A shiftable reciprocating double loading and unloading device

Abstract

The present invention discloses a shiftable reciprocating double loading and unloading device. The shiftable reciprocating double loading and unloading device includes a gantry, a shifting vehicle, two upper layer trolleys, two lower layer trolleys and a second driving part; the shifting vehicle rolls transversely along the first track beam of the gantry and alternately enters above two storage bins; the two upper layer trolleys are arranged transversely opposite to each other and are respectively rollingly connected to one of the two trolley track beams of the shifting vehicle; the two lower layer trolleys are arranged transversely opposite to each other and are respectively rollingly connected to the other of the two trolley track beams; the upper layer section of the first synchronous belt of the second driving part fixes the upper layer trolleys and the lower layer section fixes the lower layer trolleys. When the first synchronous belt runs, the two upper layer trolleys and the two lower layer trolleys alternately enter above the production stations and above the storage bins; a plurality of lifting and material taking parts are connected below the upper layer trolleys and the lower layer trolleys. The present invention has the effects of fast material loading and unloading speed and fast production speed.

Description

Technical Field

[0001] The present invention relates to a loading and unloading device for plate-shaped materials, and particularly to a displaceable reciprocating double loading and unloading device. Background Art

[0002] At present, with the rapid development of automated production lines, the production line speed needs to be continuously increased. An important key point affecting the improvement of production speed is the operating speed of the loading and unloading equipment on the production line. Currently, when traditional loading and unloading equipment picks and places materials each time, it fixes the material at the picking position, moves to the placing position to release the material, and then returns empty to the picking position. There is an empty travel during each picking process in this process, and the loading and unloading speed is slow. Materials are crowded in the loading area and the unloading area. Therefore, the operating speed of the production line has to be reduced, which seriously affects the use efficiency of the production line. Summary of the Invention

[0003] To solve one or more of the above problems, the present invention provides a displaceable reciprocating double loading and unloading device.

[0004] According to one aspect of the present invention, the displaceable reciprocating double loading and unloading device includes a gantry, a displacement vehicle, a first driving part, two upper-layer trolleys, two lower-layer trolleys, a second driving part, and a plurality of lifting and picking parts; one end of the feeding end or the discharging end of the production line is a production station, and a storage device is symmetrically arranged on each of the two lateral sides at the transverse ends of the production station.

[0005] The gantry is a rectangular three-dimensional frame structure, and two first track beams of the gantry are perpendicular to the running direction of the production line and span three stations transversely.

[0006] The displacement vehicle rolls transversely along the first track beam, and a set of two laterally arranged trolley track beams are respectively installed on both sides of the displacement frame of the displacement vehicle.

[0007] The strokes of two transverse moving cylinders of the first driving part are equal to the center transverse distance between two stations. The cylinders of the two transverse moving cylinders are transversely fixed in the center of the displacement frame, and the piston rod ends of the two transverse moving cylinders are respectively connected to the upper beam at one end of the gantry. After compressed air is input into the transverse moving cylinders, the displacement vehicle reciprocates transversely along the first track beam by the center transverse distance, so that the displacement vehicle alternately enters above the two storage devices, and the picking station and the waiting station are switched.

[0008] The two upper-layer trolleys are arranged transversely opposite to each other and are respectively connected by rolling to one of the two of a set of trolley track beams; the two lower-layer trolleys are arranged transversely opposite to each other and are respectively connected by rolling to the other of the two of a set of trolley track beams.

[0009] The second driving part includes two first synchronous belts that reciprocate in opposite directions. At the same position on the upper layer sections of the two first synchronous belts, an upper trolley is fixed respectively, and at the same position on the lower layer sections, a lower trolley is fixed respectively. The horizontal distance between the centers of the upper trolley and the lower trolley is equal to the horizontal distance between the centers of the two workstations. When the two upper trolleys are above the production workstations, at the same time the two lower trolleys enter above the material taking workstation. When the first synchronous belts are running, the upper layer sections and the lower layer sections of the first synchronous belts drive the upper trolleys and the lower trolleys to run horizontally at the same speed and in opposite directions respectively. The first synchronous belts reciprocate the horizontal distance between the centers of the two workstations, so that the two upper trolleys and the two lower trolleys alternately enter above the production workstation and above the material taking workstation.

[0010] A number of lifting and material taking parts are connected under both the upper trolley and the lower trolley. The lifting and material taking parts can move downward to fix and grab or release materials.

[0011] In some embodiments, each group of two trolley track beams are respectively an outer beam and an inner beam with a set distance therebetween. The outer beam and the first track beam are the same beam, that is, a common beam. The two ends of the common beam are respectively perpendicular to the middle part of the supporting gantry, forming a three-dimensional rectangular gantry frame. The transfer vehicle rolls horizontally along the common beam.

[0012] Each group of inner beams is installed in the middle of the transfer frame. The two upper trolleys are arranged transversely opposite to each other and are respectively rollingly connected to the common beam or the inner beam of the two trolley track beams in each group; the two lower trolleys are arranged transversely opposite to each other and are respectively rollingly connected to the other one of the two trolley track beams in each group.

[0013] In some embodiments, the displaceable reciprocating double loading and unloading device includes a gantry, a transfer vehicle, a first driving part, an upper trolley, two lower trolleys, a second driving part and a number of lifting and material taking parts; there are two production workstations at the feeding end or the discharging end of the production line, and a storage device is respectively arranged on one side of each production workstation.

[0014] The gantry is a rectangular three-dimensional frame structure. The two first track beams of the gantry are parallel to the running direction of the production line and longitudinally span four workstations.

[0015] The transfer vehicle rolls longitudinally along the first track beam. On both sides of the transfer frame of the transfer vehicle, a group of two transversely arranged trolley track beams are installed respectively.

[0016] The first driving part includes a second driving wheel, a second driven wheel and two longitudinally arranged second synchronous belts. The two second driving wheels and the two second driven wheels are respectively installed on the upper beam of the gantry. Each second driving wheel and a second driven wheel are linearly corresponding. Both ends of each second synchronous belt respectively bypass a second driving wheel and its linearly corresponding second driven wheel. The two second synchronous belts are respectively fixed on both sides of the shifting frame. When the second driving motor operates, the shifting vehicle can longitudinally move along the first track beam by the central longitudinal distance between two production stations;

[0017] The two upper-layer trolleys are longitudinally arranged opposite to each other and are respectively rollingly connected to one of the two in each group of trolley track beams; the two lower-layer trolleys are longitudinally arranged opposite to each other and are respectively rollingly connected to the other one of the two in each group of trolley track beams;

[0018] The second driving part includes two first synchronous belts that reciprocate in a positive and negative alternating manner. At the same position of the upper-layer sections of the two first synchronous belts, an upper-layer trolley is respectively fixed, and at the same position of the lower-layer sections, a lower-layer trolley is respectively fixed. The central lateral distance between the upper-layer trolley and the lower-layer trolley is equal to the central lateral distance between two stations. When the two upper-layer trolleys are located above the production stations, at the same time the two lower-layer trolleys enter above the material taking stations; when the first synchronous belts operate, the upper-layer sections and the lower-layer sections of the first synchronous belts respectively drive the upper-layer trolleys and the lower-layer trolleys to horizontally move at the same speed and in opposite directions. The first synchronous belts reciprocate by the central lateral distance between two stations, so that the two upper-layer trolleys and the two lower-layer trolleys alternately enter above the production stations and above the material taking stations;

[0019] A plurality of lifting and material taking parts are connected under both the upper-layer trolley and the lower-layer trolley. The lifting and material taking parts can move downward to fix, grab or release materials.

[0020] In some embodiments, the first driving part further includes a second driving motor, a second driving shaft, a second driven shaft and a second support. Both ends of the two upper beams are connected to the second support, and the second driving motor is fixed in the middle of one of the upper beams; the middle of the second driving shaft is drivingly connected to the second driving motor, both ends of the second driving shaft are respectively rotatably installed on the two second supports, one second driven shaft is respectively installed on the other two second supports, and the two second driven wheels are respectively sleeved on one second driven shaft. The second driving shaft is parallel to the two second driven shafts, and both are parallel to the trolley track beam. The two second synchronous belts respectively bypass the two second driving wheels and the two second driven wheels upward from above, and then the two ends of the two second synchronous belts are respectively connected to four traction supports installed on the longitudinal support beams at both ends of the shifting frame, and the two second synchronous belts respectively form closed loops.

[0021] In some embodiments, the transfer vehicle includes a transfer frame, four sets of first rollers, and four trolley track beams. The four sets of first rollers are symmetrically installed under the four corners of the transfer frame. The axes of the four sets of first rollers are perpendicular to the trolley track beams. Two sets of first rollers on each side are placed on one first track beam and can roll laterally along the first track beam.

[0022] In some embodiments, the cross-sectional structure of the first track beam is a square steel pipe, which is placed vertically in a 45°-rotated diamond shape. The first rollers of the transfer vehicle are a pair of rollers placed at an angle of 45°.

[0023] In some embodiments, the second driving part includes a first driving motor, a first driving shaft, a first driving wheel, a first synchronous belt, a first driven wheel, a first driven shaft, and a first support. The first driving motor placed in the middle and two first synchronous belts are sleeved on the first driving shaft. First supports are respectively installed at both ends of the first driving shaft. Both the first driving motor and the first supports are installed on the longitudinal beam on one side of the transfer frame. One of the two first driven wheels is sleeved on each first driven shaft. A first support is installed at each end of each first driven shaft and is installed on the longitudinal beam on the other side of the transfer frame. The first driving shaft is parallel to the two first driven shafts and is perpendicular to the trolley track beams. The two first driving wheels are respectively in a straight line corresponding to a first driven wheel. The two first synchronous belts respectively bypass the two first driving wheels and the first driven wheels from above.

[0024] When the first driving motor drives and operates, it will drive the upper trolley and the lower trolley to move horizontally at the same speed and in the opposite direction through the upper section and the lower section of the first synchronous belt, so as to realize the reciprocating movement function of the two trolleys.

[0025] In some embodiments, the upper trolley includes a trolley frame, two sets of trolley rollers, and a traction bracket. Two sets of trolley rollers are respectively connected to both ends of the trolley frame. A traction bracket is installed above one end of the trolley frame. The traction bracket is connected to the upper section of the first synchronous belt.

[0026] The lower trolley and the upper trolley have the same composition and basically the same structure. The only difference is that a traction bracket is installed below one end of the trolley frame of the lower trolley, and the traction bracket is connected to the lower section of the first synchronous belt.

[0027] In some embodiments, the trolley rollers are placed on the corresponding trolley track beams, so that the upper trolley and the lower trolley move horizontally along the trolley track beams.

[0028] The lifting and material-taking part includes vertical tracks, lifting cylinders, lifting brackets, and material-taking devices. Two vertical tracks are symmetrically and vertically installed below each end of each small carriage frame. Linear sliders are slidably engaged with the vertical tracks and are connected to both sides of the lifting brackets. A lifting cylinder is vertically placed between the two vertical tracks. The end of the cylinder barrel of the lifting cylinder is connected to the lower part of the small carriage frame, and the end of the piston rod of the lifting cylinder is connected to the lifting bracket. Several material-taking devices are connected below the lifting bracket. The material-taking device can be a suction cup. After compressed air is input into the lifting cylinder, the lifting bracket can move up and down, and the material-taking device sucks the upper surface of the material.

[0029] In some embodiments, the small carriage track beam is a square steel pipe and is placed vertically in a diamond shape after being rotated 45°.

[0030] The inner cavity of each small carriage frame is larger than the size of the square pipe of the small carriage track beam. The inner cavity of the small carriage frame sleeves the small carriage track beam. Wheel seats are welded to the four side surfaces at both ends of the small carriage frame. A small carriage roller is installed on each wheel seat. At the relative positions below each small carriage roller, avoidance through holes are provided at both ends of the four surfaces of the small carriage frame. The lower ends of the two groups of eight small carriage rollers pass through the avoidance through holes and roll against the four surfaces at both ends of the square steel pipe.

[0031] In some embodiments, the small carriage frame is made of a square pipe or two angle steels welded together through two connection blocks at the upper and lower ends respectively.

[0032] In some embodiments, the gantry includes two support gantry frames and two first track beams. An upper beam is provided at the upper end of the support gantry frame. The two support gantry frames are vertically erected in parallel at both ends of the ground. The two ends of the two first track beams are respectively vertically connected to the vertical corners of the support gantry frames to form a three-dimensional rectangular gantry frame.

[0033] In some embodiments, the two upper small carriages are respectively rollingly connected to the same side of the two small carriage track beams, and the two lower small carriages are respectively rollingly connected to the other same side of the two small carriage track beams.

[0034] In some embodiments, the two upper small carriages are respectively rollingly connected to the opposite sides of the two small carriage track beams, and the two lower small carriages are respectively rollingly connected to the other opposite sides of the two small carriage track beams. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is the front view schematic diagram of a displaceable reciprocating double loading and unloading device according to Embodiment 1 of the present invention;

[0036] Figure 2 is Figure 1 the top view schematic diagram of the displaceable reciprocating double loading and unloading device shown;

[0037] Figure 3 is Figure 1The left view schematic diagram of a shiftable reciprocating double loading and unloading device shown;

[0038] Figure 4 The left view schematic diagram of a shiftable reciprocating double loading and unloading device according to the second embodiment of the present invention;

[0039] Figure 5 The left view schematic diagram of a shiftable reciprocating double loading and unloading device according to the third embodiment of the present invention;

[0040] Figure 6 For Figure 5 The top view schematic diagram of a shiftable reciprocating double loading and unloading device shown;

[0041] Figure 7 The front view schematic diagram of a shiftable reciprocating double loading and unloading device according to the fourth embodiment of the present invention;

[0042] Figure 8 For Figure 7 The top view schematic diagram of a shiftable reciprocating double loading and unloading device shown;

[0043] Figure 9 For Figure 7 The left view schematic diagram of a shiftable reciprocating double loading and unloading device shown;

[0044] Figure 10 The front view schematic diagram of a shiftable reciprocating double loading and unloading device according to the fifth embodiment of the present invention;

[0045] Figure 11 The schematic diagram of the upper trolley, the lower trolley and the lifting and material taking part shown in the first to fifth embodiments of the present invention;

[0046] Figure 12 For Figure 11 The top view schematic diagram of the upper trolley shown;

[0047] Figure 13 For Figure 11 The top view schematic diagram of the lower trolley shown;

[0048] Gantry 1, support gantry 11, first track beam 12; shifting vehicle 2, shifting frame 21, first roller 22, trolley track beam 23, towing support 24; first driving part 3, transverse moving cylinder 30, second driving motor 31, second driving shaft 32, second driving wheel 33, second synchronous belt 34, second driven wheel 35, second driven shaft 36, second support 37, cylinder support 38; upper trolley 4, trolley frame 41, trolley roller 42, towing bracket 43, wheel seat 44; lower trolley 5; second driving part 6, first driving motor 61, first driving shaft 62, first driving wheel 63, first synchronous belt 64, first driven wheel 65, first driven shaft 66, first support 67; lifting and material taking part 7, vertical track 71, lifting cylinder 72, lifting bracket 73, material taking device 74. Specific implementation mode

[0049] The present invention will be further described in detail below with reference to the accompanying drawings. It should be noted that the terms "front", "rear", "left", "right", "up" and "down" used in the following description refer to the directions in the drawings, and the terms "inner" and "outer" respectively refer to the directions towards or away from the geometric center of a specific component.

[0050] Figures 1 to 3 Schematically shows a shiftable reciprocating double loading and unloading device according to Embodiment 1 of the present invention. As shown in the figure, the device includes a gantry 1, a shifting vehicle 2, a first driving part 3, two upper trolleys 4, two lower trolleys 5, a second driving part 6 and a plurality of lifting and material taking parts 7;

[0051] The feeding end or the discharging end of the production line is a production station, and a storage device is symmetrically arranged on each of the two lateral sides at the transverse ends of the production station. In the feeding operation area, one storage device is the material taking station, and at this time the other storage device is the waiting material taking station. In the discharging operation area, one is the discharging station, and the other storage device is the waiting discharging station;

[0052] The gantry 1 is a rectangular three-dimensional frame structure, and the two first track beams 12 of the gantry 1 are perpendicular to the running direction of the production line and span three stations transversely;

[0053] The shifting vehicle 2 rolls transversely along the first track beam 12, and a set of two transversely arranged trolley track beams 23 are respectively installed on both sides of the shifting frame 21 of the shifting vehicle 2;

[0054] The strokes of the two transverse cylinders 30 of the first driving part 3 are equal to the center transverse spacing between the two workstations. The cylinders of the two transverse cylinders 30 are transversely fixed in the center of the shifting frame 21, and the piston rod ends of the two transverse cylinders 30 are respectively connected to the upper beams at one end of the gantry 1. After compressed air is input into the transverse cylinders 30, the shifting vehicle 2 reciprocates transversely along the first track beam 12 by the center transverse spacing, so that the shifting vehicle 2 alternately enters above the two storage bins, and the material taking workstation and the waiting material workstation are switched;

[0055] The two upper layer trolleys 4 are arranged transversely opposite to each other and are respectively rollingly connected to one of the two of the two groups of trolley track beams 23; the two lower layer trolleys 5 are arranged transversely opposite to each other and are respectively rollingly connected to the other of the two of the two groups of trolley track beams 23;

[0056] The second driving part 6 includes two first synchronous belts 64 that reciprocate in a positive and negative alternating manner. At the same position of the upper layer sections of the two first synchronous belts 64, an upper layer trolley 4 is respectively fixed, and at the same position of the lower layer sections, a lower layer trolley 5 is respectively fixed. The center transverse spacing between the upper layer trolley 4 and the lower layer trolley 5 is equal to the center transverse spacing between the two workstations. When the two upper layer trolleys 4 are located above the production workstation, at the same time the two lower layer trolleys 5 enter above the material taking workstation; when the first synchronous belts 64 run, the upper layer sections and the lower layer sections of the first synchronous belts 64 respectively drive the upper layer trolleys 4 and the lower layer trolleys 5 to run transversely at the same speed and in the opposite direction. The first synchronous belts 64 reciprocate by the center transverse spacing between the two workstations, so that the two upper layer trolleys 4 and the two lower layer trolleys 5 alternately enter above the production workstation and above the material taking workstation;

[0057] A number of lifting and material taking parts 7 are connected below the upper layer trolleys 4 and the lower layer trolleys 5. The lifting and material taking parts 7 can move downward to fix and grab or release materials.

[0058] As Figure 3 shown, the two upper layer trolleys 4 are respectively rollingly connected to the same side of the two trolley track beams 23, and the two lower layer trolleys 5 are respectively rollingly connected to the other same side of the two trolley track beams 23;

[0059] The shiftable reciprocating double loading and unloading device consists of two upper layer trolleys 4 forming a material fetching trolley to move simultaneously and suck and release materials at both ends, and two lower layer trolleys 5 forming another material fetching trolley to move simultaneously and suck and release materials at both ends. Driven by the first synchronous belt 64, the upper layer trolley 4 and the lower layer trolley 5 move in opposite directions simultaneously, ensuring that one is above the production station and the other is above the storage bin, that is, discharging and fetching materials are carried out simultaneously, and the upper layer trolley 4 and the lower layer trolley 5 are completed simultaneously. Therefore, in one reciprocating stroke, the upper layer trolley 4 and the lower layer trolley 5 respectively complete the operations of fetching materials and placing materials in sequence, that is, two materials can be handled up and down in one stroke, without an idle stroke. Moreover, when the materials in one storage bin are loaded and unloaded, the first driving part 3 pulls the transverse moving vehicle 2 into the storage bin on the other side in the horizontal direction, and this movement is carried out simultaneously with the loading and unloading of the last material, avoiding the waiting for an idle stroke during the change of workstations. Its beneficial effects are as follows: First, the device realizes completely waiting-free loading and unloading operations, with fast loading and unloading speed and fast production speed; Second, the traditional device that has to complete both reciprocating movement and transposition movement is changed to the reciprocating movement and transposition movement being completed by separate devices respectively. That is, the traditional reciprocating movement of three-position transposition is changed to a double-driving double loading and unloading device, reducing a high-cost servo driving component and complex electrical program control, and only using a simple air cylinder to replace and complete the transposition movement. And this first implementation mode is suitable for occasions where the material length is relatively long; Third, because of the single driving for reciprocation and fewer and shorter movement links, the speed is faster and the positioning is more accurate; Fourth, because the transposition is an independent simple drive and can be superimposed with the independent reciprocating movement simultaneously, the transposition operation speed is faster and the efficiency is higher; Fifth, all mechanical structures are simple, with low configuration and low cost; Sixth, the implementation schemes and layout methods are diverse, suitable for a wider range of occasions and more flexible applications.

[0060] Figure 4 Schematically shows a shiftable reciprocating double loading and unloading device according to the second embodiment of the present invention. The second embodiment and the first embodiment have the same composition and basically the same structure. The only difference is that the two upper layer trolleys 4 are respectively rollingly connected to the opposite sides of two trolley track beams 23, and the two lower layer trolleys 5 are respectively rollingly connected to the other opposite sides of the two trolley track beams 23. Its beneficial effects are as follows: The opposite sides are symmetrically arranged. The two inner trolleys form a material fetching trolley, and the two outer trolleys form a material fetching trolley. It is easy for the lifting and fetching part 7 to be centered with the material. The fixed positions of the materials are symmetrical and the fixing forces received by the materials are uniform. The materials are not easily deformed or damaged due to local stress, and the yield rate is higher and the position accuracy of the materials is higher. This implementation mode is suitable for occasions where the material length is relatively short or occasions where the materials need to be clamped.

[0061] Figures 5 to 6Schematically shows a displaceable reciprocating double loading and unloading device according to Embodiment 3 of the present invention. As shown in the figure, each group of two trolley track beams 23 are respectively an outer beam and an inner beam with a set distance therebetween. The outer beam and the first track beam 12 are the same beam, that is, a common beam. The two ends of the common beam are respectively perpendicular to the middle part of the support gantry 11, forming a three-dimensional rectangular gantry frame in space. The displacement trolley 2 rolls horizontally along the common beam;

[0062] Each group of inner beams are installed in the middle of the displacement frame 21. Two upper trolleys 4 are arranged transversely opposite to each other and are respectively rollingly connected to the common beam or the inner beam among the two of each group of trolley track beams 23; two lower trolleys 5 are arranged transversely opposite to each other and are respectively rollingly connected to the other one among the two of each group of trolley track beams 23;

[0063] The structure of this embodiment is simple. The outer beam of the trolley track beam 23 is a common beam and is fixed on the support gantry. Its beneficial effects are: First, the displacement trolley 2 reduces two trolley track beams 23, has a smaller mass, the power required for the first moving part is reduced, and at the same time, it is easier to obtain a faster speed. Second, two trolley track beams 23 are saved, the structure is simple, and the overall width of the equipment can be reduced.

[0064] Further, preferably, the common beam or the inner beam can be selected as a square steel pipe, with its diamond shape placed vertically. Its beneficial effects are: First, it has better rigidity and runs more stably in a straight line on two track surfaces at a 45-degree angle and is not prone to deviation.

[0065] In Embodiment 1 and Embodiment 2, preferably, the first driving part 3 further includes two cylinder supports 38. The two piston rod ends of the two transverse moving cylinders 30 are respectively connected to the two cylinder supports 38. The cylinder supports 38 are installed on the upper beam of the support gantry 11 at one end of the gantry 1.

[0066] Figures 7 to 9 Schematically shows a displaceable reciprocating double loading and unloading device according to Embodiment 4 of the present invention. As shown in the figure, the device includes a gantry 1, a displacement trolley 2, a first driving part 3, an upper trolley 4, two lower trolleys 5, a second driving part 6, and several lifting and material taking parts 7;

[0067] At the feeding end or the discharging end of the production line, there are two production stations, and one storage device is respectively provided on one side of each production station; in the loading operation area, the two production stations are discharging stations, and the two stations on one side are respectively: a material taking station or a station waiting for material taking; in the unloading operation area, the two stations of the production line are material taking positions, and the two stations on one side are both: discharging positions or stations waiting for discharging;

[0068] The gantry 1 is a rectangular three-dimensional frame structure. The two first track beams 12 of the gantry 1 are parallel to the running direction of the production line and longitudinally span four stations;

[0069] The transfer vehicle 2 rolls longitudinally along the first track beam 12, and a set of two laterally arranged trolley track beams 23 are respectively installed on both sides of the transfer frame 21 of the transfer vehicle 2;

[0070] The first driving part 3 includes a second driving wheel 33, a second driven wheel 35 and two longitudinally arranged second synchronous belts 34. The two second driving wheels 33 and the two second driven wheels 35 are respectively installed on the upper beams of the two supporting gantries 11 of the gantry 1. Each second driving wheel 33 and a second driven wheel 35 are in a straight line correspondence. Both ends of each second synchronous belt 34 respectively bypass a second driving wheel 33 and its corresponding second driven wheel 35 in a straight line. The two second synchronous belts 34 are respectively fixed on both sides of the transfer frame 21. When the second driving motor 31 operates, the transfer vehicle 2 can longitudinally move along the first track beam 12 by the central longitudinal distance between two production stations;

[0071] The two upper trolleys 4 are longitudinally arranged opposite to each other and are respectively rollingly connected to one of the two trolley track beams 23 in each group; the two lower trolleys 5 are longitudinally arranged opposite to each other and are respectively rollingly connected to the other one of the two trolley track beams 23 in each group;

[0072] The second driving part 6 includes two first synchronous belts 64 that reciprocate in a positive and negative alternating manner. The same positions of the upper sections of the two first synchronous belts 64 are respectively fixed with an upper trolley 4, and the same positions of the lower sections are respectively fixed with a lower trolley 5. The central lateral distance between the upper trolley 4 and the lower trolley 5 is equal to the central lateral distance between two stations. When the two upper trolleys 4 are located above the production station, at the same time the two lower trolleys 5 enter above the material taking station; when the first synchronous belt 64 operates, the upper section and the lower section of the first synchronous belt 64 respectively drive the upper trolley 4 and the lower trolley 5 to run laterally at the same speed and in opposite directions. The first synchronous belt 64 reciprocates by the central lateral distance between two stations, so that the two upper trolleys 4 and the two lower trolleys 5 alternately enter above the production station and above the material taking station;

[0073] A number of lifting and material taking parts 7 are respectively connected under the upper trolley 4 and the lower trolley 5. The lifting and material taking parts 7 can move downward to fix, grab or release materials.

[0074] The two upper trolleys 4 are respectively rollingly connected to the same side of the two trolley track beams 23, and the two lower trolleys 5 are respectively rollingly connected to the other same side of the two trolley track beams 23;

[0075] The working principle of Embodiment 3 is the same. Two upper trolleys 4 and two lower trolleys 5 can load and unload two materials in one reciprocating stroke, without empty stroke. Moreover, when the materials in one storage bin are loaded and unloaded, the first driving part 3 horizontally pulls the transverse moving vehicle 2 into the storage bin on the other side of the horizontal direction, which is suitable for the occasion where the production line layout site is relatively narrow. And this movement is carried out simultaneously with the loading and unloading of the last material, avoiding the waiting with empty stroke during the change of workstations. Its beneficial effects are as follows: First, this device realizes completely waiting-free loading and unloading operations, with fast loading and unloading speed and fast production speed. Second, the first driving part 3 is driven by a synchronous belt, with fast speed, higher movement precision and more accurate positioning. Third, because the displacement is an independent and simple drive, it can be superimposed with the independent reciprocating movement at the same time, and the displacement operation speed is faster and the efficiency is higher. Fourth, all mechanical structures are simple, with low configuration and low cost. Sixth, the implementation schemes and layout methods are diverse, suitable for a wider range of occasions, especially suitable for the occasion where the production line layout site is relatively narrow; the application is more flexible.

[0076] Figure 10 Schematically shows a displaceable reciprocating double loading and unloading device of Embodiment 5 of the present invention. Embodiment 5 and Embodiment 4 have the same composition and basically the same structure. The only difference is that two upper trolleys 4 are respectively rollingly connected to the opposite sides of two trolley track beams 23, and two lower trolleys 5 are respectively rollingly connected to the other opposite sides of two trolley track beams 23. Its beneficial effects are as follows: The trolleys are symmetrically arranged. The two inner trolleys form a material fetching vehicle, and the two outer trolleys form a material fetching vehicle. It is easy for the lifting material fetching part 7 to be centered with the material. The fixed positions of the materials are symmetrical and the fixing forces received by the materials are uniform. The materials are not easily deformed or damaged due to local stress, and the yield rate is higher, and the position accuracy of the materials is higher.

[0077] As Figures 7 to 10As shown, in Embodiment 4 and Embodiment 5, preferably, the first driving part 3 further includes a second driving motor 31, a second driving shaft 32, a second driven shaft 36 and a second support 37. Both ends of the upper beam of the two support gantries 11 are connected to the second support 37, and the second driving motor 31 is fixed in the middle of one of the support gantries 11; the middle of the second driving shaft 32 is drivingly connected to the second driving motor 31, and both ends of the second driving shaft 32 are respectively rotatably installed on the two second supports 37. One second driven shaft 36 is installed on each of the other two second supports 37, and the two second driven wheels 35 are respectively sleeved on one second driven shaft 36. The second driving shaft 32 is parallel to the two second driven shafts 36, and both are parallel to the trolley track beam 23. The two second synchronous belts 34 respectively go around the two second driving wheels 33 and the two second driven wheels 35 from above, and then the two ends of the two second synchronous belts 34 are respectively connected to four traction supports 24 installed on the longitudinal beams at both ends of the displacement frame 21. The two second synchronous belts 34 respectively form a closed loop. The beneficial effect is that the structure is simple and the installation and commissioning are convenient.

[0078] In Embodiments 1 to 5, preferably, the displacement trolley 2 includes a displacement frame 21, four groups of first rollers 22 and four trolley track beams 23. The four groups of first rollers 22 are symmetrically installed under the four corners of the displacement frame 21. The axes of the four groups of first rollers 22 are perpendicular to the trolley track beam 23. Two groups of first rollers 22 on each side are placed on one first track beam 12 and can roll transversely along the first track beam 12; the beneficial effect is that the displacement trolley 2 with this structure has a fast moving speed, high straightness, and no up-and-down vibration phenomenon during movement.

[0079] Preferably, the cross-sectional structure of the first track beam 12 is a square steel pipe and is vertically placed in a rhombus shape after being rotated by 45°. The first rollers 22 of the displacement trolley 2 are a pair of rollers placed at an inclination of 45°. The beneficial effects are, first, better rigidity, more stable linear operation when rolling on two track surfaces at a 45-degree angle, and not easy to deviate.

[0080] In Embodiments 1 to 5, preferably, the second driving part 6 includes a first driving motor 61, a first driving shaft 62, a first driving wheel 63, a first synchronous belt 64, a first driven wheel 65, a first driven shaft 66 and a first support 67. The first driving motor 61 placed in the middle and the two first synchronous belts 64 are sleeved on the first driving shaft 62. The two ends of the first driving shaft 62 are respectively installed with the first supports 67, and both the first driving motor 61 and the first supports 67 are installed on the longitudinal beam on one side of the shifting frame 21. Each of the two first driven wheels 65 is sleeved on a first driven shaft 66, and each end of each first driven shaft 66 is installed with a first support 67 and is installed on the longitudinal beam on the other side of the shifting frame 21. The first driving shaft 62 is parallel to the two first driven shafts 66 and is perpendicular to the trolley track beam 23. The two first driving wheels 63 are respectively in one-to-one linear correspondence with a first driven wheel 65, and the two first synchronous belts 64 respectively bypass the two first driving wheels 63 and the first driven wheels 65 from above;

[0081] The first synchronous belt 64 is a non-closed structure with two ends on the upper layer and is connected to the traction bracket 43 of the upper trolley 4 in a closed manner; or the first synchronous belt 64 is an annular structure, and the traction bracket 43 of the upper trolley 4 and the first synchronous belt 64 are clamped and connected;

[0082] When the first driving motor 61 is driving and operating, it will drive the upper trolley 4 and the lower trolley 5 to move horizontally at the same speed and in opposite directions through the upper and lower sections of the first synchronous belt 64, so as to realize the reciprocating movement function of the two trolleys.

[0083] In Embodiments 1 to 5, preferably, the upper trolley 4 includes a trolley frame 41, two groups of trolley rollers 42 and a traction bracket 43. The two ends of the trolley frame 41 are respectively connected with the two groups of trolley rollers 42. A traction bracket 43 is installed above one end of the trolley frame 41, and the traction bracket 43 is connected to the upper section of the first synchronous belt 64,

[0084] The lower trolley 5 and the upper trolley 4 have the same composition and basically the same structure. The only difference is that a traction bracket 43 is installed below one end of the trolley frame 41 of the lower trolley 5, and the traction bracket 43 is connected to the lower section of the first synchronous belt 64,

[0085] The trolley rollers 42 are placed on the corresponding trolley track beam 23, so that the upper trolley 4 and the lower trolley 5 move horizontally along the trolley track beam 23;

[0086] The lifting and fetching part 7 includes a vertical rail 71, a lifting cylinder 72, a lifting bracket 73 and a material grabber 74. Two vertical rails 71 are vertically and symmetrically installed below each end of each trolley frame 41. A linear slider is slidably matched on the vertical rail 71. The linear slider is connected to both sides of the lifting bracket 73. A lifting cylinder 72 is vertically placed between the two vertical rails 71. The cylinder barrel end of the lifting cylinder 72 is connected to the trolley frame 41. The piston rod end of the lifting cylinder 72 is connected to the lifting bracket 73. A plurality of material grabbers 74 are connected to the lifting bracket 73. The material grabber 74 can be a suction cup. According to the material profile and quality, different numbers of material grabbers 74 are selected and installed at different positions of the lifting bracket 73. After the lifting cylinder 72 inputs compressed air, the lifting bracket 73 can perform up and down lifting movements, and the material grabber 74 sucks the upper surface of the material. Its beneficial effects are: the lifting and fetching part 7 has high vertical lifting accuracy, uniform material loading, small deformation, and high yield rate.

[0087] In embodiments one to five, preferably, the trolley track beam 23 is a square steel pipe and is rotated 45° to be placed vertically in a diamond shape. The beneficial effects are: first, the rigidity is better, and the rolling straight line operation on two track surfaces at a 45-degree angle is more stable and not easy to deviate.

[0088] The inner cavity of each trolley frame 41 is larger than the square tube size of the trolley track beam 23. The inner cavity of the trolley frame 41 is fitted with the trolley track beam 23. Wheel seats 44 are welded to the four side surfaces at both ends of the trolley frame 41. A trolley roller 42 is installed on each wheel seat 44. At the relative position below each trolley roller 42, avoidance holes are provided at both ends of the four surfaces of the trolley frame 41. The lower ends of the two groups of eight trolley rollers 42 pass through the avoidance holes and roll to fit the two ends of the four surfaces of the square steel tube.

[0089] The trolley frame 41 is a square tube or two sections of angle steel welded by two connecting blocks at the upper and lower ends. The beneficial effects are: the trolley frame 41 is simple in structure, has high moving straightness, and the four surfaces are all constrained, and will not jump up and down.

[0090] In Embodiment 1, Embodiment 2, Embodiment 4, and Embodiment 5, preferably, the gantry 1 includes two supporting gantries 11 and two first track beams 12. The two supporting gantries 11 are vertically erected parallel to each other at both ends of the ground. The two first track beams 12 are perpendicular to the supporting gantries 11, and their ends are respectively installed on the vertical angles of the two supporting gantries 11 to form a three-dimensional rectangular gantry frame.

[0091] The above are only some embodiments of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the creative concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A shiftable reciprocating double loading and unloading device, characterized in that, It includes a gantry, a transfer cart, a first driving part, two upper-layer trolleys, two lower-layer trolleys, a second driving part and a number of lifting and material-taking parts; one of the feeding end or the discharging end of the production line is a production station, and a storage device is symmetrically arranged on each of the two lateral sides at the transverse ends of the production station. The gantry is a rectangular three-dimensional frame structure. Two first track beams of the gantry are perpendicular to the running direction of the production line and span three stations transversely. The transfer cart rolls transversely along the first track beam. A set of two horizontally arranged trolley track beams are respectively installed on both sides of the transfer frame of the transfer cart. The strokes of the two transverse cylinders of the first driving part are equal to the central transverse distance between two stations. The cylinders of the two transverse cylinders are fixed transversely in the center of the transfer frame, and the piston rod ends of the two transverse cylinders are respectively connected to the upper beam at one end of the gantry. After compressed air is input into the transverse cylinders, the transfer cart reciprocates transversely along the first track beam by the central transverse distance, so that the transfer cart alternately enters above the two storage devices, and the material-taking station and the waiting material station are switched. The two upper-layer trolleys are arranged transversely opposite to each other and are respectively rollingly connected to one of the two of each group of trolley track beams; the two lower-layer trolleys are arranged transversely opposite to each other and are respectively rollingly connected to the other of the two of each group of trolley track beams. The second driving part includes two first synchronous belts that reciprocate alternately in the positive and negative directions. An upper-layer trolley is fixed at the same position on the upper sections of the two first synchronous belts, and a lower-layer trolley is fixed at the same position on the lower sections of the two first synchronous belts. The central transverse distance between the upper-layer trolley and the lower-layer trolley is equal to the central transverse distance between two stations. When the two upper-layer trolleys are above the production station, at the same time the two lower-layer trolleys enter above the material-taking station; when the first synchronous belts run, the upper sections and the lower sections of the first synchronous belts respectively drive the upper-layer trolleys and the lower-layer trolleys to run transversely at the same speed and in the opposite direction. The first synchronous belts reciprocate by the central transverse distance between two stations, so that the two upper-layer trolleys and the two lower-layer trolleys alternately enter above the production station and above the material-taking station. A number of lifting and material-taking parts are connected under the upper-layer trolleys and the lower-layer trolleys. The lifting and material-taking parts can move downward to fix and grab or release materials.

2. The shiftable reciprocating double loading and unloading device according to claim 1, characterized in that, The gantry includes a support gantry. Each group of two trolley track beams are respectively an outer beam and an inner beam with a set distance therebetween. The outer beam and the first track beam are the same beam, that is, a common beam. The two ends of the common beam are respectively perpendicular to the middle part of the support gantry, forming a three-dimensional rectangular gantry frame. The transfer cart rolls transversely along the common beam. Each group of inner beams is installed in the middle of the transfer frame. The two upper-layer trolleys are arranged transversely opposite to each other and are respectively rollingly connected to the common beam or the inner beam of the two of each group of trolley track beams; the two lower-layer trolleys are arranged transversely opposite to each other and are respectively rollingly connected to the other of the two of each group of trolley track beams.

3. A shiftable reciprocating double loading and unloading device, characterized in that, It includes a gantry, a transfer cart, a first driving part, an upper-layer trolley, two lower-layer trolleys, a second driving part and a number of lifting and material-taking parts; there are two production stations at the feeding end or the discharging end of the production line, and a storage device is respectively arranged on one side of each production station. The gantry is a rectangular three-dimensional frame structure. Two first track beams of the gantry are parallel to the running direction of the production line and span four stations longitudinally. The transfer vehicle rolls longitudinally along the first track beam, and a set of two laterally arranged trolley track beams are respectively installed on both sides of the transfer frame of the transfer vehicle; The first driving part includes a second driving motor, a second driving wheel, a second driven wheel and two longitudinally arranged second synchronous belts. The two second driving wheels and the two second driven wheels are respectively installed on the upper beam of the gantry. Each second driving wheel and a second driven wheel are in a straight line correspondence. Both ends of each second synchronous belt respectively bypass a second driving wheel and its corresponding second driven wheel in a straight line. The two second synchronous belts are respectively fixed on both sides of the transfer frame. When the second driving motor operates, the transfer vehicle can longitudinally move along the first track beam by the central longitudinal distance between two production stations; The two upper trolleys are arranged longitudinally opposite to each other and are respectively connected to one of the two in each group of trolley track beams in a rolling manner; the two lower trolleys are arranged longitudinally opposite to each other and are respectively connected to the other one of the two in each group of trolley track beams in a rolling manner; The second driving part includes two first synchronous belts that reciprocate in a positive and negative alternating manner. The same positions of the upper sections of the two first synchronous belts are respectively fixed with an upper trolley, and the same positions of the lower sections are respectively fixed with a lower trolley. The central lateral distance between the upper trolley and the lower trolley is equal to the central lateral distance between two stations. When the two upper trolleys are above the production station, at the same time the two lower trolleys enter above the material taking station; when the first synchronous belt operates, the upper section and the lower section of the first synchronous belt respectively drive the upper trolley and the lower trolley to run laterally at the same speed and in the opposite direction. The first synchronous belt reciprocates by the central lateral distance between two stations, so that the two upper trolleys and the two lower trolleys alternately enter above the production station and above the material taking station; A number of lifting and material taking parts are connected under both the upper trolley and the lower trolley, and the lifting and material taking parts can move downward to fix, grab or release materials.

4. A shiftable reciprocating double loading and unloading device according to claim 3, characterized in that, The first driving part further includes a second driving motor, a second driving shaft, a second driven shaft and a second support. Both ends of the two upper beams are connected to the second support. The second driving motor is fixed in the middle of one of the upper beams; the middle of the second driving shaft is drivingly connected to the second driving motor. Both ends of the second driving shaft are respectively rotatably installed on the two second supports. One second driven shaft is respectively installed on the other two second supports. The two second driven wheels are respectively sleeved on one second driven shaft. The second driving shaft is parallel to the two second driven shafts, and all are parallel to the trolley track beam. The two second synchronous belts respectively bypass the two second driving wheels and the two second driven wheels from above, and then the two ends of the two second synchronous belts are respectively connected to four traction supports installed on the longitudinal support beams at both ends of the transfer frame. The two second synchronous belts respectively form a closed loop.

5. A displaceable reciprocating double loading and unloading device according to any one of claims 1 to 4, characterized in that The transfer vehicle includes a transfer frame, four groups of first rollers and four trolley track beams. The four groups of first rollers are symmetrically installed under the four corners of the transfer frame. The axes of the four groups of first rollers are perpendicular to the trolley track beam. Two groups of first rollers on each side are placed on one first track beam and can roll laterally along the first track beam; Or the cross-sectional structure of the first track beam is a square steel pipe and is placed vertically in a diamond shape after being rotated by 45°. The first rollers of the transfer vehicle are a pair of rollers placed at an inclination of 45°.

6. A shiftable reciprocating double loading and unloading device according to any one of claims 1 to 4, characterized in that, The second driving part includes a first driving motor, a first driving shaft, a first driving wheel, a first synchronous belt, a first driven wheel, a first driven shaft and a first support. The first driving motor placed in the middle and two first synchronous belts are sleeved on the first driving shaft. The first driving shaft is installed with first supports at both ends, and both the first driving motor and the first supports are installed on the longitudinal beam on one side of the displacement frame. One first driven wheel is sleeved on each of the two first driven shafts, and one first support is installed at each end of each first driven shaft and is installed on the longitudinal beam on the other side of the displacement frame. The first driving shaft is parallel to the two first driven shafts and is perpendicular to the trolley track beam. The two first driving wheels are respectively in a straight line corresponding to one first driven wheel, and the two first synchronous belts respectively bypass the two first driving wheels and the first driven wheels from above; When the first driving motor is driving and operating, it will drive the upper trolley and the lower trolley to run horizontally at the same speed and in the opposite direction through the upper layer section and the lower layer section of the first synchronous belt, so as to realize the reciprocating motion function of the two trolleys.

7. A shiftable reciprocating double loading and unloading device according to any one of claims 1 to 4, characterized in that, The upper trolley includes a trolley frame, two groups of trolley rollers and a traction bracket. Two groups of trolley rollers are respectively connected to both ends of the trolley frame, and a traction bracket is installed above one end of the trolley frame. The traction bracket is connected to the upper layer section of the first synchronous belt. The lower trolley includes a trolley frame, two groups of trolley rollers and a traction bracket. Two groups of trolley rollers are respectively connected to both ends of the trolley frame, and a traction bracket is installed below one end of the trolley frame of the lower trolley. The traction bracket is connected to the lower layer section of the first synchronous belt. The trolley rollers are placed on the corresponding trolley track beam, so that the upper trolley and the lower trolley move horizontally along the trolley track beam; The lifting and material taking part includes a vertical track, a lifting cylinder, a lifting bracket and a material taking device. Two vertical tracks are symmetrically installed vertically below both ends of each trolley frame. A linear slider is slidably matched on the vertical track and is connected to both sides of the lifting bracket. A lifting cylinder is vertically placed between the two vertical tracks. The cylinder barrel end of the lifting cylinder is connected to the lower part of the trolley frame, and the piston rod end of the lifting cylinder is connected to the lifting bracket. Several material taking devices are connected below the lifting bracket. The material taking device can be a suction cup. After compressed air is input into the lifting cylinder, the lifting bracket can move up and down, and the material taking device sucks and fixes the upper surface of the material.

8. A shiftable reciprocating double loading and unloading device according to claim 7, characterized in that, The trolley track beam is a square steel pipe and is placed vertically in a diamond shape after being rotated 45°. The inner cavity of each trolley frame is larger than the size of the square tube of the trolley track beam. The inner cavity of the trolley frame is sleeved with the trolley track beam. Wheel seats are welded on the four side surfaces at both ends of the trolley frame. One trolley roller is installed on each wheel seat. At the relative position below each trolley roller, avoidance through holes are provided at both ends of the four surfaces of the trolley frame. The lower ends of the two groups of eight trolley rollers pass through the avoidance through holes and roll and fit the four surfaces at both ends of the square steel pipe; The trolley frame is made of a square pipe or two sections of angle steel welded by two connecting blocks at the upper and lower ends respectively.

9. A shiftable reciprocating double loading and unloading device according to claim 1 or 3, characterized in that, The gantry includes two support gantry frames and two first track beams. The upper ends of the support gantry frames are provided with upper beams. The two support gantry frames are erected vertically in parallel at both ends of the ground. The two ends of the two first track beams are respectively vertically connected to the vertical corners of the support gantry frames to form a three-dimensional rectangular gantry frame.

10. A shiftable reciprocating double loading and unloading device according to any one of claims 1-4, characterized in that, The two upper trolleys are respectively rollingly connected to the same side of two trolley track beams, and the two lower trolleys are respectively rollingly connected to the other same side of the two trolley track beams; Or the two upper trolleys are respectively rollingly connected to the opposite sides of two trolley track beams, and the two lower trolleys are respectively rollingly connected to the other opposite sides of the two trolley track beams.

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