Automatic loading and unloading equipment

Abstract

The present invention discloses an automatic loading and unloading device. The automatic loading and unloading device includes: a frame provided with a first bearing plate; a discharging seat arranged on the first bearing plate; the discharging seat is provided with a bearing groove for limiting a material box and a discharging protrusion for bearing the materials in the material box, and the bearing plane of the discharging protrusion is higher than the bottom of the bearing groove; a blanking robot arranged on the first bearing plate and located on one side of the discharging seat; a conveying device connected to the frame and arranged on one side of the first bearing plate; the conveying device is used for conveying a material box; the materials on the discharging protrusion are placed into the material box by the blanking robot. The automatic loading and unloading device of the present invention has the advantages of simple and compact structure, convenient blanking, high safety performance, firm structure, stable operation, high production efficiency and long service life.

Description

Technical Field

[0001] The present invention relates to the field of injection molding technology, and in particular to an automatic loading and unloading device. Background Art

[0002] A semiconductor device is an electronic device whose conductivity is between that of a good conductor and an insulator, and uses the special electrical properties of semiconductor materials to perform specific functions. It can be used to generate, control, receive, transform, amplify signals, and perform energy conversion.

[0003] With the development of technology, the miniaturization and multi-functionality of electronic products have become the main development directions. The miniaturization of electronic products requires that semiconductor devices not only need to be smaller in size, but also need to ensure their structural strength and anti-pollution and anti-corrosion properties. Therefore, it is necessary to use injection molding encapsulation to encapsulate semiconductor devices. However, in the prior art, manual feeding of injection molding materials is still required, and manual unloading of semiconductor plates encapsulated with injection molding materials is still required. The production efficiency is low, which greatly restricts the development of intelligent devices. Therefore, providing an automatic loading and unloading device with a simple and compact structure and convenient unloading has become a problem that must be solved at present. Summary of the Invention

[0004] The technical problem solved by the present invention is to provide an automatic loading and unloading device with a simple and compact structure and convenient unloading.

[0005] The present invention discloses an automatic loading and unloading device, which includes:

[0006] A frame provided with a first bearing plate;

[0007] A discharging seat arranged on the first bearing plate; a bearing groove for limiting the material box and a discharging protrusion for bearing the materials in the material box are arranged on the discharging seat, and the bearing plane of the discharging protrusion is higher than the bottom of the bearing groove;

[0008] A blanking robot arranged on the first bearing plate and located on one side of the discharging seat;

[0009] A conveying device connected to the frame and arranged on one side of the first bearing plate; the conveying device is used for conveying a material box;

[0010] The material on the discharging protrusion is placed into the material box by the blanking robot.

[0011] Preferably, the frame is further provided with a second bearing plate stacked with the first bearing plate; the automatic loading and unloading device further includes:

[0012] The loading mechanism is arranged on the second carrier plate; the loading mechanism includes a loading fixture, a vibrating disk for conveying plastic packages, and a feeding device for feeding the plastic packages into the loading fixture one by one; the feeding device is located between the loading fixture and the vibrating disk.

[0013] Preferably, the blanking robot includes:

[0014] A first linear module is provided with a first sliding table; the first linear module is arranged on the first carrier plate;

[0015] A second linear module is arranged on the first sliding table, and a second sliding table is arranged on the second linear module;

[0016] A lifting module is arranged on the second sliding table, and a third sliding table is arranged on the lifting module;

[0017] A blanking device is arranged on the third sliding table;

[0018] A material level detection device is arranged on the blanking device for detecting the height of the material in the material box;

[0019] A control device is electrically connected to the first linear module, the second linear module, the lifting module, the blanking device and the material level detection device respectively; the control device controls the first linear module, the second linear module and the lifting module to drive the blanking device to clamp the material and blank the material onto the material box according to the material height.

[0020] Preferably, the blanking robot further includes:

[0021] A first guide rail is arranged side by side with the first linear module;

[0022] A fourth sliding table is movably connected to the first guide rail; the second linear module is mounted on the first sliding table and the fourth sliding table; the fourth sliding table is connected between the two ends of the second linear module.

[0023] Preferably, the blanking robot further includes:

[0024] A protective housing covers the blanking device, and at least part of the blanking device is located inside the protective housing.

[0025] Preferably, the blanking device includes:

[0026] A variable pitch driving mechanism includes a sliding guide rail, a first jaw movably connected to the sliding guide rail, and a second jaw movably connected to the sliding guide rail; the first jaw and the second jaw are arranged opposite to each other;

[0027] A limiter connected to the variable-pitch drive mechanism, and used to limit the travel of the first clamping jaw in a direction away from the second clamping jaw;

[0028] A first manipulator, connected to the first clamping claw, for clamping a first material;

[0029] A second manipulator, connected to the second clamping claw, for clamping a second material; the first manipulator and the second manipulator are arranged side by side;

[0030] The first manipulator and the second manipulator are driven to move by the variable pitch drive mechanism, so that the distance between the first manipulator and the second manipulator is changed, so that the distance between the first material and the second material can be changed when the unloading device unloads the material.

[0031] Preferably, the limiting member comprises:

[0032] A connecting plate connected to the body of the variable pitch drive mechanism;

[0033] An extension arm, wherein a first end of the extension arm is connected to the connecting plate, and a second end of the extension arm extends to a side of the first clamping jaw away from the second clamping jaw; an adjusting screw hole is provided at the second end of the extension arm;

[0034] A fine-tuning screw passes through the adjusting screw hole and cooperates with the internal thread of the adjusting screw hole; the axial direction of the fine-tuning screw is parallel to the guide of the sliding guide rail and is arranged toward the first clamping jaw.

[0035] Preferably, the first manipulator comprises:

[0036] The first hinged member is provided with a clearance hole; a first hinged seat is provided on a side wall in the clearance hole and extends toward the clearance hole;

[0037] A second hinged member connected to the first clamping claw; the second hinged member is extended toward the clearance hole and is provided with a second hinged seat;

[0038] A first clamping member, wherein the first hinge seat and the second hinge seat are hinged to the first clamping member at a first hinge point and a second hinge point respectively, and the first hinge point and the second hinge point are both located at a first end of the first clamping member;

[0039] a second clamping member connected to the first hinged member;

[0040] A clamping driving mechanism, wherein the first hinge member and the second hinge member are respectively connected to the clamping driving mechanism; by driving the first hinge member to move relative to the second hinge member through the clamping driving mechanism, the first end of the first clamping member is driven to move, so that the second end of the first clamping member and the second clamping member jointly clamp the first material.

[0041] Preferably, a third hinge seat is further extended toward the relief hole on the side wall inside the relief hole, and the third hinge seat and the first hinge seat are arranged on opposite side walls at opposite positions inside the relief hole;

[0042] The second hinge seat and the third hinge seat are respectively hinged to the second clamping member at a third hinge point and a fourth hinge point, and both the third hinge point and the fourth hinge point are located at the first end of the second clamping member;

[0043] By the relative movement of the first hinge member relative to the second hinge member, the first end of the second clamping member is driven to move, so that the second end of the first clamping member and the second end of the second clamping member jointly clamp the first material.

[0044] Preferably, the first clamping member includes:

[0045] A hinge portion, arranged at the first end of the first clamping member and respectively hinged to the first hinge seat and the second hinge seat;

[0046] A connecting arm, the first end of the connecting arm is connected to the hinge portion, and the second end of the connecting arm extends obliquely downward in a direction away from the second clamping member;

[0047] A clamping portion, the first end of the clamping portion is connected to the second end of the connecting arm.

[0048] In summary, the present invention provides an automatic loading and unloading device; the automatic loading and unloading device includes: a frame provided with a first bearing plate; a discharging seat arranged on the first bearing plate; a bearing groove for limiting a material box and a discharging protrusion for bearing the materials in the material box are arranged on the discharging seat, and the bearing plane of the discharging protrusion is higher than the bottom of the bearing groove; so that when the material box is placed on the bearing groove, the materials are separated from the material box and stay on the discharging protrusion; a blanking robot arranged on the first bearing plate and on one side of the discharging seat; a conveying device connected to the frame and arranged on one side of the first bearing plate; the conveying device is used for conveying a material box; the materials on the discharging protrusion are placed into the material box by the blanking robot. Therefore, the automatic loading and unloading device provided by the present invention has the advantages of simple and compact structure and convenient blanking. Description of the Drawings

[0049] Figure 1 It is a schematic structural diagram of a preferred embodiment of the automatic loading and unloading equipment of the present invention.

[0050] Figure 2 is Figure 1 an enlarged schematic diagram of area B in

[0051] Figure 3 It is a schematic structural diagram of a preferred embodiment of the blanking robot of the automatic loading and unloading equipment of the present invention.

[0052] Figure 4 It is a schematic structural diagram of a preferred embodiment of the blanking device of the automatic loading and unloading equipment of the present invention.

[0053] Figure 5 It is a schematic structural diagram of a preferred embodiment of the blanking device of the automatic loading and unloading equipment of the present invention when clamping materials.

[0054] Figure 6 is Figure 5 an enlarged schematic diagram of area A in

[0055] Figure 7 It is a schematic structural diagram of the cooperation of some components of a preferred embodiment of the blanking device of the present invention. Detailed implementation manners

[0056] The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that if there is no conflict, the embodiments of the present invention and each feature in the embodiments can be combined with each other, and all are within the protection scope of the present invention.

[0057] Please refer to Figures 1 to 2 , the present invention discloses an automatic loading and unloading equipment, which includes:

[0058] A frame 90, provided with a first bearing plate 90a;

[0059] A discharging seat 91, arranged on the first bearing plate 90a; a loading groove 91a for limiting the material box 91c and a discharging protrusion 91b for loading the materials in the material box 91c are arranged on the discharging seat 91, and the loading plane of the discharging protrusion 91b is higher than the bottom of the loading groove 91a; so that when the material box 91c is placed on the loading groove 91a, the materials are separated from the material box 91c and stay on the discharging protrusion 91b;

[0060] A blanking robot 92, arranged on the first bearing plate 90a and located on one side of the discharging seat 91;

[0061] A conveying device 93, connected to the frame 90 and arranged on one side of the first bearing plate 90a; the conveying device 93 is used for conveying the material box 93a;

[0062] The material on the discharging protrusion 91b is placed into the material box 93a by the blanking robot 92. Therefore, the automatic loading and unloading equipment provided by the present invention has the advantages of simple and compact structure and convenient blanking.

[0063] Preferably, the frame 90 is further provided with a second bearing plate 90b stacked with the first bearing plate 90a; the automatic loading and unloading equipment further includes:

[0064] A loading mechanism 95, arranged on the second bearing plate 90b; the loading mechanism 95 includes a loading clamp 95a, a vibrating disk 95b for conveying plastic packages, and a feeding device 95c for feeding the plastic packages into the loading clamp 95a one by one; the feeding device 95c is located between the loading clamp 95a and the vibrating disk 95b. So as to feed the plastic packages onto the loading clamp 95a through the loading mechanism 95. Then, the plastic packages are encapsulated onto the semiconductor sheet by an external device to form the material; in this embodiment, the material is an encapsulated semiconductor sheet. The automatic loading and unloading equipment not only facilitates loading the plastic packages onto the loading clamp 95a, but also facilitates blanking of the semiconductor sheets encapsulated with the plastic packages. Therefore, the automatic loading and unloading equipment provided by the present invention has the advantages of simple and compact structure and complete functions.

[0065] Please refer to Figures 3 to 7 ,, the blanking robot 92 includes:

[0066] A first linear module 81, provided with a first sliding table 81a and a second guide rail (not shown in the figure), the first sliding table 81a is movably connected to the second guide rail; the first linear module 81 is arranged on the first bearing plate 90a;

[0067] A second linear module 82, the first end of the second linear module 82 is arranged on the first sliding table 81a, so that the second linear module 82 can move along the guiding direction of the first linear module 81; a second sliding table 82a and a third guide rail (not shown in the figure) are arranged on the second linear module 82, and the second sliding table 82a is movably connected to the third guide rail;

[0068] A lifting module 83, arranged on the second sliding table 82a, so that the lifting module 83 can move along the guiding direction of the second linear module 82; a third sliding table 83a and a fourth guide rail (not shown in the figure) are arranged on the lifting module 83, and the third sliding table 83a is movably connected to the fourth guide rail;

[0069] The material unloading device is arranged on the third slide 83a; so that the material unloading device can move along the XYZ three-axis direction composed of the first linear module 81, the second linear module 82 and the lifting module 83, so that the material unloading robot is flexible and convenient; the material unloading device is used to unload the material into the material box, so that the material is stacked in the material box to improve the space utilization of the material box. In this embodiment, the guides of the first linear module 81, the second linear module 82 and the lifting module 83 are perpendicular to each other; in other embodiments, the guides of the first linear module 81, the second linear module 82 and the lifting module 83 can also intersect with each other and are not perpendicular, which is not specifically limited here.

[0070] A material level detection device 84, provided on the material discharge device, for detecting the material height in the material box;

[0071] The control device (not shown in the figure) is electrically connected to the first linear module 81, the second linear module 82, the lifting module 83, the unloading device and the material level detection device 84 respectively; the control device controls the first linear module 81, the second linear module 82 and the lifting module 83 according to the material height to drive the unloading device to clamp the material and unload the material into the material box; so as to unload the material into the material box smoothly and safely; avoid the problem that the unloading device collides with the material in the material box during unloading, and also avoid the problem that the unloading device puts down the material at a height that is too high and breaks the material. Therefore, the unloading robot provided by the present invention has the advantages of simple and compact structure, flexible and convenient unloading, and high safety performance.

[0072] In this embodiment, the first linear module 81 is further provided with: a first screw rod (not shown in the figure) arranged side by side with the second guide rail, a first screw nut (not shown in the figure) matched with the first screw rod, and a first drive motor 81b drivingly connected to the first screw rod, and the first slide 81a is connected to the first screw nut; the first drive motor 81b drives the first screw rod to drive the first slide 81a to move along the guide of the second guide rail.

[0073] The second linear module 82 is also provided with: a second screw (not shown in the figure) arranged side by side with the third guide rail, a second screw nut (not shown in the figure) cooperating with the second screw, and a second drive motor 82b drivingly connected to the second screw, and the second slide 82a is connected to the second screw nut; the second screw is driven by the second drive motor 82b to drive the second slide 82a to move along the guide of the third guide rail.

[0074] The lifting module 83 is further provided with: a third screw rod (not shown in the figure) arranged side by side with the fourth guide rail, a third lead screw nut (not shown in the figure) cooperating with the third screw rod, and a third driving motor 83b drivingly connected to the third screw rod. The third sliding table 83a is connected to the third lead screw nut. The third driving motor 83b drives the third screw rod to drive the third sliding table 83a to move along the guidance of the fourth guide rail, so as to realize the movement of the blanking device along the XYZ axis direction composed of the first linear module 81 and the second linear module 82. In other embodiments, the first linear module 81, the second linear module 82, and the third linear module may also be linear motors or linear motion mechanisms composed of a driving motor, a synchronous belt, and a synchronous belt pulley, which are not specifically limited herein.

[0075] In this embodiment, the material level detection device 84 includes an ultrasonic distance sensor. In other embodiments, the material level detection device 84 may further include a laser ranging radar or a photoelectric sensor, which are not specifically limited herein.

[0076] Preferably, the blanking robot further includes:

[0077] A first guide rail 85a arranged side by side with the first linear module 81;

[0078] A fourth sliding table 85b movably connected to the first guide rail 85a. The second linear module 82 is mounted on the first sliding table 81a and the fourth sliding table 85b. The fourth sliding table 85b is connected between the two end portions of the second linear module 82. Therefore, the blanking robot provided by the present invention has the advantages of stable operation, firm structure, etc.

[0079] Preferably, the blanking robot further includes:

[0080] A protective housing 86 covering the blanking device, and at least a part of the blanking device is located inside the protective housing 86. This can prevent the blanking device from being affected by dust pollution and other factors that affect the clamping accuracy, and at the same time avoid the problem of accidents caused by impacts during the movement of the blanking device. Therefore, the blanking robot provided by the present invention has the advantages of simple and compact structure, stable operation, accurate loading positioning, high safety performance, long service life, etc.

[0081] Preferably, the blanking device includes:

[0082] The variable-spacing driving mechanism 1 includes a sliding guide rail 1a, a first jaw 1b movably connected to the sliding guide rail 1a, a second jaw 1c movably connected to the sliding guide rail 1a, and a driving member (not shown in the figure) for driving the first jaw 1b and the second jaw 1c to move towards each other or away from each other; the first jaw 1b and the second jaw 1c are arranged opposite to each other;

[0083] The limiting member 2 is connected to the variable-spacing driving mechanism 1 and is used to limit the stroke of the first jaw 1b moving away from the second jaw 1c; so as to adapt to the spacing between materials when picking up materials.

[0084] The first manipulator 3 is connected to the first jaw 1b and is used to grip the first material 71;

[0085] The second manipulator 4 is connected to the second jaw 1c and is used to grip the second material 72; the first manipulator 3 and the second manipulator 4 are arranged side by side;

[0086] The variable-spacing driving mechanism 1 drives the first manipulator 3 and the second manipulator 4 to move towards each other or away from each other, so that the spacing between the first manipulator 3 and the second manipulator 4 changes, so as to be able to pick up multiple materials according to the spacing between the materials when the feeding device grips the materials; and enables the feeding device to change the spacing between the first material 71 and the second material 72 when feeding, so as to adapt to the spacing of different feeding stations. In this embodiment, the variable-spacing driving mechanism 1 reduces the spacing between the first material 71 and the second material 72 to improve the space utilization rate for carrying materials such as the first material 71 and the second material 72. Therefore, the feeding device provided by the present invention has the advantages of simple and compact structure, being able to reduce the spacing between materials when feeding, and improving the space utilization rate.

[0087] In this embodiment, the variable-spacing driving mechanism 1 is a pneumatic parallel jaw (also known as: finger cylinder), and the first jaw 1b and the second jaw 1c of the pneumatic jaw are respectively connected to the first manipulator 3 and the second manipulator 4, so as to drive the first manipulator 3 and the second manipulator 4 to grip the materials; in other embodiments, the variable-spacing driving mechanism 1 can also be an electric gripper, which is not specifically limited here.

[0088] Preferably, the limiting member 2 includes:

[0089] A connecting plate 2a, which is connected to the body of the variable-spacing driving mechanism 1;

[0090] An extension arm 2b, wherein a first end of the extension arm 2b is connected to the connecting plate 2a, and a second end of the extension arm 2b extends to a side of the first clamping jaw 1b away from the second clamping jaw 1c; an adjustment screw hole is provided at the second end of the extension arm 2b;

[0091] The fine-tuning screw 2c passes through the adjusting screw hole and cooperates with the internal thread of the adjusting screw hole; the axial direction of the fine-tuning screw 2c is parallel to the guide of the sliding guide rail 1a and is arranged toward the first clamping jaw 1b. By adjusting the position of the fine-tuning screw 2c, the distance between the first manipulator 3 and the second manipulator 4 when the material is clamped by the material can be adjusted; the distance between the first manipulator 3 and the second manipulator 4 can be adjusted according to the different distances between the materials. Therefore, the material discharging device has the advantages of simple and compact structure and strong compatibility.

[0092] Preferably, the first manipulator 3 comprises:

[0093] The first hinged member 10 is provided with a clearance hole 12; a first hinge seat 11 is provided on a side wall of the clearance hole 12 and extends toward the clearance hole 12;

[0094] A second hinged member 20 is connected to the first clamping jaw 1b; the second hinged member 20 is extended toward the clearance hole 12 to be provided with a second hinged seat 21;

[0095] A first clamping member 30, wherein the first hinge seat 11 and the second hinge seat 21 are respectively hinged to the first clamping member 30 at a first hinge point 31 and a second hinge point 32, wherein the first hinge point 31 and the second hinge point 32 are both located at a first end of the first clamping member 30;

[0096] A second clamping member 40 connected to the first hinge member 10;

[0097] The clamping drive mechanism 50, the first hinge 10 and the second hinge 20 are respectively connected to the clamping drive mechanism 50; the first hinge 10 is driven by the clamping drive mechanism 50 to move relative to the second hinge 20, thereby driving the first end of the first clamp 30 to move, so that the second end of the first clamp 30 and the second clamp 40 jointly clamp the first material 71.

[0098] Specifically, when the clamping drive mechanism 50 drives the first hinge 10 to move toward the second hinge 20, the second hinge seat 21 is inserted into the clearance hole 12, and the first hinge point 31 moves upward with the first hinge 10, thereby driving the second end of the first clamp 30 to move in a direction away from the second clamp 40, thereby achieving the opening of the first clamp 30.

[0099] When the clamping drive mechanism 50 drives the first hinge 10 to move away from the second hinge 20, the second hinge seat 21 gradually moves away from the clearance hole 12, and the first hinge point 31 moves downward with the first hinge 10; thereby driving the second end of the first clamping member 30 to move toward the second clamping member 40; thereby achieving the clamping of the material by the first clamping member 30; therefore, it has the advantages of simple and compact structure, smooth operation, and stable clamping.

[0100] In this embodiment, a third hinge seat 13 is extended toward the make way hole 12 on the side wall inside the make way hole 12, and the third hinge seat 13 and the first hinge seat 11 are arranged on two side walls opposite to each other in the make way hole 12; the make way hole 12 is not only convenient for accommodating the first hinge seat 11, the second hinge seat 21, the third hinge seat 13, the first clamping member 30 and the second clamping member 40; it can also reduce the weight to make the unloading device lighter.

[0101] The second hinge seat 21 and the third hinge seat 13 are respectively hinged to the second clamping member 40 at a third hinge point 41 and a fourth hinge point 42, and the third hinge point 41 and the fourth hinge point 42 are both located at the first end of the second clamping member 40;

[0102] The first hinge 10 moves relative to the second hinge 20 to drive the first end of the second clamp 40 to move, so that the second end of the first clamp 30 and the second end of the second clamp 40 clamp the first material 71 together.

[0103] Specifically, when the clamping drive mechanism 50 drives the first hinge 10 to move toward the second hinge 20, the second hinge seat 21 is inserted into the clearance hole 12, and the fourth hinge point 42 moves upward with the first hinge 10; thereby driving the second end of the second clamp 40 to move in a direction away from the first clamp 30; thereby achieving the opening of the second clamp 40 and the first clamp 30.

[0104] When the clamping drive mechanism 50 drives the first hinge 10 to move away from the second hinge 20, the second hinge seat 21 gradually moves away from the clearance hole 12, and the fourth hinge point 42 moves downward with the first hinge 10; thereby driving the second end of the second clamping member 40 to move toward the first clamping member 30; thereby achieving the joint clamping of the first material 71 by the second clamping member 40 and the first clamping member 30; therefore, it has the advantages of simple and compact structure, smooth operation, and stable clamping.

[0105] In other embodiments, the second clamping member 40 may also be directly and fixedly connected to the first hinge member 10, and only the first clamping member 30 moves toward the second clamping member 40 to clamp the first material 71. No specific limitation is made herein.

[0106] Preferably, the first clamping member 30 includes:

[0107] A hinge portion 33, disposed at the first end of the first clamping member 30, and hingedly connected to the first hinge seat 11 and the second hinge seat 21 respectively;

[0108] A connecting arm 34, the first end of the connecting arm 34 is connected to the hinge portion 33, and the second end of the connecting arm 34 extends obliquely downward in a direction away from the second clamping member 40;

[0109] A clamping portion 35, the first end of the clamping portion 35 is connected to the second end of the connecting arm 34. It can be understood that the second clamping member 40 has the same structure as the first clamping member 30, which will not be described herein again. The number of the first hinge seat 11, the third hinge seat 13, the first clamping member 30 and the second clamping member 40 may be one or more, and no specific limitation is made herein. By the connecting arm 34, the distance between the clamping portion 35 of the first clamping member 30 and the clamping portion 35 of the second clamping member 40 is enlarged, so as to facilitate clamping of the material. Therefore, the blanking device has the advantages of simple and compact structure.

[0110] Preferably, the first clamping member 30 further includes:

[0111] A supporting portion 36, connected to the second end of the clamping portion 35, and forming an L-shaped structure with the clamping portion 35, so that when the first material 71 is clamped, the clamping portion 35 can abut against the side wall of the first material 71; the supporting portion 36 can abut against the bottom of the first material 71 to carry the first material 71. Therefore, the blanking device has the advantages of firm clamping and the like.

[0112] Preferably, the hinge portion 33 is provided with a first hinge hole (not shown in the figure) and a second hinge hole (not shown in the figure) arranged side by side, and the first hinge hole and the second hinge hole are respectively located at the first hinge point 31 and the second hinge point 32. The first clamping member 30 is hinged to the first hinge seat 11 through a hinge shaft 37 passing through the first hinge hole and hinged to the first hinge seat 11; the first clamping member 30 is hinged to the second hinge seat 21 through a hinge shaft 37 passing through the second hinge hole and hinged to the second hinge seat 21. Therefore, the blanking device has the advantages of simple and compact structure, convenient assembly and low manufacturing cost.

[0113] Preferably, a shaft elastic retaining ring 38 is also provided at the end of the hinge shaft 37 to prevent the hinge shaft 37 from falling off. Therefore, the unloading device has the advantages of simple and compact structure, stable and reliable connection, and easy assembly.

[0114] Preferably, the first hinge seat 11 and the third hinge seat 13 are detachably connected to the first hinge member 10, respectively, so as to facilitate replacement of the first hinge seat 11, the third hinge seat 13, the first clamping member 30 and the second clamping member 40 of different sizes according to different material sizes. Therefore, the unloading device has the advantages of convenient maintenance and assembly, strong compatibility, etc.

[0115] Preferably, the first hinged member 10 is provided with limiting grooves 14 respectively matched with the first hinge seat 11 and the third hinge seat 13, and the limiting grooves 14 are arranged on the side wall of the clearance hole 12, so as to facilitate the assembly of the first hinge seat 11 and the third hinge seat 13.

[0116] Preferably, a through hole (not shown) is provided on the second hinge 20, and the body 51 of the clamping drive mechanism 50 is provided on the side of the second hinge 20 facing away from the first hinge 10; the pushing rod 52 of the clamping drive mechanism 50 passes through the through hole and is connected to the first hinge 10. Therefore, the unloading device has the advantage of simple and compact structure.

[0117] Preferably, the feeding device further comprises:

[0118] The connecting seat 60 is respectively connected to the first clamping jaw 1b and the side of the second hinge 20 facing away from the first hinge 10, and is provided with a receiving groove 61 for receiving the clamping drive mechanism 50. Therefore, the feeding device has the advantages of simple and compact structure, stable structure, long service life, etc.

[0119] In this embodiment, the gripping drive mechanism 50 is a cylinder; in other embodiments, the gripping drive mechanism 50 may also be an electric push rod, which is not specifically limited here. It can be understood that the second manipulator 4 has the same structure as the first manipulator 3, and will not be described in detail here.

[0120] In summary, the present invention provides an automatic loading and unloading device; the automatic loading and unloading device includes: a frame 90 provided with a first bearing plate 90a; a discharging seat 91 disposed on the first bearing plate 90a; a bearing groove 91a for limiting a material box 91c and a discharging protrusion 91b for bearing the materials in the material box 91c are provided on the discharging seat 91, and the bearing plane of the discharging protrusion 91b is higher than the bottom of the bearing groove 91a; so that when the material box 91c is placed on the bearing groove 91a, the materials are separated from the material box 91c and stay on the discharging protrusion 91b; a blanking robot 92 is disposed on the first bearing plate 90a and on one side of the discharging seat 91; a conveying device 93 is connected to the frame 90 and disposed on one side of the first bearing plate 90a; the conveying device 93 is used for conveying a material box 93a; the blanking robot 92 places the materials on the discharging protrusion 91b into the material box 93a. Therefore, the automatic loading and unloading device provided by the present invention has the advantages of simple and compact structure and convenient blanking.

[0121] The above has introduced the automatic loading and unloading device provided by the present invention in detail. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification is only the implementation manner of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied to other related technical fields, is similarly included in the patent protection scope of the present invention. It should not be construed as a limitation of the present invention.

Claims

1. An automatic loading and unloading device, characterized in that, The automatic loading and unloading equipment comprises: The frame is provided with a first bearing plate; A discharge seat is arranged on the first carrying plate; the discharge seat is provided with a bearing groove for limiting the material frame and a discharge protrusion for carrying the material in the material frame, and the bearing plane of the discharge protrusion is higher than the groove bottom of the bearing groove, so that when the material frame is placed on the bearing groove, the material is separated from the material frame and stays on the discharge protrusion; A material unloading robot, arranged on the first carrying plate and located at one side of the unloading seat; A conveying device connected to the frame and arranged on one side of the first carrying plate; the conveying device is used to convey the material box; Placing the material on the unloading protrusion into the material box by the unloading robot; The frame is also provided with a second bearing plate stacked with the first bearing plate; The unloading robot comprises: A first linear module is provided with a first slide; the first linear module is arranged on the first bearing plate; A second linear module is arranged on the first slide, and a second slide is arranged on the second linear module; A lifting module is arranged on the second slide, and a third slide is arranged on the lifting module; A material unloading device, arranged on the third slide; A material level detection device, arranged on the material unloading device, for detecting the material height in the material box; A control device is electrically connected to the first linear module, the second linear module, the lifting module, the material discharge device and the material level detection device respectively; the control device controls the first linear module, the second linear module and the lifting module to drive the material discharge device to clamp the material and discharge the material to the material box according to the material height; The unloading device comprises: The variable pitch drive mechanism comprises a sliding guide rail, a first clamping jaw movably connected to the sliding guide rail, and a second clamping jaw movably connected to the sliding guide rail; the first clamping jaw and the second clamping jaw are arranged in opposite positions; A limiter connected to the variable-pitch drive mechanism, and used to limit the travel of the first clamping jaw in a direction away from the second clamping jaw; A first manipulator, connected to the first clamping claw, for clamping a first material; A second manipulator, connected to the second clamping claw, for clamping a second material; the first manipulator and the second manipulator are arranged side by side; The first manipulator and the second manipulator are driven to move by the variable pitch drive mechanism, so that the distance between the first manipulator and the second manipulator is changed, so that the distance between the first material and the second material can be changed when the unloading device unloads the material; The first manipulator comprises: The first hinged member is provided with a clearance hole; a first hinged seat is provided on a side wall in the clearance hole and extends toward the clearance hole; A second hinged member connected to the first clamping claw; the second hinged member is extended toward the clearance hole and is provided with a second hinged seat; A first clamping member, wherein the first hinge seat and the second hinge seat are hinged to the first clamping member at a first hinge point and a second hinge point respectively, and the first hinge point and the second hinge point are both located at a first end of the first clamping member; A second clamping member, connected to the first hinge member; A clamping drive mechanism, the first hinge member and the second hinge member are respectively connected to the clamping drive mechanism; by driving the first hinge member to move relative to the second hinge member through the clamping drive mechanism, the first end of the first clamping member is driven to move, so that the second end of the first clamping member and the second clamping member jointly clamp a first material; On the side wall of the relief hole facing the relief hole, a third hinge seat is further extended; the third hinge seat and the first hinge seat are arranged on opposite side walls of the relief hole at opposite positions; The second hinge seat and the third hinge seat are respectively hinged to the second clamping member at a third hinge point and a fourth hinge point, and both the third hinge point and the fourth hinge point are located at the first end of the second clamping member; By the relative movement of the first hinge member relative to the second hinge member, the first end of the second clamping member is driven to move, so that the second end of the first clamping member and the second end of the second clamping member jointly clamp a first material. The automatic loading and unloading device further includes:

2. The automatic loading and unloading device according to claim 1, characterized in that: A loading mechanism, arranged on the second carrier plate; the loading mechanism includes a loading fixture, a vibrating disk for conveying plastic packages, and a feeding device for feeding the plastic packages into the loading fixture one by one; the feeding device is located between the loading fixture and the vibrating disk.

3. The automatic loading and unloading device according to claim 1, characterized in that, The unloading robot further includes: A first guide rail, arranged side by side with the first linear module; A fourth slide table, movably connected to the first guide rail; the second linear module is mounted on the first slide table and the fourth slide table; the fourth slide table is connected between the two ends of the second linear module.

4. The automatic loading and unloading device according to claim 3, characterized in that, The unloading robot further includes: A protective housing, covering the unloading device, and at least part of the unloading device is located inside the protective housing.

5. The automatic loading and unloading device according to claim 1, wherein, The limiting member includes: A connecting plate, connected to the body of the variable pitch drive mechanism; An extension arm, the first end of the extension arm is connected to the connecting plate, and the second end of the extension arm extends to the side of the first jaw away from the second jaw; an adjustment screw hole is provided at the second end of the extension arm; A fine adjustment screw, passing through the adjustment screw hole and cooperating with the internal thread of the adjustment screw hole; the axial direction of the fine adjustment screw is parallel to the guide of the sliding guide rail and is arranged towards the first jaw.

6. The automatic loading and unloading device according to claim 1, wherein, The first clamping member includes: A hinge portion, arranged at the first end of the first clamping member, and respectively hinged to the first hinge seat and the second hinge seat; A connecting arm, the first end of the connecting arm is connected to the hinge portion, and the second end of the connecting arm extends obliquely downward in a direction away from the second clamping member; A clamping portion, the first end of the clamping portion is connected to the second end of the connecting arm.

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