate to be cut. Multiple layers of tracks are arranged at intervals along the vertical direction on the material storage frame. Multiple pallet trucks 700 are slidably connected with the multiple layers of tracks in a one-to-one correspondence. Before the system is started, the pallet carrying the raw material 1 plate is placed into each track in turn through the material storage lifting mechanism 200. The multi-layer three-dimensional material storage can accommodate a large number of raw material 1 plates, reducing the floor space of the material storage device 100. The frame support frame 104 and the material storage frame are connected to the material storage lifting mechanism 200, and the material storage lifting mechanism 200 is used to pick up and place the pallet truck 700. Specifically, the material storage frame includes a left material storage frame 101, a right material storage frame 102, a top material storage frame 103, and a diagonal tie rod. The frame support frame 104 is used as a support to support the left frame 101 and the right frame 102 of the material warehouse. The top frame 103 of the material warehouse connects the left frame 101 and the right frame 102 of the material warehouse. The transverse tie rod reinforces the material warehouse frame. The left frame 101 and the right frame 102 of the material warehouse are internally welded with multi-layer tracks to form storage locations. The pallet truck 700 is filled in the multi-layer storage locations of the material warehouse frame.

[0067] See also Figure 2 The material storage lifting mechanism 200 includes a gantry 201, a main frame 202 of the lifting machine, a lifting mechanism 203 of the lifting machine, and a pallet translation mechanism 204. The frame support frame 104 and the material storage frame are connected to the gantry 201. The main frame 202 of the lifting machine is slidably connected to the gantry 201 through pulleys and slide rails. The lifting mechanism 203 of the lifting machine is arranged on the crossbeam of the gantry 201. The lifting mechanism 203 of the lifting machine is connected to the main frame 202 of the lifting machine to drive the main frame 202 of the lifting machine to move in the vertical direction. Specifically, the gantry 201 provides an installation position for the main frame 202 of the lifting machine. The servo motor and the reducer of the lifting mechanism 203 of the lifting machine are installed on the top of the gantry 201. The reducer drives the driving sprockets at the ends of the transmission shafts on both sides to rotate. The driven sprocket is installed at the bottom of the gantry 201. The driving sprocket and the driven sprocket are meshed through a chain to form a closed transmission system. There is a buckle in the middle of the chain, and the chain is connected to the elevator main frame 202 through the buckle. When the elevator lifting mechanism 203 works, it drives the elevator main frame 202 to move in the vertical direction.

[0068] The pallet translation mechanism 204 is arranged on the main frame 202 of the elevator. The pallet translation mechanism 204 includes a mutually connected motion unit and a connection unit. The motion unit can move in the horizontal direction, and the connection unit can be connected to the pallet truck 700. The pallet translation mechanism 204 is installed inside the main frame 202 of the elevator. The power is transmitted to the sprocket by the combination of a servo motor and a reducer. Its structure is similar to the elevator lifting mechanism 203. The sprocket and the sprocket and the matching chain form a transmission structure. A buckle is installed in the middle of the chain. The buckle is connected to the motion unit installed on the main frame 202 of the elevator. When the motor rotates, the chain rotates, thereby driving the forward and backward movements of the motion unit. Among them, the connection unit includes a hook and a claw. The hook is arranged on the motion unit, and the claw is arranged on the pallet truck 700. The main frame 202 of the elevator moves vertically to the level of one of the rails, and the motion unit moves to contact the pallet truck 700. The hook just moves to the position of the claw, and the hook is engaged in the claw. The hook and the claw are connected. At this time, the motion unit moves in the opposite direction, pulling the pallet truck 700 out of the material storage frame and placing it on the main frame 202 of the elevator. Directional operation can send the pallet truck 700 on the main frame 202 of the elevator to the storage position on the material storage frame. Figure 7 As shown, the pallet truck 700 includes a truck frame 701 , truck rollers 702 and a material-blocking column 703 . The truck rollers 702 and the material-blocking column 703 are respectively mounted on the truck frame 701 . The material-blocking column 703 plays a role in limiting materials, and the claws are welded on the truck frame 701 .

[0069] like Figure 3As shown, the loading and unloading device 500 includes a loading and unloading frame 400, a loading and unloading walking beam 501, a suction cup material fork mechanism 503 and a first driving mechanism. The loading and unloading frame 400 includes a column 401, a track beam 402 and a transverse pull rod. The track beam 402 is installed at the top of the column 401. The track beam 402 is arranged on the left and right. The top of the track beam 402 is installed with an industrial track, which adopts the same model and size and is modularly assembled. The transverse pull rod is installed in the middle of the left and right track beams 402 to reinforce the entire loading and unloading frame 400. Limit seats are installed at both ends of the loading and unloading frame 400. The top of the limit seat is reserved for the installation position of the synchronous belt, and the tensioning device is used to tighten the synchronous belt. Both ends of the loading and unloading walking beam 501 are slidably connected to the loading and unloading frame 400. The first driving mechanism is arranged on the loading and unloading walking beam 501. The first driving mechanism is used to drive the loading and unloading walking beam 501 to move in the x-axis direction, and the x-axis direction is the horizontal direction. The first driving mechanism is a servo motor reducer installed inside the loading and unloading walking beam 501, which realizes the walking function by installing the output shaft of the synchronous wheel and meshing with the synchronous belt. The suction cup material fork mechanism 503 is connected to the loading and unloading walking beam 501, and the suction cup material fork mechanism 503 is driven by the loading and unloading walking beam 501 to move in the x-axis direction. The suction cup material fork mechanism 503 can move in the z-axis direction, and the z-axis direction is the vertical direction. The exchange vehicle device 300 is partially located in the loading and unloading frame 400. The suction cup material fork mechanism 503 moves the raw material 1 plate located on the exchange vehicle device 300 to the workbench through movement in the x-axis direction and the z-axis direction, and transports the waste frame on the workbench to the material storage table 3.

[0070] The suction cup material fork mechanism 503 includes a loading and unloading ram, a fixed frame, a second driving mechanism 502, a material fork assembly and a suction cup assembly. The loading and unloading ram is arranged vertically, and the loading and unloading ram is located in the middle of the loading and unloading traveling beam 501. The loading and unloading ram is connected to the middle position of the loading and unloading traveling beam 501 by a guide slider, and the fixed frame is arranged at the lower end of the loading and unloading ram. The second driving mechanism 502 is arranged on the loading and unloading traveling beam 501, and the second driving mechanism 502 is connected to the loading and unloading ram. The second driving mechanism 502 adopts the form of a motor reducer, and drives the loading and unloading ram to move in the z-axis direction through the cooperation of the sprocket and the chain.

[0071] The material fork assembly and the suction cup assembly are both arranged on the fixed frame, and the material fork assembly is located below the suction cup assembly. A motor is installed inside the fixed frame to reduce the speed to drive the opening and closing movement of the material fork, and the material fork assembly is used to pick up the cut waste on the processing table 2 through multiple sets of openable and closable material forks. The suction cup assembly is used to adsorb the plate on the exchange vehicle device 300 and release the plate when it reaches above the processing table 2, wherein the vacuum system is connected to the suction cup assembly and controlled by a solenoid valve. When the suction cup assembly grabs the material, a vacuum is quickly established to complete the grabbing of the plate. The positive pressure system injects positive pressure gas when releasing the plate, destroying the vacuum state of the suction cup assembly so that the plate quickly detaches from the suction cup, thereby quickly releasing the plate.

[0072] like Figure 1 and Figure 4 As shown, the sorting device 600 includes a sorting frame, a sorting walking beam 601 and a sorting mechanism, and the sorting mechanism includes a slide plate 602, a sorting ram 603, a sorting head assembly 605, a cylinder assembly 606, a first drive assembly, a second drive assembly and a third drive assembly. Both ends of the sorting walking beam 601 are slidably connected to the sorting frame, and the first drive assembly is arranged on the sorting walking beam 601, and the first drive assembly is used to drive the sorting walking beam 601 to move in the x-axis direction. The structural form of the sorting walking beam 601 is the same as that of the loading and unloading walking beam 501, which will not be repeated here. The sorting frame is connected to the loading and unloading frame 400 as a whole, and the tracks on the two are arranged in the same direction and connected to each other, so that the suction cup material fork mechanism 503 can move to the sorting frame to transport the waste frame to the material storage table 3.

[0073] Furthermore, the slide plate 602 is slidably connected to the sorting beam, and the sorting slide 603 is slidably connected to the slide plate 602. The slide is vertically arranged, and the sorting head assembly 605 is rotatably arranged at the lower end of the slide. The second driving assembly is connected to the slide plate 602 to drive the slide plate 602 to move on the y-axis, the y-axis direction is the horizontal direction, and the y-axis direction is perpendicular to the x-axis direction, and the third driving assembly is connected to the sorting slide 603 to drive the sorting slide 603 to move in the z-axis direction. Specifically, the slide plate 602 reserves an installation position for the slider in the vertical direction, the slider is installed on the slide plate 602, and the guide rail is installed on the sorting slide 603. A transmission seat is installed on the top of the sorting slide 603, and a motor reducer is installed on the transmission seat. A lead screw module is installed on the inner side of the sorting slide 603, and the slide plate 602 and the lead screw module are installed and connected together through a nut seat. When the motor at the top of the sorting slide 603 rotates, it drives the lead screw transmission to complete the up and down movement of the sorting slide 603. The cylinder assembly 606 is vertically arranged on the slide plate 602 , and the cylinder assembly 606 is connected to the sorting slide 603 to put the sorting slide 603 in a suspended state, so as to balance the weight of the entire sorting slide 603 and its mounting accessories, and improve the corresponding speed of the sorting slide 603 .

[0074] Furthermore, if Figure 5 As shown, the sorting head assembly 605 includes a rotary drive assembly 604, a mounting plate, a plurality of sorting suction cups 6051 and a plurality of sorting cylinders 6053. Among them, the mounting plate is connected to the lower end of the slide through the rotary drive assembly 604, and the rotary assembly is preferably a reduction motor, which is used to drive the mounting plate and its mounting accessories to rotate. The cylinder bodies of the plurality of sorting cylinders 6053 are vertically arranged on the mounting plate, and the plurality of sorting suction cups 6051 are respectively connected to the piston rods of the plurality of sorting cylinders 6053 in a one-to-one correspondence, and the sorting suction cups 6051 are used to absorb the parts cut out from the processing table 2. Specifically, a negative pressure valve island 6054, a positive pressure valve island 6055 and a power supply end as well as corresponding air pipes and air circuit connectors are installed on the mounting plate, which are connected to each sorting suction cup 6051 and sorting cylinder 6053, and are used to individually control each sorting suction cup 6051 and sorting cylinder 6053. The specific control method of the sorting device 600 is as follows: the graphics of the parts to be processed are imported into the nesting software to generate the sorting coordinates of the parts, and the swing coordinates are generated at the same time, and the stacking coordinates are manually set. When the raw material 1 plate is cut, the sorting device 600 is enabled, and the signals of calling each suction cup in the sorting head assembly 605 are analyzed according to the sorting coordinates in the sorting device 600, so as to complete the correspondence between the parts to be sorted and the suction cup positions. At this moment, the sorting performs the actions of sorting, swinging, and stacking, thereby completing the full process of sorting parts. Assuming that when the sorting device 600 specifies suction cups No. 1 and No. 2 to grab parts, the corresponding pneumatic solenoid valve of the positive pressure valve island 6055 controls the sorting cylinder 6053 to extend and drive the sorting suction cup 6051 to extend. When the sorting suction cup 6051 is close to the upper surface of the part, the sorting device 600 starts the vacuum system, and a vacuum is established between the suction cup and the part; at this time, the sorting slide 603 rises, the sorting beam starts, and the parts are transferred to the material storage table 3 to complete the sorting action. The vacuum system and the positive pressure system are both connected to the sorting suction cup 6051. Negative pressure is input when sucking materials, and positive pressure blowing is input when quickly releasing the sheet material.

[0075] In a preferred embodiment, the sorting device 600 includes two sets of sorting mechanisms to increase the sorting efficiency.

[0076] like Figure 6As shown, the exchange vehicle device 300 includes an exchange vehicle frame 301, an upper trolley 302, a lower trolley 303, and an exchange vehicle driving mechanism 305. The exchange vehicle frame 301 is arranged in the material storage device 100 and the loading and unloading device 500, and the upper trolley 302 and the lower trolley 303 are both slidably arranged on the exchange vehicle frame 301. The upper trolley 302 and the lower trolley 303 can move to the same position and then overlap, and at this time, the lower trolley 303 is located inside the upper trolley 302. The upper trolley 302 and the lower trolley 303 are both connected to the exchange vehicle driving mechanism 305, and the exchange vehicle driving mechanism 305 drives the upper trolley 302 and the lower trolley 303 to move synchronously, and the movement directions of the upper trolley 302 and the lower trolley 303 are opposite. Specifically, walking wheels 304 are installed on the upper trolley 302 and the lower trolley 303. The exchange trolley drive mechanism 305 includes a driving sprocket, a driven sprocket, a chain and a drive motor reducer. The reducer is connected to a pair of driving sprockets through a transmission shaft. Buckles are installed on the tight side and the loose side of the chain respectively and installed on the upper trolley 302 and the lower trolley 303. Through the sprocket transmission, the upper trolley 302 moves forward and the lower trolley 303 moves backward, and vice versa.

[0077] The present invention also provides a control method for a plate loading and unloading system, which comprises:

[0078] Warehousing: When the material warehouse needs raw materials to be put into the warehouse, the plate information is manually input into the designated warehouse location of the control panel; the raw materials are transported by forklift or crane and placed at the reference angle A on the upper surface of the pallet truck 700. At this time, the pallet translation mechanism 204 is started, and the pallet truck 700 and the raw materials arrive at the material lifting waiting position at the same time, and the elevator lifting mechanism 203 is started, and the pallet truck 700 and the raw materials arrive at the designated warehouse height. After reaching the designated warehouse height, the pallet translation mechanism 204 is started, the pallet truck 700 is put into the warehouse, and the left frame 101 and the right frame 102 of the material warehouse have induction switches, and the system interface shows that the warehouse has been entered.

[0079] Outbound: When the warehouse needs to outbound raw materials, the warehouse location information is manually specified to the system on the control console. At this time, the elevator lifting mechanism 203 is started to reach the specified warehouse height, and the system starts the pallet translation mechanism 204 to pull the pallet truck 700 and the raw materials onto the elevator main frame 202; after the pallet truck 700 is in place, the elevator lifting mechanism 203 is started, and it descends to the exchange position, and the elevator stops moving.

[0080] Cache: The upper trolley 302 of the exchange trolley device 300 is on the left, and the lower trolley 303 is on the right; the pallet translation mechanism 204 is started to push the pallet trolley 700 and its raw materials into the track of the lower trolley 303, and run them into place; the upper trolley 302 runs to the right, and the lower trolley 303 runs to the left, completing the material cache process and preparing for the next loading action of the loading and unloading device 500.

[0081] Loading: After the caching is completed, the loading and unloading walking beam 501 moves to the caching position. The suction cup material fork mechanism 503 descends to the specified position, the suction cup material fork mechanism 503 is started, the material fork assembly is opened to expose the suction cup assembly, the suction cup assembly moves downward, and drops to the bottom of the suction cup assembly to contact the upper surface of the raw material sheet on the pallet truck 700, and the vacuum is started; the raw material sheet is grasped. After the suction cup material fork mechanism 503 rises vertically to the specified position, the loading and unloading walking beam 501 moves in the opposite direction to just above the workbench. The suction cup material fork mechanism 503 moves vertically downward until the raw material 1 is about 5 mm away from the upper surface of the workbench. The suction cup material fork mechanism 503 releases the raw material 1 and places the raw material 1 on the workbench to complete the loading of the sheet.

[0082] Cutting: The raw material 1 is placed on the workbench of the laser cutting machine, the laser cutting machine starts the exchange mechanism, and the raw material 1 enters the cutting machine. After the cutting is completed, the table exchange mechanism is started again, and the workbench returns to the initial position.

[0083] Sorting and stacking: After cutting is completed, the system sends a signal to the sorting device 600, and the system controls the sorting walking beam 601 to move to the top of the workbench. According to the different cutting paths of the raw material 1, different sorting suction cups 6051 are called to correspond to different cutting parts, and the sorting suction cups 6051 are used to grab the parts. After the sorting suction cups 6051 grab the parts, they move to a safe position in the vertical direction, and the sorting walking beam 601 moves to the top of the material storage table 3. When it is necessary to swing, the rotary drive assembly 604 rotates according to the required angle, and the parts are neatly stacked on the surface of the material storage table 3. After being neatly stacked, the parts are transferred to the outside of the whole set of equipment.

[0084] Waste processing: After the system completes sorting and stacking, there are waste frames left after sorting on the workbench; the loading and unloading device 500 is started again, the suction cup material fork mechanism 503 moves to the top of the workbench, the suction cup material fork mechanism 503 descends to a safe distance, the material fork assembly opens, and the suction cup material fork mechanism 503 descends to a position where the material fork can be inserted into the waste frame; the material fork closes; the loading and unloading device 500 is started to transfer the waste frame to the upper surface of the material storage table 3.

[0085] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0086] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0087] In the present invention, unless otherwise clearly specified and limited, when a first feature is “on” or “below” a second feature, it may be that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, when a first feature is “above”, “above” or “above” a second feature, it may be that the first feature is directly above or obliquely above the second feature, or it may simply mean that the first feature is higher in level than the second feature. When a first feature is “below”, “below” or “below” a second feature, it may be that the first feature is directly below or obliquely below the second feature, or it may simply mean that the first feature is lower in level than the second feature.

[0088] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0089] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may alter, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A plate loading and unloading system, characterized in that: The plate loading and unloading system comprises a material storage table (3), a processing table (2), a material storage device (100), a switching vehicle device (300), a loading and unloading device (500) and a sorting device (600); The material storage device (100) and the loading and unloading device (500) are connected via the exchange vehicle device (300), and the exchange vehicle device (300) can transfer the plates in the material storage device (100) to the loading and unloading device (500); The loading and unloading device (500) and the sorting device (600) are both arranged above the material storage table (3) and the processing table (2); the loading and unloading device (500) is used to transport the plate on the exchange vehicle device (300) to the processing table (2), and to transport the cut waste on the processing table (2) to the material storage table (3); and the sorting device (600) is used to transport the different parts cut from the processing table (2) to the material storage table (3).

2. The plate loading and unloading system according to claim 1, characterized in that: The material storage device (100) comprises a material storage frame, a frame support frame (104), a material storage lifting mechanism (200) and a plurality of pallet trucks (700); The material storage frame is arranged above the frame support frame (104), and the exchange vehicle device (300) can be partially located inside the frame support frame (104); Multiple layers of tracks are arranged at intervals along the vertical direction on the material storage frame, and the multiple pallet trucks (700) are slidably connected to the multiple layers of tracks in a one-to-one correspondence; The frame support frame (104) and the material storage frame are both connected to the material storage lifting mechanism (200), and the material storage lifting mechanism (200) is used to take and place the pallet truck (700).

3. The plate loading and unloading system according to claim 2, characterized in that: The material storage lifting mechanism (200) comprises a door frame (201), a lifting machine main frame (202), a lifting machine lifting mechanism (203) and a tray translation mechanism (204); The frame support frame (104) and the material storage frame are both connected to the door frame (201), and the elevator main frame (202) is slidably connected to the door frame (201); The elevator lifting mechanism (203) is arranged on the door frame (201), and the elevator lifting mechanism (203) is connected to the elevator main frame (202) to drive the elevator main frame (202) to move in the z-axis direction; The pallet translation mechanism (204) is arranged on the main frame (202) of the lifting machine, and the pallet translation mechanism (204) comprises a moving unit and a connecting unit connected to each other, the moving unit can move in a horizontal direction, and the connecting unit can be connected to the pallet truck (700).

4. The plate loading and unloading system according to claim 1, characterized in that: The loading and unloading device (500) comprises a loading and unloading frame (400), a loading and unloading walking beam (501), a suction cup material fork mechanism (503) and a first driving mechanism; Both ends of the loading and unloading walking beam (501) are slidably connected to the loading and unloading frame (400); the first driving mechanism is arranged on the loading and unloading walking beam (501), and the first driving mechanism is used to drive the loading and unloading walking beam (501) to move in the x-axis direction; The suction cup material fork mechanism (503) is connected to the loading and unloading walking beam (501), and the suction cup material fork mechanism (503) can move in the z-axis direction; The exchange vehicle device (300) can be partially located within the loading and unloading frame (400).

5. The plate loading and unloading system according to claim 4, characterized in that: The suction cup material fork mechanism (503) comprises a loading and unloading slide, a fixed frame, a second driving mechanism (502), a material fork assembly and a suction cup assembly; The loading and unloading slide is vertically arranged, the loading and unloading slide is slidably connected to the loading and unloading walking beam (501), and the fixed frame is arranged at the lower end of the loading and unloading slide; The second driving mechanism (502) is arranged on the loading and unloading walking beam (501), and the second driving mechanism (502) is connected to the loading and unloading slide to drive the loading and unloading slide to move in the z-axis direction; The material fork assembly and the suction cup assembly are both arranged on the fixed frame, the material fork assembly is located below the suction cup assembly, the suction cup assembly is used to absorb the plate on the exchange vehicle device (300), and the material fork assembly is used to pick up the cut waste on the processing table (2) through multiple sets of openable and closable material forks.

6. The plate loading and unloading system according to claim 1, characterized in that: The sorting device (600) comprises a sorting frame, a sorting walking beam (601) and a sorting mechanism, wherein the sorting mechanism comprises a slide plate (602), a sorting ram (603), a sorting head assembly (605), a cylinder assembly (606), a first drive assembly, a second drive assembly and a third drive assembly; Both ends of the sorting walking beam (601) are slidably connected to the sorting frame, and the first driving component is arranged on the sorting walking beam (601), and the first driving component is used to drive the sorting walking beam (601) to move in the x-axis direction; The slide plate (602) is slidably connected to the sorting crossbeam, and the sorting ram (603) is slidably connected to the slide plate (602); the ram is vertically arranged, and the sorting head assembly (605) is rotatably arranged at the lower end of the ram; The second driving assembly is connected to the slide plate (602) to drive the slide plate (602) to move on the y-axis, and the third driving assembly is connected to the sorting slide (603) to drive the sorting slide (603) to move in the z-axis direction; The cylinder assembly (606) is vertically arranged on the slide plate (602), and the cylinder assembly (606) is connected to the sorting slide (603) so that the sorting slide (603) is in a suspended state.

7. The plate loading and unloading system according to claim 6, characterized in that: The sorting head assembly (605) comprises a rotating drive assembly (604), a mounting plate, a plurality of sorting suction cups (6051) and a plurality of sorting cylinders (6053); The mounting plate is connected to the lower end of the ram via the rotary drive assembly (604); the cylinder bodies of the plurality of sorting cylinders (6053) are vertically arranged on the mounting plate; the plurality of sorting suction cups (6051) are respectively connected to the piston rods of the plurality of sorting cylinders (6053) in a one-to-one correspondence; the sorting suction cups (6051) are used to absorb the parts cut from the processing table (2).

8. The plate loading and unloading system according to claim 6, characterized in that: The sorting device (600) comprises two sets of the sorting mechanisms.

9. The plate loading and unloading system according to claim 1, characterized in that: The exchange vehicle device (300) comprises an exchange vehicle frame (301), an upper trolley (302), a lower trolley (303) and an exchange vehicle driving mechanism (305); The exchange vehicle frame (301) is arranged in the material storage device (100) and the loading and unloading device (500), the upper trolley (302) and the lower trolley (303) are both slidably arranged on the exchange vehicle frame (301), and the upper trolley (302) and the lower trolley (303) can move to the same position and then overlap; The upper trolley (302) and the lower trolley (303) are both connected to the exchange trolley drive mechanism (305), and the exchange trolley drive mechanism (305) drives the upper trolley (302) and the lower trolley (303) to move synchronously, and the movement directions of the upper trolley (302) and the lower trolley (303) are opposite.

10. A control method for a plate loading and unloading system, characterized in that: The control method is applied to the plate loading and unloading system according to any one of claims 1 to 9, and the control method includes: Entering the warehouse, placing the raw material (1) in the material storage device (100); Out of storage, the material storage device (100) takes out the raw material (1); Buffering, the exchange vehicle device (300) moves into the material storage device (100), and the material storage device (100) places the taken-out raw material (1) into the exchange vehicle device (300); Loading, the exchange vehicle device (300) moves to the loading and unloading device (500), and the loading and unloading device (500) transports the raw material (1) to the processing table (2) located at the initial position; Cutting, the processing table (2) moves to the inside of the laser cutting machine for cutting, and after the cutting is completed, the processing table (2) moves to the initial position; Sorting and stacking: the sorting device (600) stacks the parts cut from the processing table (2) onto the material storage table (3), and after being neatly stacked, the parts are transferred to the outside of the entire equipment; Waste material processing: the loading and unloading device (500) transfers the waste material frames remaining after sorting on the processing table (2) to the material storage table (3).

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