A loading and unloading device and automatic loading method thereof

Abstract

The present invention discloses a loading and unloading device and an automatic loading method thereof, comprising a loading and unloading platform, the loading and unloading platform being provided with a hot plate stacking device provided on a first side, a hot plate transfer mechanism provided in the middle, and a hot plate fixture device provided on a second side, the hot plate stacking device being provided with a hot plate stacking bracket for stacking hot plates, the hot plate stacking bracket being provided with a plurality of hot plate stacking intervals at intervals along a longitudinal direction, each hot plate stacking interval having a hot plate stacking space along a vertical direction for stacking a plurality of hot plates; the hot plate fixture device being provided with a fixture lifting mechanism and a fixture mounting platform for mounting hot plate fixture fixtures, the fixture lifting mechanism being transmission-connected to the fixture mounting platform; the hot plate transfer mechanism being provided with a moving mechanism, a flipping mechanism installed on the moving mechanism, and a hot plate grabbing mechanism installed on the flipping mechanism. This loading and unloading device can eliminate manual loading and unloading, saving time and effort.

Description

Technical Field

[0001] The invention relates to the technical field of hardware processing equipment, and in particular to a loading and unloading device and an automatic loading method thereof. Background Art

[0002] During the hot plate processing, it is often necessary to transfer the hot plates for loading and unloading. Specifically, the hot plates are transferred one by one from the hot plate stack to the set carrier or processing jig for cleaning or electroplating or other processing; or, the hardware workpieces after processing are taken out from the carrier or processing jig and stacked neatly for the next processing preparation or packaging preparation. Because the hot plate is in the form of a sheet, it is difficult for ordinary manipulator equipment to clamp the hot plate for loading and unloading. Moreover, the hot plate needs to be installed in the carrier or processing jig at intervals and aligned. Therefore, in the prior art, the loading and unloading transfer of the hot plate is generally completed manually. When the hot plate is in normal conditions, the stacked hot plates or the hot plates installed in the carrier or processing jig are manually picked up and placed one by one. This loading and unloading method is very time-consuming and has high labor costs. Therefore, a device that can automatically load and unload sheet-like hardware workpieces such as hot plates is urgently needed to be developed. Summary of the invention

[0003] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a loading and unloading device and an automatic loading method thereof, which can quickly and automatically load and transfer thin plate workpieces such as hot plates, eliminate manual loading and unloading, save time and labor, and improve workshop production efficiency.

[0004] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a loading and unloading device, the loading and unloading device includes a loading and unloading platform, the loading and unloading platform is provided with a hot plate stacking device located on a first side, a hot plate transfer mechanism located in the middle and a hot plate fixture device located on a second side, the hot plate stacking device is provided with a hot plate stacking bracket for stacking hot plates, the hot plate stacking bracket is provided with a plurality of hot plate stacking intervals at intervals along the longitudinal direction, each hot plate stacking interval has a hot plate stacking space along the vertical direction for stacking a plurality of hot plates; the hot plate fixture device A tooling lifting mechanism and a fixture mounting platform for mounting hot plate tooling jigs are provided, the tooling lifting mechanism is connected to the fixture mounting platform in a transmission manner, a plurality of hot plate tooling areas are arranged at intervals along the longitudinal direction of the hot plate tooling jig, and a plurality of hot plate tooling positions are arranged at intervals along the vertical direction on each hot plate tooling area; the hot plate transfer mechanism is provided with a moving mechanism, a flipping mechanism installed on the moving mechanism, and a hot plate grabbing mechanism installed on the flipping mechanism, so as to take out the upper hot plate stacked on the hot plate stacking bracket, and insert or clamp it in the hot plate tooling position after flipping.

[0005] In a further technical solution, a hot plate stacking bracket includes a stacking bottom plate and a plurality of limiting vertical rods fixed to the stacking bottom plate. The hot plate stacking interval is formed by a plurality of limiting vertical rods distributed along the edge contour of the hot plate. The limiting vertical rods within the hot plate stacking interval surround and form a hot plate stacking space. When the hot plates are stacked, the number of hot plates stacked in each hot plate stacking space is the same, and the edges of each hot plate are respectively matched with the inner limit of the corresponding limiting vertical rod.

[0006] In a further technical solution, the hot plate stacking device is provided with a feeding and lifting mechanism, which includes a movable carrier and a carrier driving device which is transmission-connected to the movable carrier, the movable carrier is provided with a plurality of through holes, the movable carrier is movably sleeved on each limiting vertical rod through each through hole, the movable carrier and each limiting vertical rod slide up and down in cooperation, the hot plate stacks stacked in each hot plate stacking space are supported and cooperated with the top surface of the movable carrier; the top of each hot plate stacking space has a set loading height respectively, and during loading and unloading, the hot plate stacks stacked in each hot plate stacking space are supported by the movable carrier, and the hot plate located at the top of the hot plate stack is always at the loading height.

[0007] In a further technical solution, a jig mounting table is provided with a jig structure for positioning a hot plate jig. The hot plate jig is movably installed on the jig structure during loading and unloading. Each hot plate jig area of ​​the hot plate jig is laterally aligned with the hot plate stacking interval one by one to achieve loading and unloading coordination between the hot plate stacking interval and the hot plate jig area.

[0008] In a further technical solution, the hot plate tooling fixture includes a tooling basket, and each hot plate tooling area is arranged in the inner cavity of the tooling basket at intervals along the longitudinal direction. A front positioning rack is symmetrically arranged on both sides of each hot plate tooling area, and a rear positioning rack is arranged on the inner side. The front positioning rack has a plurality of front positioning tooth grooves. The tooth grooves of the two front positioning racks in the same hot plate tooling area are arranged in relative directions, and the rear positioning rack has a plurality of rear positioning tooth grooves. Each front positioning tooth groove is horizontally aligned with each rear positioning tooth groove one by one to form a hot plate tooling position. The front positioning tooth grooves and the rear positioning tooth grooves in the same hot plate tooling position cooperate to position the tooling hot plate.

[0009] In a further technical solution, each hot plate tooling position in each hot plate tooling area is longitudinally aligned one by one and forms tooling layers arranged at intervals along the vertical direction; the hot plate tooling device is provided with a set tooling height, and the tooling basket moves upward or downward under the drive of the fixture mounting table during loading and unloading, and each tooling layer of the tooling basket is aligned one by one from top to bottom or from bottom to top and positioned at the tooling height, so as to realize that each hot plate tooling position of each tooling layer can carry out hot plate tooling or hot plate unloading at the same time.

[0010] In a further technical solution, the moving mechanism includes linear servo drive devices symmetrically arranged on both sides of the loading and unloading platform, the two linear servo drive devices respectively have a linear servo base, the two linear servo bases perform synchronous reciprocating motion along the lateral direction of the loading and unloading platform, the flipping mechanism is respectively fixed to the two linear servo bases, and the linear servo drive device uses a servo electric cylinder or a servo cylinder.

[0011] In a further technical solution, the flipping mechanism includes a rotary drive device, a driving rotating rod, a rotary servo base and two light rod fixing seats, and the two light rod fixing seats are symmetrically fixed to two linear servo bases; the driving rotating rod is longitudinally assembled, and the two ends of the driving rotating rod are respectively installed on the corresponding light rod fixing seats, and the driving rotating rod is rotated around its axis; the rotary drive device is transmission-connected to the driving rotating rod; the rotary servo base is fixed at the middle position of the driving rotating rod, and the rotary servo base rotates clockwise or counterclockwise during loading and unloading.

[0012] In a further technical solution, the hot plate gripping mechanism includes a gripper lifting and lowering drive device and a horizontal plate installed on the gripper lifting and lowering drive device, the gripper lifting and lowering drive device is fixedly connected to the rotating servo base; a plurality of suction plates are extended to the horizontal plate, a negative pressure channel is opened inside the suction plate, a plurality of negative pressure suction holes are opened on the gripping surface of the suction plate, the negative pressure channel is connected to each negative pressure suction hole, a main negative pressure channel is opened inside the horizontal plate, the main negative pressure channel is connected to each negative pressure channel respectively, the loading and unloading device is equipped with a negative pressure source, the negative pressure source is connected to the main negative pressure channel, so as to realize the simultaneous grasping or releasing coordination of multiple suction plates of the same horizontal plate.

[0013] An automatic feeding method comprises the following steps:

[0014] 1) Stack thin plate-type hot plates neatly and position them respectively in a plurality of hot plate stacking sections spaced apart on the first side of the loading and unloading platform, and the stacking heights of the hot plates in each hot plate stacking section are the same.

[0015] 2) The suction plates arranged at each interval of the horizontal plate are respectively and simultaneously adsorbed and grasped on the topmost hot plate in each hot plate stacking interval.

[0016] 3) The gripping plate arm holding multiple hot plates is sucked and moved horizontally and / or rotated to transfer each hot plate to the second side of the loading and unloading platform, and cooperates with the hot plate tooling device for tooling loading. The hot plate tooling device has multiple hot plate tooling positions, and the hot plates gripped by each suction plate are simultaneously positioned in the corresponding hot plate tooling positions.

[0017] 4) After each hot plate fixture is positioned at the corresponding hot plate fixture position, each suction plate of the horizontal plate releases the corresponding hot plate at the same time to complete a single hot plate automatic loading work.

[0018] 5) Repeat steps 1 to 4 until all hot plates in each hot plate stacking interval have completed tooling loading from top to bottom.

[0019] After adopting the above structure, the advantages of the present invention compared with the prior art are: the present invention provides a loading and unloading device, which realizes automatic tooling loading and automatic stacking and unloading of thin plate hot plate material stacks through the coordinated cooperation of the movable hot plate transfer mechanism, the hot plate stacking device and the hot plate tooling device, eliminating manual loading and unloading operations, saving time and labor, improving enterprise production efficiency, and increasing enterprise profits. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0021] Figure 1 It is a structural schematic diagram of the present invention.

[0022] Figure 2 It is a schematic diagram of the operation of the hot plate stacking device of the present invention.

[0023] Figure 3 It is a schematic diagram of the action of the hot plate fixture device of the present invention.

[0024] Figure 4 It is a structural schematic diagram of the hot plate transfer mechanism of the present invention.

[0025] Figure 5 It is a structural schematic diagram of the horizontal plate of the present invention.

[0026] Figure 6 It is a schematic diagram of the action of the present invention when the arm is in the state of grabbing materials.

[0027] Figure 7 It is a schematic diagram of the action of the present invention when the arm is raised to hold the material.

[0028] Figure 8 It is a schematic diagram of the action of the present invention when it is in the process of holding and transferring materials.

[0029] Fig. 9 It is a schematic diagram of the action of the present invention when the material is held and turned over.

[0030] Fig.10 It is a schematic diagram of the action of the present invention when the arm tooling is ready.

[0031] Fig.11 It is a schematic diagram of the action of the present invention when the tooling is inserted.

[0032] Fig.12 It is a schematic diagram of the action of the present invention when the arm is lowered to discharge the material.

[0033] In the figure:

[0034] 1- Loading and unloading platform.

[0035] 2-hot plate transfer mechanism, 211-linear servo drive device, 212-linear servo base, 221-driving rotating rod, 222-light rod fixing seat, 223-rotating servo motor, 224-rotating servo base, 231-lifting and lowering driving cylinder, 232-lifting and lowering base, 24-cross plate, 241-suction plate, 242-sealing ring, 243-negative pressure suction hole, 24-silicone layer.

[0036] 3-hot plate stacking device, 31-stacking bottom plate, 32-movable carrier plate, 33-hot plate stacking interval, 330-hot plate stacking space, 331-limiting vertical rod.

[0037] 4-hot plate tooling device, 41-front positioning rack, 410-front positioning tooth groove, 42-rear positioning rack, 420-rear positioning tooth groove, 43-hot plate tooling area.

[0038] 5- Hot plate. DETAILED DESCRIPTION

[0039] The following are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention.

[0040] A loading and unloading device, such as Figures 1 to 5As shown, the loading and unloading device includes a loading and unloading platform 1, which is characterized in that: the loading and unloading platform 1 is provided with a hot plate stacking device 3 located on the first side, a hot plate transfer mechanism located in the middle and a hot plate fixture device 4 located on the second side, the hot plate stacking device 3 is provided with a hot plate stacking bracket for stacking hot plates, and the hot plate stacking bracket is provided with a plurality of hot plate stacking intervals 33 at intervals along the longitudinal direction, and each hot plate stacking interval 33 has a hot plate stacking space 330 along the vertical direction for stacking a plurality of hot plates; the hot plate fixture device 4 is provided with a fixture lifting A lowering mechanism and a fixture mounting platform for installing hot plate tooling jigs, the tooling lifting mechanism is transmission-connected to the fixture mounting platform, the hot plate tooling jigs are provided with a plurality of hot plate tooling areas 43 spaced apart along the longitudinal direction, and each hot plate tooling area 43 is spaced apart along the vertical direction with a plurality of hot plate tooling clamping positions; the hot plate transfer mechanism 2 is provided with a moving mechanism, a flipping mechanism installed on the moving mechanism, and a hot plate grabbing mechanism installed on the flipping mechanism, so as to take out the upper hot plate stacked on the hot plate stacking bracket, and insert or clamp it into the hot plate tooling clamping position after flipping. The hot plate transfer mechanism 2 includes one or two hot plate grippers for grabbing workpieces. The hot plate grippers are provided with gripping parts for grabbing the hot plates 5, the same number as the hot plate stacking intervals 33. The gripping parts move back and forth between the corresponding hot plate stacking intervals 33 and the hot plate tooling area 43. When loading, the gripping parts cooperate with the corresponding hot plate stacking intervals 33 to grab the hot plate 5 at the top through the hot plate stacking space 330 of the hot plate stacking interval 33, and the gripping parts holding the hot plate 5 are transferred to the corresponding hot plate tooling area 43. , and cooperate with this hot plate fixture area 43 for fixture loading, release the hot plate 5 to the set hot plate fixture position to complete fixture loading; when unloading, the gripping part cooperates with the corresponding hot plate fixture area 43 to grab the hot plate 5 in the set hot plate fixture position in this hot plate fixture area 43, grab the hot plate 5 holding the hot plate 5 and transfer it to the corresponding hot plate stacking section 33, and cooperate with this hot plate stacking section 33 for stacking unloading, release the hot plate 5 to the hot plate stacking space 330 of this hot plate stacking section 33 to complete stacking unloading. This loading and unloading device can automatically transfer the stacked thin plate materials to the corresponding hot plate fixture position of the fixture to realize automatic loading; it can also automatically transfer the processed thin plate materials in the fixture to the stacking fixture to realize automatic unloading. It eliminates the need for manual workpiece transfer, saves time and effort, improves enterprise production efficiency, and increases enterprise revenue.

[0041] Specifically, the hot plate stacking bracket includes a stacking bottom plate 31 and a plurality of limiting vertical rods 331 fixed to the stacking bottom plate 31. The hot plate stacking interval 33 is formed by a plurality of limiting vertical rods 331 distributed along the edge contour of the hot plate. The respective limiting vertical rods 331 in the hot plate stacking interval 33 surround and form a hot plate stacking space 330. When the hot plates are stacked, the number of hot plates stacked in each hot plate stacking space 330 is the same, and the edges of each hot plate are respectively matched with the inner side limiting rods 331.

[0042] Specifically, the hot plate stacking device 3 is provided with a feeding and lifting mechanism, which includes a movable carrier plate 32 and a carrier plate driving device which is transmission-connected to the movable carrier plate 32, the movable carrier plate 32 is provided with a plurality of through holes, the movable carrier plate 32 is movably sleeved on each limiting vertical rod 331 through each through hole, the movable carrier plate 32 and each limiting vertical rod 331 slide up and down in cooperation, the hot plate stacks stacked in each hot plate stacking space 330 are supported and cooperated with the top surface of the movable carrier plate 32; the top of each hot plate stacking space 330 has a set loading height respectively, during loading and unloading, the hot plate stacks stacked in each hot plate stacking space 330 are supported by the movable carrier plate 32, and the hot plate located at the top of the hot plate stack is always at the loading height.

[0043] Specifically, the jig mounting table is provided with a jig structure for positioning the hot plate jig. The hot plate jig is movably installed on the jig structure during loading and unloading. Each hot plate jig area 43 of the hot plate jig is laterally aligned with the hot plate stacking interval 33 one by one to achieve loading and unloading coordination between the hot plate stacking interval 33 and the hot plate jig area 43.

[0044] Specifically, the hot plate tooling fixture includes a tooling basket, and each hot plate tooling area 43 is respectively arranged in the inner cavity of the tooling basket at intervals along the longitudinal direction. A front positioning rack 41 is symmetrically arranged on both sides of each hot plate tooling area 43, and a rear positioning rack 42 is arranged on the inner side. The front positioning rack 41 has a plurality of front positioning tooth grooves 410. The tooth grooves of the two front positioning racks 41 in the same hot plate tooling area 43 are arranged in opposite directions. The rear positioning rack 42 has a plurality of rear positioning tooth grooves 420. Each front positioning tooth groove 410 is horizontally aligned with each rear positioning tooth groove 420 one by one to form a hot plate tooling position. The front positioning tooth grooves 410 and the rear positioning tooth grooves 420 in the same hot plate tooling position cooperate to position the tooling hot plate. This hot plate tooling clamping position composed of the front positioning tooth groove 410 and the rear positioning tooth groove 420 can realize the horizontal insertion of the hot plate material into the tooling. After the grabbing part drives the hot plate material to be horizontally inserted into the hot plate tooling clamping position, it can be detached from the hot plate material in the downward reverse direction to avoid accidental collision with the hot plate material and affect the tooling state of the hot plate material.

[0045] Specifically, the tooth grooves of the positioning tooth grooves 410 and the rear positioning tooth grooves 420 are both triangular in shape, and the working state of the tooling basket is to open upward. Each workpiece can be clamped at the bottom corner of the rear positioning tooth groove 420 under the action of gravity. This tooling structure has the advantages of stability, reliability, fast replacement and no damage to the workpiece.

[0046] Specifically, each hot plate tooling position of each hot plate tooling area 43 is longitudinally aligned one by one and forms tooling layers spaced apart in the vertical direction; the hot plate tooling device 4 is provided with a set tooling height, and the tooling basket moves upward or downward driven by the fixture mounting table during loading and unloading, and each tooling layer of the tooling basket is aligned one by one from top to bottom or from bottom to top and positioned at the tooling height, so as to realize that each hot plate tooling position of each tooling layer can carry out hot plate tooling or hot plate unloading at the same time.

[0047] Specifically, the moving mechanism includes linear servo drive devices 211 symmetrically arranged on both sides of the loading and unloading platform 1. The two linear servo drive devices 211 respectively have a linear servo base 212. The two linear servo bases 212 perform synchronous reciprocating motion along the lateral direction of the loading and unloading platform 1. The flipping mechanism is respectively fixed to the two linear servo bases 212. The linear servo drive device 211 uses a servo electric cylinder or a servo cylinder.

[0048] Specifically, the flipping mechanism includes a rotary drive device, a driving rod 221, a rotary servo base 224 and two light rod fixing seats 222, and the two light rod fixing seats 222 are symmetrically fixed to the two linear servo bases 212 respectively; the driving rod 221 is longitudinally assembled, and the two ends of the driving rod 221 are respectively installed on the corresponding light rod fixing seats 222, and the driving rod 221 is rotatably arranged around its axis; the rotary drive device is transmission-connected to the driving rod 221; the rotary servo base 224 is fixed at the middle position of the driving rod 221, and the rotary servo base 224 rotates clockwise or counterclockwise during loading and unloading.

[0049] Specifically, a horizontal plate 24 is installed on both sides of the rotating servo base 224, and the two horizontal plates 24 are respectively provided with a relative front working position and a rear working position, and the working positions of the two horizontal plates 24 are respectively rotated and exchanged around the driving rotating rod 221. When the horizontal plate 24 is in the front working position, the horizontal plate 24 rotates around the driving rotating rod 221 to the side close to the hot plate stacking fixture device 3, and cooperates with the hot plate stacking fixture device 3 to grab materials or stack and unload materials; when the horizontal plate 24 is in the rear working position, the horizontal plate 24 rotates around the driving rotating rod 221 to the side close to the hot plate tooling fixture device 4, and cooperates with the hot plate tooling fixture device 4 to grab materials or tooling and loading materials. This double-sided horizontal plate flipping structure can eliminate the reset stroke, shorten the loading and unloading cycle, and improve the loading and unloading efficiency.

[0050] Specifically, the hot plate grabbing mechanism includes a gripper lifting and lowering drive device and a horizontal plate 24 installed on the gripper lifting and lowering drive device, the gripper lifting and lowering drive device is fixed to the rotating servo base 224; the horizontal plate 24 is extended with a plurality of suction plates 241, the suction plates 241 are provided with a negative pressure channel inside, the gripping surface of the suction plates 241 is provided with a plurality of negative pressure suction holes 243, the negative pressure channel is connected to each negative pressure suction hole 243, the horizontal plate 24 is provided with a main negative pressure channel inside, the main negative pressure channel is connected to each negative pressure channel respectively, the loading and unloading device is equipped with a negative pressure source, the negative pressure source is connected to the main negative pressure channel, so as to realize that the multiple suction plates 241 of the same horizontal plate 24 can simultaneously grasp or release materials. Of course, the suction plate 241 can also be an electromagnetic material grabbing structure, the electromagnetic material grabbing structure includes an electromagnet and an electromagnet control circuit respectively used for electromagnetic adsorption of hot plate materials, and the electromagnets of each material grabbing part are connected to this electromagnet control circuit, so as to realize that the horizontal plate 24 can grasp and release multiple hot plate materials at the same time. By controlling the start or stop of the electromagnets of each material grabbing part, the hot plate material with metallic properties can be grasped and released.

[0051] Specifically, a lifting and lowering driving cylinder 231 facing opposite directions is respectively provided on both sides of the rotating servo base 224, and the two lifting and lowering driving cylinders 231 are respectively provided with a lifting and lowering piston push rod, and the end of the lifting and lowering piston push rod is fixedly connected to a lifting and lowering base 232, and a horizontal plate 24 is respectively fixed to the lifting and lowering base 232, and the horizontal plate 24 is provided with a grabbing surface, and the grabbing surface is provided with multiple grabbing parts, and the grabbing surface of the horizontal plate 24 faces the corresponding lifting and lowering driving cylinder 231; when the horizontal plate 24 cooperates with the hot plate stacking fixture device 3 for grabbing or stacking and unloading, the grabbing surface of the horizontal plate 24 faces downward; when the horizontal plate 24 cooperates with the hot plate tooling device 4 for grabbing or tooling loading, the grabbing surface of the horizontal plate 24 faces upward.

[0052] Specifically, the top surface and / or the bottom surface of each suction plate 241 are respectively provided with a material grabbing portion, and the material grabbing portion includes a negative pressure material grabbing structure, and the negative pressure material grabbing structure includes a sealing ring 242 fixed to the top surface and / or the bottom surface of the suction plate 241 and a negative pressure suction hole 243 opened in the sealing ring 242. Each negative pressure suction hole 243 of the same horizontal plate 24 is respectively connected to a negative pressure exhaust device; when grasping the hot plate material, each suction plate 241 and each sealing ring 242 are respectively pressed against the corresponding hot plate material. The negative pressure suction device sucks air through each negative pressure suction hole 243, and each sealing ring 242 and the corresponding hot plate material gripping surface respectively form a sealed space to form a negative pressure at the same time, so that multiple suction plates 241 can simultaneously grip the hot plate material with negative pressure; when the tooling is loading or stacking, the negative pressure suction device stops sucking air, and each sealing ring 242 and the corresponding hot plate material gripping surface form a sealed space and communicate with the atmosphere at the same time, so that each suction plate 241 can release the hot plate material at the same time. This transverse plate 24 with a negative pressure gripping structure is selected according to the shape of the workpiece, and a transverse plate 24 with a gripping part of a matching shape is selected according to the workpiece of different shapes, wherein the closed shape of the sealing ring 242 of the gripping part matches the workpiece, and the sealing ring 242 has a contoured closed shape, which can form as large a negative pressure space as possible with the workpiece surface, improve the gripping force, and further improve the gripping stability.

[0053] Specifically, the adsorption surface of each suction plate 241 is provided with a silicone layer 244 to improve the stability of the workpiece gripping structure. Since the silicone layer 244 is soft and elastic, it can also avoid scratching the outer surface of the workpiece.

[0054] The horizontal, longitudinal and vertical directions in this application document are respectively Figure 1 The coordinate system in is the direction reference, the X-axis direction is the horizontal direction, the Y-axis direction is the longitudinal direction, and the Z-axis direction is the vertical direction.

[0055] This embodiment also provides a hot plate loading method, which needs to be implemented by the above-mentioned loading and unloading device, and includes the following steps:

[0056] 1) Stack the thin plate-type hot plates 5 neatly and position them in a plurality of hot plate stacking sections 33 spaced apart on the first side of the loading and unloading platform 1, respectively. The stacking heights of the hot plates 5 in each hot plate stacking section 33 are the same;

[0057] 2) The material grabbing parts arranged at intervals of the hot plate grabber are respectively and simultaneously adsorbed and grabbed on the top hot plate 5 in each hot plate stacking interval 33;

[0058] 3) Adsorb and grasp the horizontal plate 24 holding multiple hot plates 5 to perform horizontal movement and / or rotational movement, transfer each hot plate 5 to the second side of the loading and unloading platform 1, and cooperate with the hot plate fixture device 4 for fixture loading. The hot plate fixture device 4 has multiple hot plate fixture positions arranged at intervals in the horizontal direction, and the hot plates 5 grasped by each gripping part are simultaneously fixtured and positioned at the corresponding hot plate fixture positions;

[0059] 4) After each hot plate 5 fixture is positioned at the corresponding hot plate fixture position, each gripping part of the hot plate gripper releases the corresponding hot plate 5 at the same time to complete a single hot plate automatic loading work.

[0060] The specific loading action steps of the loading and unloading device are as follows:

[0061] 1. Drop arm to grab the material, such as Figure 6 As shown, the unloaded horizontal plate 24, driven by the lifting and lowering driving cylinder 231, falls down and abuts against the top surface of the topmost hot plate 5, and the material grabbing part performs electromagnetic adsorption or negative pressure adsorption of the hot plate 5 to complete the material removal.

[0062] 2. Raise the arm to hold the material, such as Figure 7 As shown, the horizontal plate 24 holding the hot plate 5 moves upward to avoid the hot plate stacking fixture device 3 under the driving action of the lifting and lowering driving cylinder 231.

[0063] 3. Material transfer, such as Figure 8 As shown, the transverse plate 24 holding the hot plate 5 moves toward the second side of the loading and unloading platform 1 under the driving action of the linear servo drive device 211 .

[0064] 4. Hold the material and turn it over, such as Fig. 9 As shown, when the horizontal plate 24 holding the hot plate 5 moves to the middle position or reaches the hot plate fixture device 4, the horizontal plate 24 and the hot plate 5 are turned over to the second side of the loading and unloading platform 1 under the driving action of the rotary servo motor 223, and the hot plate 5 and the horizontal plate 24 are in a lifting and grabbing state. (The unloaded horizontal plate 24 on the other side is turned over to the first side of the loading and unloading platform 1 to prepare for taking materials)

[0065] 5. Preparation of arm tooling, such as Fig.10 As shown, the horizontal plate 24 holding the hot plate 5 moves upward to the tooling insertion height under the driving action of the lifting and lowering driving cylinder 231 to complete the tooling preparation.

[0066] 6. Tooling insertion, such as Fig.11 As shown, the transverse plate 24 holding the hot plate 5 continues to move toward the hot plate fixture device 4 under the driving action of the linear servo drive device 211, so as to insert the hot plate 5 fixture into the corresponding hot plate fixture position.

[0067] 7. Drop the arm to discharge the material, such as Fig.12As shown, after the hot plate 5 is fully inserted into the hot plate fixture position, the gripping portion releases the hot plate 5, and the cross plate 24 falls and separates from the hot plate 5 under the driving action of the lifting and lowering driving cylinder 231 to complete the fixture loading.

[0068] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there will be changes in the specific implementation methods and application scopes. The content of this specification should not be understood as limiting the present invention.

Claims

1. A loading and unloading device, comprising a loading and unloading platform (1), characterized in that: The loading and unloading platform (1) is provided with a hot plate stacking device (3) located on a first side, a hot plate transfer mechanism located in the middle, and a hot plate tooling device (4) located on a second side. The hot plate stacking device (3) is provided with a hot plate stacking bracket for stacking hot plates, the hot plate stacking bracket being provided with a plurality of hot plate stacking sections (33) at intervals along the longitudinal direction, each hot plate stacking section (33) having a hot plate stacking space (330) along the vertical direction for stacking a plurality of hot plates (5); The hot plate fixture device (4) is provided with a fixture lifting mechanism and a fixture mounting platform for mounting a hot plate fixture fixture, the fixture lifting mechanism is connected to the fixture mounting platform in a transmission manner, the hot plate fixture fixture is provided with a plurality of hot plate fixture areas (43) at intervals along the longitudinal direction, and each hot plate fixture area (43) is provided with a plurality of hot plate fixture clamping positions at intervals along the vertical direction; The hot plate transfer mechanism (2) is provided with a moving mechanism, a flipping mechanism installed on the moving mechanism, and a hot plate grabbing mechanism installed on the flipping mechanism, so as to realize taking out the upper hot plate stacked on the hot plate stacking bracket, and inserting or clamping it into the hot plate fixture clamping position after flipping; The moving mechanism comprises linear servo drive devices (211) symmetrically arranged on both sides of the loading and unloading platform (1), the two linear servo drive devices (211) respectively having a linear servo base (212), the two linear servo bases (212) performing synchronous reciprocating motion in a lateral direction of the loading and unloading platform (1), and the turning mechanism is respectively fixed to the two linear servo bases (212). The linear servo drive device (211) uses a servo electric cylinder or a servo air cylinder; The turning mechanism comprises a rotation driving device, a driving rotating rod (221), a rotation servo base (224) and two polished rod fixing seats (222). The two polished rod fixing seats (222) are symmetrically fixed to the two linear servo bases (212), respectively; the driving rotating rod (221) is longitudinally assembled, and the two ends of the driving rotating rod (221) are respectively installed on the corresponding polished rod fixing seats (222), and the driving rotating rod (221) is rotatably arranged around its axis; the rotating driving device is transmission-connected to the driving rotating rod (221); the rotating servo base (224) is fixed at the middle position of the driving rotating rod (221), and the rotating servo base (224) rotates clockwise or counterclockwise during loading and unloading; The hot plate gripping mechanism comprises a gripper lifting and lowering drive device and a horizontal plate (24) mounted on the gripper lifting and lowering drive device, wherein the gripper lifting and lowering drive device is fixedly connected to a rotating servo base (224); the horizontal plate (24) is extended with a plurality of suction plates (241), a negative pressure channel is provided inside the suction plate (241), a plurality of negative pressure suction holes (243) are provided on the gripping surface of the suction plate (241), the negative pressure channel is connected to each negative pressure suction hole (243), a main negative pressure channel is provided inside the horizontal plate (24), the main negative pressure channel is connected to each negative pressure channel respectively, and a negative pressure source is provided in the loading and unloading device, the negative pressure source is connected to the main negative pressure channel, so that the plurality of suction plates (241) of the same horizontal plate (24) can simultaneously perform material gripping or material discharge coordination.

2. A loading and unloading device according to claim 1, characterized in that: The hot plate stacking bracket comprises a stacking bottom plate (31) and a plurality of limiting vertical rods (331) fixed to the stacking bottom plate (31); the hot plate stacking section (33) is formed by the plurality of limiting vertical rods (331) being distributed and arranged along the edge contour of the hot plate (5); the limiting vertical rods (331) in the hot plate stacking section (33) surround and form the hot plate stacking space (330); when the hot plates are stacked, the number of hot plates stacked in each hot plate stacking space (330) is the same, and the edge of each hot plate is respectively matched with the inner side limiting rod (331) of the corresponding limiting vertical rod (331).

3. A loading and unloading device according to claim 2, characterized in that: The hot plate stacking device (3) is provided with a feeding lifting mechanism, which comprises a movable carrier plate (32) and a carrier plate driving device which is connected to the movable carrier plate (32) in a transmission manner, the movable carrier plate (32) is provided with a plurality of through holes, the movable carrier plate (32) is movably sleeved on each of the limiting vertical rods (331) through each of the through holes, the movable carrier plate (32) and each of the limiting vertical rods (331) are slidably matched up and down, and the hot plate stacks stacked in each of the hot plate stacking spaces (330) are supported and matched with the top surface of the movable carrier plate (32); The top of each of the hot plate stacking spaces (330) has a set loading height. During loading and unloading, the hot plate stacks stacked in each of the hot plate stacking spaces (330) are supported by the movable carrier plate (32), and the hot plate at the top of the hot plate stack is always at the loading height.

4. A loading and unloading device according to claim 1, characterized in that: The jig mounting table is provided with a jig fixture structure for positioning the hot plate jig fixture. The hot plate jig fixture is movably mounted on the jig fixture structure during loading and unloading. The hot plate jig fixture areas (43) are laterally aligned with the hot plate stacking sections (33) one by one, respectively, to achieve loading and unloading coordination between the hot plate stacking sections (33) and the hot plate jig fixture areas (43).

5. A loading and unloading device according to claim 4, characterized in that: The hot plate tooling fixture comprises a tooling basket, each hot plate tooling area (43) is arranged at intervals in the inner cavity of the tooling basket along the longitudinal direction, each hot plate tooling area (43) is symmetrically provided with a front positioning rack (41) on both sides, and a rear positioning rack (42) is provided on the inner side, the front positioning rack (41) is provided with a plurality of front positioning tooth grooves (410), the tooth grooves of two front positioning racks (41) in the same hot plate tooling area (43) are arranged in opposite directions, the rear positioning rack (42) is provided with a plurality of rear positioning tooth grooves (420), each front positioning tooth groove (410) is horizontally aligned with each rear positioning tooth groove (420) to form the hot plate tooling clamping position, and the front positioning tooth grooves (410) and the rear positioning tooth grooves (420) in the same hot plate tooling clamping position cooperate with the clamping tooling hot plate.

6. A loading and unloading device according to claim 5, characterized in that: The hot plate tooling positions of each hot plate tooling area (43) are aligned one by one in the longitudinal direction and form tooling layers spaced apart in the vertical direction; the hot plate tooling device (4) is provided with a set tooling height, and when loading and unloading, the tooling basket moves upward or downward under the drive of the fixture mounting table, and the tooling layers of the tooling basket are aligned one by one from top to bottom or from bottom to top and positioned at the tooling height, so that the hot plate tooling positions of each tooling layer can coordinate with each other in loading and unloading at the same time.

7. An automatic loading method, using a loading and unloading device according to any one of claims 1 to 6 for automatic loading, characterized in that: The following steps are included: 1) stacking thin plate-type hot plates (5) neatly and positioning them respectively in a plurality of hot plate stacking sections (33) arranged at intervals on a first side of a loading and unloading platform (1), wherein the stacking heights of the hot plates (5) in each hot plate stacking section (33) are the same; 2) The topmost hot plate (5) in each hot plate stacking interval (33) is simultaneously sucked and grasped by the suction plates (241) arranged at intervals of the horizontal plate (24); 3) The gripping plate arm holding the plurality of hot plates (5) is sucked and gripped to perform lateral and rotational movements, and each hot plate (5) is transferred to the second side of the loading and unloading platform (1), and is coordinated with the hot plate fixture device (4) for fixture loading. The hot plate fixture device (4) has a plurality of hot plate fixture positions, and the hot plates (5) gripped by each suction plate (241) are simultaneously fixtured and positioned at the corresponding hot plate fixture position; 4) After each hot plate (5) fixture is positioned at the corresponding hot plate fixture clamping position, each suction plate (241) of the horizontal plate (24) releases the corresponding hot plate (5) at the same time to complete a single hot plate automatic loading operation; 5) Repeat steps 1 to 4 until all the hot plates (5) in each hot plate stacking interval (33) have been loaded with tools in sequence from top to bottom.

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